CN102069691A - Gyro stabilized amphibious travel device - Google Patents
Gyro stabilized amphibious travel device Download PDFInfo
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- CN102069691A CN102069691A CN 201110001859 CN201110001859A CN102069691A CN 102069691 A CN102069691 A CN 102069691A CN 201110001859 CN201110001859 CN 201110001859 CN 201110001859 A CN201110001859 A CN 201110001859A CN 102069691 A CN102069691 A CN 102069691A
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- running vehicle
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- gyro
- travel device
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Abstract
The invention relates to an amphibious travel device of which the stability and the movement direction can be controlled through gyroscopic inertia and precession and belongs to the field of travelling tools. The gyro stabilized amphibious travel device comprises a shell, a main body structure, a gyro wheel, a gyro armature, a drive motor, a motion controller, a battery pack, a gear pair, a servo motor, a servo controller, a lead screw pair, support travelers, a wireless transmission radio station, a global positioning system (GPS) receiver, and blades. The key point of the invention is to provide an overall scheme of the gyro stabilized travel device. The travel device can travel on the land and the water surface, and all parts and payload are packaged in the rotary shell. The motion direction of the travel device is kept stable through high-speed rotation of the gyro wheel; the motion velocity of the travel device is controlled under the action of the gravity eccentricity of the battery pack along the motion direction; and the motion direction of the travel device is controlled through the procession of the gyro wheel on a horizontal plane which is caused by the gravity eccentricity of the battery pack along an axis direction.
Description
Technical field
The present invention relates to a kind of utilize property of gyroscope stablize and control and be adapted at land and the amphibious running vehicle of hydrogymnastic gyrocontrol formula, belong to the field of tool of travelling.
Background technology
In civil and military activity, realize and to have practical significance in water surface motion again on land by a kind of better simply instrument; In addition, some need observe surrounding environment but require and environment between have the occasion of high-seal, the autonomous or remotely controlling exercise instrument of leak free will play a significant role fully.At this demand, the present invention proposes a kind of orientation stability of gyro and amphibious running vehicle that precession is stablized and sense of motion is controlled of utilizing, and because the motion of this running vehicle and the particularity of control principle, there is not dynamic seal between this running vehicle and the surrounding environment, only there is static seal, thereby can reach very high sealing grade, be adapted at the very high occasion of sealing requirements and use.Do not see the amphibious running vehicle of the type at present both at home and abroad.
Summary of the invention
The object of the invention provides a kind of orientation stability of gyro and precession of utilizing and carries out the amphibious running vehicle that running vehicle is stable and sense of motion is controlled, and this running vehicle can be used as equipment such as detection, investigation even personnel's operation carrier, in order to finish corresponding task under particular surroundings.The characteristics of this amphibious running vehicle are: can be on land and the water surface travel, can be directly from the land locomotion to water in or directly from water, drive to land; All parts and capacity weight all are encapsulated in the shell, and between the external environment good sealing can be arranged, and are adapted at activities such as dangerous zone is surveyed, investigation; Simple in structure, be easy to control.
For solving the problems of the technologies described above, the amphibious running vehicle of gyrocontrol formula of the present invention comprises shell, agent structure, gyro rotor, gyro armature, drive motor, motion controller, battery pack, gear pair, servomotor, servo-control unit, screw pair, support traveller, transmission over radio radio station, GPS receiver, blade.Shell is the swivel that is formed around the rotation of running vehicle axis by bus, and some blades are respectively installed in two sides about shell; The housing of housing axis position and the main shaft of drive motor be fastening and sealing by screw; The gyro armature is installed on the drive motor housing, and gyro armature outside is supported on gyro rotor on the drive motor housing by pair of bearings; Agent structure and drive motor shell are connected as a whole; The agent structure lower end is connected battery pack by a pair of lead screw pair with 2 support travellers; Be screwed motion controller on the housing of battery pack top; Leading screw in the lead screw pair links to each other with servomotor by a pair of gear pair, and servomotor is by the bottom of screw retention in agent structure; Servo-control unit by screw retention near the agent structure the servomotor; Transmission over radio radio station and GPS receiver are installed in the top of agent structure.
