CN106094824A - A kind of swing arm based on electric unicycle balance puppet - Google Patents
A kind of swing arm based on electric unicycle balance puppet Download PDFInfo
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- CN106094824A CN106094824A CN201610510045.2A CN201610510045A CN106094824A CN 106094824 A CN106094824 A CN 106094824A CN 201610510045 A CN201610510045 A CN 201610510045A CN 106094824 A CN106094824 A CN 106094824A
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- 230000005484 gravity Effects 0.000 claims abstract description 5
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 238000005303 weighing Methods 0.000 description 6
- 238000007689 inspection Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 239000002023 wood Substances 0.000 description 2
- 238000005034 decoration Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H3/00—Dolls
- A63H3/36—Details; Accessories
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
- A63H30/02—Electrical arrangements
- A63H30/04—Electrical arrangements using wireless transmission
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of swing arm based on electric unicycle to balance puppet, it is characterized in that including puppet body (19), arm balance module, anteversion and retroversion module, the legs and feet module (20) of puppet, electronic control module, can realize balancing that the electric unicycle that puppet drives is left-leaning by arm balance module, Right deviation and balance and then realize, turn right and keep straight on, the center of gravity that balance beam can be made even by anteversion and retroversion module leans forward, swings back, upright and then realize automatic Pilot electric unicycle and advance, retreat and stand.
Description
Technical field
The present invention relates to balanced robot's technical field, a kind of swing arm based on electric unicycle balance puppet
Device.
Background technology
The Self-balancing electronic wheelbarrow sold on current market is called for short: electric unicycle, is that a kind of driver stands in electronic
The walking wheelbarrow of ability on wheelbarrow, when driver does not stands onboard, electric unicycle cannot be walked, say, that when
Electric unicycle before although have certain before and after balanced capacity but not there is left-right balance ability, the most current electronic solely
Wheel car does not have unmanned automatic driving function.Typically demonstrated by people when selling electric unicycle and demonstrating to client and how to ride,
And needing certain skill, when special client is more, the demonstration of a time a time is also the most arduous, is one for salesman
Plant burden.A kind of based on electric unicycle the swing arm balance puppet that this patent provides has left-right balance and automatic Pilot merit
People can be replaced to carry out riding electric unicycle by remote control, significantly alleviate burden when salesman is demonstrated；Should be based on electricity
The arm balanced type balance puppet of dynamic wheelbarrow can show unpiloted auto-steering, automatic Pilot, has amusement function；As
Fruit coordinates charging socket can also realize automatic charging function.
Summary of the invention
The technical problem to be solved in the present invention is to overcome the existing electric unicycle can not the problem of automatic running, it is provided that a kind of
The balance puppet that can drive electric unicycle with automatic balance function.
In order to solve the problems referred to above the technical solution used in the present invention it is: a kind of swing arm based on electric unicycle is provided
Balance puppet, including puppet body 19, arm balance module, anteversion and retroversion module, the legs and feet module 20 of puppet, electronic control module.
The further technical scheme used is: described arm balance module includes that left arm balance module and right arm are put down
Weighing apparatus module, outside left arm balance module is by left motor 1, screw mandrel 2, slide block 3, hinged 1, hinged 25, connecting rod 1, left arm
Shell 7, upper limit sensor 18, lower limit sensor 17 form, and connecting rod 1 one end is connected by hinged 25 with puppet body 19,
Connecting rod 1 other end is hinged with slide block 3, and slide block 3 is arranged on screw mandrel 2, and the shell 7 of left arm is arranged on wood by hinged 1
On even body 19, screw mandrel 2 one end is arranged in the shell 7 of left arm, and screw mandrel 2 other end is fixing with the axle of left motor 1 to be connected, on
Limit sensors 18, lower limit sensor 17, left motor 1 are fixedly mounted in the shell 7 of left arm, and are electrically connected with electronic control module
Connect；Described right arm balance module is identical with the structure of left arm balance module.
The further technical scheme used is: described anteversion and retroversion module is by bearing 1, bearing 2 10, rotary shaft 9, motor
2 11 compositions, rotary shaft 9 is fixing with puppet body 19 to be connected, and rotary shaft 9 is fixing with the axle of motor 2 11 to be connected, and rotary shaft 9 is led to
Cross bearing 1, bearing 2 10 is connected with the legs and feet module 20 of puppet, and motor 2 11 is fixing with the legs and feet module 20 of puppet to be connected also
Electrically connect with electronic control module.
