CN101269683A - Balanced type wheelbarrow base on attitude control - Google Patents
Balanced type wheelbarrow base on attitude control Download PDFInfo
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- CN101269683A CN101269683A CNA2008100007448A CN200810000744A CN101269683A CN 101269683 A CN101269683 A CN 101269683A CN A2008100007448 A CNA2008100007448 A CN A2008100007448A CN 200810000744 A CN200810000744 A CN 200810000744A CN 101269683 A CN101269683 A CN 101269683A
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Abstract
The invention provides a balance type small car with a gesture self-adjusting mode. The small car comprises three parts, the lower part is a supporter O of wheels and can move on a basic plane. According to different adjustment directions, the part revolving around a central axis of the wheels in a front-back direction is a controlled unit A, and a part revolving around the axle vertical to the wheel axis in a right-left direction is a controlled unit B. Adjustment units arranged between the supporter O and the controlled unit A and between the controlled unit A and the controlled unit B adjust the positions of the gravity centers of the controlled unit A and the controlled unit B on a front-back plane and a right-left plane, so that the position of the gravity center of the small car can be controlled in a limited range. A gesture sensor arranged at the center of the wheels is a gyroscope device which can provide accurate signals of orientation, horizontal angle, angular velocity, angular acceleration, etc. A controller adjusts the controlled unit A and the controlled unit B according to the signals provided by the gyroscope to keep the dynamic balance of the small car.
Description
Relate to the field:
The present invention relates to a kind of dilly, particularly the bogie type single wheel vehicle of controlling based on attitude by gyro mechanism control body gesture.This vehicle moves in carrying user's mode, and the driver moves with the steering handle by health and controls vehicle body.
Technical background:
Gyroscope is a kind of both ancient and very vital instrument, since coming out, first real practical gyroscopic instrument had for more than halfth century, but up to now, gyroscope is still attracting people that it is studied, and this is because the characteristic that itself has determines.The topmost basic feature of gyroscope is its stability and precession.People find for a long time that from the ground gyro that children play the gyro of high speed revolution can vertically not fall and keeps perpendicular to the ground, and this has just reflected the stability of gyro.
Gyroscopic instrument is to be used for navigation the earliest, but along with science and technology development, it also is widely used in the aerospace cause.Gyroscopic instrument not only can be used as indicating instrument, and the more important thing is that it can be used as a end instr in the autonomous cruise speed system, promptly can be used as signal transducer.As required, gyroscopic instrument can provide signals such as orientation, level, position, speed and acceleration/accel accurately, so that chaufeur or control sail bodies such as aircraft, naval vessel or space shuttle by certain airline operation with preset device, and in the guidance of sail bodies such as guided missile, satellite vehicle or space exploration rocket, then directly utilize these signals to finish the attitude control and the track control of sail body.As stabiliser, gyroscopic instrument can make train travel on single track, can reduce boats and ships waving in stormy waves, and the relative ground of the photographic camera that is installed on aircraft or the satellite is stablized or the like.This shows that the field of application of gyroscopic instrument is quite widely.
These preceences of gyroscopic instrument are also having a wide range of applications it aspect the attitude control of vehicle.
Summary of the invention:
The purpose of this invention is to provide a kind of bogie type single wheel vehicle based on attitude control.
According to a preferred embodiment of the invention, this bogie type dolly is mixed with attitude automatic compensation mode.This vehicle comprises three parts, and the bottom is the supporting mass O of a wheel, can move on basic plane.Be installed on the supporting mass O is can controlled entity with barycenter abbreviate controlled unit as.By the difference of regulating direction, part around wheel axis (front and back to) rotation comprises the wheel drive drop-gear box, be installed in the motor on the drop-gear box, with the continuous support of drop-gear box, be installed in the platform drive motor in the support, and another platform that is installed in the support front end drives drop-gear box and criss-cross connector, platform, be fixed on the bracing frame on the platform, the seat that links to each other with platform etc. for controlled first A with comprise the criss-cross connector around the vertical axle of wheel axis (about to) rotating part, platform, the seat that is fixed on the bracing frame on the platform and links to each other with platform etc. is controlled first B, and obviously A comprises B in the present embodiment.Adjusting unit is being set between supporting mass O and the controlled first A and between controlled first A and controlled first B, and the center of gravity of regulating controlled first A and B is in the position on plane, all around, and the centroid position that just can realize vehicle is in the limited range may command.Attitude sensor is installed in the center of wheel, is a gyroscope equipment, and signals such as orientation, level, angle, speed and acceleration/accel accurately are provided.The signal that controller provides according to gyroscope is adjusted controlled first A and controlled first B, keeps the dynamical equilibrium of vehicle.