When using this running vehicle, at first keep two side end faces of running vehicle perpendicular to the ground, this moment is because the action of gravity battery pack overhangs aircraft inside straight down, power up for then the gyro armature, start gyro rotor and make it keep high speed rotating, this moment is because the directional balance of gyro, under the condition that does not have external force to support running vehicle can be on ground or the water surface keep vertical state, i.e. side state perpendicular to the ground; When the needs running vehicle moves forwards or backwards, the controlling and driving motor makes its forward or reverse, the battery pack of agent structure bottom will produce a drive torque to shell this moment, make shell cw or left-hand revolution, when this running vehicle is positioned at ground, because the friction force effect will make running vehicle in ground surface, when this running vehicle is positioned at the water surface, because the blade and the mutual action between the water of side will make running vehicle roll at the water surface; In the running vehicle rolling process, the battery pack that is suspended on the agent structure will tilt to sense of motion slightly; When the needs running vehicle changes sense of motion, send out control command for the servo-control unit of agent structure lower end, the control servomotor rotates, the rotation of servomotor is rotated by the leading screw that gear pair drives in the lead screw pair, thereby battery pack is moved to the left or to the right along leading screw, gyro rotor is formed a moment of precession, this moment of precession causes gyro rotor to rotate in horizontal surface, and then drive whole running vehicle and in horizontal surface, rotate, finish the change of running vehicle sense of motion.
On this running vehicle the GPS receiver can be installed, receive gps signal, position oneself by the GPS receiver.
This running vehicle can be installed the transmission over radio radio station, receives motion control instruction or other instructions by transmission radio station, and the information transfer of displacement information and capacity weight is gone out.
Shell can be made by the printing opacity non-metallic material, or part is made by non-metal by metal, part.
Shell and ground contact portion can be linear portion or circular arc line segment.
Shell and ground contact portion can be the groove structure of similar motor tire or other form to increase and frictional ground force.
Beneficial effect:
1. this running vehicle can be on land and the water surface travel, can be directly from the land locomotion to water in or directly from water, drive to land; 2. all parts and capacity weight all are encapsulated in the shell, and between the external environment good sealing can be arranged, and are adapted at activities such as dangerous zone is surveyed, investigation; 3. simple in structure, be easy to control.
Description of drawings
Fig. 1 is the main cutaway view of the amphibious running vehicle of a kind of gyrocontrol formula of the present invention;
Fig. 2 is the side partial sectional view of the amphibious running vehicle of a kind of gyrocontrol formula of the present invention;
Fig. 3 is the driving scheme drawing of the amphibious running vehicle of a kind of gyrocontrol formula of the present invention when being in the straight-line motion state;
Fig. 4 is the amphibious running vehicle of a kind of gyrocontrol formula of the present invention back view that direction carries out projection that moves along a straight line when being in the straight-line motion state;
Fig. 5 is the amphibious running vehicle of a kind of gyrocontrol formula of the present invention birds-eye view from the top projection when being in turn condition;
Among the figure: 1-shell, 2-agent structure, 3-gyro rotor, 4-gyro armature, 5-drive motor, 6-motion controller, 7-battery pack, 8-gear pair, 9-servomotor, 10-servo-control unit, 11-screw pair, 12-support traveller, 13-transmission over radio radio station, 14-GPS receiver, 15-blade.
The specific embodiment
Referring to Fig. 1, Fig. 2, the comprehensive detector of self-propulsion type comprises in the water of the present invention: shell 1, agent structure 2, gyro rotor 3, gyro armature 4, drive motor 5, motion controller 6, battery pack 7, gear pair 8, servomotor 9, servo-control unit 10, screw pair 11, support traveller 12, transmission over radio radio station 13, GPS receiver 14, blade 15.
Shell 1 is the swivel that is formed around running vehicle axis rotation by bus, when running vehicle is kept in motion on ground, the circular arc portion kiss the earth of shell, by and ground between the friction force motion; Some blades 15 are respectively installed in about 1 two sides of shell, and when shell rotated, blade and water interacted, and produce propulsive force promotion running vehicle and move at the water surface; The main shaft of the housing of axial location and drive motor 5 is fastening and sealing by screw, when the main shaft of drive motor 5 when agent structure 2 is rotated, will drive shell 1 and rotate relative to agent structure 2; Gyro armature 4 is installed on drive motor 5 housings, gyro armature 4 outsides are supported on gyro rotor 3 on the housing of drive motor 5 by pair of bearings, when gyro rotor 3 high speed rotating, the direction of gyro rotor axis will remain unchanged within a certain period of time, and have precession; Agent structure 2 is connected as a whole with the shell of drive motor 5; Agent structure 2 lower ends are connected battery pack 7 by a pair of lead screw pair 11 with 2 support travellers 12, after drive motor 5 starts, the main shaft of drive motor 5 will drive shell 1 and rotate together, because the quality of battery pack 7 is bigger, the ground or the water surface can not cause the complete cycle motion of battery pack 7 around axis to the resisting moment of shell 1, the final shell 1 that forms rotates on the ground or the water surface, and the battery pack 7 that is suspended on the agent structure 2 tilts to sense of motion slightly, as shown in Figure 3; Be screwed motion controller 6 on the housing of battery pack 7 tops, the kinematic velocity, sense of motion etc. that are used for running vehicle are controlled; Leading screw in the lead screw pair 11 links to each other with servomotor 9 by a pair of gear pair 8, servomotor 9 is by the bottom of screw retention in agent structure 2, when servomotor 9 rotates, will rotate by the leading screw that gear pair 8 drives in the lead screw pair 11, thereby cause battery pack 7 along the leading screw sway; Servo-control unit 10 by screw retention near the agent structure the servomotor 92; Transmission over radio radio station 13 and GPS receiver 14 are installed in the top of agent structure 2; Face A is the capacity weight mounting plane, can be with as instruments such as camera, detector even personnel etc.