The further technical scheme used is: described electronic control module includes: controller 14, battery 13, charging inlet 12, appearance
State sensor 15, wireless remote control module 16；Wireless remote control module 16 includes wireless receiver and remote controller, described controller 14
With attitude transducer 15, upper limit sensor 18 and lower limit sensor 17, left motor 1, motor 2 11, wireless remote control module 16
Wireless receiver, battery 13 electrically connects and is fixedly mounted on puppet body 19；Charging inlet 12 electrically connects also with battery 13
Be fixedly mounted on puppet body 19, described attitude transducer 15 includes gyroscope and/or Gravity accelerometer, described
Remote controller include wireless transmitter, screen, starting key, shutdown button, button of standing, automatic running button, forward key, after
Moving back button, left-hand rotation button, right-hand rotation button, turbo and/or deceleration button, described button is mechanical type, touch and/or tactile
Touch screen；The wireless signal of described wireless receiver and wireless transmitter is infrared, ultrasound wave, bluetooth and/or radio frequency.
The further technical scheme used is: described controller 14 is by following steps realization control function:
Step one, initializes detection and arranges, including upper limit of detection level sensor 18, lower limit sensor 17 the most normally, and inspection
The value surveying attitude transducer is the most normal, and it is upright to adjust balance puppet attitude, makes wheelbarrow balance stand；
Step 2: wait the information that remote controller is sent, processes the information content that remote controller is sent；
Step 3: if the information content sent of remote controller is for advancing, then controller 14 controls motor 2 11 and makes balance puppet lean forward；
If the information content that remote controller is sent is for retreating, then controller 14 controls motor 2 11 and makes balance puppet hypsokinesis；If remote controller is sent out
The information content come is for fast forwarding through, then controller 14 controls motor 2 11 and increases balance puppet forward leaning angle；If remote controller is sent out
The information content come is for standing, then controller 14 controls left arm balance module, right arm balance module and anteversion and retroversion module and makes
Balance puppet is kept upright；If the information content that remote controller is sent for turn left, then controller 14 control left motor 1 make left arm put down
The left arm module of weighing apparatus module is lifted；If the information content that remote controller is sent is for turning right, then controller 14 controls to make right arm put down
The right balance weight of weighing apparatus module lifts, if the information content that remote controller is sent is for accelerating, then controller 14 controls left arm balance mould
Block, right arm balance module and anteversion and retroversion module make balance puppet accelerated motion, if the information content that remote controller is sent is for slowing down,
Then controller 14 controls left arm balance module, right arm balance module and anteversion and retroversion module and makes balance puppet retarded motion, if
The information content that remote controller is sent is automatic running, then controller 14 control left arm balance module, right arm balance module and
Anteversion and retroversion module makes balance puppet turn left, and turns right, and advances, and retreats and so stands；
Step 4: the value of test pose sensor is the most normal, if normally returning step 2, if abnormal, shows that wheelbarrow falls
Fall, report to the police；
Step 5, the value of test pose sensor is the most normal, if normally returning step one, if abnormal, shows that wheelbarrow falls
Fall, report to the police；Return step 5.
The invention have the advantages that: the present invention passes through left arm balance module, right arm balance module can be real
Electric unicycle "Left"-deviationist, Right deviation and balance and then realization that now balance puppet is driven are turned left, are turned right and keep straight on, by front and back
The center of gravity that module of inclining can make balance beam even leans forward, swings back, upright and then realize advancing, retreating and stand, by puppet
Legs and feet module makes puppet can be fixed on electric unicycle；Receive the information sent of remote controller by electronic control module and control a left side
Arm balance module, right arm balance module and anteversion and retroversion module, it is achieved the purpose of electric unicycle driven by remote control balance puppet.
Accompanying drawing explanation
Fig. 1 is that a kind of swing arm based on electric unicycle of the present invention balances puppet structural representation.
Detailed description of the invention
It is illustrated in figure 1 the detailed description of the invention of a kind of swing arm based on electric unicycle balance puppet, including puppet
Body 19, arm balance module, anteversion and retroversion module, the legs and feet module 20 of puppet, electronic control module.
