CN105235774B - The wheelbarrow device balanced of turning can be achieved - Google Patents
The wheelbarrow device balanced of turning can be achieved Download PDFInfo
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- CN105235774B CN105235774B CN201510782577.7A CN201510782577A CN105235774B CN 105235774 B CN105235774 B CN 105235774B CN 201510782577 A CN201510782577 A CN 201510782577A CN 105235774 B CN105235774 B CN 105235774B
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- 230000005540 biological transmission Effects 0.000 description 3
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- 229910000831 Steel Inorganic materials 0.000 description 2
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- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000009966 trimming Methods 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 241000145637 Lepturus Species 0.000 description 1
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Abstract
The invention discloses a kind of wheelbarrow device of achievable balance of turning, the upper and lower lateral balance rotating disk that its lateral balance adjustment mechanism is included in the upper and lower lateral equalization frame of matrix middle and lower part setting and set respectively based on upper and lower lateral equalization frame, upper and lower lateral balance rotating disk rotates at a high speed, and upper and lower lateral equalization frame makees low-angle relative rotation；Its pitching balance adjustment walking mechanism is located at base bottom, including single wheel and fork；Its turning governor motion is located at matrix top, including the turning for adjusting framework and adjusting framework located at turning of turning adjusts rotating disk, and left and right turning regulation rotating disk high speed rotates, and turning regulation framework makees Small-angle Rotation.The present invention is not only physically realizing decoupling, and mathematical modeling is also decoupling, therefore controls more simple.
Description
Technical field
The present invention relates to two-wheeled or unicycle robot application technology, specially a kind of achievable the only of balance that turn
Trolley mechanism.
Background technology
The dynamics that wheelbarrow self-balance robot has static instability and can dynamically stablized, because of its single wheel ground connection
The characteristics of and become a kind of light structure, save flexible new road running gear, in Express Logistics, service performance etc.
Service-type bussiness has potential application, therefore is widely paid close attention to by people.
In recent years, domestic and international scientific research personnel builds and balanced control strategy to wheelbarrow self-balance robot mechanism model machine
Design and the field such as checking carried out a series of related researchs.At present in existing wheelbarrow robot, it is mostly
Principle based on inverted pendulum model, on the one hand realizes turning and the side of car body by the mutually orthogonal inertial rotating wheel mechanism of gyroaxis
To balance, on the other hand then the motion of road wheel is driven to keep the pitching of car body to balance by motor.This implementation method is from knot
Seen on structure it is fairly simple, be easily achieved, and have the effect of certain apery class joint motions from control principle.
For example, a kind of single wheel Self-Balancing vehicle machine of Jascha van Pommeren of California, USA university et al. research and development
People Unibot, this wheelbarrow robot successfully combines " wheeled stand upside down turns " and " flying wheel, which stands upside down, to be turned " two kinds of theories
Together.
Japanese Murata Manufacturing Co. Ltd. is proposed a robot " the village Tian Wantong " that can be ridden on wheelbarrow." village Tian Wan
The design of child " mechanism is similar to Unibot structures, and the inertial rotating wheel mechanism installed using chest adjusts the lateral of wheelbarrow robot
Balance, robot biped is located on walking wheels pedal, the pitching balance of driving road wheel regulation robot.Its researcher is to car
The mathematical modeling that side is balanced to balance and pitching has carried out structure decoupling in the case of low-angle, thin tail sheep, thus have ignored
Front and rear and lateral dynamics coupling influence.
Compared with double-wheel self-balancing robot, one side one-wheel robot is simpler in structure, can also save space
With mitigation overall weight.Therefore, wheelbarrow robot in energy-conserving and environment-protective advantageously.On the other hand it connects car body with ground
Tactile area, which is preferably minimized, makes its motion more flexible, but its multivariable, close coupling, nonlinear complex dynamical systems also make
The control difficulty of its lateral balance and turning etc. is increased.
The content of the invention
In view of the shortcomings of the prior art, the technical problems to be solved by the invention be propose it is a kind of it is simple in construction, can be real
Show the Servo Control of body movement and substantially reduce the wheelbarrow of the achievable turning balance of body movement balance control difficulty
Device.
