CN106200635B - A kind of formula balance puppet that sways one's hips based on electric unicycle - Google Patents
A kind of formula balance puppet that sways one's hips based on electric unicycle Download PDFInfo
- Publication number
- CN106200635B CN106200635B CN201610510052.2A CN201610510052A CN106200635B CN 106200635 B CN106200635 B CN 106200635B CN 201610510052 A CN201610510052 A CN 201610510052A CN 106200635 B CN106200635 B CN 106200635B
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- puppet
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- remote controler
- controller
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- 230000005540 biological transmission Effects 0.000 claims abstract description 44
- 239000000203 mixture Substances 0.000 claims abstract description 3
- 230000005484 gravity Effects 0.000 claims description 9
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 3
- 241001062009 Indigofera Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002023 wood Substances 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The present invention provides a kind of formula balance puppet that sways one's hips based on electric unicycle, including puppet ontology（18）, balance module, puppet legs and feet module（19）, electronic control module, the puppet ontology（18）With the legs and feet module of puppet（19）It is fixedly connected, balance module is by balance weight（1）, track（2）, connecting rod（3）, it is hinged（4）, bearing one（5）, transmission shaft one（6）, transmission gear one（7）, bearing two（8）, motor（9）, transmission shaft two（10）, transmission gear two（11）, bearing three（12）Composition, by control balance module may be implemented the balance "Left"-deviationist of puppet, Right deviation and lean forward, swing back, electric unicycle that is upright and then driving is realized and advances, retreats and standing.
Description
Technical field
The present invention relates to balanced robot's technical field, especially a kind of formula balance puppet that sways one's hips based on electric unicycle
Device.
Background technology
The Self-balancing electronic wheelbarrow sold on current market is referred to as：Electric unicycle is a kind of driver station electronic
The walking wheelbarrow of ability on wheelbarrow, when driver does not stand onboard, electric unicycle cannot walk, that is to say, that when
Although preceding electric unicycle has certain anterior-posterior balance ability but do not have left-right balance ability, therefore currently electronic is solely
It takes turns vehicle and does not have unmanned automatic driving function.Generally how to be ridden by people to demonstrate when selling electric unicycle and being demonstrated to client,
And certain skill is needed, one time one time demonstration is also relatively more arduous when special client is more, is one for sales force
Kind burden.A kind of formula balance puppet that sways one's hips based on electric unicycle that this patent provides has left-right balance and automatic Pilot work(
Electric unicycle of riding can be carried out instead of people by remote control, mitigate burden when sales force's demonstration significantly；It should be based on electricity
The formula balance puppet that sways one's hips of dynamic wheelbarrow can show unpiloted auto-steering, automatic Pilot, have amusement function；If matched
Automatic charging function can also be realized by closing charging socket.
Invention content
The problem of being unable to automatic running the technical problem to be solved by the present invention is to overcome existing electric unicycle, provides one kind
The balance puppet that can drive electric unicycle with automatic balance function.
The technical solution adopted by the present invention is to solve the above-mentioned problems：A kind of formula that sways one's hips based on electric unicycle is provided
Balance puppet, it is characterised in that legs and feet module 19, electronic control module including puppet ontology 18, balance module, puppet, the wood
Even ontology 18 is fixedly connected with the legs and feet module 19 of puppet.
The further technical solution that the present invention uses is：The balance module is by balance weight 1, track 2, connecting rod 3, hinged
4, bearing 1, transmission shaft 1, transmission gear 1, bearing 28, motor 9, transmission shaft 2 10, transmission gear 2 11, bearing three
12 compositions, 3 one end of connecting rod are connect with balance weight 1 by hinged 4, and the other end of connecting rod 3 is fixedly connected with transmission shaft 1, balance
Block 1 is slidably connected with track 2, and track 2 is fixedly mounted on puppet ontology 18, and transmission shaft 1 passes through bearing 1 and bearing 28
It is fixed on puppet ontology 18, transmission gear 1 is fixedly mounted on transmission shaft 1, the axis of motor 9 and the one of transmission shaft 2 10
End is fixedly connected, and 2 10 other end of transmission shaft is fixed on by bearing 3 12 on puppet ontology 18, is passed gear 2 11 and is fixedly mounted
On transmission shaft 2 10, transmission gear 1 is meshed with moving gear 2 11, motor 9 be mounted on puppet ontology 18 on and with it is automatically controlled
Module is electrically connected.