The further technical scheme used is: described arm balance module includes that left arm balance module and right arm are put down
Weighing apparatus module, outside left arm balance module is by left motor 1, screw mandrel 2, slide block 3, hinged 1, hinged 25, connecting rod 1, left arm
Shell 7, upper limit sensor 18, lower limit sensor 17 form, and connecting rod 1 one end is connected by hinged 25 with puppet body 19,
Connecting rod 1 other end is hinged with slide block 3, and slide block 3 is arranged on screw mandrel 2, and the shell 7 of left arm is arranged on wood by hinged 1
On even body 19, screw mandrel 2 one end is arranged in the shell 7 of left arm, and screw mandrel 2 other end is fixing with the axle of left motor 1 to be connected, on
Limit sensors 18, lower limit sensor 17, left motor 1 are fixedly mounted in the shell 7 of left arm, and are electrically connected with electronic control module
Connect；Described right arm balance module is identical with the structure of left arm balance module.
The further technical scheme used is: described anteversion and retroversion module is by bearing 1, bearing 2 10, rotary shaft 9, motor
2 11 compositions, rotary shaft 9 is fixing with puppet body 19 to be connected, and rotary shaft 9 is fixing with the axle of motor 2 11 to be connected, and rotary shaft 9 is led to
Cross bearing 1, bearing 2 10 is connected with the legs and feet module 20 of puppet, and motor 2 11 is fixing with the legs and feet module 20 of puppet to be connected also
Electrically connect with electronic control module.
The further technical scheme used is: described electronic control module includes: controller 14, battery 13, charging inlet 12, appearance
State sensor 15, wireless remote control module 16；Wireless remote control module 16 includes wireless receiver and remote controller, described controller 14
With attitude transducer 15, upper limit sensor 18 and lower limit sensor 17, left motor 1, motor 2 11, wireless remote control module 16
Wireless receiver, battery 13 electrically connects and is fixedly mounted on puppet body 19；Charging inlet 12 electrically connects also with battery 13
Be fixedly mounted on puppet body 19, described attitude transducer 15 includes gyroscope and/or Gravity accelerometer, described
Remote controller include wireless transmitter, screen, starting key, shutdown button, button of standing, automatic running button, forward key, after
Moving back button, left-hand rotation button, right-hand rotation button, turbo and/or deceleration button, described button is mechanical type, touch and/or tactile
Touch screen；The wireless signal of described wireless receiver and wireless transmitter is infrared, ultrasound wave, bluetooth and/or radio frequency.
The further technical scheme used is: described controller 14 is by following steps realization control function:
Step one, initializes detection and arranges, including upper limit of detection level sensor 18, lower limit sensor 17 the most normally, and inspection
The value surveying attitude transducer is the most normal, and it is upright to adjust balance puppet attitude, makes wheelbarrow balance stand；
Step 2: wait the information that remote controller is sent, processes the information content that remote controller is sent；
Step 3: if the information content sent of remote controller is for advancing, then controller 14 controls motor 2 11 and makes balance puppet lean forward；
If the information content that remote controller is sent is for retreating, then controller 14 controls motor 2 11 and makes balance puppet hypsokinesis；If remote controller is sent out
The information content come is for fast forwarding through, then controller 14 controls motor 2 11 and increases balance puppet forward leaning angle；If remote controller is sent out
The information content come is for standing, then controller 14 controls left arm balance module, right arm balance module and anteversion and retroversion module and makes
Balance puppet is kept upright；If the information content that remote controller is sent for turn left, then controller 14 control left motor 1 make left arm put down
The left arm module of weighing apparatus module is lifted；If the information content that remote controller is sent is for turning right, then controller 14 controls to make right arm put down
The right balance weight of weighing apparatus module lifts, if the information content that remote controller is sent is for accelerating, then controller 14 controls left arm balance mould
Block, right arm balance module and anteversion and retroversion module make balance puppet accelerated motion, if the information content that remote controller is sent is for slowing down,
Then controller 14 controls left arm balance module, right arm balance module and anteversion and retroversion module and makes balance puppet retarded motion, if
The information content that remote controller is sent is automatic running, then controller 14 control left arm balance module, right arm balance module and
Anteversion and retroversion module makes balance puppet turn left, and turns right, and advances, and retreats and so stands；
Step 4: the value of test pose sensor is the most normal, if normally returning step 2, if abnormal, shows that wheelbarrow falls
Fall, report to the police；
Step 5, the value of test pose sensor is the most normal, if normally returning step one, if abnormal, shows that wheelbarrow falls
Fall, report to the police；Return step 5.
