CN202180886U - Self-balanced intelligent traffic robot - Google Patents

Self-balanced intelligent traffic robot Download PDF

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Publication number
CN202180886U
CN202180886U CN2011202749562U CN201120274956U CN202180886U CN 202180886 U CN202180886 U CN 202180886U CN 2011202749562 U CN2011202749562 U CN 2011202749562U CN 201120274956 U CN201120274956 U CN 201120274956U CN 202180886 U CN202180886 U CN 202180886U
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China
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wheel
self
main drive
intelligent transportation
drive wheel
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CN2011202749562U
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Chinese (zh)
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魏庆前
王赫
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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Abstract

The utility model discloses a self-balanced intelligent traffic robot comprising a pedestal body, a motion actuating mechanism, a driving system, a control system, a signal sensing system and a power supply system used for supplying power for the mechanisms and systems; wherein the pedestal body comprises a chassis underframe and a pedal fixedly connected with the chassis underframe; the motion actuating mechanism comprises an earthing device, the earthing device is rotatably connected with the chassis underframe through a rotary main shaft; the driving system comprises at least one motor capable of driving the earthing device to perform a displacement with the ground; the signal sensing system comprises a robot attitude sensor capable of feeding back and transmitting front-back inclined angle signals of the pedestal body in real time; and the motion actuating mechanism also comprises an inertial element used for maintaining a left-right balance of the earthing device, the inertial element is rotatably connected with the chassis underframe through a mandrel, the mandrel is parallel with an axis of the rotary main shaft, the mandrel is also driven by one motor, so as to drive the inertial element to rotate with a high speed. The traffic robot of the utility model has the advantages of simple structure, strong flexibility, rapid response, easy operation, safety and stabilization.

Description

Self-balancing intelligent transportation robot
Technical field
The utility model relates to a kind of robot, particularly a kind of traffic robot that can realize front and back and left and right sides balance automatically, and belonging to can be owing to the vehicle of riding instead of walk.
Background technology
The development of land crafts such as bicycle, motor bike, automobile except the application of power resources and material, does not have bigger breakthrough so far on principle.Self-Balancing vehicle has been broken traditional thinking theory, for new road has been opened up in birth, development and the application of the new vehicle.Utilize gravity force energy, can otherwise effective technique solution more be provided for people carry out safe, steady, green transportation in the land.
At the end of last century; U.S. Di inventor grace toll bar (Dean Kamen) is invented the personal transport carrier that has designed a kind of driven by power, had the homeostasis ability with his team of DEKA research and development company (DEKA Research and Development Corp.); Can let people ride it move with having no obstacle, and be referred to as " thinking car " in city the inside.The inventive concept of thinking car is to be based upon on " dynamic stability " groundwork (DynamicStabilization), just based on the self-equalizing ability of vehicle itself.Accurate solid-state gyroscope (Solid-StateGyroscopes) with built-in is judged the residing posture state of vehicle body, sees through accurate and after high-revolving central microprocessor calculated suitable instruction, CD-ROM drive motor was accomplished the effect of balance.Structure on the thinking car comprises four big major parts: wheel and powerplant module, sensing system, computerized control system and operator control system.Main sensing system is one group of gyroscope, and the direction unmodified characteristic through utilizing gyroscope to have to keep its S. A. indication is carried out data acquisition accurately to the attitude data of thinking car.The thinking car is equipped with 3~5 gyro sensors, in order to accomplish degree of dip and the inclination degree of surveying front and rear direction.Because the system design of thinking car is complicated, and need to adopt a plurality of gyroscopes, manufacturing cost is high, has also significantly increased the cost of the maintenance of its software and hardware simultaneously.
Wheelbarrow aggregate motion, body-building, amusement are in one, and wheelbarrow does not need special-purpose place, no matter all can use in road, park, path in woodland or garden, different occasions such as indoor, and its riding property almost is a weather-proof.Though common wheelbarrow has interest, the light characteristics of easy to learn, portable body; But there is the deficiency of safety and poor stability; Though can cater to teenager user's interest and hobby; But just can not be fit to for middle-aged and old users, the sports promotion of this wheelbarrow that also causes riding is restricted.
