CN107628174B - Omnidirectional ball wheel driven handlebar-free self-balancing bicycle - Google Patents
Omnidirectional ball wheel driven handlebar-free self-balancing bicycle Download PDFInfo
- Publication number
- CN107628174B CN107628174B CN201710944395.4A CN201710944395A CN107628174B CN 107628174 B CN107628174 B CN 107628174B CN 201710944395 A CN201710944395 A CN 201710944395A CN 107628174 B CN107628174 B CN 107628174B
- Authority
- CN
- China
- Prior art keywords
- ball
- wheel
- frame
- cover
- wheels
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Motorcycle And Bicycle Frame (AREA)
Abstract
The invention discloses an omnidirectional ball wheel driven handlebar-free self-balancing bicycle, which comprises a frame, a front ball wheel driving device and a rear wheel supporting mechanism, wherein the front ball wheel driving device comprises a front vehicle ball frame, a ball wheel and a ball wheel driving mechanism for driving the ball wheel to rotate in a universal manner; the ball wheel driving mechanism comprises three single-row omnidirectional wheels which are uniformly distributed on the circumference of the ball cover, the single-row omnidirectional wheels penetrate through an opening on the ball cover to be vertically tangent with the spherical surface of the upper ball wheel of the ball wheel, and the single-row omnidirectional wheels are driven by a direct-current speed reduction coding motor which is correspondingly arranged on the upper part of the ball frame of the front vehicle. The invention has high flexibility, small turning radius and good stability, and can move out of any curve.
Description
Technical Field
The invention relates to a bicycle robot mechanism, in particular to an omnidirectional ball wheel driven handlebar-free self-balancing bicycle.
Background
The bicycle is composed of frame, wheels, fork, pedal, chain and other structural parts, the wheels are arranged in front and back, and the bicycle has the characteristics of simple structure, small size, rapidness, flexibility and the like.
The principle of self-balancing bicycle is that an automatic balancing system is used to keep the bicycle balanced.
At present, representative self-balancing bicycles comprise an electric bicycle Lit Motors C-1, an intelligent bicycle 'DuBike' and the like. The electric bicycle C-1 is a commercial manned vehicle which is introduced by Lit Motors in 2014, two flywheels rotating at high speed are arranged at the bottom of a bicycle body, and according to a gyroscope principle, a gyroscopic moment can be generated by only driving the flywheels to precess according to a certain rule to keep the lateral balance of the bicycle body; the intelligent bicycle "DuBike" is an on-going intelligent bicycle published by Baidu corporation in 2015, which heretofore could rely on remote handlebar steering to maintain lateral balance of the vehicle body.
The self-balancing bicycle has certain automatic balancing and steering capacity. However, as for the mechanism, the existing bicycles all adopt a structure with two wheels arranged in front and at the back and a handle, such a design can increase the turning radius of the bicycle body and increase the overall transverse width of the bicycle body, and the traditional wheel type self-balancing bicycle is limited by the movement mode of the driving wheels, so that flexible all-around movement in a small range is difficult to realize.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide the omni-directional ball wheel driven handlebar-free self-balancing bicycle with small turning radius of the bicycle body, small overall transverse size of the bicycle body and strong motion flexibility.
The technical scheme includes that the omnidirectional ball wheel driven handlebar-free self-balancing bicycle comprises a front ball wheel driving device and a rear wheel supporting mechanism which are arranged based on a frame, wherein the front ball wheel driving device and the rear wheel supporting mechanism are arranged on the basis of the frame, and the front ball wheel driving device and the rear wheel supporting mechanism are arranged on the frame
1. The front ball wheel driving device comprises ball wheels arranged on the basis of a front vehicle ball frame and a ball wheel driving mechanism for driving the ball wheels to rotate in a universal mode, the upper portion of the front vehicle ball frame is mounted at the front end of a vehicle frame, the lower portion of the front vehicle ball frame is provided with a hemispherical ball cover and a ball hoop which are connected up and down, the ball cover covers an upper hemisphere of the ball wheels, the ball hoop is supported on the upper portion of a lower hemisphere of the ball wheels in a sleeved mode, the ball cover and the upper hemisphere are connected in a rolling mode through spherical arc-shaped ball pairs, and the ball hoop and the lower hemisphere are connected in a rolling mode through bull's eye wheels which are uniformly distributed on the horizontal circumference; the ball wheel driving mechanism comprises three single-row omnidirectional wheels which are uniformly distributed on the circumference of a ball cover, each single-row omnidirectional wheel penetrates through a corresponding opening on the ball cover to be vertically tangent with the upper spherical surface of the ball wheel (namely, the ball wheel can be driven to roll in a friction mode), the rotating central lines of the three single-row omnidirectional wheels are upwards converged at one point, the converged point is positioned on the vertical rotating central line of the ball wheel, and the driving of each single-row omnidirectional wheel is a direct-current speed reduction coding motor which is correspondingly arranged on the upper part of a front vehicle ball frame.
