CN105235774A - Wheelbarrow device capable of achieving turning balance - Google Patents
Wheelbarrow device capable of achieving turning balance Download PDFInfo
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- CN105235774A CN105235774A CN201510782577.7A CN201510782577A CN105235774A CN 105235774 A CN105235774 A CN 105235774A CN 201510782577 A CN201510782577 A CN 201510782577A CN 105235774 A CN105235774 A CN 105235774A
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- 229910000831 Steel Inorganic materials 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 2
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- 238000011160 research Methods 0.000 description 2
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- 241000145637 Lepturus Species 0.000 description 1
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- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 229910052736 halogen Inorganic materials 0.000 description 1
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Abstract
The invention discloses a wheelbarrow device capable of achieving turning balance. According to the wheelbarrow device capable of achieving the turning balance, a lateral balance adjusting mechanism comprises an upper lateral balance frame and a lower lateral balance frame which are arranged in the middle and lower part of a base body, and also comprises an upper lateral balance rotating disc and a lower lateral balance rotating disc which are arranged based on the upper lateral balance frame and the lower lateral balance frame; the upper lateral balance rotating disc and the lower lateral balance rotating disc rotate at high speeds; the upper lateral balance frame and the lower lateral balance frame relatively rotate with small angles; a pitching balance adjusting walking mechanism is arranged at the bottom of the base body and comprises a single wheel and a fork; a turning mechanism is arranged at the upper part of the base body and comprises a turning adjusting frame and turning adjusting rotation discs arranged on the turning adjusting frame; the left and right turning adjusting rotation discs rotate at high speeds; and the turning adjusting frame rotates with a small angle. The wheelbarrow device can achieve decoupling from a physical structure, and also can achieve the decoupling from a mathematic model, and therefore, the control is relatively easy.
Description
Technical field
The present invention relates to two-wheeled or unicycle robot application technology, be specially a kind of wheelbarrow device realizing turning balance.
Background technology
Wheelbarrow self-balance robot has the dynamics of static instability and dynamic Absorbable organic halogens, a kind of light structure, the energy-conservation running gear of new road is flexibly become because of the feature of its single wheel ground connection, in service-type bussinesses such as Express Logistics, service performance, there is potential application, be therefore subject to people and pay close attention to widely.
In recent years, domestic and international scientific research personnel has carried out a series of relevant research to fields such as the design building and balance control policy of wheelbarrow self-balance robot mechanism model machine and checkings.At present in existing wheelbarrow robot, the principle based on inverted pendulum model mostly, realized turning and the side direction balance of car body on the one hand by the inertial rotating wheel mechanism that axis of revolution is mutually orthogonal, then kept the pitching balance of car body on the other hand by the motion of motor ground-engaging wheel.This implementation method is fairly simple from structure, be easy to realize, and has the effect of certain apery class joint motions from control principle.
Such as, a kind of single wheel Self-Balancing vehicle robot Unibot of people's research and development such as the JaschavanPommeren of California, USA university, " wheeled handstand turns " and " inertia wheel stands upside down and turns " two kinds of theories are successfully combined togather by this wheelbarrow robot.
Murata Manufacturing Co. Ltd. of Japan is proposed a robot " village Tian Wantong " can ridden on wheelbarrow." village Tian Wantong " mechanism design and Unibot structural similitude, the inertial rotating wheel mechanism utilizing chest to install regulates the side direction balance of wheelbarrow robot, and robot biped is positioned on road wheel pedal, and ground-engaging wheel regulates the pitching balance of robot.Its researchist has carried out structure decoupling, with lateral dynamics coupling influence before and after have ignored thus to the math modeling that car body side balances to balance and pitching in low-angle, thin tail sheep situation.
Compared with double-wheel self-balancing robot, on the one hand one-wheel robot is structurally more simple, also can conserve space and alleviate overall weight.Therefore, wheelbarrow robot in energy-conserving and environment-protective advantageously.On the other hand car body and the area of earth surface are dropped to that minimum to make it move more flexible by it, but its multivariate, close coupling, nonlinear complex dynamical systems also make its side direction balance and the control difficulty increasing of turning etc.
Summary of the invention
For the deficiencies in the prior art, technical matters to be solved by this invention be propose that a kind of structure is simple, the Servo Control that can realize body movement and greatly reduce the wheelbarrow device that realized turnings that body movement balance controls difficulty balance.
The wheelbarrow device of the realized turning balance that can solve the problem, its technical scheme comprises the pitching balance adjustment traveling gear, side direction balance adjustment mechanism and the turning regulating mechanism that arrange based on matrix, wherein
1, described side direction balance adjustment mechanism comprises, lower side direction equalization frame and upper, lower side direction balance rotating disk, each side direction equalization frame is by left, the side direction equalization frame rotating shaft of right both sides is installed on the middle and lower part of matrix, on, lower side direction balance rotating disk is installed on respectively by vertical disk shaft, in lower side direction equalization frame, described matrix is provided with the side direction equalization frame drive motor that control side direction equalization frame does low-angle rotating, homonymy upper, the side direction equalization frame gear driving pair being 1 ︰ 1 by transmitting ratio between the rotating shaft of lower side direction equalization frame connects, each side direction equalization frame is provided with the side direction balance rotating disk drive motor driving respective side to balance rotating disk High Rotation Speed, matrix is provided with the side direction equalization frame coder detecting each side direction equalization frame rotation amplitude respectively, each side direction equalization frame is provided with and detects the side direction balance rotating disk coder of respective side to balance rotary speed.
2, described pitching balance adjustment traveling gear comprises single wheel and car fork, and described car fork is arranged on the bottom of matrix, and described single wheel is installed in car fork, and car fork is provided with the pancake motor driving single wheel to rotate and the wheel encoder detecting single wheel rotating speed.
3, described turning regulating mechanism comprises turning adjusting frame and adjustment rotating disk of turning, described turning adjusting frame is by left, the turning adjusting frame rotating shaft of right both sides is installed on matrix top, described turning regulates rotating disk to be installed in turning adjusting frame by longitudinal disk shaft, described matrix is provided with and controls the turning adjusting frame drive motor that turning adjusting frame does low-angle rotating, turning adjusting frame is provided with the turning regulating rotary disk-drive motor driving adjustment rotating disk High Rotation Speed of turning, matrix is provided with the turning adjusting frame coder detecting turning adjusting frame rotation amplitude, turning adjusting frame is provided with the turning adjustment rotating disk coder that detecting turns regulates rotary speed.
In said structure, the motion of bottom single wheel in ground is utilized to realize the forward and backward luffing balance of wheelbarrow car body; Utilize medial side to the High Rotation Speed of the upper and lower side direction balance rotating disk self in balance adjustment mechanism and relatively between Small-angle Rotation and produce side direction moment and realize car body side to moving equilibrium; Utilize in top turning regulating mechanism the high speed rotary motion of regulating rotary dish self of turning and swing and produce moment, the normal component of this moment realizes the turning of car body, and the moment that the horizontal component of this moment and side direction balance adjustment mechanism produce regulates the side direction of car body to balance jointly.
For saving the consumption of material, described side direction equalization frame gear driving pair is that quadrant drive is secondary.
Conventionally, described matrix is provided with and in real time detects vehicle body attitude and send drive singal according to vehicle body attitude to each motor, receive the feedback signal of each coder to revise the control system of each motor rotation further simultaneously, and described control system comprises the battery pack, gyroscope, wireless module, motion controller and and the servo-driver that are connected by interlock circuit.
Beneficial effect of the present invention:
1, the present invention's can realize turning wheelbarrow device of balance is not only physically achieving decoupling zero, and math modeling is also decoupling zero, therefore controls more simple.
2, the present invention reaches side direction balance by side direction balance adjustment mechanism and controls, and is realized the turning of car body by turning regulating mechanism, thus reaches and effectively control the object of car body side to balance and car body course.
Accompanying drawing explanation
Fig. 1 is the perspective view of one embodiment of the present invention.
Fig. 2 is the front elevation of Fig. 1 embodiment.
Fig. 3 is the back view of Fig. 1 embodiment.
Figure number identifies: 1, matrix; 2, side direction equalization frame; 3, side direction balance rotating disk; 4, side direction equalization frame rotating shaft; 5, vertical disk shaft; 6, side direction equalization frame drive motor; 7, side direction balance rotating disk drive motor; 8, side direction equalization frame coder; 9, side direction balance rotating disk coder; 10, single wheel; 11, car fork; 12, pancake motor; 13, wheel encoder; 14, servo-driver; 15, turning adjusting frame; 16, turning regulates rotating disk; 17, turning adjusting frame rotating shaft; 18, side direction equalization frame gear driving pair; 19, longitudinal disk shaft; 20, turning adjusting frame drive motor; 21, turning regulating rotary disk-drive motor; 22, turning adjusting frame coder; 23, turning regulates rotating disk coder; 24, motion controller; 25, battery pack; 26, gyroscope; 27, wireless module.
Detailed description of the invention
Below in conjunction with accompanying drawing illustrated embodiment, technical scheme of the present invention is described further.
The technical scheme that the present invention can realize the wheelbarrow device of turning balance comprises the pitching balance adjustment traveling gear, side direction balance adjustment mechanism and the turning regulating mechanism that arrange based on matrix 1.
Described matrix 1 is made up of base plate, middle and upper part dividing plate, top board and left and right side plate, as shown in Figure 1, Figure 2, Figure 3 shows.
Described side direction balance adjustment mechanism is located at matrix 1 middle and lower part between base plate and dividing plate, (framework is level to comprise side direction equalization frame 2, its length direction is left, right transverse direction, its inner space is front, rear to) and side direction balance rotating disk 3 (disk body is level), on, lower two side direction equalization frames 2 are respectively by a left side, the side direction equalization frame rotating shaft 4 (horizontal shaft of left and right directions) of right both sides is arranged on a left side, between right side board, the right side board of matrix 1 is provided with the side direction equalization frame gear driving pair 18 (quadrant gear formation) that a pair transmitting ratio is 1 ︰ 1, described side direction equalization frame gear driving pair 18 connects the upper of right side, lower side direction equalization frame rotating shaft 4, on, lower two side direction balance rotating disk 3 is installed between two parties respectively by vertical disk shaft 5, in lower side direction equalization frame 2, the right side board of matrix 1 is arranged side direction equalization frame drive motor 6, described side direction equalization frame drive motor 6 connects the side direction equalization frame rotating shaft 4 of lower right-hand side by gear driving pair, corresponding to upper, on lower side direction equalization frame 2 is arranged respectively on the left side board of matrix 1, lower side direction equalization frame coder 8, on, lower side direction equalization frame coder 8 connects the upper of left side respectively by gear driving pair, lower side direction equalization frame rotating shaft 4, each side direction equalization frame 2 is equipped with side direction balance rotating disk drive motor 7 and side direction balance rotating disk coder 9, described side direction balance rotating disk drive motor 7 and side direction balance rotating disk coder 9 are respectively by gear driving pair vertical connecting disk shaft 5, as Fig. 1, Fig. 2, shown in Fig. 3.
In said structure, the side direction balance rotating disk 3 of High Rotation Speed moves with the side direction equalization frame 2 of Small-angle Rotation (forward or reverse) simultaneously and produces gyro torque, and on, two side direction balance rotating disks 3 of lower correspondence are contrary in real time with the sense of motion of side direction equalization frame 2, produce a pair gyro torque about a plane full symmetric thus, this plane parallel in matrix 1 base plate and be positioned at the middle of two side direction equalization frames 2, the gravitational moment making the resultant moment of this pair gyro torque component in the horizontal direction can overcome car body to topple over, and component in vertical direction can be cancelled out each other, thus avoid the impact on turning.
Described pitching balance adjustment traveling gear is located at the below of matrix 1, comprise single wheel 10 and car fork 11, the upper end of described car fork 11 is fixedly connected on the base plate of matrix 1, described single wheel 10 is installed in the both sides fork body of car fork 11 by wheel shaft, the side fork body of car fork 11 installs pancake motor 12, the output shaft of described pancake motor 12 is connected by gear driving pair with between the steel ring of single wheel 10, also by oblique frame installing wheel coder 13 on the fork body of this side, the output shaft of described wheel encoder 13 is connected by gear driving pair with between the steel ring of single wheel 10, as Fig. 1, Fig. 2, shown in Fig. 3.
Described turning regulating mechanism is located at matrix 1 top between top board and dividing plate, (framework is level to comprise turning adjusting frame 15, its length direction is left and right transverse direction, its inner space be upper and lower to) and turn and regulate rotating disk 16 (disk body is vertical shape), described turning adjusting frame 15 is arranged between left and right side plate by the turning adjusting frame rotating shaft 17 of arranged on left and right sides, and described turning regulates rotating disk 16 to be installed in turning adjusting frame 15 between two parties by longitudinal disk shaft 19, the right side board of matrix 1 is arranged turning adjusting frame drive motor 20, described turning adjusting frame drive motor 20 connects the turning adjusting frame rotating shaft 17 on right side by gear driving pair, corresponding to turning adjusting frame 15, turning adjusting frame coder 22 is set on the left side board of matrix 1, described turning adjusting frame coder 22 connects the turning adjusting frame rotating shaft 17 in left side by gear driving pair, turning adjusting frame 15 is provided with turning regulating rotary disk-drive motor 21 and turns and regulates rotating disk coder 23, described turning regulating rotary disk-drive motor 21 and turning regulate rotating disk coder 23 to be connected longitudinal disk shaft 19 respectively by gear driving pair, as Fig. 1, Fig. 2, shown in Fig. 3.