The mechanism of this running vehicle is, at first keep two side end faces of running vehicle vertical with the ground or the water surface (when this aircraft places water before the use, because gravity and buoyancy, two states that the side is vertical with the water surface will be reached naturally), as shown in Figure 4, this moment will be because action of gravity battery pack 7 will overhang aircraft inside straight down, power up for then gyro armature 4, start gyro rotor 3 and make it keep high speed rotating, this moment is because the directional balance of gyro, under the condition that does not have external force to support running vehicle can be on ground or the water surface keep vertical state, i.e. side state perpendicular to the ground, as shown in Figure 4; When the needs running vehicle moves forwards or backwards, controlling and driving motor 5 makes its forward or reverse, the battery pack 7 of agent structure 2 bottoms will produce a drive torque to shell 1 this moment, make shell 1 cw or left-hand revolution, when this running vehicle is positioned at ground, because the friction force effect will make running vehicle in ground surface, when this running vehicle is positioned at the water surface, because the blade 15 of side and the mutual action running vehicle between the water will roll at the water surface, as shown in Figure 3; Control the gait of march of running vehicle by the rotating speed of controlling and driving motor 5; In the running vehicle rolling process, the battery pack 7 that is suspended on the agent structure 2 will tilt to sense of motion slightly, as shown in Figure 3; When the needs running vehicle changes sense of motion, give 10 control commands of servo-control unit of agent structure 2 lower ends, control servomotor 9 rotates, the rotation of servomotor 9 is rotated by the leading screw that gear pair 8 drives in the lead screw pair 11, thereby battery pack 7 is moved to the left or to the right along leading screw, gyro rotor 3 is produced a moment of precession, this moment of precession will cause gyro rotor 3 to rotate in horizontal surface, and then drive whole running vehicle and in horizontal surface, rotate, finish the change of running vehicle sense of motion, as shown in Figure 5.To control the kinematic velocity and the sense of motion of running vehicle by said method, the state during its motion is respectively as Fig. 3, Fig. 4 and shown in Figure 5.
On this running vehicle GPS receiver 14 can be installed, receive gps signal, position oneself by the GPS receiver.
This running vehicle can be installed transmission over radio radio station 13, receives motion control instruction or other instructions by transmission radio station 13, and the information transfer of displacement information and capacity weight is gone out.
Shell can be made by the printing opacity non-metallic material, or part is made by non-metal by metal, part.
Shell and ground contact portion can be linear portion or circular arc line segment.
Shell and ground contact portion can be the groove structure of similar motor tire or other form to increase and frictional ground force.
Claims (2)
1. amphibious running vehicle of gyrocontrol formula, it is characterized in that, this running vehicle keeps the sense of motion of running vehicle stable by the high speed revolution of gyro rotor, by kinematic velocity, by the sense of motion of the precession control running vehicle of gyro rotor in horizontal surface that caused perpendicular to the gravity off-centre on the sense of motion in the horizontal surface along the gravity eccentricity control running vehicle of sense of motion; This running vehicle can be on land and the water surface travel, and all parts and capacity weight all are encapsulated in the shell of rotation.