2. The rear wheel supporting mechanism comprises a rear wheel arranged in a fork body at the lower part of the rear fork, and the upper part of the rear fork is arranged at the rear end of the frame.
In the structure, the three single-row omnidirectional wheels are respectively driven by the corresponding direct current speed reduction coding motors, the movement of the ball body is driven by the friction of the three single-row omnidirectional wheels, and the speed vectors generated by the three single-row omnidirectional wheels can be synthesized into a speed vector in any direction in space, so that a lateral speed vector can be generated to keep the lateral balance of the car body, and front and rear speed vectors can be generated to move the car body forwards and backwards, thereby realizing the omnibearing movement of the ball body.
The utility model provides a comparatively firm preceding car ball frame superstructure includes montant and the down tube of surrounding the montant circumference equipartition, install in the frame front end the upper end of montant, the ball cover is connected in the lower extreme erection joint of montant, and the upper end of each montant links firmly the montant, and the lower extreme of each montant links firmly the ball cover or links firmly the ball hoop or links firmly the connection position of ball cover and ball hoop.
One structure of the connecting part of the ball cover and the ball hoop comprises an upper flange ring and a lower flange ring, wherein the upper flange ring is arranged on the ball cover, the lower flange ring is arranged on the ball hoop, and the upper flange ring and the lower flange ring are connected through a bolt assembly.
One structure of the spherical arc-shaped ball pair comprises a ball support and balls, the ball support is a spherical arc-shaped suspension installed at the bottom of the ball cover, the balls are installed in ball rotating hole positions on the ball support, and upper and lower ball bodies of the balls are in rolling contact with the bottom of the ball cover and an upper hemispherical surface of the ball wheel respectively.
The invention has the beneficial effects that:
1. the omnidirectional ball wheel driven handlebar-free self-balancing bicycle adopts a handlebar-free structural design, reduces the transverse size of the bicycle body, and has small size and simple and convenient operation.
2. The invention adopts a mode that three single-row omnidirectional wheels drive the ball wheels, can realize transverse turning and longitudinal forward movement of the vehicle body, and has the advantages of high flexibility, small turning radius, good stability, flexible movement in a small space and capability of walking out any curvilinear motion.
3. In the invention, three single-row omnidirectional wheels can generate three speed vectors in different directions by being driven by the direct-current speed reduction coding motor, and the three speed vectors in different directions can be synthesized into a speed vector in any direction in space, thereby realizing the omnidirectional motion of the ball wheel.
4. In the invention, the frame, the front ball frame and the rear fork are fixedly connected into a whole, and the invention has the advantages of simple mechanism design, good processing and assembling performance and the like.
Drawings
FIG. 1 is a front view of one embodiment of the present invention.
Fig. 2 is a sectional view taken along line a-a of fig. 1.
Fig. 3 is a structural view of an arc-shaped ball pair in the embodiment of fig. 1 and 2.
And (3) identifying the figure number: 1. a frame; 2. a ball wheel; 3. a DC speed reduction coding motor; 4. a ball cover; 5. a ball hoop; 6. a spherical arc-shaped ball pair; 6-1, a ball support; 6-2, rolling balls; 7. a bull's eye wheel; 8. a single row of omni wheels; 9. a rear fork; 10. a rear wheel; 11. a vertical rod; 12. a diagonal bar; 13. an upper flange ring; 14. a lower flange ring; 15. a motor seat board.
