CN113183694A - Electric bias wheel moving device - Google Patents

Abstract

Electronic unbalance loading wheel mobile device, the gravity moment of torsion with the unbalance loading device drives the wheel, do not need the human weight of loading and move through human focus to cooperate, just can have better stability and the ability of autonomic balance removal, can follow up with the people through interactive installation, the interaction of modes such as intelligent dialogue, can replace accompany and the amusement effect of pet to a certain extent, can also regard as a controllable mobile platform, further extend the function through carrying on special device or software, use and patrol the control, remove and sell, remove the network deployment, remove the advertisement, the queue performance, fields such as maneuver battle.

Description

Electric bias wheel moving device

Technical Field

The invention relates to a wheel type moving device, which is relevant to the fields of mechanical pets, living robots and the like.

Background

With the growing growth of material cultures and the growing differentiation of populations and needs, more and more people choose to raise dogs for companion or recreational purposes, the most common of which is pet dogs. The pet dog can silently accompany the owner, can also interact with the owner, and can go out for walking and doing exercises together, thereby adding much fun to life and being beneficial to physical and mental health of people, but adding much trouble to families and society in the aspects of sanitation, order and the like, so that the development of substitutes or complements is necessary. The intelligent level of some machine dogs and intelligent sound boxes is higher and higher at present, and the machine dogs and the intelligent sound boxes can replace pet dogs to a certain extent in the aspect of man-machine communication, but the intelligent sound boxes are far from the capacity of being flexible and moving independently on a large scale like pet dogs, and are essentially closer to indoor intelligent toys. The balance car, the bicycle, the tricycle, wheeled mobile machinery such as four-wheel vehicle have fine removal ability, but also be a vehicle, and the structure of itself also has the limitation, what the balance car adopted is an unstable inverted pendulum structure, control system is comparatively complicated, need load human weight and move through human focus come with the machine cooperation just can realize balanced the removal, man-machine mutual independence is lower, still need have better health coordination ability during the use, only be fit for liking the young people of motion, reliability and security are still widely questioned at present, tricycle and four-wheel vehicle have better gravity self-stability under the assistance of frame, but volume and weight are all bigger, lack the basic condition that becomes the pet through intelligent transformation.

Disclosure of Invention

The invention relates to a wheel type mobile machine driven by a bias device, which has better stability and the capability of autonomous balance movement without the need of loading the weight of a human body and matching the weight with the gravity center movement of the human body, can interact with a human body in modes of dynamic following, intelligent conversation and the like through an interaction device, can replace the accompanying and entertainment functions of pets to a certain extent, can also be used as a controllable mobile platform, further expands the application by carrying special devices or software, and is applied to the fields of tour monitoring, mobile selling, mobile networking, mobile advertising, queue performance, maneuvering operation and the like.

The invention is provided with the weight bias which can move relative to the wheel under the driving of the electric device so that the center of gravity of the whole device moves circularly relative to the wheel; under the gravity balance state, the gravity center of the whole device is lower than the center of the wheel, and the relative movement of the gravity center leads the wheel to be stressed in an unbalanced way and roll on the supporting surface; the interaction device comprises a pull belt, a push-pull rod, a line control device, a remote control device, a communication device, an automatic driving system or an intelligent communication system, and the functions which can be realized comprise mobile control, man-machine dynamic following or communication and communication.

The invention relates to a single-wheel structure, wherein a weight bias is arranged in the inner space of a wheel, the diameter of the wheel is gradually distributed in the axial direction, the center is large, the two ends are small, the outline of the peripheral surface is arc-shaped, and a weight device is arranged in the wheel to change the axial position of the gravity center of the whole device, so that the inclination direction and the inclination of the wheel are changed to control the movement posture.

The invention relates to a double-wheel structure, which is provided with two wheels which are coaxially and rotationally connected, and the rotating speed of the two wheels can be respectively controlled to change the motion direction of the whole device.

A cabin body or a bracket is arranged between the two wheels and fixedly connected with the weight bias, so that the gravity torque to the wheels can be increased.

The wheel of the invention is a spherical wheel with an omnidirectional movement structure, the gravity center of the whole device can move on the circumference of a vertical plane relative to the wheel in the direction of 360 degrees in a horizontal plane, and therefore, the wheel can roll on the horizontal bearing surface in an omnidirectional way.

The technical types of the weight bias of the present invention include sliding, pendant, mobile or rolling.

The present invention has an automatic power-off function, and the power supply control for the sub-assembly can be set to a mode of leaving the control range of the remote control device or automatically powering off when the remote control device fails.

The invention brakes by making the wheel and the weight block move oppositely, or the braking device with bidirectional self-locking can adopt a braking guarantee mode which takes effect automatically after the power device is cut off. The invention is provided with a jumping device, so that the whole device can jump off the ground.

The invention is provided with a buoyancy device or a rotor wing flying device, can move on water or in the air, or is provided with a special device or software to have special mobile operation purposes, including but not limited to patrol monitoring, cleaning and cleaning, mobile spraying, mobile selling, mobile networking, mobile advertising, queue performance, manned walking replacement or maneuvering operation.

Drawings

FIG. 1 is an axial view of a single wheel embodiment;

FIG. 2 is a radial view of the single wheel embodiment;

FIG. 3 is a structural view of the dual wheel embodiment;

FIG. 4 is an embodiment of a dual wheel structure with a nacelle;

FIG. 5 is a structural view of an embodiment of a spherical wheel;

FIG. 6 is a partial view of an embodiment of a spherical wheel in the direction of A;

FIG. 7 is a pendant-type bias weight embodiment;

FIG. 8 is a magnetic fluid type bias weight embodiment;

FIG. 9 is a bi-directional mechanical self-locking brake;

fig. 10 is a catapult-type jumping device;

fig. 11 is a swing arm type jumping device.

Detailed Description

With reference to the single-wheel construction embodiment of fig. 1 and 2, the wheel 3 is the main structure of the whole device, comprising the rim 2 and the elastic layer 6, the centre of gravity of which coincides with the centre of the circle; the gravity center of the sliding block 4 is deviated at one side of the center of the wheel and is also used as an assembly mounting platform, the assembly such as a motor, a battery, a control circuit board and the like is intensively mounted at one side of the deviation of the gravity center, and all the assemblies which do not need to rotate together with the wheel can be mounted at the upper side to form a weight deviation block with the weight larger than that of the sliding block 4; the power wheel 7 and the auxiliary wheel 1 are arranged on the sliding block 4 in a fixed shaft mode, the motor drives the power wheel 7 to roll on the inner side of the rim 2 to enable the sliding block 4 to move, the auxiliary wheel 1 plays a role in positioning and guiding, the sliding block 4 can only do circular motion on a motion plane and cannot shake in the wheel, and the effect of the auxiliary wheel 1 can be replaced by a mode of middle shaft positioning as in the embodiment of the figure 4; in a gravity balanced condition, the combined centre of gravity of the weight biases is located directly below the centre of the wheel 3, and the wheel 3 can roll on the support surface when the weight biases the wheel 3 into relative rotation and applies a gravitational torque to the wheel 3 greater than the rolling resistance torque of the wheel 3. The bias weights may also be of other technical types including, but not limited to, pendant, mobile, or rolling. The eccentric weight enables the gravity center of the whole device to be lower than the geometric center, meanwhile, the axial width of the elastic layer 6 is large, and the vertical projection of the gravity center falls in the axial range of the contact area of the elastic layer 6 and the supporting surface, so that the geometric form of the whole device has lateral stability when the whole device stands, and the whole device is not easy to turn on one side; in order to increase the stability, the end face of the wheel 3 can be made into a convex curved surface, such as a spherical surface and a conical surface, so that the posture during toppling is unstable, and the wheel is easy to recover to a standing posture, or a counterweight device is arranged to axially move the sliding block 4, so that the axial position of the whole gravity center is changed in real time to prevent rollover; in order to save axial space, the wheels can also be made thinner, and the wheel can be kept stable by controlling the axial position of the center of gravity by using an automatic control device comprising a gyroscope, an ECU and the like. The interaction device comprises a pull belt, a push-pull rod, a line control device, a remote control device, a communication device, an automatic driving system or an intelligent communication system and is used for realizing man-machine communication interaction; the pull belt and the push-pull rod are used for directly applying pulling force or pushing force to the wheel to enable the wheel to move or enable the wheel not to leave a control range; the wire control device and the remote control device comprise switches, contactors, resistors or frequency converters and are used for controlling the parameters of the electrical components such as power-on and power-off, current, frequency and the like, so that the motion direction and speed of the whole device are controlled to keep the man-machine dynamic following; the automatic driving system is additionally provided with components such as a sensor, a positioning system, an electric control unit module and the like on the basis of remote control by a person, the system autonomously senses the position of the person and controls an airborne component to move autonomously, so that a set distance is kept between the automatic driving system and the person, and the technical types of the positioning system include but are not limited to wifi positioning, Bluetooth positioning and satellite positioning; the intelligent communication system comprises an intelligent voice communication system, an intelligent written communication system or an intelligent visual communication system, and can be used for man-machine communication to realize control of the device or realize wider interaction such as entertainment, information inquiry, learning and the like. The braking device is of a magnetoelectric type, a mechanical type, a hydraulic type, a pneumatic type or a combination thereof, and braking can be performed by reverse rotation of the motor in order to simplify the structure.

The embodiment of fig. 1 and 2 is a single wheel structure, the sliding block 4 is arranged in the inner space of the wheel 3, the outer diameter of the elastic layer 6 of the wheel 3 is gradually distributed in the axial direction, the center is large, the two ends are small, the outline shape of the peripheral surface is arc-shaped, the diameter of the surface contacting with the ground is different when the wheel 3 inclines, and the wheel 3 in rolling turns towards the side with the small diameter; the screw rod 5 is used as a counterweight device, two ends of the screw rod 5 are in rotary contact with the inner side of the end surface of the wheel 3, the middle section of the screw rod is matched with an internal threaded hole on the sliding block 4, and the motor drives the screw rod 5 to rotate to adjust the axial position of the sliding block 4 so as to change the axial position of the gravity center of the whole device and change the inclination direction and the inclination of the wheel 3 to control the movement posture; the counterweight device may also be other linear motion mechanisms, types including but not limited to gears, push-pull rods, cables, cams.

The embodiment of fig. 3 is a double-wheel structure, which has two wheels 12 rotatably connected through a connecting block 11, and each of the two wheels has a slider 10 and a motor, a battery, a brake device, a circuit board, etc. inside, and the moving direction of the wheels can be changed by respectively controlling the rotating speed of the two wheels 12.

In the embodiment of fig. 4, two wheels 20 are rotatably mounted with a central shaft 21, a sliding block 22 is fixedly connected with the central shaft 21 and assists centering with the central shaft, a motor 24 drives a power wheel 23 to drive the sliding block 22 to make circular motion, a cabin 25 or a bracket is fixedly connected with the central shaft 21 and can be used for mounting components, loading objects or even people, the gravity center of the components is lower than that of the wheels 20 and belongs to the component of the weight bias block, and the weight of the weight bias block can be increased.

The wheels of the previous embodiments are conventional rotating wheels with a central axis, and the wheels may also be spherical wheels with omnidirectional structures, as shown in fig. 5 and 6, the inner and outer surfaces of the wheel 31 are spherical, a plurality of rollers 33 fixed on the outer peripheral surface of the annular track 32 can roll on the inner surface of the wheel 31, the axes of the rollers 33 are perpendicular to the plane passing through the axes of the annular track 32, so that the annular track 32 can rotate around the spherical center in the plane passing through the axes of the rollers, but cannot rotate around the axes of the rollers 33 and the inner surface of the wheel 31 relative to the wheel 31 under the action of the frictional resistance between the rollers 33 and the inner surface of the wheel 31; the slide block 34 is rotatably connected with a power wheel 35 and an auxiliary wheel 30, and can do circular motion on the inner surface of the annular track 32, and the slide block 34 cannot move axially due to the flanges of the annular track 32; the combination of the endless track 32 and the slider 34 allows the centre of gravity of the overall device to be displaced circumferentially in a vertical plane relative to the wheel in a direction 360 degrees in the horizontal plane, whereby the wheel 3 can roll omni-directionally on a horizontal support surface. In order to change the direction, two sides of the axial direction of the sliding block 34 are provided with a direction changing wheel 39 which is rotationally connected with the power wheel 35 through a rocker arm 36, is driven by the power wheel 35 through a transmission belt 37 and can also be driven by an independent motor; two ends of the spring 38 are respectively fixedly connected with the rocker arm 36 and the slide block 34, and the change wheel 39 is retracted to be separated from the wheel 31 under the normal state; the wire drawing device is connected with the rocker arm 36 and the outside, when phase change is needed, the rocker arm 36 is controlled by the wire drawing device to swing downwards to enable the change wheel 39 to roll on the inner surface of the wheel 31, and the annular track 32 is rotated by reverse thrust to change the direction. A locking device is connected to the circular track 32 to lock the circular track 32 to the wheel 31 when no direction change is required.

The type of biasing weight in the foregoing embodiments is not limited to sliding, and other types may be used, including but not limited to pendant, mobile, or rolling. Fig. 7 shows an embodiment of a pendant type structure, the motor adopts a direct drive structure, a rotor 41 of the motor is fixed on the inner side of a rim 40 of a wheel 42, a stator 45 of the motor is fixed on a suspension arm 43, the suspension arm 43 is rotatably connected with the wheel 42 through a central shaft 44, other components such as a battery, a brake device and the like which do not rotate along with the wheel 42 are also fixedly arranged on the suspension arm 43 to form a bias weight, and when the stator 45 and the rotor 41 rotate relatively under the action of magnetic electric induction, and the torque applied to the suspension arm 43 by the collective gravity of the bias weight is larger than the rolling resistance torque of the wheel 42, the wheel 42 can roll on a supporting surface. FIG. 8 shows an embodiment of a flow structure, in which the rim of the wheel 50 is in a ring cavity or ring groove structure, and the inner space is intensively filled with a magnetic fluid 54 as a bias weight; a plurality of groups of coils 51 which are distributed circumferentially are fixed on the wheel rim, and after being electrified, the coils can generate radial magnetic fields to magnetize and attract the magnetic fluid 54; a control device comprising a resistor, a contactor, a frequency converter or an ECU (electronic control unit) and the like is adopted to enable a part of coils 51 to be sequentially electrified and deenergized along the circumferential direction or sequentially pass current wave crests, so that magnetic traveling waves are generated, and the magnetic fluids 54 are gathered together to flow along the circumferential direction to break the gravity balance state and push the wheels 42 to roll; the coil 51 can be replaced by a solenoid which surrounds the magnetic fluid 54 in the center and generates a circumferential magnetic field after being electrified; the magnetic fluid 54 can be replaced by a square or circular solid magnetic block to become a sliding or rolling type bias weight.

In order to avoid that the device is out of control to endanger public safety or damage the device, an automatic power-off control module is arranged in the interaction device, power supply control of the subassembly can be set to a mode of leaving the control range of the remote control device or automatically powering off when the remote control device fails, and the subassembly controlled by the mode at least comprises a motor or a coil for driving the bias weight to move. The normal work of other electrical components, such as a communication module and a positioning system, is not influenced after the managed component is powered off.

In the embodiment of fig. 1, no special braking device is provided, and braking is performed by rotating the motor that drives the power wheel 7 in the reverse direction to simplify the structure. FIG. 9 is a bidirectional mechanical self-locking braking device, in which a slide rail 65 is fixedly installed on a slide block 4, a coil 66 is fixedly installed in the middle of the slide rail 65, brake pads 67 are arranged on both sides of the coil and can move along the slide rail 65, and magnetic materials are embedded in the brake pads; the magnetic poles between the brake pads 67 are attracted, the brake pads 67 are close to each other and separated from the rim 2 in the initial state, a reverse magnetic field is generated when the coil 66 is electrified, the superposed magnetic field can enable the brake pads 67 to move outwards to be in contact with the rim 2 to brake, or the magnetic poles between the brake pads 67 are repelled, the brake pads 67 are separated from each other and contact with the rim 2 in the initial state, the reverse magnetic field is generated when the coil 66 is electrified, and the superposed magnetic field can enable the brake pads 67 to be close to each other and separated from the rim 2; the included angle of the slide way of the slide rail 65 and the tangent line of the inner surface of the rim 2 at the friction contact point is selected within the range capable of enabling the brake pad 67 and the slide rail 65 to generate self-locking action, so that when the brake pad 67 is in contact with the rim 2, no matter in the forward rotation direction or the reverse rotation direction, one of the brake pads 67 can only move towards the direction of increasing the friction force under the action of the friction force, and therefore, extra brake pressure is not required to be applied. In order to still brake after the power is exhausted, the brake pad 67 adopts a mode of magnetic poles repelling each other, and the braking action of the brake pad is automatically effective after the power is cut off. In order to reduce power consumption, a mechanical linear reciprocating mechanism may be used instead of the coil 66 to drive the brake pads 67, and a magnetic force between the brake pads 67 may be replaced by an elastic force.

In order to make the whole device capable of jumping in the air to cross obstacles while moving horizontally, the catapult-type jumping device shown in fig. 10 is adopted, a sleeve 60 is rotatably mounted on the middle shaft 44 of the embodiment of fig. 7 to keep a hanging posture, the bottom of the magnetic block is fixedly provided with a coil 62, the magnetic block 61 can move up and down in the sleeve 60, and in an initial state, the magnetic block 61 is freely placed or attracted on the coil 62, the coil 62 generates magnetism to repel the magnetic block 61 when being electrified, the magnetic block 61 is bounced upwards to be separated from the coil 62 and then collides with the top of the sleeve 60, the whole process has two links to generate an upward acting force on the whole device to enable the whole device to be separated from the ground, the downward reacting force of the magnetic block 61 on the coil 62 is transmitted to the elastic layer 46 to enable the elastic layer 46 to generate elastic deformation to bounce upwards, in addition, the impact force of the magnetic block 61 on the top of the sleeve 60 is transmitted to the middle shaft 44, so that the whole device moves upwards. In order to avoid being crushed, the magnetic block 61 is made of a non-fragile magnetic material or is provided with a protective layer. Fig. 11 shows a swing arm type jumping device, which has two eccentric arms 64 embedded with magnetic material and rotatably connected with a center shaft 63 of an embodiment, the initial state is natural droop, an electromagnetic device drives the eccentric arms to swing upwards around the center shaft 63 in opposite directions through magnetic force, when the eccentric arms swing to the highest point, the eccentric arms are rotated downwards, the upward movement inertia is not balanced, and an upward thrust is applied to the center shaft 63 to make the whole device jump upwards. The type of jumping means is not limited to the above-listed ejector and swing arm types, but may also be other types of technology.

In order to make the device capable of moving on water, the hull 24 of the embodiment of fig. 4 is made into a watertight structure to become a floating body, or the internal space of the wheels 20 is enlarged to make the specific gravity of the whole device smaller than that of water. The cabin 24 is provided with a retractable rotor flight device inside, which can drive the whole device to fly in the air. In order to further expand the application, the whole device is used as a controllable mobile platform, and is loaded with special devices or software to have special mobile operation application, including but not limited to patrol monitoring, cleaning, mobile spraying, mobile selling, mobile networking, mobile advertisement, queue performance, manned walking assistance or maneuvering operation.

Claims (10)

1. The electric weight-biased wheel moving device comprises wheels, an electric device, a braking device and an interaction device, and is characterized by comprising a weight bias block, wherein the weight bias block can move relative to the wheels under the driving of the electric device so as to enable the gravity center of the whole device to move circularly relative to the wheels; under the gravity balance state, the gravity center of the whole device is lower than the center of the wheel, and the relative movement of the gravity center leads the wheel to be stressed in an unbalanced way and roll on the supporting surface; the interaction device comprises a pull belt, a push-pull rod, a line control device, a remote control device, a communication device, an automatic driving system or an intelligent communication system, and the functions which can be realized comprise mobile control, man-machine dynamic following or communication and communication.

2. The electric weight-bias wheel moving device as claimed in claim 1, wherein the weight is a single wheel structure, the weight is disposed in the inner space of the wheel, the diameter of the wheel is gradually distributed in the axial direction, the center is large, the two ends are small, the contour of the peripheral surface is arc-shaped, and the weight device is disposed in the inner space to change the axial position of the center of gravity of the whole device, so that the inclination direction and inclination of the wheel are changed to control the moving posture.

3. The motorized weighted wheel shifting apparatus of claim 1, wherein the apparatus is a dual-wheel structure having two wheels rotatably coupled coaxially, and wherein the rotational speed of the two wheels can be controlled separately to change the direction of movement of the apparatus.

4. The motorized wheel shifting apparatus of claim 3, wherein a housing or bracket is disposed between the wheels and is fixedly coupled to the weight to increase the gravitational torque on the wheels.

5. The motorized weighted wheel shifting apparatus of claim 1, wherein the wheels are spherical wheels having an omni-directional motion configuration, and the center of gravity of the overall apparatus is circumferentially movable in a vertical plane in a direction 360 degrees in a horizontal plane relative to the wheels, whereby the wheels roll omni-directionally on a horizontal support surface.

6. An electric motor-driven weight-wheel moving device according to claim 1, 2, 3, 4 or 5, characterized in that the technical type of weight comprises gliding, pendant, streaming or rolling.

7. An electrically powered road wheel mover according to claim 6 having an auto power-off function, the control of power to the sub-assembly being settable to a mode in which power is removed from the control range of the remote control or is automatically turned off in the event of a failure of the remote control.

8. An electric motor-driven weight-biased wheel shifting apparatus as claimed in claim 1, 2, 3, 4, 5 or 7, wherein braking is effected by relative movement of the wheels and the weight in opposite directions, or a braking apparatus with bidirectional self-locking, in which a brake ensuring mode is employed which is automatically activated after the power supply is cut off.

9. The motorized weighted wheel shifting apparatus of claim 8, further comprising a jumping device to jump the entire apparatus off the ground.

10. An electric motor-driven weight-bias wheel moving device according to claim 1, 2, 3, 4, 5, 7 or 9, characterized by having a buoyancy device or a rotor flying device, which can move on water or in the air, or having a special device or software installed for special moving work applications, including but not limited to patrol monitoring, cleaning and sweeping, moving painting, moving selling, moving networking, moving advertising, queue performance, manned walking or maneuvering operations.

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