The patent No. of Beijing University of Technology is that the utility model patent of ZL201020650188.1 discloses the manned wheelbarrow of a kind of self-balancing system, comprises walking unit and control unit; The road wheel of walking unit is arranged on the below of system, and the top of road wheel is provided with frame, and the top of frame is provided with balance wheel, and the top of balance wheel is provided with the seesaw control handle of speed of control wheelbarrow; Be provided with power supply and motion control unit in the frame, control handle is connected on the sensor module; Control unit comprises: motion control unit, and with motion control unit bonded assembly control handle, the sensor module of forming by obliquity sensor, inertial sensor, and balance wheel wheel hub motor driver element and road wheel wheel hub motor driver element; The axis of balance wheel and the axis normal of road wheel and non-intersect.Though these innovation and creation have realized under the different gait of march of wheelbarrow the balance control at fore-and-aft direction and left and right directions, complex structure, manufacturing cost height.
In a word, and for some short range and need not to bear the situation of overweight transportation burden, conventional traffic robot is because volume is big, and is all bigger for the consumption of the energy and the area that takes up room, very not environmental protection.Traditional traffic robot also exists following shortcoming: manpower traffic robot effort and efficient are low; And the traffic robot of traditional electric power or other power is therefore bigger for energy demand because volume is big, quality is big, for some short range and the situation that need not to bear overweight transportation burden seem very uneconomical.
The utility model content
The purpose of the utility model provides a kind of self-balancing intelligent transportation robot; Anterior-posterior balance for robot has adopted different intelligent balance technical schemes respectively with left and right sides balance; Adopt the inventive concept of lower cost; The equilibrium problem of transport solution robot, and provide a kind of and have that simple in structure, alerting ability is strong, response rapidly, the practical intelligent transportation robot of processing ease and safety and stability.
For achieving the above object, the utility model adopts following technical proposals:
A kind of self-balancing intelligent transportation robot comprises pedestal body, movement executing mechanism, drive system, control system, signal sensing system and is the power-supply system of each train of mechanism power supply that power-supply system also is equipped with battery isolator control; Pedestal body comprises sole and the pedal of captiveing joint with it, and control system is installed on the sole, and movement executing mechanism comprises the earth system that is subjected to displacement with ground; Earth system is at least one, and earth system is rotationally connected through live spindle and sole, and earth system is captiveed joint with live spindle; Sole and live spindle constitute the one-level inverted pendulum of balance, and drive systems comprises at least one motor, the rotating instruction of motor executive control system output; Live spindle is driven by motor; And then drive earth system and be subjected to displacement with ground, signal sensing system comprises at least one robot pose sensor, attitude sensor is to the real-time feedback transmission pedestal body of control system front and back bevelled angle signal; Movement executing mechanism also comprises the inertance element of keeping earth system left and right sides balance; Inertance element also is rotationally connected through mandrel and sole, and inertance element is also captiveed joint with mandrel, and the parallel axes of mandrel and live spindle; Mandrel is also driven by a motor, and then drives the inertance element high speed revolution.
Above-mentioned inertance element is circular quality dish, and the quality dish serves as that axle carries out the inertia high speed revolution with its mandrel.
As the improvement of the utility model, on pedal, be provided with cushion software thin-film switch, the signal pig-tail wire of thin-film switch is connected with the initializing signal receiving end of control system.
Above-mentioned earth system is a wheel, and wheel and live spindle constitute the rotation pendulum, and earth system comprises main drive wheel at least.
Above-mentioned earth system can be pedrail mechanism, and the driving wheel of pedrail mechanism and live spindle constitute the rotation pendulum.
Above-mentioned earth system can also be the robot pedipulator, and pedipulator and live spindle constitute to support to be put.