Decoration function can also be mainly played with puppet head on the puppet body 19 of the present invention.
Claims (5)
1. swing arm based on an electric unicycle balance puppet, it is characterised in that include that puppet body (19), arm balance
Module, anteversion and retroversion module, the legs and feet module (20) of puppet, electronic control module.
A kind of swing arm based on electric unicycle the most according to claim 1 balance puppet, it is characterised in that: described
Arm balance module includes left arm balance module and right arm balance module, and left arm balance module is by left motor (1), screw mandrel
(2), slide block (3), hinged one (4), hinged two (5), connecting rod one (6), the shell (7) of left arm, upper limit sensor (18), under
Limit sensors (17) forms, and connecting rod one (6) one end and puppet body (19) pass through hinged two (5) and be connected, connecting rod one (6) another
Holding hinged with slide block (3), slide block (3) is arranged on screw mandrel (2), and the shell (7) of left arm is arranged on puppet by hinged one (4)
On body (19), screw mandrel (2) one end is arranged in the shell (7) of left arm, and screw mandrel (2) other end is solid with the axle of left motor (1)
Fixed connection, upper limit sensor (18), lower limit sensor (17), left motor (1) are fixedly mounted on the shell (7) of left arm
In, and electrically connect with electronic control module；Described right arm balance module is identical with the structure of left arm balance module.
A kind of swing arm based on electric unicycle the most according to claim 1 balance puppet, it is characterised in that: before described
Hypsokinesis module is made up of bearing one (8), bearing two (10), rotary shaft (9), motor two (11), rotary shaft (9) and puppet body
(19) fixing connection, rotary shaft (9) is fixing with the axle of motor two (11) to be connected, and rotary shaft (9) passes through bearing one (8), bearing two
(10) be connected with the legs and feet module (20) of puppet, the legs and feet module (20) of motor two (11) and puppet is fixing be connected and with automatically controlled mould
Block electrically connects.
A kind of swing arm based on electric unicycle the most according to claim 1 balance puppet, it is characterised in that: described electricity
Control module includes: controller (14), battery (13), charging inlet (12), attitude transducer (15), wireless remote control module (16)；
Wireless remote control module (16) includes wireless receiver and remote controller, described controller (14) and attitude transducer (15), the upper limit
Level sensor (18) and lower limit sensor (17), left motor (1), motor two (11), wireless the connecing of wireless remote control module (16)
Receive device, battery (13) electrically connects and is fixedly mounted on puppet body (19)；Charging inlet (12) electrically connects also with battery (13)
Be fixedly mounted on puppet body (19), described attitude transducer (15) includes gyroscope and/or Gravity accelerometer,
Described remote controller include wireless transmitter, screen, starting key, shutdown button, button of standing, automatic running button, advance by
Key, Reverse keys, left-hand rotation button, right-hand rotation button, turbo and/or deceleration button, described button is mechanical type, touch
And/or touch screen；The wireless signal of described wireless receiver and wireless transmitter is infrared, ultrasound wave, bluetooth and/or radio frequency.