The motion of vehicle is to be controlled by operator's input, and this input comprises one of following dual mode at least:
1, operator's input device.According to operator's operation, input media sends incoming signal and gives controller, the driver drives vehicle ' of controller control wheel, and this input media can be the various sensors that can reflect operator's operation information.
2, the operator tilts.Attitude sensor sends the detected attitude signal that is produced by operator's inclination to controller in the car, the attitude that the actuator of controller control wheel and platform driver are adjusted vehicle, the dynamical equilibrium of maintenance vehicle.
According to 26S Proteasome Structure and Function, this bogie type dolly comprises with the lower part to be formed:
The wheel drive unit: hub-type drop-gear box and wheel drive motors constitute the wheel drive unit.One drop-gear box is the collar plate shape structure, and gear case is a semi-closed structure, and the gear outer cylinder also is a gear case external surface, under a gear that the contains internal tooth drive of portion's driving gear within it after speed change around its axle center rotation; One spoke is with the wheel of speed reduction gear box outer cylinder captive joint, and wheel rotates together with gear; At least one wheel drive motors is installed in an end face of drop-gear box, and motor shaft is with the axle drive shaft captive joint of driving gear.The drop-gear box center is provided with a cavity, and the inwall of drop-gear box center cavity supports a rotatable criss-cross connector.
The platform driver element: a support is fixed on drop-gear box end face both sides, and support fuses with the drop-gear box end face.One platform drive motor is installed in support one end; One platform drives drop-gear box, and casing is fixed on the support of platform drive motor, and driving gear shaft is with the motor shaft captive joint; One platform, flat-bed the place ahead is with the driven gear shaft captive joint of drop-gear box, platform is crossed over the wheel both sides, flat-bed middle part is with criss-cross connector both sides captive joint, the platform drive motor can drive platform around the criss-cross connector be bearing in axle in the hub-type drop-gear box and the driven gear shaft of drop-gear box rotates.
Turning control cell: a bracing frame, bracing frame are fixed on the flat-bed front end, carrying operator part weight.One seat, this seat is fixedly supported on the platform, and the seat rotates with platform.The tire of wheel has easily deformable arc surface, helps the adjustment of vehicle heading, and tire has a contact area with ground, is more conducive to vehicle stabilization.Turning to of vehicle is to rotate relative to the rotating band dynamic sensor of strut bar and realize by being installed in handle on the strut bar, handle left-handed turning sensor sends left rotaring signal and gives controller, controller generating run instruction control platform drive motor drives platform and turns left, and vehicle's center of gravity moves to left and gets final product turnon left.Otherwise handle right-hand turning sensor sends right turn signal and gives controller, and controller generating run instruction control platform drive motor drives platform and turns right, and vehicle's center of gravity moves to left and gets final product right-hand corner.
Attitude adjustment unit: attitude sensor, treater and actuator.One is installed in the attitude sensor in the criss-cross connector central cassette, measures roll angle, angular velocity in roll and the roll angle acceleration/accel of wheelbarrow; Wheel driver with wheel drive motors link, platform driver links with the platform drive motor; At least one controller links with actuator, the core of controller is a treater, treater receives and handles operator's input and attitude feedback signal, generate control command control wheel driver and platform driver through comparison, computing, realize operator's desired orientation and speed, and keep the balance and stability of dolly in this course.
Description of drawings:
Fig. 1 is the design sketch based on the bogie type wheelbarrow of attitude control of an embodiment;
Fig. 2 is based on the cutaway view of the bogie type wheelbarrow of hub-type change speed gear box, and one embodiment of the invention have effectively utilized its content;
Fig. 3 is based on the lateral plan of the bogie type wheelbarrow of hub-type change speed gear box, and one embodiment of the invention have effectively utilized its content;
Fig. 4 is the lateral plan that travels of bogie type wheelbarrow;
Fig. 5 is the left steering control process figure of bogie type wheelbarrow.
Fig. 6 is the right steering control process figure of bogie type wheelbarrow.
Fig. 7 is based on the principle of work block diagram of the bogie type wheelbarrow of attitude control.