The wheelbarrow device of the achievable turning balance of above mentioned problem is can solve the problem that, its technical scheme includes setting based on matrix
Pitching balance adjustment walking mechanism, lateral balance adjustment mechanism and the turning governor motion put, wherein
1st, the lateral balance adjustment mechanism includes upper and lower lateral equalization frame and upper and lower lateral balance rotating disk, each lateral
Equalization frame is installed on the middle and lower part of matrix by the lateral equalization frame rotating shaft of arranged on left and right sides, and upper and lower lateral balance rotating disk leads to
Cross vertical disk shaft to be respectively arranged in upper and lower lateral equalization frame, described matrix is provided with one lateral balance frame of control
Frame makees the lateral equalization frame motor of low-angle rotating, by being driven between the upper and lower lateral equalization frame rotating shaft of homonymy
Than the lateral equalization frame gear driving pair connection for 1 ︰ 1, each lateral equalization frame is provided with the lateral balance rotating disk of driving correspondence
The lateral balance rotating disk motor rotated at a high speed, matrix is provided with and detects the lateral of each lateral equalization frame rotation amplitude respectively
Equalization frame encoder, lateral balance rotating disk coding of each lateral equalization frame provided with the lateral balance rotary speed of detection correspondence
Device.
2nd, the pitching balance adjustment walking mechanism includes single wheel and fork, and the fork is arranged on the bottom of matrix, institute
Single wheel is stated in being installed in fork, pancake motor and the wheel encoder of detection single wheel rotating speed that fork is rotated provided with driving single wheel
Device.
3rd, the turning governor motion includes turn regulation framework and regulation rotating disk of turning, and the turning regulation framework passes through
The turning regulation framework rotating shaft of arranged on left and right sides is installed on matrix top, and the turning regulation rotating disk is pacified by longitudinal disk shaft
Loaded on turning in regulation framework, described matrix makees the turning regulation framework of low-angle rotating provided with control turning regulation framework
Motor, regulation framework of turning is provided with the turning regulation rotating disk motor that driving turning regulation rotating disk rotates at a high speed, base
Turning regulation framework encoder of the body provided with detection turning regulation framework rotation amplitude, regulation framework of turning is provided with detection and turned
The turning regulation rotating disk encoder of curved regulation rotary speed.
In said structure, the forward and backward elevating movement balance of wheelbarrow car body is realized in the motion using bottom single wheel in ground；Profit
Low-angle between being rotated with the high speed of the upper and lower lateral balance rotating disk itself in the lateral balance adjustment mechanism in middle part and be relative
Rotate and produce lateral torque and realize the lateral moving equilibrium of car body；Utilize regulation rotating disk itself of being turned in top turning governor motion
High speed rotary motion and swing and produce torque, the vertical component of the torque realizes the turning of car body, the horizontal component of the torque
The torque produced with lateral balance adjustment mechanism adjusts the lateral balance of car body jointly.
To save the consumption of material, the lateral equalization frame gear driving pair is quadrant drive pair.
Conventionally, described matrix provided with detection vehicle body attitude in real time and sends driving letter according to vehicle body attitude to each motor
Number, while receiving the feedback signal of each encoder further to correct the control system of each motor operating, the control system bag
Include the battery pack connected by interlock circuit, gyroscope, wireless module, motion controller and and servo-driver.
Beneficial effects of the present invention：
1st, the achievable wheelbarrow device for turning balance of the present invention is not only physically realizing decoupling, and mathematics
Model is also decoupling, therefore is controlled more simple.
2nd, the present invention reaches that lateral balance is controlled by lateral balance adjustment mechanism, and car body is realized by turning governor motion
Turning so that reach effectively control car body laterally balance and car body course purpose.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of one embodiment of the present invention.
Fig. 2 is the front view of Fig. 1 embodiments.
Fig. 3 is the rearview of Fig. 1 embodiments.