2. the amphibious running vehicle of a kind of gyrocontrol formula according to claim 1, it is characterized in that this running vehicle comprises shell (1), agent structure (2), gyro rotor (3), gyro armature (4), drive motor (5), motion controller (6), battery pack (7), gear pair (8), servomotor (9), servo-control unit (10), screw pair (11), supports traveller (12), blade (15); This running vehicle can be installed in capacity weight on the agent structure (2), in order to finish corresponding task; GPS receiver (14) can be installed on this running vehicle position oneself, transmission over radio radio station (13) can be installed receive motion control instruction or other instructions, and the information transfer of displacement information and capacity weight is gone out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110001859 CN102069691A (en) | 2011-01-06 | 2011-01-06 | Gyro stabilized amphibious travel device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110001859 CN102069691A (en) | 2011-01-06 | 2011-01-06 | Gyro stabilized amphibious travel device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102069691A true CN102069691A (en) | 2011-05-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110001859 Pending CN102069691A (en) | 2011-01-06 | 2011-01-06 | Gyro stabilized amphibious travel device |
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| CN (1) | CN102069691A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103600631A (en) * | 2013-11-19 | 2014-02-26 | 浙江理工大学 | Amphibious wheel mechanism based on eccentric paddle mechanism |
| WO2015010288A1 (en) * | 2013-07-24 | 2015-01-29 | 深圳市智优电池集成技术有限公司 | Amphibious unicycle |
| CN104842726A (en) * | 2015-05-12 | 2015-08-19 | 西北工业大学 | Water-land amphibious barrel-shaped robot |
Citations (7)
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|---|---|---|---|---|
| US4552538A (en) * | 1984-04-16 | 1985-11-12 | Vincent Galluzzo | Multidirectional amphibious safety vehicle |
| FR2567467A1 (en) * | 1984-07-12 | 1986-01-17 | Cazelles Jean Jacques | Device for generating a translational movement and equipment integrating such a device, especially transport, sport and compressor roller equipment |
| GB2194762A (en) * | 1986-09-02 | 1988-03-16 | Otto Schiffer | Remotely and/or computer controlled amphibious mobile vehicle |
| DE4041331A1 (en) * | 1990-12-21 | 1992-06-25 | Lauterbach Rudolf Dipl Ing Fh | Rolling vehicle with non-rotating inner section - is spherical and controlled by pumping liq. between compartments |
| CN1406781A (en) * | 2001-08-24 | 2003-04-02 | 任治国 | Amphibious robot against turnover |
| CN101386173A (en) * | 2008-11-10 | 2009-03-18 | 战强 | Environmental detection spherical robot |
| CN101654049A (en) * | 2008-08-18 | 2010-02-24 | 孙照云 | Turbinate ship |
-
2011
- 2011-01-06 CN CN 201110001859 patent/CN102069691A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4552538A (en) * | 1984-04-16 | 1985-11-12 | Vincent Galluzzo | Multidirectional amphibious safety vehicle |
| FR2567467A1 (en) * | 1984-07-12 | 1986-01-17 | Cazelles Jean Jacques | Device for generating a translational movement and equipment integrating such a device, especially transport, sport and compressor roller equipment |
| GB2194762A (en) * | 1986-09-02 | 1988-03-16 | Otto Schiffer | Remotely and/or computer controlled amphibious mobile vehicle |
| DE4041331A1 (en) * | 1990-12-21 | 1992-06-25 | Lauterbach Rudolf Dipl Ing Fh | Rolling vehicle with non-rotating inner section - is spherical and controlled by pumping liq. between compartments |
| CN1406781A (en) * | 2001-08-24 | 2003-04-02 | 任治国 | Amphibious robot against turnover |
| CN101654049A (en) * | 2008-08-18 | 2010-02-24 | 孙照云 | Turbinate ship |
| CN101386173A (en) * | 2008-11-10 | 2009-03-18 | 战强 | Environmental detection spherical robot |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015010288A1 (en) * | 2013-07-24 | 2015-01-29 | 深圳市智优电池集成技术有限公司 | Amphibious unicycle |
| CN105392643A (en) * | 2013-07-24 | 2016-03-09 | 深圳市智优电池集成技术有限公司 | Amphibious unicycle |
| US9493047B2 (en) | 2013-07-24 | 2016-11-15 | Shenzhen Zhiyou Battery Integration Technology Co., Ltd | Amphibious unicycle |
| CN105392643B (en) * | 2013-07-24 | 2017-09-29 | 深圳市智优电池集成技术有限公司 | The wheelbarrow of land and water double-purpose |
| CN103600631A (en) * | 2013-11-19 | 2014-02-26 | 浙江理工大学 | Amphibious wheel mechanism based on eccentric paddle mechanism |
| CN103600631B (en) * | 2013-11-19 | 2015-11-04 | 浙江理工大学 | A kind of amphibious wheel mechanism based on eccentric paddle mechanism |
| CN104842726A (en) * | 2015-05-12 | 2015-08-19 | 西北工业大学 | Water-land amphibious barrel-shaped robot |
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Application publication date: 20110525 |