The detailed description of the specific embodiment:
Fig. 1 shows and totally is designated 15 bogie type dilly, this dolly comprises hub-type drop-gear box 9, through the wheel 10 of spoke with drop-gear box cylindrical captive joint, symmetry is installed in the motor 14 on hub-type drop-gear box both sides, be fixed on the support 15 on hub-type drop-gear box both sides, be installed in the motor 16 of support front end, the drop-gear box 17 that rack-mount driving gear shaft is fixedly linked with motor shaft, with the continuous bracing frame 13 of the driven shaft of drop-gear box 17, be installed in the handle 19 on the bracing frame, sensor 12, one user interfaces 11 that detect handle homophase post position deviation are installed on the handlebar 19, the running state of indication vehicle.Be installed in the criss-cross connector 7 at hub-type drop-gear box center, with the platform 6 that criss-cross connector 7 links to each other, the battery that is installed under the platform closes 5 compositions such as grade.Behaviour is sitting on the seat 4 for person 18, and both hands are held the handle 19 on the bracing frame 13, can advance, retreat or turn to by the smooth ride vehicle.
Fig. 2 and Fig. 3 are respectively drawing in side sectional elevation and the lateral plan based on the bogie type dilly of hub-type change speed gear box, one hub-type drop-gear box 9, it is characterized in that drop-gear box is the collar plate shape structure, the shell cylinder is one the outside face of the gear 21 of internal tooth to be arranged, after speed change, rotate under the drive of the driving gear 22 of portion within it around the axle center, both sides one surface bearing 24 of gear 21 connects with drop-gear box two end cap 26, and drop-gear box 9 centers are provided with a cavity; Spoke is with spoke 25 captive joints of the same wheel 10 of drop-gear box 9 cylindricals, and wheel rotates together with external gear 21; Wheel left and right driving motor 14 symmetries are installed in the both sides of drop-gear box 9, and motor shaft is with the axle drive shaft captive joint of driving gear 22 (or a wheel drive motors 14 be installed in one side of drop-gear box 9, motor shaft is with the axle drive shaft captive joint of driving gear 22); One is installed in the criss-cross connector 7 in drop-gear box 9 center cavities, and there is a mounting box at the center of cross joiner 7, and two concentric shafts of criss-cross connector 7 flexibly connect through the interior ring of bearing with drop-gear box 9; One is installed in the attitude sensor 35 in criss-cross connector 7 central cassette, measures roll angle, cireular frequency and the angular acceleration of wheelbarrow; One is installed in the platform drive motor 39 in the electric machine support 15, and electric machine support 15 is with hub-type drop-gear box 9 both ends of the surface captive joints, and platform drive motor 39 constitutes one with the both ends of the surface of drop-gear box 9; One drop-gear box 38, casing are fixed on the support 15 of platform drive motor 39, and the axle of driving gear 31 is with the axle captive joint of motor 39.One platform 6, the place ahead of platform 6 is with the axle captive joint of the driven gear 32 of drop-gear box 38, and the middle part of platform 6 is fixedly connected with the crossbeam on cross joiner 7 both sides, and platform 6 can be around the axle of cross joiner 7 and 32 rotations of driven gear of drop-gear box 38; Wheel driver (end illustrates) links with wheel drive motors 14 and platform driver (end illustrates) links with platform drive motor 39; One controller (end illustrates) links with actuator, the core of controller is a treater, treater receives and handles operator's input and attitude and returns feedback signal, treated device computing generating run instruction control actuator, realize operator's desired orientation and speed, and keep the balance and stability of dolly in this course; One bracing frame 13, bracing frame 13 is fixed on the front end of platform 6, the aiding support operator.At least comprise that two battery cases 5 are installed in the below of wheel both sides platform 6 respectively.Also comprise a seat 16, this seat 16 is fixedly supported on the platform 6, and the seat rotates with platform 6.The tire of wheel 10 has easily deformable arc surface, helps the adjustment of vehicle heading, and tire has a contact area with ground, is more conducive to vehicle stabilization.