In said structure, the turning of High Rotation Speed regulates rotating disk 16 to produce gyro torque with the turning adjusting frame 15 of Small-angle Rotation (forward or reverse), the normal component of this gyro torque realizes the Servo Control of car body, the horizontal component of this gyro torque becomes a subtle disruption of side direction balancing torque, jointly regulates the side direction balance exercise of car body with side direction balancing torque.
Control system of the present invention is located on the base plate of matrix 1, comprise the battery pack 25, gyroscope 26, wireless module 27, servo-driver 14 and the motion controller 24 that are connected by interlock circuit, control system detects vehicle body attitude in real time and sends drive singal according to vehicle body attitude to each motor, receives the feedback signal of each coder to revise the running of each motor further, as shown in Figure 1 simultaneously.
Operation scheme of the present invention:
Robot (wheelbarrow device) is in motion process, gyroscope 25 detects the attitude of car body in real time, when car body generation sideways, gyroscope 25 detects attitude signal, data are sent to motion controller 24, the speed that the side direction equalization frame drive motor 6 that motion controller 24 controls side direction balance adjustment mechanism by servo-driver 14 rotates, by the low-angle rotation of side direction equalization frame gear driving pair 18, thus on driving, lower side direction equalization frame 2 rotates backward in real time, motion controller 24 passes through servo-driver 14 drive side to balance rotating disk 3 High Rotation Speed simultaneously, the motion side of two corresponding side direction balance rotating disks 3 is identical in real time, the sense of motion of two side direction equalization frames 2 is contrary in real time, produce a pair gyro torque about a plane full symmetric thus, because this plane parallel is positioned at the middle of two side direction equalization frames 2 in the base plate of matrix 1, the gravitational moment making the resultant moment of this pair gyro torque component in the horizontal direction can overcome car body to topple over, and component in vertical direction can be cancelled out each other, thus avoid the impact on turning.
Therewith in like manner, when gyroscope 25 detects the course signal of turning, data are sent to motion controller 24, the turning that motion controller 24 controls turning regulating mechanism by servo-driver 14 regulates rotating disk 16 High Rotation Speed, motion controller 24 controls turning adjusting frame 15 Small-angle Rotation by servo-driver 14 simultaneously, the resultant moment of the gyro torque produced component in vertical direction can regulate the turning of car body, and component in the horizontal direction participates in the side direction balance regulating car body.
Wheel encoder 13 gathers the rotating speed of single wheel 10, feeds back to the forward and backward luffing that motion controller 24 controls car body.
Claims (3)
1. can realize the wheelbarrow device balanced of turning, it is characterized in that: comprise the pitching balance adjustment traveling gear, side direction balance adjustment mechanism and the turning regulating mechanism that arrange based on matrix (1), wherein
1., described side direction balance adjustment mechanism comprises, lower side direction equalization frame (2) and upper, lower side direction balance rotating disk (3), each side direction equalization frame (2) is by left, the side direction equalization frame rotating shaft (4) of right both sides is installed on the middle and lower part of matrix (1), on, lower side direction balance rotating disk (3) is installed on respectively by vertical disk shaft (5), in lower side direction equalization frame (2), described matrix (1) is provided with the side direction equalization frame drive motor (6) that control side direction equalization frame (2) does low-angle rotating, homonymy upper, the side direction equalization frame gear driving pair (18) being 1 ︰ 1 by transmitting ratio between lower side direction equalization frame rotating shaft (4) connects, each side direction equalization frame (2) is provided with side direction balance rotating disk drive motor (7) driving respective side to balance rotating disk (3) High Rotation Speed, matrix (1) is provided with the side direction equalization frame coder (8) detecting each side direction equalization frame (2) rotation amplitude respectively, each side direction equalization frame (2) is provided with detects side direction balance rotating disk coder (9) of respective side to balance rotating disk (3) rotating speed,
2., described pitching balance adjustment traveling gear comprises single wheel (10) and car fork (11), described car fork (11) is arranged on the bottom of matrix (1), described single wheel (10) is installed in car fork (11), and car fork (11) is provided with the pancake motor (12) driving single wheel (10) to rotate and the wheel encoder (13) detecting single wheel (10) rotating speed;
3., described turning regulating mechanism comprises turning adjusting frame (15) and adjustment rotating disk (16) of turning, described turning adjusting frame (15) is by left, the turning adjusting frame rotating shaft (17) of right both sides is installed on matrix (1) top, described turning regulates rotating disk (16) to be installed in turning adjusting frame (15) by longitudinal disk shaft (19), described matrix (1) is provided with and controls the turning adjusting frame drive motor (20) that low-angle rotating is done in turning adjusting frame (15), turning adjusting frame (15) is provided with the turning regulating rotary disk-drive motor (21) driving adjustment rotating disk (16) High Rotation Speed of turning, matrix (1) is provided with the turning adjusting frame coder (22) detecting turning adjusting frame (15) rotation amplitude, turning adjusting frame (15) is provided with turning adjustment rotating disk coder (23) that detecting turns regulates rotating disk (16) rotating speed.
2. the wheelbarrow device realizing turning balance according to claim 1, is characterized in that: described side direction equalization frame gear driving pair (18) is that quadrant drive is secondary.
3. the wheelbarrow device realizing turning balance according to claim 1 and 2, it is characterized in that: described matrix (1) is provided with and in real time detects vehicle body attitude and send drive singal according to vehicle body attitude to each motor, receive the feedback signal of each coder to revise the control system of each motor rotation further simultaneously, and described control system comprises the battery pack (25), gyroscope (26), wireless module (27), motion controller (24) and the servo-driver (14) that are connected by interlock circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510782577.7A CN105235774B (en) | 2015-11-16 | 2015-11-16 | The wheelbarrow device balanced of turning can be achieved |
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| CN201510782577.7A CN105235774B (en) | 2015-11-16 | 2015-11-16 | The wheelbarrow device balanced of turning can be achieved |
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| CN105235774A true CN105235774A (en) | 2016-01-13 |
| CN105235774B CN105235774B (en) | 2017-08-25 |
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| CN201510782577.7A Active CN105235774B (en) | 2015-11-16 | 2015-11-16 | The wheelbarrow device balanced of turning can be achieved |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107137062A (en) * | 2017-06-29 | 2017-09-08 | 桂林电子科技大学 | The device and method of ability is known by the test mankind sense of equilibrium |
| CN109949683A (en) * | 2019-04-30 | 2019-06-28 | 东莞市微宏网络科技有限公司 | A kind of single pole balancing device |
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| US20100219011A1 (en) * | 2009-02-27 | 2010-09-02 | Shimoyama Sadao | Movable apparatus |
| CN102445944A (en) * | 2011-10-10 | 2012-05-09 | 北京工业大学 | Single-wheel self-balancing robot system |
| CN103645735A (en) * | 2013-12-04 | 2014-03-19 | 桂林电子科技大学 | Unicycle robot with function of self-balancing realization |
| GB2506726A (en) * | 2013-07-16 | 2014-04-09 | Sergey Nikolaevich Andreev | Two-wheel gyroscope-stabilized vehicle |
| CN205168691U (en) * | 2015-11-16 | 2016-04-20 | 桂林电子科技大学 | Can realize balanced wheel barrow device of turning |
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2015
- 2015-11-16 CN CN201510782577.7A patent/CN105235774B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100219011A1 (en) * | 2009-02-27 | 2010-09-02 | Shimoyama Sadao | Movable apparatus |
| CN102445944A (en) * | 2011-10-10 | 2012-05-09 | 北京工业大学 | Single-wheel self-balancing robot system |
| GB2506726A (en) * | 2013-07-16 | 2014-04-09 | Sergey Nikolaevich Andreev | Two-wheel gyroscope-stabilized vehicle |
| CN103645735A (en) * | 2013-12-04 | 2014-03-19 | 桂林电子科技大学 | Unicycle robot with function of self-balancing realization |
| CN205168691U (en) * | 2015-11-16 | 2016-04-20 | 桂林电子科技大学 | Can realize balanced wheel barrow device of turning |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107137062A (en) * | 2017-06-29 | 2017-09-08 | 桂林电子科技大学 | The device and method of ability is known by the test mankind sense of equilibrium |
| CN109949683A (en) * | 2019-04-30 | 2019-06-28 | 东莞市微宏网络科技有限公司 | A kind of single pole balancing device |
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| CN105235774B (en) | 2017-08-25 |
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Application publication date: 20160113 Assignee: Guangxi Cuizhi Rongchuang Technology Co.,Ltd. Assignor: GUILIN University OF ELECTRONIC TECHNOLOGY Contract record no.: X2023980046599 Denomination of invention: A unicycle device that can achieve turning balance Granted publication date: 20170825 License type: Common License Record date: 20231108 |