Detailed Description
The technical solution of the present invention will be further explained with reference to the embodiments shown in the drawings.
The invention relates to an omnidirectional ball wheel driven handlebar-free self-balancing bicycle which structurally comprises a frame 1, a front ball wheel driving device and a rear wheel supporting mechanism.
The frame 1 adopts a U-shaped frame, the front end of which is high and extends forwards (can be used as a handrail), and the rear end of which is low and extends backwards (can be used as a seat plate), as shown in figure 1.
The front ball wheel driving device is arranged below the front stretching end of the frame 1 and comprises a front vehicle ball frame, ball wheels 2 and a ball wheel driving mechanism. The upper portion of preceding car ball frame comprises montant 11 and circumference distribution down tube 12 around montant 11, and the lower portion of preceding car ball frame includes hemisphere ball cover 4 and the ball hoop 5 of upper and lower position, connect fixedly through upper flange circle 13 and lower flange circle 14 between ball cover 4 and the ball hoop 5, ball wheel 2 locates between ball cover 4 and the ball hoop 5, through the rolling connection of spherical arc ball pair 6 between the last hemisphere of ball wheel 2 and the ball cover 4, ball hoop 5 cover is held in the palm the upper portion of ball wheel 2 lower hemisphere, and ball wheel 2 and ball hoop 5 go up local bull's eye wheel 7 rolling connection of horizontal circumference, the front extension end bottom of frame 1 is connected to the upper end of montant 11, and the lower extreme of each down tube 12 is connected on the upper portion body of rod of montant 11, and the lower extreme of each down tube 12 is connected on upper flange circle 13, as shown in fig. 1, fig. 2.
The ball wheel driving mechanism comprises three single-row omnidirectional wheels 8 uniformly distributed on the circumference of a ball cover 4, each single-row omnidirectional wheel 8 penetrates through a corresponding opening (a spherical arc-shaped ball pair 6 should be avoided) on the ball cover 4 to be vertically tangent and contacted with the upper hemispherical surface of the ball wheel 2, the rotating central lines of the three single-row omnidirectional wheels 8 upwards converge at one point, and the convergence point is positioned on the vertical rotating central line of the ball wheel 2; each single-row omni wheel 8 is driven by a corresponding direct current speed reduction coding motor 3, and each direct current speed reduction coding motor 3 is installed on a transverse motor seat plate 15 between a vertical rod 11 and an inclined rod 12 through a correspondingly arranged inclined motor seat rod, as shown in fig. 1 and 2.
The spherical arc-shaped ball pair 6 comprises a ball support 6-1 and balls 6-2, the ball support 6-1 is a spherical arc-shaped suspension installed at the bottom of the ball cover 4, the balls 6-2 are installed in ball rotation hole positions on the ball support 6-1, and upper and lower ball bodies of the balls 6-2 are exposed out of the ball support 6-1 and are respectively in rolling contact with the bottom of the ball cover 4 and an upper semispherical surface of the ball wheel 2, as shown in fig. 2 and 3.
The rear wheel supporting mechanism is arranged below the rear extending end of the frame 1 and comprises a rear fork 9 and a rear wheel 10, the upper rod body of the rear fork 9 is fixedly connected to the bottom of the rear extending end of the frame 1, and the rear wheel 10 is arranged in a fork body at the lower part of the rear fork 9, as shown in figure 1.
The operation mode of the invention is as follows:
1. when the self-balancing bicycle moves forwards or backwards in a straight line, the three direct-current speed reduction coding motors 3 respectively drive the corresponding single-row omnidirectional wheels 8 to rotate, three speed vectors generated by the three single-row omnidirectional wheels 8 are finally synthesized into a speed vector in the longitudinal direction of the bicycle, and therefore the ball wheel 2 is driven to rotate forwards and backwards to achieve the purpose of moving the self-balancing bicycle forwards or backwards in a straight line.
2. When the self-balancing bicycle needs to turn, the three direct-current speed reduction coding motors 3 respectively drive the corresponding single-row omnidirectional wheels 8 to rotate, and three speed vectors generated by the three single-row omnidirectional wheels 8 are finally synthesized into a speed vector with a certain included angle with the longitudinal direction of the bicycle, so that the ball wheel 2 is driven to turn the self-balancing bicycle.