The further technical solution that the present invention uses is：The electronic control module includes：Controller 14, battery 13, charging
Mouth 17, attitude transducer 15, left limit switch 20, right limit switch 21, wireless remote control module 16；Wireless remote control module 16 includes
Wireless receiver and remote controler, the controller 14 and attitude transducer 15, left limit switch 20, right limit switch 21, electricity
Machine 9, the wireless receiver of wireless remote control module 16, battery 13 are electrically connected and are fixedly mounted on puppet ontology 18；Charging interface
It 17 is electrically connected and is fixedly mounted on puppet ontology 18 with battery 13, the attitude transducer 15 includes gyroscope and/or again
Power acceleration transducer, the remote controler includes wireless transmitter, screen, starting key, shutdown button, standing button, automatic
Traveling button, forward key, Reverse keys, left-hand rotation button, right-hand rotation button, turbo and/or deceleration button, the button are
Mechanically, touch and/or touch screen；The wireless signal of the wireless receiver and wireless transmitter is infrared, ultrasonic wave, indigo plant
Tooth and/or radio frequency.
The further technical solution that the present invention uses is：The controller 14 realizes control function by following steps：
Whether step 1, initialization detection and setting, including detection left limit switch 20, right limit switch 21 are normal, inspection
Survey attitude transducer 15 value it is whether normal, and adjust balance puppet posture it is upright, make electric unicycle balance stand；
Step 2：The information for waiting for remote controler to send, the information content that processing remote controler is sent；
Step 3：If the information content that remote controler is sent is to advance, controller 14, which controls motor 9, makes balance weight 1 move
To front, make balance puppet center of gravity in front；If the information content that remote controler is sent is to retreat, controller 14 controls motor
9 make balance weight 1 be moved to below, make balance puppet center of gravity later；If the information content that remote controler is sent is to stand, control
Device 14 processed, which controls motor 9, makes balance puppet be kept upright；If the information content that remote controler is sent is to turn left, controller 14 controls
Motor 9 makes balance weight 1 be moved to the left；If the information content that remote controler is sent is to turn right, controller 14, which controls motor 9, makes balance
Block 1 moves right；If the information content that remote controler is sent is to accelerate, controller 14 controls motor 9 and increases balance weight 1 in front
Position or subsequent position so that electric unicycle is accelerated；If the information content that remote controler is sent is to slow down, controller
14 control motors 9, which reduce the position in front of balance weights 1 or subsequent position, makes electric unicycle retarded motion；If remote controler is sent out
The information content come is automatic running, then controller 14, which controls 9 adjustment puppet of motor, makes electric unicycle turn left, right
Turn, advances, retreat right standing activities；
Step 4：Whether the value of test pose sensor is normal, if normal return to step two, shows if abnormal, electronic
Wheelbarrow is fallen down, and is alarmed；
Step 5, whether the value for continuing test pose sensor is normal, and return to step one, shows if abnormal, if normal
Electric unicycle is fallen down, and is alarmed；Return to step five.
The invention has the advantages that：The present invention by track 2, connecting rod 3, hinged 4, bearing 1, transmission shaft 1,
Transmission gear 1, bearing 28, motor 9, transmission shaft 2 10, transmission gear 2 11, bearing 3 12 and to pass through the institute of controller 14 real
The function that step finally controls left-hand rotation, right-hand rotation and the straight trip of realizing left-leaning balance weight 1, Right deviation and then realization wheelbarrow is now obtained,
And realize balance weight 1 so that the center of gravity of balance puppet leaned forward, swung back, it is upright so realize electric unicycle advance, retreat and
The function of standing, the legs and feet module by balancing puppet allow balance puppet to be fixed on electric unicycle；Pass through automatically controlled mould
Block receives the information that remote controler is sent and controls balance module, realizes that remote control balance puppet drives the purpose of electric unicycle.
