阅读说明：本技术 一种自主平衡载物车 (Autonomic balance carries thing car ) 是由 崔玉鑫 杨彬 黄楚九 宫泽睿 李文莉 范文赫 林金柱 王彬彬 于 2021-02-10 设计创作，主要内容包括：本发明提供一种自主平衡载物车,包括履带车、平移导轨、平衡框架、下滑台、上滑台、载物台、电源、重量传感器、控制系统、电机驱动器和陀螺仪,本发明运用平衡框架将载物台与履带小车巧妙结合起来,上部载物台搭载重物,中间平衡框架调整重心,可根据不同实际地形、坡度自主通过上滑台带动连接杆调节载物台的角度使载物台始终保持水平,并通过下滑台调整小车的重心使小车不至于倾翻,维持稳定；下部的履带车提供动力,履带车本身具有平稳上下楼梯的功能。本发明采取全自主调节方式,便于操作,可以行动于楼梯等有较大坡度的地方,弥补了以往运输小车的缺陷,提供了极大的便利,用于水平地面及上下楼梯运输。(The invention provides an autonomous balance carrier vehicle, which comprises a tracked vehicle, a translation guide rail, a balance frame, a lower sliding table, an upper sliding table, a carrier table, a power supply, a weight sensor, a control system, a motor driver and a gyroscope, wherein the balance frame is used for ingeniously combining the carrier table and the tracked vehicle, the upper carrier table carries a heavy object, the center of gravity of the intermediate balance frame is adjusted, the carrier table can be always kept horizontal by automatically driving a connecting rod to adjust the angle of the carrier table through the upper sliding table according to different actual terrains and gradients, and the center of gravity of the trolley is adjusted through the lower sliding table so that the trolley cannot tip over and is kept stable; the tracked vehicle on the lower part provides power, and the tracked vehicle has the function of stably going up and down stairs. The invention adopts a full-automatic adjusting mode, is convenient to operate, can act on places with larger slopes such as stairs, makes up for the defects of the traditional transport trolley, provides great convenience, and is used for transporting on the horizontal ground and up and down the stairs.)

1. The utility model provides an autonomic balance carries thing car which characterized in that: the crawler type moving platform comprises a crawler, translation guide rails, a balance frame, a lower sliding table, an upper sliding table, an object stage, a power supply, a weight sensor, a control system, a motor driver and a gyroscope, wherein a group of translation guide rails are arranged on an upper platform of the crawler, the translation guide rails are longitudinally arranged along the crawler, and the lower sliding table is arranged between the translation guide rails and is parallel to the translation guide rails; the balance frame comprises a bottom frame and upright frames, the upright frames are respectively arranged on the left side and the right side of the upper part of the bottom frame, and the two groups of upright frames are parallel to each other and parallel to the translation guide rail; the lower part of the bottom frame is provided with a sliding connecting piece which is connected with the translation guide rail in a sliding way; the lower part of the bottom frame is simultaneously connected with a sliding seat of the lower sliding table; the upper sliding table is fixed on the bottom frame and positioned between the two groups of upright frames, and the upper sliding table and the lower sliding table are arranged in parallel; bearing supports are respectively arranged above the two groups of upright frames of the balance frame, a rotating shaft fixing seat is arranged at the lower part of the objective table, a rotating shaft is arranged on the rotating shaft fixing seat, the rotating shaft is transversely arranged along the objective table, and two ends of the rotating shaft are connected with the bearing supports on the upright frames at two sides of the balance frame through bearings; a first fixed hinged support is arranged on a sliding seat of the upper sliding table, a second fixed hinged support is arranged at one longitudinal end of the lower part of the object stage, a connecting rod is arranged between the first fixed hinged support and the second fixed hinged support, and two ends of the connecting rod are respectively hinged with the first fixed hinged support and the second fixed hinged support; the power supply, the control system, the motor driver and the gyroscope are respectively arranged on the crawler, the weight sensor is arranged on the objective table, the power supply is respectively connected with the control system, the motor driver, the gyroscope and the weight sensor, the control system is connected with the weight sensor, the motor driver and the gyroscope, and the output end of the motor driver is respectively connected with the driving motors of the upper sliding table and the lower sliding table.

2. The autonomous balance carrier vehicle of claim 1, wherein: the group of translation guide rails comprises two parallel translation guide rails, and the lower sliding table is arranged between the two translation guide rails and is parallel to the translation guide rails.

3. The autonomous balance carrier vehicle of claim 1, wherein: the system comprises a data transmission system, wherein the data transmission system is arranged on a crawler and connected with a control system, and corresponding man-machine interaction control is carried out by receiving and transmitting data.

4. The autonomous balance carrier vehicle of claim 1, wherein: the two ends of the connecting rod comprise fisheye bearings, the two ends of the connecting rod are in threaded connection with the fisheye bearings, and the connecting rod is hinged to the first fixed hinged support and the second fixed hinged support through the fisheye bearings.

5. The autonomous balance carrier vehicle of claim 1, wherein: the control method of the upper sliding table and the lower sliding table comprises the following steps:

when the carrier vehicle is in a horizontal state, the sliding seats of the upper sliding table and the lower sliding table are respectively positioned at initial positions;

when the carrying vehicle runs up or down a slope in the advancing direction, the gyroscope detects that the carrying vehicle generates an inclination angle theta, and the control system adjusts the sliding seat of the lower sliding table to move above the inclination slope of the carrying vehicle in real time through the motor driver according to the change of the inclination angle and the heavy material quantity so as to move the integral gravity center upwards and prevent the carrying vehicle from overturning; meanwhile, the control system adjusts the sliding seat of the upper sliding table to move towards the lower part of the inclined slope of the object carrying vehicle in real time through the motor driver so as to enable the object carrying table to be kept horizontal.

6. The self-propelled primary ballast vehicle of claim 5, wherein: in the control system, the calculation process of the sliding seat moving distance of the lower sliding table is as follows:

establishing a rectangular coordinate system by taking a contact point between the rear end of a crawler of the crawler and the ground as an original point, the advancing direction as an x axis and the direction vertical to the x axis as a v axis;

mass of the carrier vehicle is m₁Mass of the heavy object on the object stage is m₂Coordinate (x) of center of gravity of the carrier vehicle in horizontal state when empty₁，y₁) Coordinates (x) of the center of gravity of the weight carried on the stage₂，y₂) Coordinates (x) of the overall center of gravity of the carrier and the weight_c，y_c) The following relationship is satisfied:

the gravity center coordinate (x) of the heavy object carried by the carrier vehicle in the process of adjusting the lower sliding table is adjusted because the carrier vehicle must keep the gravity center balance and not overturn₂，y₂) Change, calculation formulaThe following were used:

y₂＝h₂+h₃+h₁cosθ (3)

in equations (2) and (3):an initial abscissa representing the center of gravity of the weight when placed horizontally; d₁The moving distance of the sliding seat of the lower sliding table; h is₁The distance between the gravity center of the carried heavy object and the rotating shaft of the objective table; h is₂The height of the crawler, namely the height of the sliding platform from the ground; h is₃The height of the balance frame is the distance between the rotating shaft of the objective table and the lower sliding table; theta is the inclination angle of the loading vehicle;

coordinate (x) of integral gravity center of carrier vehicle and heavy object_c，y_c) Simultaneously satisfies the following relations:

x_c-y_ctanθ＝|x₁| (4)

the input gyroscope measures the inclination angle theta of the carrier, and the moving distance d of the sliding seat of the lower sliding platform is obtained by the formulas (1) to (4)₁The sliding seat of the lower sliding table moves a distance d above the inclined slope of the loading vehicle₁So as to keep the overall center of gravity moving upwards to keep balance;

meanwhile, the calculation process of the sliding seat moving distance of the upper sliding table is as follows:

in equation (5): d₂The distance of the sliding seat of the upper sliding table; l₁Is the length of the connecting rod; h is₄The vertical distance between the rotating shaft and the sliding seat of the upper sliding table is set; l₂The distance between the rotating shaft and the second fixed hinged support is the distance between the rotating shaft and the second fixed hinged support; theta is the inclination angle of the loading vehicle;

measured by an input gyroscopeThe inclination angle theta of the carrier vehicle is obtained by the formula (5) to obtain the moving distance d of the sliding seat of the upper sliding platform₂The sliding seat of the upper sliding table moves a distance d to the lower part of the inclined slope of the loading vehicle₂To keep the stage horizontal.

Technical Field

The invention relates to a loading vehicle, in particular to an automatic balance loading vehicle.

Background

Nowadays, society develops rapidly, and shopping becomes convenient and fast, but the old people still like to be in person. Most of the old people live alone and have inconvenient actions, the old people need to go upstairs and downstairs frequently, and particularly, the old people cannot carry articles with heavy weight when buying the articles, and are inconvenient to go upstairs, so that the old people are prone to falling down carelessly. To this, need an old service cart that helps that adaptability is stronger, can carry out the level land transportation through simple operation to can also independently balance the angle of adjusting cargo platform, make its adaptation stair slope keep balance, carry out steady stair transportation of going up and down, help the old person bears the weight of thing, saves the time and the physical stamina of transporting article, guarantees old person's safety. Meanwhile, in severe environments such as military transportation, emergency rescue and disaster relief, an autonomous balance carrying vehicle which uses machinery to replace manpower and enables transportation and rescue to be more efficient and safer is also needed. However, the existing carrying vehicle is complex in operation, complex in structure, high in control difficulty and not suitable for transportation in environments with large gradient such as stairs.

Disclosure of Invention

The invention provides an autonomous balance carrier vehicle, which aims to solve the technical problems and comprises a crawler vehicle, translation guide rails, a balance frame, a lower sliding table, an upper sliding table, a carrier table, a power supply, a weight sensor, a control system, a motor driver and a gyroscope, wherein the upper platform of the crawler vehicle is provided with a group of translation guide rails which are longitudinally arranged along the crawler vehicle; the balance frame comprises a bottom frame and upright frames, the upright frames are respectively arranged on the left side and the right side of the upper part of the bottom frame, and the two groups of upright frames are parallel to each other and parallel to the translation guide rail; the lower part of the bottom frame is provided with a sliding connecting piece which is connected with the translation guide rail in a sliding way; the lower part of the bottom frame is simultaneously connected with a sliding seat of the lower sliding table, and the sliding seat moves on the lower sliding table to drive the balance frame to move along the translation guide rail; the upper sliding table is fixed on the bottom frame and positioned between the two groups of upright frames, and the upper sliding table and the lower sliding table are arranged in parallel; bearing supports are respectively arranged above the two groups of upright frames of the balance frame, a rotating shaft fixing seat is arranged at the lower part of the objective table, a rotating shaft is arranged on the rotating shaft fixing seat, the rotating shaft is transversely arranged along the objective table, and two ends of the rotating shaft are connected with the bearing supports on the upright frames at two sides of the balance frame through bearings; a sliding seat of the upper sliding table is provided with a first fixed hinged support, one end of the lower part of the object stage is provided with a second fixed hinged support, a connecting rod is arranged between the first fixed hinged support and the second fixed hinged support, and two ends of the connecting rod are respectively hinged with the first fixed hinged support and the second fixed hinged support; the power supply, the control system, the motor driver and the gyroscope are respectively arranged on the crawler, the power supply is respectively connected with the weight sensor, the control system, the motor driver and the gyroscope and provides electric energy, and the weight sensor is arranged on the objective table and used for checking the quality of a heavy object carried on the objective table; control system links to each other with weighing transducer, motor driver and gyroscope, and the heavy material volume information that is surveyed by weighing transducer and the year thing car inclination angle information that the gyroscope was surveyed is received by control system, gives motor driver through calculating output control signal, and motor driver's output links to each other with the driving motor of last slip table and lower slip table respectively, and the driving motor operation of control last slip table and lower slip table, and then changes the sliding position of the sliding seat of last slip table and lower slip table.

The data transmission system is arranged on the crawler and connected with the control system, and corresponding man-machine interaction control is carried out by receiving and transmitting data.

The two ends of the connecting rod comprise fisheye bearings, the connecting rod is in threaded connection with the fisheye bearings, and the connecting rod is hinged with the first fixed hinged support and the second fixed hinged support through the fisheye bearings.

The control method of the upper sliding table and the lower sliding table comprises the following steps:

when the carrier vehicle is in a horizontal state, the sliding seats of the upper sliding table and the lower sliding table are respectively positioned at initial positions;

when the carrying vehicle runs up or down a slope in the forward direction, the gyroscope detects that the carrying vehicle generates an inclination angle theta, and the control system adjusts the sliding seat of the lower sliding table to move above the inclination slope of the carrying vehicle in real time through the motor driver according to the change of the inclination angle and the heavy material quantity to drive the balance frame to move upwards so as to move the whole gravity center upwards and prevent the carrying vehicle from overturning forwards; meanwhile, the control system adjusts the sliding seat of the upper sliding table to move towards the lower part of the inclined slope of the object carrying vehicle in real time through the motor driver, and the object carrying table is kept horizontal through the action of the connecting rod.

In the control system, the calculation process of the sliding seat moving distance of the lower sliding table is as follows:

establishing a rectangular coordinate system by taking a contact point between the rear end of a track of the carrier vehicle and the ground as an original point, the advancing direction as an x axis and the direction vertical to the x axis as a y axis;

mass of the carrier vehicle is m₁Mass of the heavy object on the object stage is m₂Coordinate (x) of center of gravity of the carrier vehicle in horizontal state when empty₁，y₁) Coordinates (x) of the center of gravity of the weight carried on the stage₂，y₂) Coordinates (x) of the overall center of gravity of the carrier and the weight_c，y_c) The following relationship is satisfied:

the gravity center coordinate (x) of the heavy object carried by the carrier vehicle in the process of adjusting the lower sliding table is adjusted because the carrier vehicle must keep the gravity center balance and not overturn₂，y₂) The change occurs, and the calculation formula is as follows:

y₂＝h₂+h₃+h₁ cosθ (3)

in equations (2) and (3):an initial abscissa representing the center of gravity of the weight when placed horizontally; d₁The moving distance of the sliding seat of the lower sliding table; h is₁The distance between the gravity center of the carried heavy object and the rotating shaft of the objective table; h is₂The height of the crawler, namely the height of the sliding platform from the ground; h is₃The height of the balance frame is the distance between the rotating shaft of the objective table and the lower sliding table; theta is the inclination angle of the loading vehicle;

coordinate (x) of integral gravity center of carrier vehicle and heavy object_c，y_c) Simultaneously satisfies the following relations:

x_c-y_c tanθ＝|x₁| (4)

the input gyroscope measures the inclination angle theta of the carrier, and the moving distance d of the sliding seat of the lower sliding platform is obtained by the formulas (1) to (4)₁The sliding seat of the lower sliding table moves a distance d above the inclined slope of the loading vehicle₁So as to keep the overall center of gravity moving upwards to keep balance;

meanwhile, the calculation process of the sliding seat moving distance of the upper sliding table is as follows:

in equation (5): d₂The distance of the sliding seat of the upper sliding table; l₁Is the length of the connecting rod; h is₄The vertical distance between the rotating shaft and the sliding seat of the upper sliding table is set; l₂The distance between the rotating shaft and the second fixed hinged support is the distance between the rotating shaft and the second fixed hinged support; theta is the inclination angle of the loading vehicle;

inputting the inclination angle theta of the loading vehicle measured by the gyroscope, and obtaining the moving distance d of the sliding seat of the upper sliding table by a formula (5)₂The sliding seat of the upper sliding table moves a distance d to the lower part of the inclined slope of the loading vehicle₂To keep the stage horizontal.

The invention has the beneficial effects that:

according to the invention, the object stage and the crawler trolley are ingeniously combined by using the balance frame, the object stage is carried by the upper object stage, the center of gravity is adjusted by the middle balance frame, the object stage can be kept horizontal all the time by automatically driving the connecting rod to adjust the angle of the object stage through the upper sliding table according to different actual terrains and slopes, and the trolley is prevented from tipping and is kept stable by adjusting the center of gravity of the trolley through the lower sliding table; the tracked vehicle on the lower part provides power, and the tracked vehicle has the function of stably going up and down stairs. The invention adopts a full-automatic adjusting mode, is convenient to operate, can move to places with larger slopes such as stairs, overcomes the defects of the traditional transport trolley, provides great convenience, is used for transporting on the horizontal ground and up and down the stairs, can help the old to carry articles, can be applied to the fields of military affairs, medical treatment, rescue and the like besides being applied to the aspects of life and old-age assistance, can transport more articles under the conditions of insufficient manpower conditions and higher cost, saves manpower and time, improves the efficiency and saves the cost.

Drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic side view of the present invention;

FIG. 3 is a schematic top view of the present invention;

FIG. 4 is a schematic view of a balance frame and a stage according to the present invention;

FIG. 5 is a first schematic view of a first exemplary calculation reference of a moving process of the lower sliding table according to the present invention;

FIG. 6 is a second schematic view of calculation reference of the moving process of the lower sliding table according to the present invention;

FIG. 7 is a schematic view of the calculation reference of the moving process of the upper sliding table according to the present invention;

FIG. 8 is a first simulation diagram of the stage rotation adams of the present invention;

FIG. 9 is a second simulation diagram of the rotation of the objective table adams according to the present invention;

FIG. 10 is a schematic view of the range of rotation of the stage of the present invention;

1. tracked vehicle 2, flat guide rail 3, lower sliding table 4, balance frame 5, underframe 6 and upright frame

7. Sliding connecting piece 8, upper sliding table 9, bearing support 10, objective table 11 and rotating shaft fixing seat

12. Rotating shaft 13, first fixed hinge support 14, second fixed hinge support 15 and connecting rod

16. Power supply 17, control system 18, motor driver 19, gyroscope

20. Data transmission system 21, fisheye bearing.

Detailed Description

Referring to the attached figures 1-4 of the specification:

the invention provides an autonomous balance carrier vehicle, which comprises a crawler 1, translation guide rails 2, a lower sliding table 3, a balance frame 4, an upper sliding table 8, a carrier table 10, a power supply 16, a control system 17, a motor driver 18, a gyroscope 19, a weight sensor and a data transmission system 20, wherein the upper platform of the crawler 1 is provided with a group of translation guide rails 2, the group of translation guide rails 2 comprises two translation guide rails 2 which are arranged in parallel, the translation guide rails 2 are longitudinally arranged along the crawler 1, and the lower sliding table 3 is arranged between the translation guide rails 2 and is arranged in parallel with the translation guide rails 2; the balance frame 4 comprises a bottom frame 5 and upright frames 6, the upright frames 6 are respectively arranged on the left side and the right side of the upper part of the bottom frame 5, and the two groups of upright frames 6 are parallel to each other and parallel to the translation guide rail 2; the lower part of the bottom frame 5 is provided with a sliding connecting piece 7, and the sliding connecting piece 7 is connected with the translation guide rail 2 in a sliding way; the lower part of the bottom frame 5 is simultaneously connected with a sliding seat of the lower sliding table 3, and the sliding seat moves on the lower sliding table 3 to drive the balance frame 4 to move along the translation guide rail 2; the upper sliding table 8 is fixed on the bottom frame 5 of the balance frame 4 and positioned between the two groups of upright frames 6, and the upper sliding table 8 and the lower sliding table 3 are arranged in parallel; bearing supports 9 are respectively arranged above the two groups of upright frames 6 of the balance frame 4, a rotating shaft fixing seat 11 is arranged at the lower part of the objective table 10, a rotating shaft 12 is arranged on the rotating shaft fixing seat 11, the rotating shaft 12 is transversely arranged along the objective table 10, and two ends of the rotating shaft 12 are connected with the bearing supports 9 on the upright frames 6 at two sides of the balance frame 4 through bearings; a first fixed hinged support 13 is arranged on a sliding seat of the upper sliding table 8, a second fixed hinged support 14 is arranged at one longitudinal end of the lower part of the object stage 10, a connecting rod 15 is arranged between the first fixed hinged support 13 and the second fixed hinged support 14, and two ends of the connecting rod 15 are respectively hinged with the first fixed hinged support 13 and the second fixed hinged support 14; the power supply 16, the control system 17, the motor driver 18 and the gyroscope 19 are respectively arranged on the crawler 1, the weight sensor is arranged on the objective table 10, and the power supply 16 is respectively connected with the control system 17, the motor driver 18, the gyroscope 19 and the weight sensor and provides electric energy for checking the quality of a heavy object carried on the objective table 10; the control system 17 is connected with the weight sensor, the motor driver 18 and the gyroscope 19, the control system receives the heavy material quantity information measured by the weight sensor and the inclination angle information of the carrier measured by the gyroscope 19, and outputs a control signal to the motor driver 18 through calculation, the output end of the motor driver 18 is respectively connected with the driving motors of the upper sliding table 8 and the lower sliding table 3, so that the driving motors of the upper sliding table 8 and the lower sliding table 3 are controlled to operate, and the sliding positions of the sliding seats of the upper sliding table 8 and the lower sliding table 3 are changed.

The data transmission system 20 is arranged on the crawler 1, is connected with the control system 17, and performs corresponding man-machine interaction control by receiving and transmitting data.

The two ends of the connecting rod 15 comprise fisheye bearings 21, the two ends of the connecting rod 15 are in threaded connection with the fisheye bearings 21, and are hinged with the first fixed hinged support 13 and the second fixed hinged support 14 through the fisheye bearings 21.

The control system 17 is a microcomputer, and the motor driver 18, the gyroscope 19, the weight sensor and the data transmission system 20 are all existing devices.

The control method of the upper sliding table 8 and the lower sliding table 3 is as follows:

when the carrier vehicle is in a horizontal state, the sliding seats of the upper sliding table 8 and the lower sliding table 3 are respectively positioned at initial positions, and the initial positions are certain points of the slideways of the upper sliding table 8 and the lower sliding table 3;

when the carrier vehicle runs into an uphill slope or a downhill slope in the advancing direction, the gyroscope 19 detects that the carrier vehicle generates an inclination angle theta, the control system 17 adjusts the sliding seat of the lower sliding table 3 to move above the inclination slope of the carrier vehicle in real time through the motor driver 18 according to the change of the inclination angle and the mass of the heavy object, and drives the balance frame 4 to move upwards so as to move the whole gravity upward and prevent the carrier vehicle from overturning forwards; meanwhile, the control system 17 adjusts the sliding seat of the upper sliding table 8 to move towards the lower part of the inclined slope of the loading vehicle in real time through the motor driver 18, and the loading table 10 is kept horizontal through the action of the connecting rod 15.

In the control system 17, the slide seat movement distance calculation process for the lower slide table 3 is as follows:

referring to fig. 5 and 6, a rectangular coordinate system is established with a contact point between the rear end of the track of the tracked vehicle and the ground as an origin O, the advancing direction as an x-axis, and the direction perpendicular to the x-axis as a y-axis;

mass of the carrier vehicle is m₁Mass m of the weight on the stage 10₂The coordinate C1 (x) of the center of gravity of the carrier vehicle in the horizontal state when the carrier vehicle is empty₁，y₁) C2 (x) coordinates of the center of gravity of the weight placed on the stage 10₂，y₂) Coordinate C (x) of the overall center of gravity of the carrier and the weight_c，y_c) The following relationship is satisfied:

the gravity center coordinate (x) of the heavy object carried in the process of adjusting the lower sliding table 3 is adjusted because the carrier vehicle must keep the gravity center balance and does not overturn₂，y₂) The change occurs, and the calculation formula is as follows:

y₂＝h₂+h₃+h₁ cosθ (3)

in equations (2) and (3):an initial abscissa representing the center of gravity of the weight when placed horizontally; d₁The distance of the sliding seat of the lower sliding platform 3; h is₁Is the relative distance between the center of gravity of the loaded weight and the rotating shaft 12 of the object stage 10, as shown by C₂D, the point D is the axis point of the rotating shaft; h is₂The height of the crawler, namely the height of the lower sliding platform 3 from the ground, as BE in the figure, point B is the central point of the bottom of the crawler, and point E is the central point of the upper platform of the crawler, which is equivalent to the central point of the sliding way of the lower sliding platform; h is₃The height of the balance frame 4, namely the distance between the rotating shaft 12 of the object stage 10 and the lower sliding platform 3 is shown as AD, and the point A is the point D from the foot hanging point of the upper platform of the crawler; theta is the inclination angle of the loading vehicle;

coordinate C (x) of integral gravity center of carrying vehicle and heavy object_c，y_c) Simultaneously satisfies the following relations:

x_c-y_c tanθ＝|x₁| (4)

the input gyroscope 19 measures the tilt angle theta of the carrier, and the distance d of the sliding seat movement of the lower sliding table 3 is obtained by the above equations (1) to (4)₁The sliding seat of the lower sliding platform 3 moves a distance d above the inclined slope of the carrier vehicle₁So as to keep the overall center of gravity moving upwards to keep balance;

meanwhile, referring to fig. 7, the process of calculating the moving distance of the sliding seat of the upper sliding table 8 is as follows:

in equation (5): d₂The distance of the sliding seat of the upper sliding table 8; l₁The length of the connecting rod 15, as indicated by SF; h is₄The vertical distance between the rotating shaft 12 and the sliding seat of the upper sliding table, shown as DH in the figure; l₂Is the distance, DF in the figure, between the rotating shaft 12 and the second fixed hinge support 14; theta is the inclination angle of the loading vehicle;

the input gyroscope 19 measures the inclination angle theta of the carrier vehicle, and the formula (5) obtains the moving distance d of the sliding seat of the upper sliding table 8₂The sliding seat of the upper sliding table 8 moves to the lower part of the inclined slope of the loading vehicle by a distance d₂To keep the stage horizontal.

The rotation of the object stage is described with reference to fig. 8-10 of the specification.