Fig. 4 is the motoring condition side figure of bogie type dilly, when cyclist's 18 body forward tilt, the center of gravity reach, the platform 6 of vehicle is with lift-over forward, and attitude sensor will detect this variation, produces roll angle, angular velocity in roll and angular acceleration signal, after treater reads signal, to compare, computing generates control command, sends to actuator to start or speed-up command, then the drive wheels motor is to overtake for actuator.When speed with the flat-bed inclination angle at once, vehicle promptly remains a constant speed and travels.When cyclist's 18 healths recede, move after the center of gravity, the platform 6 of vehicle is with lift-over backward, attitude sensor will detect this variation, produce cooresponding roll angle, angular velocity in roll and angular acceleration signal, after treater reads signal, will compare, computing produces control command, send the order of slowing down or travelling backward to actuator, actuator then drive wheels motor slows down or travels backward.To overtake the time, when the cyclist receded suddenly and fast, vehicle can produce the self-actuating brake braking maneuver at vehicle; When vehicle travel backwards, when the cyclist turned forward suddenly and fast, vehicle also can produce the self-actuating brake braking maneuver
Explain the turnon left and the right-hand corner operation of vehicle 8 with reference to figure 5, Fig. 6.Vehicle body when the vehicle body when Fig. 5 illustrates turnon left when seeing from behind, Fig. 6 illustrate right-hand corner when seeing from behind.As Fig. 5 (A) when vehicle 8 turnon lefts, if driver 18 is leniently or suddenly with steering handle 19 ports, then steering angle sensor 12 detects the steering direction and the steering angle of steering handle 19, and generation turn sign, treater reads detected signal and produces departure through comparison, computing, size and pace of change according to departure, treater will generate corresponding operating order, the control platform actuator, platform driver then transmits energy to the platform drive motor, drive platform lift-over left, vehicle's center of gravity moves to left, and vehicle turns to left and travels.When the cireular frequency that turns to was consistent with cyclist's desired orientation, vehicle kept balance, and at this moment, the gyro torque that Vehicular turn produces keeps balance with the component moment in the sensing steering direction center of circle that the vehicle's center of gravity skew produces, shown in Fig. 5 (B).Finish when turning, the cyclist resets handle 19, and generation return information, treater reads detected signal and produces departure through comparison, computing, size and pace of change according to departure, treater will produce corresponding operating order, the control platform actuator, platform driver then transmits energy to the platform drive motor, drive platform lift-over to the right, vehicle's center of gravity moves to right, shown in Fig. 5 (C), at this moment the gyro torque of vehicle is greater than the component moment in the sensing steering direction center of circle of vehicle's center of gravity skew generation, and vehicle returns upright state.As Fig. 6 (A) when vehicle 8 right-hand corners, if driver 18 leniently or suddenly turns to the right side with steering handle 19, then steering angle sensor 12 detects the steering direction and the steering angle of steering handle 19, and produce and to turn to breath number, treater reads detected signal and produces departure through comparison, computing, size and pace of change according to departure, treater will produce corresponding operating order, the control platform actuator, platform driver then transmits energy to the platform drive motor, drive platform lift-over to the right, vehicle's center of gravity moves to right, and vehicle travels to right-hand turning to.When the cireular frequency that turns to was consistent with cyclist's desired orientation, vehicle kept balance, and at this moment, the gyro torque that Vehicular turn produces keeps balance with the component moment in the sensing steering direction center of circle that the vehicle's center of gravity skew produces, as Fig. 6 (B).Finish when turning, the cyclist resets handle 19, and generation return information, treater reads detected signal and produces departure through comparison, computing, size and pace of change according to departure, treater will produce corresponding operating order, the control platform actuator, platform driver then transmits energy to the platform drive motor, drive platform lift-over left, vehicle's center of gravity moves to left, as Fig. 6 (C), at this moment the gyro torque of vehicle is greater than the component moment in the sensing steering direction center of circle of vehicle's center of gravity skew generation, and vehicle returns upright state.
Fig. 7 is based on the fundamental diagram of the bogie type dilly of attitude control, considers safety and reliability, and car load adopts dual processor, the moving structure of 4 wheel driven, and this structure has been considered sufficient redundancy.As the system of simplifying, treater and actuator can reduce half.Show among the figure, the cyclist has two kinds of input modes to control dolly, and the one, attitude changes, and cyclist's attitude changes will cause the platform lift-over, attitude sensor will detect this variation and send information to treater, and treater transmits energy and makes the attitude response to controlled unit through the s operation control actuator.It two is that the cyclist handles input media such as steering hardware etc., can detect this input such as angular transducer, and at this moment treater can be read the information of sensor output, generates control command through computing, and Control Driver is transmitted energy to wheel.
The replacement scheme of wheel drive mechanism: the drive motor that can adopt a special wheel hub motor to replace the hub-type drop-gear box and be installed on it.The shell of wheel hub motor is a rotor, and the rotor of motor is but fixed, and shell is with wheel spoke captive joint and rotation together, and the rotor homostasis electric machine support captive joint of motor does not rotate.Be provided with the cavity that the criss-cross connector is installed in the motor, the criss-cross connector flexibly connects with cavity inner wall.
These illustrated embodiment of the present invention just are used for based on same basic theories, it will be appreciated by those skilled in the art that the changes and improvements of many kinds of forms for example.Within protection scope of the present invention that all these changes and improvements all are encompassed in appended claims and are limited.
Claims (6)
1, a kind of bogie type wheelbarrow is characterized in that this dolly comprises:
A. wheel drive unit: hub-type drop-gear box and wheel drive motors constitute the wheel drive unit.One drop-gear box is the collar plate shape structure, and gear case is a semi-closed structure, and the gear outer cylinder also is a gear case external surface, rotates around the axle center after speed change under a gear that the contains internal tooth drive of portion's driving gear within it; One spoke is with the wheel of speed reduction gear box outer cylinder captive joint, and wheel rotates together with gear; At least one wheel drive motors is installed in an end face of drop-gear box, and motor shaft is with the axle drive shaft captive joint of driving gear.The drop-gear box center is provided with a cavity, and the inwall of drop-gear box center cavity supports a rotatable criss-cross connector.
B. platform driver element: a support is fixed on drop-gear box end face both sides, and support fuses with the drop-gear box end face.One platform drive motor is installed in support one end; One platform drives drop-gear box, and casing is fixed on the support of platform drive motor, and driving gear shaft is with the motor shaft captive joint; One platform, flat-bed the place ahead is with the driven gear shaft captive joint of drop-gear box, platform is crossed over the wheel both sides, flat-bed middle part is with criss-cross connector both sides captive joint, the platform drive motor can drive platform around the criss-cross connector be bearing in axle in the hub-type drop-gear box and the driven gear shaft of drop-gear box rotates.
C. turning control cell: a bracing frame, bracing frame are fixed on the flat-bed front end, carrying operator part weight.One seat, this seat is fixedly supported on the platform, and the seat rotates with platform.The tire of wheel has easily deformable arc surface, helps the adjustment of vehicle heading, and tire has a contact area with ground, is more conducive to vehicle stabilization.Turning to of vehicle is to rotate relative to the rotating band dynamic sensor of strut bar and control by being installed in handle on the strut bar, handle left-handed turning sensor sends left rotaring signal, the platform drive motor drives platform and turns left, and vehicle's center of gravity moves to left and gets final product turnon left, otherwise is right-hand corner.
D. attitude adjustment unit: attitude sensor, treater and actuator.One is installed in the attitude sensor in the criss-cross connector central cassette, measures roll angle, angular velocity in roll and the roll angle acceleration/accel of wheelbarrow; Wheel driver links with wheel drive motors and platform driver links with the platform drive motor; At least one controller links with actuator, and the core of controller is a treater, and treater receives and handle operator's input and attitude feedback signal, realizes operator's desired orientation and speed, and keeps the balance and stability of dolly in this course.
2, wheelbarrow as claimed in claim 1 is characterised in that to comprise that at least two battery cases are installed in flat-bed below, wheel both sides respectively that battery management system is installed in the platform.
3, wheelbarrow as claimed in claim 1 is characterised in that also to comprise a user interface.
4, wheelbarrow as claimed in claim 1 is characterised in that operator's desired orientation comprises left direction and forward/backward direction.
5, wheelbarrow as claimed in claim 1 is characterized in that the drive motor that can adopt a special wheel hub motor to replace the hub-type drop-gear box and be installed on it.
6, special wheel hub motor as claimed in claim 5 is characterized in that shell is a rotor, and shell is with wheel spoke captive joint and rotation together, and the rotor of motor does not rotate with the platform captive joint.Be provided with the cavity that the criss-cross connector is installed in the motor, the criss-cross connector flexibly connects with cavity inner wall.
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2008100007448A CN101269683A (en) | 2008-01-15 | 2008-01-15 | Balanced type wheelbarrow base on attitude control |
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| CNA2008100007448A CN101269683A (en) | 2008-01-15 | 2008-01-15 | Balanced type wheelbarrow base on attitude control |
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| CNA2008100007448A Pending CN101269683A (en) | 2008-01-15 | 2008-01-15 | Balanced type wheelbarrow base on attitude control |
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