Figure number is identified：1st, matrix；2nd, lateral equalization frame；3rd, rotating disk is laterally balanced；4th, lateral equalization frame rotating shaft；5th, erect
Straight disk shaft；6th, lateral equalization frame motor；7th, lateral balance rotating disk motor；8th, lateral equalization frame coding
Device；9th, lateral balance rotating disk encoder；10th, single wheel；11st, fork；12nd, pancake motor；13rd, wheel encoder；14th, servo-drive
Device；15th, turn and adjust framework；16th, turn and adjust rotating disk；17th, turn and adjust framework rotating shaft；18th, lateral equalization frame gear is passed
Dynamic pair；19th, longitudinal disk shaft；20th, turn and adjust framework motor；21st, turn and adjust rotating disk motor；22nd, turn
Adjust framework encoder；23rd, turn and adjust rotating disk encoder；24th, motion controller；25th, battery pack；26th, gyroscope；27th, nothing
Wire module.
Embodiment
Illustrated embodiment is described further to technical scheme below in conjunction with the accompanying drawings.
The technical scheme that the wheelbarrow device of turning balance can be achieved in the present invention includes the pitching balance set based on matrix 1
Adjust walking mechanism, lateral balance adjustment mechanism and turning governor motion.
Described matrix 1 is made up of bottom plate, middle and upper part dividing plate, top plate and left and right side plate, as shown in Figure 1, Figure 2, Figure 3 shows.
The lateral balance adjustment mechanism is located at the middle and lower part of matrix 1 between bottom plate and dividing plate, including lateral equalization frame 2
(framework is in level, and its length direction is left and right transverse direction, and its inner space is front and rear direction) and the lateral balance (disk of rotating disk 3
Body is in level), upper and lower two lateral equalization frames 2 pass through the lateral (left and right directions of equalization frame rotating shaft 4 of arranged on left and right sides respectively
Trunnion axis) be arranged between left and right side plate, the lateral equalization frame that the right plate of matrix 1 is 1 ︰ 1 provided with a pair of gearratios
It is upper and lower lateral flat on the right side of gear driving pair 18 (sector gear composition), the lateral connection of equalization frame gear driving pair 18
Weighing apparatus framework rotating shaft 4, upper and lower two lateral balance rotating disks 3 are installed on upper and lower lateral flat between two parties by vertical disk shaft 5 respectively
Weigh in framework 2；Lateral equalization frame motor 6, the lateral equalization frame motor 6 are set on the right plate of matrix 1
The lateral equalization frame rotating shaft 4 of lower right-hand side is connected by gear driving pair, corresponding to upper and lower lateral equalization frame 2 in matrix 1
Left plate on upper and lower lateral equalization frame encoder 8 is set respectively, upper and lower lateral equalization frame encoder 8 passes through tooth respectively
Take turns and lateral balance rotating disk is equipped with the upper and lower lateral equalization frame rotating shaft 4 on the left of transmission connection, each lateral equalization frame 2
Motor 7 and lateral balance rotating disk encoder 9, the lateral balance rotating disk motor 7 and lateral balance rotating disk encoder 9
Vertical disk shaft 5 is connected by gear driving pair respectively, as shown in Figure 1, Figure 2, Figure 3 shows.
In said structure, the lateral balance of the lateral balance rotating disk 3 rotated at a high speed and Small-angle Rotation (forward or reverse)
Framework 2 is moved simultaneously produces gyroscopic couple, and the motion side of the two of upper and lower corresponding lateral balance rotating disks 3 and lateral equalization frame 2
To in real time on the contrary, thus produce a pair of gyroscopic couples full symmetric on a plane, the plane parallel to matrix 1 bottom plate and
Positioned at the middle of two lateral equalization frames 2 so that the resultant moment of this pair of gyroscopic couples component in the horizontal direction can
Overcome the gravitational moment that car body is toppled over, and component in vertical direction can cancel out each other, so as to avoid the influence to turning.
The pitching balance adjustment walking mechanism is located at the lower section of matrix 1, including single wheel 10 and fork 11, the fork 11
Upper end be fixedly connected on the bottom plate of matrix 1, internal, fork is pitched in the both sides that the single wheel 10 is installed on fork 11 by wheel shaft
Pancake motor 12 is installed on 11 side fork body, gear is passed through between the output shaft of the pancake motor 12 and the steel ring of single wheel 10
Transmission is connected, also by oblique frame installing wheel encoder 13 on the fork body of the side, the output shaft of the wheel encoder 13 with solely
Connected between the steel ring of wheel 10 by gear driving pair, as shown in Figure 1, Figure 2, Figure 3 shows.