When the earth system of the utility model was wheel, the traffic robot can only have main drive wheel, and movement executing mechanism forms the single wheel traveling gear, and pedal lays respectively at the left and right sides of main drive wheel.
Another kind of technical scheme when the earth system of the utility model is wheel is: the traffic robot can also have two out-of-alignment wheels; Be respectively main drive wheel and of a postposition preposition turn to wheel; The wheel hub side of two wheels was in mutual coplane state when the traffic robot kept straight on, and pedal lays respectively at the left and right sides of main drive wheel; Be fixedly connected with the directional control bar on the pedestal body, the top fixed installation handle of directional control bar, the bottom of directional control bar is hinged with the end of the center shaft that turns to wheel, and to the center shaft transfer of torque, turns to wheel to swing thereby drive.
A kind of technical scheme that the also has when earth system of the utility model is wheel is: the traffic robot also can have two coaxial main drive wheel.
Above-mentioned two coaxial main drive wheel can be installed on the left and right sides of sole respectively side by side at interval, form the movement executing mechanism of long wheelbase, and pedal is on the upper surface of the sole between two main drive wheel.
Above-mentioned two coaxial main drive wheel can also be close to side by side and be installed together, and become coaxial main drive wheel group, form the movement executing mechanism of short wheelbase, and sole is positioned at the top of main drive wheel, and pedal lays respectively at the left and right sides of main drive wheel group.
Attitude sensor in aforesaid all technical schemes of the utility model all can adopt angular transducer.
Above-mentioned main drive wheel combines with the quality dish; Be contained in the quality dish in the wheel hub outer ring of main drive wheel; And around identical pivot axis, main drive wheel and the shared motor of quality dish install big speed ratio mechanism additional between the wheel hub transmission main shaft of the turning cylinder of quality dish and main drive wheel; The sub-phase specific mass of main drive wheel dish is a low-speed motion spare; Big speed ratio mechanism only has one degree of freedom, the driving link of drive axle of motor direct drive big speed ratio mechanism, the driven executive item indirect drive quality dish of big speed ratio mechanism and main drive wheel.
Above-mentioned big speed ratio mechanism is a train, and the driving link of train and driven executive item are gear, friction wheel or sprocket wheel.
Above-mentioned big speed ratio mechanism is a leverage, and the driving link of leverage and driven executive item are all tie-rod.
Above-mentioned train can adopt planet circular system, and the transmission shaft of the sun wheel of planet circular system is directly captiveed joint with the live spindle of main drive wheel, and the driven executive item of planet circular system is captiveed joint with inertance element.
Be fixedly connected with the directional control bar on the above-mentioned pedestal body, the top fixed installation handle of directional control bar.
The middle part of above-mentioned handle flexibly connects through coaxial cylindricality short sleeve and directional control bar; The cylindricality short sleeve is captiveed joint with the top of directional control bar; Handle and cylindricality short sleeve free-running fit; Handle carries out the slippage of fine motion straight line along the inner chamber of cylindricality short sleeve, and the outer wall corresponding position of the inwall of cylindricality short sleeve and handle is through the mutual chimeric formation sliding and position limitation in concavo-convex joint portion mechanism, along being provided with elastic body in the space between the flange both sides of the concavo-convex joint portion that handle axle makes progress and the groove limit; The inwall of cylindricality short sleeve or the outer wall area of handle corresponding with it are provided with the displacement pickup that detects the handle slippage, and displacement pickup transmits displacement signal to control system.
The robot of the utility model turns to controlled a kind of technical scheme to be: above-mentioned displacement pickup can adopt Hall displacement transducer; The magnet of Hall displacement transducer and Hall element are installed on the inwall of cylindricality short sleeve respectively or on the outer wall of handle corresponding with it, the signal output part of Hall element is connected with the signal receiving end of control system.
The robot of the utility model turns to another controlled technical scheme to be: above-mentioned displacement pickup also can adopt the resistance-type displacement pickup; The resistive element of resistance-type displacement pickup and movably brush be installed on the inwall of cylindricality short sleeve respectively or on the outer wall of handle corresponding with it, the signal output part of resistance-type displacement pickup is connected with the signal receiving end of control system.
As the further improvement of the directional control bar installation position displacement sensor of the utility model, on the above-mentioned sole seat is installed.
The utility model has following substantive distinguishing features and advantage compared with prior art:
1. the utility model traffic robot's balance adopts the technical scheme of combination balancing: traffic robot's left and right sides balance realizes through the controlled high speed rotating of quality dish; Coasting body based on high speed revolution has the dead axle characteristic that keeps its axis of rotation attitude, and the centnifugal force when the quality dish rotates can make and himself keep balance; Traffic robot's anterior-posterior balance carries out the tilt parameters collection through angular transducer, carries out data handing through control system, and final injunction motor-driven earth system advances or retreats and realize.According to traffic robot's attitude loading characteristic in different directions of advancing, adopt different stable equilibrium's schemes, can realize traffic robot's self-balancing more effectively.
2. adopt the gyro effect of quality dish high speed revolution; In the left and right sides balance that realizes the traffic robot; Quality dish high speed revolution also can produce precession; Also can move by the auxiliary earth device, the quality dish becomes the energy storage energy storage and can release energy discontinuously, optimizes the efficiency of movement of movement executing mechanism.
3. the utility model is provided with cushion software thin-film switch on pedal; When starting source switch to system power-up, the traffic robot can not keep balance, only sets foot on pedal; After starting cushion software thin-film switch; Control system just begins initialization, makes the traffic robot keep balance, prevents that the traffic robot from powering up rapid balance and causing the user that damages; In addition, in the time of can also preventing to start the traffic robot suddenly on the slope, generation is slipped the slope and is caused Peril Incident.
4. the heading control loop of the utility model adopts the handle that can twitch, drives sensor, and simple structure can realize handling maneuver well.
5. when the utility model traffic robot and ground contact device were one, because the quality dish can keep left and right sides balance effectively in the rotation of ground contact device inner high speed, advantages of small volume was easy to study and uses; Overcome the deficiency that the balance about traditional wheelbarrow needs special study to use, be applicable to crowd more widely.
6. when the utility model traffic robot and ground contact device are a plurality of; Propose concentric and be close to the mode of arranging of installing side by side; Form the movement executing mechanism of short wheelbase; Can make this traffic robot realize the pivot stud function, overcome the deficiency that common two-wheeled balance truck car body causes space hold greatly in the space of minimum.
7. coaxial two wheels of the utility model traffic robot are installed side by side at interval, and just traditional two-wheel balance truck wheel position is arranged, and form the movement executing mechanism of long wheelbase.When balance truck was run at high speed, because the too near rollover easily of wheelspan, the quality dish can keep left and right sides balance effectively at the inside wheel high speed revolution, significantly reduces the possibility of rollover, and was more safe and reliable when making sharply turning, and prevents that the user on the pedal from being fallen out.
Description of drawings
Fig. 1 is the signal system block diagram of the intelligent transportation robot of first embodiment of the utility model.
Fig. 2 is the pedestal body of first embodiment of the utility model and the lateral plan of wheel.
Fig. 3 is the pedestal body of first embodiment of the utility model and the front view of wheel.
Fig. 4 is that the earth system of second embodiment of the utility model is the structural representation of single-wheel.
Fig. 5 is that the earth system of the 3rd embodiment of the utility model is the structural representation of out-of-alignment two-wheel.
Fig. 6 is that the earth system of the 4th embodiment of the utility model is the structural representation of coaxial interval two-wheel.
Fig. 7 is that the earth system of the 5th embodiment of the utility model is the structural representation of coaxial next-door neighbour's two-wheel.
Fig. 8 is the inner structure scheme drawing of the ground contact device of the 6th embodiment of the utility model.
Fig. 9 is the single-wheel of the 8th embodiment of the utility model and the structural representation of directional control bar.
Figure 10 is the coaxial interval two-wheel of the 8th embodiment of the utility model and the structural representation of directional control bar.
Figure 11 is the coaxial next-door neighbour's two-wheel of the 8th embodiment of the utility model and the structural representation of directional control bar.
Figure 12 is the structural representation that the directional control bar of the 9th embodiment of the utility model is installed Hall displacement transducer.
Figure 13 is the signal system block diagram of the 9th embodiment intelligent transportation robot of the utility model.
Figure 14 is the structural representation that the directional control bar of the tenth embodiment of the utility model is installed the resistance-type displacement pickup.
Figure 15 is the signal system block diagram of the tenth embodiment intelligent transportation robot of the utility model.
Figure 16 is the single-wheel of the 11 embodiment of the utility model and the structural representation at seat.
Figure 17 is the coaxial next-door neighbour's two-wheel of the 11 embodiment of the utility model and the structural representation at seat.
The specific embodiment
The utility model preferred embodiment combines detailed description of the drawings following:
Embodiment one:
Referring to Fig. 1, a kind of self-balancing intelligent transportation robot comprises pedestal body, movement executing mechanism, drive system, control system 11, signal sensing system and is the power-supply system 19 of each train of mechanism power supply; Power-supply system 19 also is equipped with battery isolator control; Pedestal body comprises sole 1 and the pedal of captiveing joint with it 3, and control system 11 is installed on the sole 1, and movement executing mechanism comprises the earth system that is subjected to displacement with ground; Earth system is at least one; Earth system is rotationally connected through live spindle and sole 1, and earth system is captiveed joint with live spindle, the one-level inverted pendulum of sole 1 and live spindle formation balance; Drive systems comprises at least one motor 8; The rotating instruction of motor 8 executive control systems 11 output, live spindle is driven by motor 8, and then drives earth system and ground is subjected to displacement; Signal sensing system comprises at least one robot pose sensor 9, and attitude sensor 9 is the bevelled angle signal before and after control system 11 real-time feedback transmission pedestal bodies.Movement executing mechanism also comprises the inertance element of keeping earth system left and right sides balance; Inertance element also is rotationally connected through mandrel and sole 1; Inertance element is also captiveed joint with mandrel; And the parallel axes of mandrel and live spindle, mandrel are also driven by a motor 8, and then drive the inertance element high speed revolution.The present embodiment traffic robot mainly is made up of movement executing mechanism, drive system, detecting device and control system.Movement executing mechanism wherein is robot body, can comprise that revolute pair, moving sets or its aggregate motion are secondary; Drive system is wherein ordered about the movement executing mechanism motion, and the command signal according to control system 11 is sent moves robot by means of dynamical element, and what movement executing mechanism was exported is line, angular displacement; The effect of detecting device wherein is real-time detection machine people's a motion conditions; Intelligent self-balancing needs according to movement executing mechanism; Measured information is delivered to control system 11 as real-time feedback signal, form closed loop control, after presupposed information compares in the control system 11; Movement executing mechanism is driven adjustment, meet predetermined requirement with the action that guarantees the traffic robot; Control system 11 wherein is loaded in the sole 1; The circuit of control system 11 is solidified with the program software of Based Intelligent Control; Attitude sensor 9 provides angle parameter for the traffic robot system, transfers to control system 11 and carries out data analysis and conversion, in order to the kinematic velocity of control earth system; And send the instruction electric signal that advances or retreat to earth system, make the traffic robot realize the self-balancing function of advancing.The present embodiment traffic robot is the machine system that automatically performs self-balancing work; It both can the acceptor commander; The custom program of the layout in advance of solidifying in again can operation control system 11; Can make the entire machine robot system according to the principle guiding principle action of formulating, realize traffic robot's intelligent self-balancing with artificial intelligence technology.
Above-mentioned inertance element is circular quality dish 5, and quality dish 5 serves as that axle carries out the inertia high speed revolution with its mandrel.
Present embodiment traffic robot's main driven by motor and ground contact device advance through preceding commentaries on classics or back commentaries on classics realization car body or retreat; The rotation of quality dish 5 can be by main motor or another driven by motor; Quality dish 5 is the disk-like object that certain thickness and quality are arranged; Quality dish 5 is done high speed rotary motion around self center of circle by drive of motor, can keep traffic robot's left and right sides balance when staying temporarily of advancing effectively.Quality dish 5 has the dead axle characteristic that keeps its axis of rotation attitude based on the coasting body of high speed revolution, and the centnifugal force when quality dish 5 rotates can make and himself keep balance.Because the gyro effect of quality dish 5 high speed revolutions; In the left and right sides balance that realizes the traffic robot; Quality dish 5 high speed revolutions also can produce precession; Also can move by the auxiliary earth device, quality dish 5 becomes the energy storage energy storage and can release energy discontinuously, can optimize the efficiency of movement of movement executing mechanism.
Referring to Fig. 1, also be provided with cushion software thin-film switch 10 on the pedal 3 of present embodiment, the signal pig-tail wire of thin-film switch is connected with the initializing signal receiving end of control system 11.When starting source switch to system power-up; The traffic robot can not keep balance, up to there being the operator to set foot on pedal 3, start cushion software thin-film switch 10 after; Control system 11 just begins initialization; Make the traffic robot keep balance, prevent that the traffic robot from powering up rapidly balance and the user that causes damaging especially can prevent the bump injury of traffic robot's hardware to children of back; In addition, in the time of can also preventing to start the traffic robot suddenly on the slope, generation is slipped the slope and is caused Peril Incident.
Referring to Fig. 2 and Fig. 3, above-mentioned earth system can be wheel, and wheel and live spindle constitute the rotation pendulum, and earth system comprises main drive wheel 2 at least.Present embodiment traffic robot and ground contact device can adopt conventional wheel, and such movement executing mechanism is more effective, and the movement executing mechanism that adopts wheel to drive is fairly simple, and efficient is higher, and is easy to use, and manufacturing cost is lower.
Above-mentioned earth system can also be pedrail mechanism, and the driving wheel of pedrail mechanism and live spindle constitute the rotation pendulum.Present embodiment traffic robot and ground contact device can also adopt traditional pedrail mechanism; Because the one side that crawler belt contacts with ground has the anti-skidding muscle of reinforcement; Can improve impregnability and the crawler belt and the ground-surface adhesive ability of caterpillar block, adaptation to the ground is complicated, the abominable occasion of environment.
Above-mentioned earth system also can be the robot pedipulator, and pedipulator and live spindle constitute to support to be put.Present embodiment traffic robot and ground contact device can also adopt pedipulator, form legged walking robot, compare more with circle wheel machinery to adapt to natural environment, and can realize field work and agricultural operation.
Embodiment two:
Present embodiment and embodiment one are basic identical, and difference is:
Referring to Fig. 4, the wheel of present embodiment only comprises main drive wheel 2, and movement executing mechanism forms the single wheel traveling gear, and pedal 3 lays respectively at the left and right sides of main drive wheel 2.Present embodiment traffic robot and ground contact device are main drive wheel 2 o'clock; Main motor can drive main drive wheel 2 to be changeed through preceding commentaries on classics or back and realizes that the traffic robot advances or retreats, and the rotation of quality dish 5 can be by main motor or another driven by motor.Because quality dish 5 at high speed revolution, can keep left and right sides balance effectively, advantages of small volume is easy to study and uses; It turns to and changes human body attitude by the user and apply external force and realize; Overcome the deficiency that the balance about traditional wheelbarrow needs special study to use, be applicable to crowd more widely.
Embodiment three:
Present embodiment and embodiment two are basic identical, and difference is:
Referring to Fig. 5; The wheel of present embodiment is two out-of-alignment wheels; Be respectively 2 and one of main drive wheel of a postposition preposition turn to wheel 12, the wheel hub side of two wheels was in mutual coplane state when the traffic robot kept straight on, pedal 3 lays respectively at the left and right sides of main drive wheel 2; Be fixedly connected with directional control bar 6 on the pedestal body, the top fixed installation handle 7 of directional control bar 6, the bottom of directional control bar 6 is hinged with the end of the center shaft that turns to wheel, and to the center shaft transfer of torque, turns to wheel to swing thereby drive.When the present embodiment traffic robot adopts the front and rear two-wheel; Form similar bicycle, motor bike; The wheel mechanism of walking that comprises Electrical Bicycle; Quality dish 5 can guarantee the left and right sides balance of rear drive sprocket, improves the stability of equilibrium of this type two-wheeled car, ensures balance and the safety of car under situations such as high-speed travel, sudden stop, turning or other speed change situation better.
Embodiment four:
Present embodiment and embodiment two, embodiment three are basic identical, and difference is:
Referring to Fig. 6, the wheel of present embodiment is two coaxial main drive wheel 2.Above-mentioned two coaxial main drive wheel 2 are installed on the left and right sides of sole 1 respectively side by side at interval, form the movement executing mechanism of long wheelbase, and pedal 3 is on the upper surface of the sole 1 between two main drive wheel 2.Coaxial two wheels of present embodiment traffic robot are installed side by side at interval, and when just adopting traditional two-wheel balance truck wheel position arrangement mode, quality dish 5 not necessarily.But when balance truck is run at high speed, since the too near rollover easily of wheelspan, quality dish 5 high speed revolutions; The left and right sides balance that can keep the traffic robot effectively; Significantly reduce the possibility of rollover, more safe and reliable when making sharply turning, and can prevent effectively that the user on the pedal 3 from being fallen out.It turns to and changes human body attitude by the user and apply external force and realize.
Embodiment five:
Present embodiment and embodiment four are basic identical, and difference is:
Referring to Fig. 7; Two coaxial main drive wheel 2 of present embodiment next-door neighbour side by side are installed together, and become coaxial main drive wheel group, and form the movement executing mechanism of short wheelbase; Sole 1 is positioned at the top of main drive wheel 2, and pedal 3 lays respectively at the left and right sides of main drive wheel group.
When present embodiment traffic robot and ground contact device are a plurality of; Also can adopt concentric to be close to side by side the mode of arranging is installed; Form the movement executing mechanism of short wheelbase; Realize that short wheelbase or ultrashort wheelbase drive, can make the traffic robot realize the pivot stud function, overcome the deficiency that common two-wheeled balance truck car body causes space hold greatly in the space of minimum.For present embodiment, quality dish 5 not necessarily, quality dish 5 high speed revolutions can overcome the deficiency of jolting or turning on one's side about short wheelbase drives, and can keep traffic robot left and right sides balance more fully.
The attitude sensor 9 of aforementioned all embodiment of the utility model all can adopt angular transducer.Sound attitude to the traffic robot can be described through the dip angle parameter of traffic robot's body; Adopt quality dish 5 can keep traffic robot left and right sides balance at interior inertance element; And traffic robot's anterior-posterior balance is through other equilibrium strategy; Angular transducer can be experienced tested traffic robot's body front and back bevelled angle-data and convert the electric signal of available output to; And bevelled angle-data before and after traffic robot's body is implemented feedback deliver to control system 11, motion makes the traffic robot remain the anterior-posterior balance state with advance and retreat thereby control traffic robot body is with required speed.It turns to and changes human body attitude by the user and apply external force and realize.