Claims (1)
1. Omnidirectional ball wheel drive does not have handlebar self-balancing bicycle, its characterized in that: comprises a front ball wheel driving device and a rear wheel supporting mechanism which are arranged based on a frame (1), wherein
The front ball wheel driving device comprises ball wheels (2) arranged on the basis of a front vehicle ball frame and a ball wheel driving mechanism for driving the ball wheels (2) to rotate in a universal mode, the upper portion of the front vehicle ball frame is mounted at the front end of a vehicle frame (1), the lower portion of the front vehicle ball frame is provided with a hemispherical ball cover (4) and a ball hoop (5) which are connected up and down, the upper hemisphere of the ball wheels (2) is covered by the ball cover (4), the ball hoop (5) is sleeved and supported on the upper portion of the lower hemisphere of the ball wheels (2), the ball cover (4) is in rolling connection with the upper hemisphere through a spherical arc-shaped ball pair (6), and the ball hoop (5) is in rolling connection with the lower hemisphere through a bull's eye wheel (7) which is uniformly distributed on the horizontal circumference; the ball wheel driving mechanism comprises three single-row omnidirectional wheels (8) which are uniformly distributed on the circumference of a ball cover (4), each single-row omnidirectional wheel (8) penetrates through a corresponding opening on the ball cover (4) to be vertically tangent with the upper hemispherical surface of the ball wheel (2), the rotating center lines of the single-row omnidirectional wheels (8) upwards converge at one point, the convergence point is positioned on the vertical rotation center line of the ball wheel (2), and each single-row omnidirectional wheel (8) is driven by a direct-current speed reduction coding motor (3) which is correspondingly arranged on the upper part of a front vehicle ball frame;
the rear wheel supporting mechanism comprises a rear wheel (10) arranged in a fork body at the lower part of a rear fork (9), and the upper part of the rear fork (9) is arranged at the rear end of the frame (1);
the upper part of the front car ball frame comprises vertical rods (11) and inclined rods (12) which are uniformly distributed around the circumferences of the vertical rods (11), the upper ends of the vertical rods (11) are mounted at the front end and the lower end of the car frame (1) and are connected with a ball cover (4), the upper end of each vertical rod (11) is fixedly connected with the vertical rod (11), and the lower end of each vertical rod (11) is fixedly connected with the ball cover (4), or is fixedly connected with a ball hoop, or is fixedly connected with the connecting part of the ball cover (4) and the ball hoop (5);
the structure of the connecting part of the spherical cover (4) and the spherical hoop (5) comprises an upper flange ring (13) and a lower flange ring (14), the upper flange ring (13) is arranged on the spherical cover (4), the lower flange ring (14) is arranged on the spherical hoop (5), and the upper flange ring (13) and the lower flange ring (14) are connected through a bolt component;
the spherical arc-shaped ball pair (6) comprises a ball support (6-1) and balls (6-2), the ball support (6-1) is a spherical arc-shaped suspension installed at the bottom of the ball cover (4), the balls (6-2) are installed in ball rotating hole positions on the ball support (6-1), and upper and lower ball bodies of the balls (6-2) are in rolling contact with the bottom of the ball cover (4) and an upper hemispherical surface of the ball wheel (2) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710944395.4A CN107628174B (en) | 2017-09-30 | 2017-09-30 | Omnidirectional ball wheel driven handlebar-free self-balancing bicycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710944395.4A CN107628174B (en) | 2017-09-30 | 2017-09-30 | Omnidirectional ball wheel driven handlebar-free self-balancing bicycle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107628174A CN107628174A (en) | 2018-01-26 |
| CN107628174B true CN107628174B (en) | 2022-10-28 |
Family
ID=61104226