The turning governor motion is located at the top of matrix 1 between top plate and dividing plate, including the regulation (framework of framework 15 of turning
In level, its length direction is left and right transverse direction, its inner space be upper and lower to) and turn and adjust rotating disk 16 (disk body is in
Vertical shape), it is described turn regulation framework 15 by the turning of arranged on left and right sides adjust framework rotating shaft 17 be arranged on left and right side plate it
Between, the regulation rotating disk 16 of turning is installed in turning regulation framework 15 between two parties by longitudinal disk shaft 19；The right side of matrix 1
Regulation framework motor 20 of turning is set on plate, and the regulation framework motor 20 of turning connects right by gear driving pair
The turning regulation framework rotating shaft 17 of side, corresponding to regulation framework 15 of turning in setting turning regulation framework on the left plate of matrix 1
Encoder 22, it is described turn regulation framework encoder 22 by gear driving pair connect on the left of turning adjust framework rotating shaft 17,
Regulation framework 15 turn provided with regulation rotating disk motor 21 and the regulation rotating disk encoder 23 of turning, the regulation of turning of turning
Rotating disk motor 21 and regulation rotating disk encoder 23 of turning connect longitudinal disk shaft 19 by gear driving pair respectively, such as scheme
1st, shown in Fig. 2, Fig. 3.
In said structure, the turning of the turning regulation rotating disk 16 and Small-angle Rotation (forward or reverse) of rotation at a high speed is adjusted
Framework 15 produces gyroscopic couple, and the vertical component of the gyroscopic couple realizes the Servo Control of car body, the level point of the gyroscopic couple
A subtle disruption of the amount as lateral trimming moment, the lateral balance exercise of car body is adjusted with lateral trimming moment jointly.
The present invention control system located at matrix 1 bottom plate on, including connected by interlock circuit battery pack 25, gyro
Instrument 26, wireless module 27, servo-driver 14 and motion controller 24, control system detect vehicle body attitude and according to car body in real time
Posture sends drive signal, while receive the feedback signal of each encoder further to correct the operating of each motor to each motor,
As shown in Figure 1.
The method of operation of the present invention：
Robot (wheelbarrow device) is in motion process, and gyroscope 25 detects the posture of car body in real time, when car body occurs
During sideways, gyroscope 25 detects attitude signal, transfers data to motion controller 24, motion controller 24 is by watching
The speed that driver 14 controls the lateral equalization frame motor 6 of lateral balance adjustment mechanism to rotate is taken, by laterally balancing
The rotation of the low-angle of frame gear transmission 18, so as to drive upper and lower lateral equalization frame 2 to rotate backward in real time, is moved simultaneously
Controller 24 drives lateral balance rotating disk 3 to rotate at a high speed by servo-driver 14, the motion of corresponding two lateral balance rotating disks 3
Side is identical in real time, the direction of motion of two lateral equalization frames 2 in real time on the contrary, thus produce a pair it is full symmetric on a plane
Gyroscopic couple, because the plane is parallel to the bottom plate of matrix 1 and positioned at the middle of two lateral equalization frames 2 so that this is a pair
The resultant moment of gyroscopic couple component in the horizontal direction can overcome the gravitational moment that car body is toppled over, and point in vertical direction
Amount can cancel out each other, so as to avoid the influence to turning.
With this similarly, when gyroscope 25 detects the course signal of turning, motion controller 24 is transferred data to, is transported
Movement controller 24 controls the turning regulation rotating disk 16 of turning governor motion to rotate at a high speed by servo-driver 14, while moving control
Device 24 processed is turned by the control of servo-driver 14 and adjusts the Small-angle Rotation of framework 15, and produced gyroscopic couple is in vertical direction
The resultant moment of upper component can adjust the turning of car body, and lateral the putting down of component participation regulation car body in the horizontal direction
Weighing apparatus.
Wheel encoder 13 gathers the rotating speed of single wheel 10, feeds back to the forward and backward pitching fortune of the control car body of motion controller 24
It is dynamic.
Claims (3)
1. the wheelbarrow device for balance of turning can be realized, it is characterised in that：Including the pitching balance adjustment set based on matrix (1)
Walking mechanism, lateral balance adjustment mechanism and turning governor motion, wherein
1., the lateral balance adjustment mechanism includes upper and lower lateral equalization frame (2) and upper and lower lateral balance rotating disk (3), respectively
Lateral equalization frame (2) is installed on the middle and lower part of matrix (1) by the lateral equalization frame rotating shaft (4) of arranged on left and right sides, upper and lower
Lateral balance rotating disk (3) is respectively arranged in upper and lower lateral equalization frame (2) by vertical disk shaft (5), described matrix
(1) the lateral equalization frame motor (6) of low-angle rotating, homonymy are made provided with one lateral equalization frame (2) of control
Upper and lower lateral equalization frame rotating shaft (4) between by gearratio for 1 ︰ 1 lateral equalization frame gear driving pair (18) connect,
Each lateral equalization frame (2) is provided with the lateral balance rotating disk motor for driving the lateral balance rotating disk (3) of correspondence to rotate at a high speed
(7), matrix (1) is provided with the lateral equalization frame encoder (8) for detecting each lateral equalization frame (2) rotation amplitude respectively, respectively
Lateral balance rotating disk encoder (9) of the lateral equalization frame (2) provided with lateral balance rotating disk (3) rotating speed of detection correspondence；
2., the pitching balance adjustment walking mechanism includes single wheel (10) and fork (11), and the fork (11) is arranged on matrix
(1) bottom, the single wheel (10) in fork (11) in installing, and fork (11) is provided with the pancake electricity for driving single wheel (10) to rotate
Machine (12) and the wheel encoder (13) for detecting single wheel (10) rotating speed；
3., the turning governor motion includes turn regulation framework (15) and turn regulation rotating disk (16), the turning conditioning box
Frame (15) adjusts framework rotating shaft (17) by the turning of arranged on left and right sides and is installed on matrix (1) top, and the turning adjusts rotating disk
(16) it is installed on by longitudinal disk shaft (19) in turning regulation framework (15), described matrix (1) is turned provided with control and adjusted
Section framework (15) makees the turning regulation framework motor (20) of low-angle rotating, and regulation framework (15) of turning is provided with driving
The turning regulation rotating disk motor (21) that regulation rotating disk (16) of turning rotates at a high speed, matrix (1) is turned provided with detection and adjusted
The turning regulation framework encoder (22) of framework (15) rotation amplitude, regulation framework (15) of turning, which is provided with, detects that regulation of turning turns
The turning regulation rotating disk encoder (23) of disk (16) rotating speed.
2. the wheelbarrow device of achievable balance of turning according to claim 1, it is characterised in that：The lateral balance frame
Frame gear driving pair (18) is quadrant drive pair.
3. the wheelbarrow device of achievable balance of turning according to claim 1 or 2, it is characterised in that：Described matrix (1)
Provided with detection vehicle body attitude in real time and drive signal is sent, while receiving the anti-of each encoder to each motor according to vehicle body attitude
Feedback signal is further to correct the control system of each motor operating, and the control system includes the battery connected by interlock circuit
Group (25), gyroscope (26), wireless module (27), motion controller (24) and servo-driver (14).
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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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| CN105235774B true CN105235774B (en) | 2017-08-25 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107137062B (en) * | 2017-06-29 | 2023-04-11 | 桂林电子科技大学 | Device and method for testing human balance perception capability |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2010225139A (en) * | 2009-02-27 | 2010-10-07 | Toshiba Corp | Movable apparatus |
| CN102445944B (en) * | 2011-10-10 | 2014-05-21 | 北京工业大学 | Single-wheel self-balancing robot system |
| GB2506726B (en) * | 2013-07-16 | 2014-10-22 | Sergey Nikolaevich Andreev | Two-wheel gyroscope-stabilized vehicle and methods for controlling thereof |
| CN103645735B (en) * | 2013-12-04 | 2016-01-20 | 桂林电子科技大学 | A kind of wheelbarrow robot realizing self-equilibrating |
| 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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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 |
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