Description of the drawings
Fig. 1 is a kind of formula balance puppet structural schematic diagram that sways one's hips based on electric unicycle of the present invention.
Specific implementation mode
It is a kind of formula balance puppet that sways one's hips based on electric unicycle, including puppet ontology 18, balance mould as shown in Figure 1
Legs and feet module 19, the electronic control module of block, puppet, the puppet ontology 18 are fixedly connected with the legs and feet module 19 of puppet, puppet
Legs and feet module 11 balance beam can be made occasionally to be fixedly mounted on electric unicycle.
The balance module is by balance weight 1, track 2, connecting rod 3, hinged 4, bearing 1, transmission shaft 1, transmission gear
One 7, bearing 28, motor 9, transmission shaft 2 10, transmission gear 2 11, bearing 3 12 form, and 3 one end of connecting rod passes through with balance weight 1
Hinged 4 connection, the other end of connecting rod 3 are fixedly connected with transmission shaft 1, and balance weight 1 is slidably connected with track 2, and track 2 fixes peace
On puppet ontology 18, transmission shaft 1 is fixed on by bearing 1 and bearing 28 on puppet ontology 18, transmission gear 1
It is fixedly mounted on transmission shaft 1, the axis of motor 9 is fixedly connected with one end of transmission shaft 2 10, and 2 10 other end of transmission shaft is logical
Cross bearing 3 12 to be fixed on puppet ontology 18, pass gear 2 11 and be fixedly mounted on transmission shaft 2 10, transmission gear 1 with it is dynamic
Gear 2 11 is meshed, and motor 9 is mounted on puppet ontology 18 and is electrically connected with electronic control module.
The electronic control module includes：Controller 14, battery 13, charging interface 17, attitude transducer 15, left limit switch
20, right limit switch 21, wireless remote control module 16；Wireless remote control module 16 includes wireless receiver and remote controler, the control
Device 14 processed and attitude transducer 15, the wireless receiving of left limit switch 20, right limit switch 21, motor 9, wireless remote control module 16
Device, battery 13 are electrically connected and are fixedly mounted on puppet ontology 18；Charging interface 17 is electrically connected and is fixedly mounted on battery 13
On puppet ontology 18, the attitude transducer 15 include gyroscope and/or gravity accelerometer, the remote controler includes
Wireless transmitter, screen, starting key, shutdown button, standing button, automatic running button, forward key, Reverse keys, a left side
Turn button, right-hand rotation button, turbo and/or deceleration button, the button is mechanical, touch and/or touch screen；It is described
The wireless signal of wireless receiver and wireless transmitter is infrared, ultrasonic wave, bluetooth and/or radio frequency.
The controller 14 realizes control function by following steps：
Whether step 1, initialization detection and setting, including detection left limit switch 20, right limit switch 21 are normal, inspection
Survey attitude transducer 15 value it is whether normal, and adjust balance puppet posture it is upright, make electric unicycle balance stand；
Step 2：The information for waiting for remote controler to send, the information content that processing remote controler is sent；
Step 3：If the information content that remote controler is sent is to advance, controller 14, which controls motor 9, makes balance weight 1 move
To front, make balance puppet center of gravity in front；If the information content that remote controler is sent is to retreat, controller 14 controls motor
9 make balance weight 1 be moved to below, make balance puppet center of gravity later；If the information content that remote controler is sent is to stand, control
Device 14 processed, which controls motor 9, makes balance puppet be kept upright；If the information content that remote controler is sent is to turn left, controller 14 controls
Motor 9 makes balance weight 1 be moved to the left；If the information content that remote controler is sent is to turn right, controller 14, which controls motor 9, makes balance
Block 1 moves right；If the information content that remote controler is sent is to accelerate, controller 14 controls motor 9 and increases balance weight 1 in front
Position or subsequent position so that electric unicycle is accelerated；If the information content that remote controler is sent is to slow down, controller
14 control motors 9, which reduce the position in front of balance weights 1 or subsequent position, makes electric unicycle retarded motion；If remote controler is sent out
The information content come is automatic running, then controller 14, which controls 9 adjustment puppet of motor, makes electric unicycle turn left, right
Turn, advances, retreat right standing activities；
Step 4：Whether the value of test pose sensor is normal, if normal return to step two, shows if abnormal, electronic
Wheelbarrow is fallen down, and is alarmed；
Step 5, whether the value for continuing test pose sensor is normal, and return to step one, shows if abnormal, if normal
Electric unicycle is fallen down, and is alarmed；Return to step five.
Arm, hand, head can also be carried on the puppet ontology 18 of the present invention；Mainly play decoration function.
Claims (2)
1. a kind of formula balance puppet that sways one's hips based on electric unicycle, it is characterised in that including puppet ontology（18）, balance module,
The legs and feet module of puppet（19）, electronic control module, the puppet ontology（18）With the legs and feet module of puppet（19）It is fixedly connected；Institute
Stating electronic control module includes：Controller（14）, battery（13）, charging interface（17）, attitude transducer（15）, left limit switch
（20）, right limit switch（21）, wireless remote control module（16）；Wireless remote control module（16）Including wireless receiver and remote controler,
The controller（14）With attitude transducer（15）, left limit switch（20）, right limit switch（21）, motor（9）, wireless remote
Control module（16）Wireless receiver, battery（13）It is electrically connected and is fixedly mounted on puppet ontology（18）On；Charging interface（17）
With battery（13）It is electrically connected and is fixedly mounted on puppet ontology（18）On；The attitude transducer（15）Including gyroscope and/
Or gravity accelerometer, the remote controler include wireless transmitter, screen, starting key, shutdown button, standing button,
Automatic running button, forward key, Reverse keys, left-hand rotation button, right-hand rotation button, turbo and/or deceleration button, it is described to press
Key is mechanical, touch and/or touch screen；The wireless signal of the wireless receiver and wireless transmitter is infrared, ultrasonic
Wave, bluetooth and/or radio frequency；The controller（14）Control function is realized by following steps：
Step 1, initialization detection and setting, including detection left limit switch（20）, right limit switch（21）It is whether normal, inspection
Survey attitude transducer（15）Value it is whether normal, and adjust balance puppet posture it is upright, make electric unicycle balance stand；
Step 2：The information for waiting for remote controler to send, the information content that processing remote controler is sent；
Step 3：If the information content that remote controler is sent is to advance, controller（14）Control motor（9）Make balance weight（1）It moves
It moves to front, makes balance puppet center of gravity in front；If the information content that remote controler is sent is to retreat, controller（14）Control
Motor（9）Make balance weight（1）It is moved to below, makes balance puppet center of gravity later；If the information content that remote controler is sent is
It stands, then controller（14）Control motor（9）Balance puppet is set to be kept upright；If the information content that remote controler is sent is to turn left,
Then controller（14）Control motor（9）Make balance weight（1）It is moved to the left；If the information content that remote controler is sent is to turn right, control
Device processed（14）Control motor（9）Make balance weight（1）It moves right；If the information content that remote controler is sent is to accelerate, controller
（14）Control motor（9）Increase balance weight（1）Position or subsequent position in front makes electric unicycle accelerate；If distant
The information content that control device is sent is to slow down, then controller（14）Control motor（9）Reduce balance weight（1）Position in front or after
The position in face makes electric unicycle retarded motion；If the information content that remote controler is sent is automatic running, controller（14）Control
Motor processed（9）Adjustment puppet makes electric unicycle turn left, and turns right, and advances, retreats right standing activities；
Step 4：Whether the value of test pose sensor is normal, if normal return to step two, shows electric single-wheel if abnormal,
Vehicle is fallen down, and is alarmed；
Step 5, whether the value for continuing test pose sensor is normal, and return to step one, shows electronic if abnormal, if normal
Wheelbarrow is fallen down, and is alarmed；Return to step five.
2. a kind of formula balance puppet that sways one's hips based on electric unicycle according to claim 1, it is characterised in that：Described
Balance module is by balance weight（1）, track（2）, connecting rod（3）, it is hinged（4）, bearing one（5）, transmission shaft one（6）, transmission gear one
（7）, bearing two（8）, motor（9）, transmission shaft two（10）, transmission gear two（11）, bearing three（12）Composition, connecting rod（3）One end
With balance weight（1）By hinged（4）Connection, connecting rod（3）The other end and transmission shaft one（6）It is fixedly connected, balance weight（1）With rail
Road（2）It is slidably connected, track（2）It is fixedly mounted on puppet ontology（18）On, transmission shaft one（6）Pass through bearing one（5）And bearing
Two（8）It is fixed on puppet ontology（18）On, transmission gear one（7）It is fixedly mounted on transmission shaft one（6）On, motor（9）Axis with
Transmission shaft two（10）One end be fixedly connected, transmission shaft two（10）The other end passes through bearing three（12）It is fixed on puppet ontology（18）
On, pass gear two（11）It is fixedly mounted on transmission shaft two（10）On, transmission gear one（7）With moving gear two（11）It is meshed, electricity
Machine（9）Mounted on puppet ontology（18）Above and with electronic control module it is electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610510052.2A CN106200635B (en) | 2016-07-03 | 2016-07-03 | A kind of formula balance puppet that sways one's hips based on electric unicycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610510052.2A CN106200635B (en) | 2016-07-03 | 2016-07-03 | A kind of formula balance puppet that sways one's hips based on electric unicycle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106200635A CN106200635A (en) | 2016-12-07 |
| CN106200635B true CN106200635B (en) | 2018-10-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610510052.2A Active CN106200635B (en) | 2016-07-03 | 2016-07-03 | A kind of formula balance puppet that sways one's hips based on electric unicycle |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591938A (en) * | 2017-09-28 | 2019-04-09 | 陈瑞堂 | Intelligent electric balance car and its intelligent controlling device |
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| CN101590323A (en) * | 2009-07-08 | 2009-12-02 | 北京工业大学 | A kind of one-wheel robot system and control method thereof |
| WO2011113928A1 (en) * | 2010-03-19 | 2011-09-22 | Kuka Systems Gmbh | Folding device |
| 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 |
| CN104309740A (en) * | 2014-09-26 | 2015-01-28 | 柳州市新锐科技有限公司 | Swinging type electric balance monocycle |
| CN204229226U (en) * | 2014-07-12 | 2015-03-25 | 桂林电子科技大学 | A kind of structure changes wheelbarrow robot realizing self-equilibrating |
| CN105302148A (en) * | 2015-11-16 | 2016-02-03 | 桂林电子科技大学 | Gyroscopic wheelbarrow robot system capable of realizing self-balancing |
-
2016
- 2016-07-03 CN CN201610510052.2A patent/CN106200635B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101590323A (en) * | 2009-07-08 | 2009-12-02 | 北京工业大学 | A kind of one-wheel robot system and control method thereof |
| WO2011113928A1 (en) * | 2010-03-19 | 2011-09-22 | Kuka Systems Gmbh | Folding device |
| 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 |
| CN204229226U (en) * | 2014-07-12 | 2015-03-25 | 桂林电子科技大学 | A kind of structure changes wheelbarrow robot realizing self-equilibrating |
| CN104309740A (en) * | 2014-09-26 | 2015-01-28 | 柳州市新锐科技有限公司 | Swinging type electric balance monocycle |
| CN105302148A (en) * | 2015-11-16 | 2016-02-03 | 桂林电子科技大学 | Gyroscopic wheelbarrow robot system capable of realizing self-balancing |
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| CN106200635A (en) | 2016-12-07 |
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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 Patentee 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 Patentee before: LIUZHOU HUILIN TECHNOLOGY Co.,Ltd. |
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