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710944395.4A Active CN107628174B (en) | 2017-09-30 | 2017-09-30 | Omnidirectional ball wheel driven handlebar-free self-balancing bicycle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107628174B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639647A (en) * | 2017-10-30 | 2018-01-30 | 桂林电子科技大学 | The wrist joint of robot mechanism of omnidirectional's wheel drive |
| CN108945233B (en) * | 2018-07-10 | 2021-01-22 | 上海电机学院 | Two-wheeled motorcycle adopting spherical wheels and driving front and control method thereof |
| CN110492786B (en) * | 2019-08-12 | 2021-05-14 | 东南大学 | Three-degree-of-freedom force interaction device based on multi-mode conversion type ultrasonic motor |
| CN110481687B (en) * | 2019-08-26 | 2021-05-11 | 大连球球时代科技有限公司 | Wheeled ball type balance vehicle |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101085626A (en) * | 2006-06-06 | 2007-12-12 | 李天夫 | Balance ball car |
| CN202994436U (en) * | 2012-10-31 | 2013-06-12 | 上海航天精密机械研究所 | Rocket diaphragm sheet storage box roll-over test apparatus |
| CN105058398B (en) * | 2015-08-04 | 2017-03-22 | 北京理工大学 | Spherical-wheel mobile robot and speed measuring method thereof |
| CN105197155B (en) * | 2015-10-13 | 2017-06-23 | 桂林电子科技大学 | Multi-operation mode running gear system |
| CN105197156B (en) * | 2015-10-13 | 2017-09-22 | 桂林电子科技大学 | It is convertible into the bicycle machines people of wheelbarrow |
| CN105730538B (en) * | 2016-02-03 | 2017-10-13 | 桂林电子科技大学 | Driving omni-bearing spherical robot mechanism in frictional |
| CN106541777A (en) * | 2016-12-07 | 2017-03-29 | 徐州乐泰机电科技有限公司 | A kind of full angle bogie car |
| CN106741402A (en) * | 2016-12-22 | 2017-05-31 | 桂林电子科技大学 | It is capable of achieving double ball wheel walking mechanisms of lateral translation |
| CN106695744A (en) * | 2017-03-08 | 2017-05-24 | 郑州大学 | Autonomous navigation robot based on global wheel |
| CN106843258B (en) * | 2017-04-13 | 2023-05-23 | 桂林电子科技大学 | Trolley teeterboard device capable of being tilted in all directions and balance control method thereof |
| CN207257871U (en) * | 2017-09-30 | 2018-04-20 | 桂林电子科技大学 | Omnidirectional's ball wheel drive is without handlebar self-balancing bicycle |
-
2017
- 2017-09-30 CN CN201710944395.4A patent/CN107628174B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN107628174A (en) | 2018-01-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107628174B (en) | Omnidirectional ball wheel driven handlebar-free self-balancing bicycle | |
| CN201151444Y (en) | Motor-assisted bicycle with three front wheels | |
| CN101384466B (en) | Wheel suspension | |
| US7883100B1 (en) | Suspension lift system for golf carts with improved pivotal nodes | |
| CN102815356B (en) | Trolley | |
| CN110667723B (en) | Bionic all-terrain robot | |
| CN101557977A (en) | Vehicle with three wheels | |
| EP2857300A1 (en) | Tricycle having two foldable wheels | |
| CN104271434A (en) | Vehicle having positional control function | |
| CN202879697U (en) | Intelligent self-balancing traffic robot | |
| CN106627832A (en) | Four-wheel omni-directional-rotating routing-inspection robot chassis | |
| CN109987184B (en) | Scooter | |
| CN207257871U (en) | Omnidirectional's ball wheel drive is without handlebar self-balancing bicycle | |
| CN202765191U (en) | Intelligent balanced recreational vehicle | |
| CN107628175B (en) | Ball wheel steering handlebar-free self-balancing bicycle | |
| CN209112318U (en) | One bulb wheel robot | |
| CN216709530U (en) | Reverse three-wheeled locomotive with front wheel swinging damping system | |
| CN209833887U (en) | Balance car auxiliary bracket | |
| CN106335568A (en) | Twin-four-link four-wheel robot chassis structure for surmounting obstacles | |
| CN201907371U (en) | Caster for baby carriage and baby carriage | |
| CN107284581B (en) | Universal vehicle capable of being disassembled and assembled and deformed | |
| CN216468233U (en) | Balance mechanism and electric three-wheeled drift car | |
| CN215622498U (en) | Tiltable tricycle | |
| CN107554221B (en) | Crank arm device of independent suspension wheel positioning machine | |
| CN202345802U (en) | Bionic obstacle crossing detection vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |