CN106882300B - Double-wheel self-balancing vehicle adjusted by spherical gyroscope - Google Patents
Double-wheel self-balancing vehicle adjusted by spherical gyroscope Download PDFInfo
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- CN106882300B CN106882300B CN201710240054.9A CN201710240054A CN106882300B CN 106882300 B CN106882300 B CN 106882300B CN 201710240054 A CN201710240054 A CN 201710240054A CN 106882300 B CN106882300 B CN 106882300B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
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Abstract
The invention discloses a spherical gyro-regulated double-wheel self-balancing vehicle, which comprises a front wheel device and a rear wheel device which are arranged at the front end and the rear end of a vehicle, wherein the front wheel device and the rear wheel device respectively comprise a wheel steering mechanism and a wheel driving mechanism, the vehicle frame is provided with a vehicle balancing device, the vehicle balancing device comprises a front spherical gyro mechanism and a rear spherical gyro mechanism, the front spherical gyro mechanism and the rear spherical gyro mechanism respectively comprise a spherical shell, three omnidirectional wheel sets which are uniformly distributed on the upper spherical surface and the lower spherical surface of the spherical shell respectively and circumferentially, and a gyroscope arranged in the spherical shell, each omnidirectional wheel set comprises at least three omnidirectional wheels which are arranged on corresponding wheel carriers and are contacted with the spherical surfaces, rotating shafts of every two omnidirectional wheels are connected through a universal joint, and rotating shafts of a head omnidirectional wheel and a tail omnidirectional wheel are respectively connected with a spherical shell motor and an incremental encoder for detecting the rotating speed of the omnidirectional wheels. The invention can realize in-situ vehicle-fixing balance motion, linear balance motion, turning balance motion and complex curve balance motion, and has flexible motion, variable structure, stability and reliability.
Description
Technical Field
The invention relates to a balance control technology, in particular to a spherical gyro-adjusted double-wheel self-balancing vehicle.
Background
The self-balancing vehicle is a high-tech intelligent product which controls the vehicle body to move forward and backward by utilizing the Dynamic balance principle, and the operation of the self-balancing vehicle is mainly established on a basic principle called Dynamic Stabilization. Currently, most self-balancing vehicles use a built-in precise Solid-state gyroscope (Solid-state gyroscopes) to determine the posture state of the vehicle body, calculate a proper command through a precise and high-speed central microprocessor, and drive a motor to achieve a balancing effect.
The control moment gyro technology is a technology applied to the field of aerospace, and is commonly used for adjusting the direction (attitude) of a satellite or a spacecraft in space, and the realization method is that a moment with a certain size and direction is generated by controlling the precession of an inertial flywheel system rotating at a high speed, and the moment is applied to an object (such as the satellite) so as to change the space attitude or the direction of the object.
The Lit Motors C1 are one of the products of self-balancing and moment-controlled gyroscopic technologies, have only two wheels like a motorcycle in structure, have a fully enclosed body like an automobile, and can be kept in an upright state at all times. The Lit Motors C1 is internally provided with a patent control system, and two mechanical gyro devices with the rotating speed of 5000-12000 r/m are arranged under the seat of a driver, and the two gyro devices can keep the balance of the vehicle when the vehicle stops, runs or turns; however, the two mechanical gyros of the Lit Motors C1 are horizontally installed, and can only precess in a single direction in the pitch direction, and the direction of the gyro moment generated by the two mechanical gyros is limited to a certain extent.
The invention relates to an intelligent balance car with a multi-state variable structure, which is invented by Beijing post and E.C. university Guo, Song Yuan (application number is 201610524122.X), the balance car can work in a straight-driving state and a segway state, the driving states are switched according to different environments, the switching of the states is realized by rotating a fork, but the fork of the balance car can only rotate around the axis direction (vertical direction) of the fork, the degree of freedom is single, and the balance car is difficult to deal with in some complicated and changeable terrain environments; in addition, the balance vehicle mainly depends on the rotation of the wheels and the rotation of the handlebars to keep the balance of the vehicle body, and the vehicle body is not provided with a special balance adjusting mechanical device, so the balance range and the load capacity of the balance vehicle need to be further improved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the spherical gyro-adjusted double-wheel self-balancing vehicle which is suitable for various road conditions and walking environments and has high mechanism stability.
The technical scheme includes that the front wheel device and the rear wheel device are arranged at the front end and the rear end of a frame, the front wheel device and the rear wheel device comprise a wheel steering mechanism and a wheel driving mechanism, the frame is provided with a vehicle balancing device, the vehicle balancing device comprises a front spherical gyro mechanism and a rear spherical gyro mechanism, the front spherical gyro mechanism and the rear spherical gyro mechanism comprise spherical shells, three omnidirectional wheel sets which are circumferentially and uniformly distributed on the upper spherical surface and the lower spherical surface of the spherical shells respectively, and gyroscopes arranged in the spherical shells, each omnidirectional wheel set comprises at least three omnidirectional wheels which are arranged on corresponding wheel carriers and contacted with the spherical surfaces of the spherical shells, rotating shafts of every two omnidirectional wheels are connected through universal joints, and rotating shafts of the head omnidirectional wheel and the tail omnidirectional wheel are respectively connected with a spherical shell motor and an incremental encoder for detecting the rotating speed of the omnidirectional wheels.
One structure of the wheel driving mechanism comprises a fork and wheels, wherein the wheels are arranged in left and right fork arms at the lower part of the fork, and the fork arms are provided with a walking motor for driving the wheels to rotate and an incremental encoder for detecting the rotating speed of the wheels.
One structure of the wheel steering mechanism comprises a fixed frame, a movable frame and a shaft seat, wherein the fixed frame is arranged at the end of a vehicle frame, the movable frame is arranged in the fixed frame through a front rotating mechanism and a rear rotating mechanism, the shaft seat is arranged in the movable frame through a left rotating mechanism and a right rotating mechanism, a fork shaft at the upper part of the fork penetrates through the shaft seat to be arranged, and a steering motor for rotating the fork and an absolute encoder for detecting the rotation angle of the fork are arranged on the shaft seat; the fixed frame is provided with a left-right tilting motor for rotating the movable frame and an absolute encoder for detecting the rotating angle of the movable frame; the movable frame is provided with a front and back tilting motor of a rotating shaft seat and an absolute encoder for detecting the rotating angle of the shaft seat.
One structure of the gyroscope comprises a gyroscope rotor, wherein the upper shaft end and the lower shaft end of the gyroscope rotor are installed through a bearing mechanism, one shaft end of the gyroscope rotor is connected with a gyroscope motor, and the other shaft end of the gyroscope rotor is connected with an incremental encoder for detecting the rotating speed of the gyroscope rotor.
The invention has the beneficial effects that:
1. the double-wheel self-balancing vehicle regulated by the spherical gyroscope can realize in-situ vehicle-fixing balance motion, linear balance motion, turning balance motion and complex curve balance motion.
2. According to the invention, the two spherical gyro mechanisms are arranged on the frame of the balance car, and the two spherical gyro mechanisms generate complementary torque or generate torque to be superposed on the car body, so that the stability of the balance car during balance movement can be enhanced, the time for the car body to reach balance can be shortened, the self-adjusting capability of the balance car is improved, the balance effect of the balance car is enhanced, and the balance car can adapt to walking in different road conditions.
3. The wheel steering mechanism can rotate in any spatial direction, the center of gravity of a vehicle body can be lowered and the position of the center of gravity can be adjusted through corresponding rotation according to actual requirements during balanced movement, and the self-balancing vehicle can work in a longitudinal state (a bicycle state), a transverse state (a Saggerwell state), other states and the characteristics of flexibility, changeability and strong adaptability are embodied.
4. The six omnidirectional wheel sets act on the spherical shell together, so that the direction of the rotating shaft of the gyro rotor in the spherical shell can be changed randomly, the spherical gyro mechanism can generate moment in any direction in space, the moment can be reasonably applied to the balance car, and the stability of the balance car is greatly improved.
Description of the drawings:
fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of the wheel device and the spherical gyro mechanism in the embodiment of fig. 1.
Fig. 3 is a side view of fig. 2.
Fig. 4 is a top view of fig. 2.
Fig. 5 is a schematic structural view of the movable frame and the shaft seat in fig. 2.
Fig. 6 is a schematic view of the interior of the spherical shell of fig. 2.
Drawing number identification: 1. a frame; 2. a spherical shell; 3. a gyro rotor; 4. a wheel carrier; 5. an omnidirectional wheel; 6. a universal joint; 7. a spherical shell motor; 8. an incremental encoder; 9. a spherical gyro mechanism; 10. a fork; 11. a wheel; 12. a traveling motor; 13. a fixed mount; 14. a movable frame; 15. a shaft seat; 16. an absolute encoder; 17. a steering motor; 18. a left-right tilting motor; 19. a forward and backward tilting motor; 20. a gyro motor; 21. a rotating mechanism; 22. and (3) a bracket.
Detailed Description
The technical solution of the present invention is further explained with reference to the embodiments shown in the drawings.
The invention discloses a spherical gyro-adjusted double-wheel self-balancing vehicle, which adopts the technical scheme that the vehicle comprises a vehicle frame 1, wherein front and rear wheel devices are symmetrically arranged at the front and rear ends of the vehicle frame 1, spherical gyro mechanisms 9 are symmetrically arranged in the front and rear parts of the vehicle frame 1, and each wheel device comprises a wheel steering mechanism and a wheel driving mechanism, as shown in figure 1.
The spherical gyro mechanism 9 comprises a spherical shell 2 and a gyroscope arranged in the spherical shell 2, the spherical shell 2 is driven to rotate in all directions by an upper driving piece and a lower driving piece (which are respectively corresponding to an upper hemispherical shell surface and a lower hemispherical shell surface), each driving piece comprises three omnidirectional wheel sets which are uniformly distributed on the circumference (each omnidirectional wheel set is positioned on a corresponding vertical surface), each omnidirectional wheel set comprises three omnidirectional wheels 5 which are arranged through corresponding wheel carriers 4 and are contacted with the spherical shell 2, a rotating shaft of a first omnidirectional wheel 5 and a rotating shaft of a second omnidirectional wheel 5, the rotating shaft of the second omnidirectional wheel 5 is connected with the rotating shaft of the third omnidirectional wheel 5 through a universal joint 6, the rotating shaft of the first omnidirectional wheel 5 is connected with an output shaft of a spherical shell motor 7 arranged on a wheel carrier 4, the rotating shaft of the third omnidirectional wheel 5 is connected with the rotating shaft of an incremental encoder 8 arranged on the wheel carrier 4, and each wheel carrier 4 is arranged at a corresponding position in the frame 1; the gyroscope comprises a horizontal gyroscope rotor 3, the upper end and the lower end of a rotating shaft of the gyroscope rotor 3 are respectively installed in place through an upper bearing mechanism and a lower bearing mechanism inside the spherical shell 2, the upper end of the rotating shaft of the gyroscope rotor 3 is directly driven by a gyroscope motor 20, and the lower end of the rotating shaft of the gyroscope rotor 3 is connected with an absolute encoder 16, as shown in figures 2, 3 and 6.
The wheel driving mechanism comprises a wheel 11 and a fork 10, the wheel 11 is arranged in place in a left fork arm and a right fork arm at the lower part of the fork 10, a walking motor 12 is arranged on one fork arm through a support 22, the walking motor 12 drives the wheel 11 to rotate through a reduction gear transmission pair arranged in the support 22, and an absolute encoder 16 for detecting the rotating speed of the wheel 11 in a gear transmission mode is further arranged on the support 22, as shown in fig. 2 and 3.
The wheel steering mechanism comprises a fixed frame 13, a movable frame 14 and a shaft seat 15 for positioning and mounting a fork shaft at the upper part of the fork 10, the fixed frame 13 is fixedly mounted at the corresponding end of the frame 1, the movable frame 14 is arranged in the fixed frame 13 and mounted through a front rotating mechanism 21 and a rear rotating mechanism 21, a left-right tilting motor 18 is arranged on the fixed frame 13, the left-right tilting motor 18 is connected with a rotating mechanism 21 of the movable frame 14 in a speed reduction gear transmission mode, the forward and reverse rotation of the left-right tilting motor 18 drives the movable frame 14 to swing left and right, and an incremental encoder 8 connected with the rotating mechanism 21 in a gear transmission mode is further arranged on the fixed frame 13 so as to detect the swing angle of the movable frame 14; the shaft seat 15 is arranged in the movable frame 14 and is installed through a left rotating mechanism 21 and a right rotating mechanism 21, a forward and backward tilting motor 19 is arranged on the movable frame 14, the forward and backward tilting motor 19 is connected with one rotating mechanism 21 of the shaft seat 15 in a speed reduction gear transmission mode, the forward and backward rotation of the forward and backward tilting motor 19 drives the shaft seat 15 to swing forward and backward, and an incremental encoder 8 connected with the rotating mechanism 21 in a gear transmission mode is further arranged on the movable frame 14 to detect the swing angle of the shaft seat 15; the fork shaft at the upper part of the fork 10 is installed in place in the shaft seat 15 in a penetrating mode, the shaft seat 15 is provided with a steering motor 17, the steering motor 17 is connected with the fork shaft in a speed reduction gear transmission mode, the forward and reverse rotation of the steering motor 17 drives the fork 10, namely the wheel 11 to steer, and the shaft seat 15 is further provided with an incremental encoder 8 connected with the fork shaft in a gear transmission mode to detect the steering angle of the wheel 11, as shown in fig. 2, 3, 4 and 5.
The technical scheme of the invention also comprises an electric control device which comprises an industrial personal computer serving as an upper computer, a plurality of lower computers taking DSP chips as a control circuit, a plurality of external sensors and a power supply and is used for collecting motion parameters of each part of the balance car and controlling the rotation of a plurality of motors of the balance car so as to achieve the aim of controlling the motion of the balance car.
The invention has three motion states:
a lateral movement state (the segway state), a longitudinal movement state (the bicycle state) and a movement state in which the two wheels 11 are parallel and form a certain angle with the frame 1. When the self-balancing vehicle is in a transverse motion state, the two wheels 11 are vertical to the front and rear directions of the frame 1; in the longitudinal movement state, one wheel 11 is parallel to the front and rear directions of the frame 1, and the other wheel forms a certain angle with the front and rear directions of the frame 1 and rotates in the angle range to assist the balance of the two-wheel vehicle system.
When the self-balancing vehicle is in a transverse state (a Saggerwind state) and walks on a plane, the direction of the spherical gyro mechanism 9 is adjusted to generate moment vectors parallel to the left and right directions of the vehicle frame 1, so that the pitching balance of the self-balancing vehicle is realized; when climbing uphill, the direction of the spherical gyro mechanism 9 is adjusted to generate a moment vector parallel to the left and right directions of the frame, and the moment can make the self-balancing vehicle pitch balanced and have certain adhesive force to the ground so as to realize the purpose that the self-balancing vehicle can climb uphill and balance in the pitch direction; when the self-balancing vehicle runs downhill, the direction of the spherical gyro mechanism 9 is adjusted to generate a moment vector parallel to the left direction and the right direction of the vehicle frame 1, and the moment can enable the self-balancing vehicle to be in pitching balance and have certain adhesive force to the ground, so that the self-balancing vehicle can run downhill and be in pitching balance.
When the self-balancing vehicle is in a longitudinal motion state (a bicycle state) and walks on a plane, the direction of the spherical gyro mechanism 9 is adjusted to generate moment vectors parallel to the left and right directions of the frame 1 so as to realize the lateral balance of the self-balancing vehicle; when climbing uphill, the direction of the spherical gyro mechanism 9 is adjusted to generate resultant torque vectors which are parallel to the uphill direction and vertical to the left and right directions of the frame 1, the torque vector which is parallel to the uphill direction is used for ensuring the lateral balance of the self-balancing vehicle, the torque vector which is vertical to the left and right directions of the frame 1 is used for ensuring the certain adhesive force of the vehicle body to the ground, and the resultant torque vectors of the two can realize the uphill and lateral balance of the self-balancing vehicle; when the self-balancing vehicle runs downhill, the direction of the spherical gyro mechanism 9 is adjusted to generate a resultant torque vector parallel to the downhill direction and perpendicular to the left and right directions of the vehicle frame 1, wherein the torque vector parallel to the downhill direction is used for ensuring lateral balance of the self-balancing vehicle, and the torque vector perpendicular to the left and right directions of the vehicle frame 1 is used for ensuring certain adhesive force of the vehicle body to the ground, so that the self-balancing vehicle can run downhill and laterally balance.
Claims (2)
1. The double round self-balancing car that spherical top was adjusted, including installing in frame (1) preceding, the back wheel device of front and rear end, preceding, back wheel device all includes wheel steering mechanism and wheel actuating mechanism, be equipped with vehicle balancing unit on frame (1), its characterized in that:
the vehicle balancing device comprises a front spherical gyro mechanism (9) and a rear spherical gyro mechanism (9), wherein each of the front spherical gyro mechanism and the rear spherical gyro mechanism comprises a spherical shell (2), three omnidirectional wheel sets which are respectively and uniformly distributed on the upper spherical surface and the lower spherical surface of the spherical shell (2) in a circumferential manner, and a gyroscope arranged in the spherical shell (2), each omnidirectional wheel set comprises at least three omnidirectional wheels (5) which are arranged on corresponding wheel carriers (4) and are in contact with the spherical surfaces, rotating shafts of every two omnidirectional wheels (5) are connected through a universal joint (6), and rotating shafts of a head omnidirectional wheel (5) and a tail omnidirectional wheel (5) are respectively connected with a spherical shell motor (7) and an incremental encoder (8) for detecting the rotating speed of the omnidirectional wheels (5);
the wheel driving mechanism comprises a fork (10) and wheels (11), the wheels (11) are arranged in left and right fork arms at the lower part of the fork (10), and walking motors (12) for driving the wheels (11) to rotate and incremental encoders (8) for detecting the rotating speed of the wheels (11) are arranged on the fork arms;
the wheel steering mechanism comprises a fixed frame (13), a movable frame (14) and a shaft seat (15), wherein the fixed frame (13) is arranged at the end of the frame (1), the movable frame (14) is arranged in the fixed frame (13) through a front rotating mechanism (21) and a rear rotating mechanism (21), the shaft seat (15) is arranged in the movable frame (14) through a left rotating mechanism (21) and a right rotating mechanism (21), a fork shaft at the upper part of the fork (10) penetrates through the shaft seat (15) to be arranged, and a steering motor (17) for rotating the fork (10) and an absolute encoder (16) for detecting the rotation angle of the fork (10) are arranged on the shaft seat (15); a left-right tilting motor (18) for rotating the movable frame (14) and an absolute encoder (16) for detecting the rotation angle of the movable frame (14) are arranged on the fixed frame (13); the movable frame (14) is provided with a forward and backward tilting motor (19) of a rotating shaft seat (15) and an absolute encoder (16) for detecting the rotation angle of the shaft seat (15).
2. The global gyro regulated two wheeled self balancing vehicle of claim 1, wherein: the gyroscope comprises a gyroscope rotor (3), the upper shaft end and the lower shaft end of the gyroscope rotor (3) are installed through a bearing mechanism, one shaft end of the gyroscope rotor (3) is connected with a gyroscope motor (20), and the other shaft end is connected with an absolute encoder (16) for detecting the rotating speed of the gyroscope rotor (3).
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| CN201710240054.9A CN106882300B (en) | 2017-04-13 | 2017-04-13 | Double-wheel self-balancing vehicle adjusted by spherical gyroscope |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107562067A (en) * | 2017-09-11 | 2018-01-09 | 广东工业大学 | The control method and system of a kind of vehicle balance |
| CN107628175B (en) * | 2017-09-30 | 2022-10-28 | 桂林电子科技大学 | Ball wheel steering handlebar-free self-balancing bicycle |
| CN108357603A (en) * | 2018-03-02 | 2018-08-03 | 骅星科技发展有限公司 | A kind of stabilizer and Self-Balancing vehicle |
| CN111227707B (en) * | 2018-03-29 | 2021-06-04 | 温州伊诺韦特科技有限公司 | Control method of window cleaning robot |
| CN108454725A (en) * | 2018-04-08 | 2018-08-28 | 五邑大学 | A kind of coaxial two wheels robot with multi-motion modes |
| CN109305244A (en) * | 2018-10-23 | 2019-02-05 | 桂林电子科技大学 | More structure state hanging-connecting wheel type traveling mechanisms |
| CN111498649A (en) * | 2020-04-26 | 2020-08-07 | 波士顿电梯（湖州）有限公司 | Balancing device suitable for no computer lab car |
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Application publication date: 20170623 Assignee: Guangxi Cuizhi Rongchuang Technology Co.,Ltd. Assignor: GUILIN University OF ELECTRONIC TECHNOLOGY Contract record no.: X2023980046599 Denomination of invention: Double wheel self balancing vehicle with spherical gyroscope adjustment Granted publication date: 20220722 License type: Common License Record date: 20231108 |
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