A kind of swing arm based on electric unicycle the most according to claim 1 balance puppet, it is characterised in that: described control
Device processed (14) is by following steps realization control function:
Step one, initializes detection and arranges, including upper limit of detection level sensor (18), lower limit sensor (17) the most just
Often, the value of test pose sensor is the most normal, and it is upright to adjust balance puppet attitude, makes wheelbarrow balance stand；
Step 2: wait the information that remote controller is sent, processes the information content that remote controller is sent；
Step 3: if the information content that remote controller is sent is for advancing, then controller (14) control motor two (11) makes balance puppet
Lean forward；If the information content that remote controller is sent is for retreating, then controller (14) control motor two (11) makes balance puppet hypsokinesis；If
The information content that remote controller is sent is for fast forwarding through, then controller (14) controls motor two (11) and increases balance puppet top rake
Degree；If the information content that remote controller is sent is for standing, then controller (14) controls left arm balance module, right arm balance module
Balance puppet is made to be kept upright with anteversion and retroversion module；If the information content that remote controller is sent is for turning left, then controller (14) controls
Left motor (1) makes the left arm module of left arm balance module lift；If the information content that remote controller is sent is for turning right, then control
Device (14) controls to make the right balance weight of right arm balance module lift, if the information content that remote controller is sent is for accelerating, then controls
Device (14) controls left arm balance module, right arm balance module and anteversion and retroversion module makes balance puppet accelerated motion, if remote control
The information content that device is sent is for slowing down, then controller (14) controls left arm balance module, right arm balance module and anteversion and retroversion
Module makes balance puppet retarded motion, if the information content that remote controller is sent is automatic running, then controller (14) controls left hand
Arm balance module, right arm balance module and anteversion and retroversion module make balance puppet turn left, and turn right, and advance, and retreat and so stand；
Step 4: the value of test pose sensor is the most normal, if normally returning step 2, if abnormal, shows that wheelbarrow falls
Fall, report to the police；
Step 5, the value of test pose sensor is the most normal, if normally returning step one, if abnormal, shows that wheelbarrow falls
Fall, report to the police；Return step 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610510045.2A CN106094824B (en) | 2016-07-03 | 2016-07-03 | A kind of swing arm balance puppet based on electric unicycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610510045.2A CN106094824B (en) | 2016-07-03 | 2016-07-03 | A kind of swing arm balance puppet based on electric unicycle |
Publications (2)
| Publication Number | Publication Date |
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| CN106094824A true CN106094824A (en) | 2016-11-09 |
| CN106094824B CN106094824B (en) | 2019-01-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610510045.2A Active CN106094824B (en) | 2016-07-03 | 2016-07-03 | A kind of swing arm balance puppet based on electric unicycle |
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| CN105171759A (en) * | 2015-10-13 | 2015-12-23 | 桂林电子科技大学 | Swing arm type single-wheel wire-walking robot |
-
2016
- 2016-07-03 CN CN201610510045.2A patent/CN106094824B/en active Active
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| CN106094824B (en) | 2019-01-29 |
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Address after: 545616 No. 266, No. 3, A plant, No. 19, No. 19, Yang Yang Road, Liu Dong District, Liuzhou, the Guangxi Zhuang Autonomous Region Applicant after: LIUZHOU HUILIN TECHNOLOGY Co.,Ltd. Address before: 545006 the Guangxi Zhuang Autonomous Region City, Liuzhou, 268 East Ring Road, Guangxi science and Technology University automotive College Applicant before: LIUZHOU HUILIN TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20191128 Address after: 221000 room 607, block B, University Pioneer Park, No. 99, University Road, Tongshan District, Xuzhou high tech Industrial Development Zone, Jiangsu Province Patentee after: Jiangsu Luzi Mali Food Co.,Ltd. Address before: 545616 No. 266, No. 3, A plant, No. 19, No. 19, Yang Yang Road, Liu Dong District, Liuzhou, the Guangxi Zhuang Autonomous Region Patentee before: LIUZHOU HUILIN TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20221116 Address after: 221000 B716, Zone B, No. 99, University Road, High tech Industrial Development Zone, Xuzhou, Jiangsu Patentee after: Jiangsu Yurun Water Research Institute Co.,Ltd. Address before: Room 607, building B, University Pioneer Park, 99 University Road, Tongshan District, Xuzhou hi tech Industrial Development Zone, Jiangsu Province, 221000 Patentee before: Jiangsu Luzi Mali Food Co.,Ltd. |
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Effective date of registration: 20221206 Address after: Room 912, office building, No. 11, Zhujiang East Road, high tech Industrial Development Zone, Xuzhou, Jiangsu 221000 Patentee after: Zhiyuan metal technology (Xuzhou) Co.,Ltd. Address before: 221000 B716, Zone B, No. 99, University Road, High tech Industrial Development Zone, Xuzhou, Jiangsu Patentee before: Jiangsu Yurun Water Research Institute Co.,Ltd. |