Embodiment six:
Present embodiment and embodiment two~embodiment five are basic identical, and difference is:
Referring to Fig. 8; The main drive wheel of present embodiment 2 combines with quality dish 5, is contained in the quality dish 5 in the wheel hub outer ring 4 of main drive wheel 2, and around identical pivot axis; Main drive wheel 2 and quality dish 5 shared motors 8; Between the wheel hub transmission main shaft of the turning cylinder of quality dish 5 and main drive wheel 2, install big speed ratio mechanism additional, main drive wheel 2 phase specific mass dishes 5 are low-speed motion spare, and big speed ratio mechanism only has one degree of freedom; The driving link of the transmission shaft direct drive big speed ratio mechanism of motor 8, the driven executive item indirect drive quality dish 5 of big speed ratio mechanism and main drive wheel 2.In the present embodiment; Quality dish 5 is in main drive wheel 2 inner rotation; The axis coinciding of the wheel hub main shaft of the turning cylinder of quality dish 5 and main drive wheel 2 is realized transmission through same motor, so just need increase substantially the transmitting ratio between quality dish 5 and main drive wheel 2; Can be through between the wheel hub transmission main shaft of the turning cylinder of quality dish 5 and main drive wheel 2, installing big speed ratio mechanism additional; Can alleviate equipment quality and volume, for power-supply system 19 is abdicated more space, so that increase capacity of cell.
The big speed ratio mechanism of present embodiment can be train, and the driving link of train and driven executive item are gear, friction wheel or sprocket wheel.The train transmission is accurate, rotates flexibly, can adapt to heavily stressed situation, can realize the transmitting ratio greater than 100 through multistage train, and can conveniently realize driven executive item speed change or break-in rotation.
The train of present embodiment is preferably planet circular system, and the transmission shaft of the sun wheel of planet circular system is directly captiveed joint with the live spindle of main drive wheel 2, and the driven executive item of planet circular system is captiveed joint with inertance element.Adopting the principal feature of epicyclic gear transmission is that volume is little, and load-carrying capacity is big, and stable working can ensure the movement executing mechanism easy motion.
Embodiment seven:
Big speed ratio mechanism is a leverage, and the driving link of leverage and driven executive item are all tie-rod.The sports type space bar is simple in structure, and leverage can comprise a plurality of side links that are hinged, and the leverage driving system is in light weight, and volume is little, compact conformation.
Embodiment eight:
Present embodiment and embodiment two, embodiment four, embodiment five, embodiment six are basic identical, and difference is:
Referring to Fig. 9~11, be fixedly connected with directional control bar 6 on the pedestal body of present embodiment, the top fixed installation handle 7 of directional control bar 6.On pedestal body, install directional control bar 6 additional, can support human body, user's directional control bar 6 of holding can be realized turning to through manual operation.
Embodiment nine:
Present embodiment and embodiment eight are basic identical, and difference is:
Referring to Figure 12 and Figure 13; The middle part of the handle 7 of present embodiment flexibly connects through coaxial cylindricality short sleeve 13 and directional control bar 6; Cylindricality short sleeve 13 is captiveed joint with the top of directional control bar 6; Handle 7 and cylindricality short sleeve 13 free-running fits; Handle 7 carries out the slippage of fine motion straight line along the inner chamber of cylindricality short sleeve 13, and the outer wall corresponding position of the inwall of cylindricality short sleeve 13 and handle 7 is through the mutual chimeric formation sliding and position limitation in concavo-convex joint portion mechanism, between the flange both sides of the concavo-convex joint portion of handle 7 on axially and groove limit, is provided with elastic body 14 in the space; The outer wall area of the inwall of cylindricality short sleeve 13 or handle corresponding with it 7 is provided with the displacement pickup that detects handle 7 slippages, and displacement pickup is to control system 11 transmission displacement signals.Make about handle 7 horizontal directions through the operator and to spur; The moving assembly that drives on the displacement pickup produces horizontal displacement; Thereby generation change in electric; Control system 11 receives the feedback information reverse actuating unit output control command of displacement pickup, and it is may command traffic robot's direct of travel that the operator holds handle about 7 twitches.Between the flange both sides of the handle 7 concavo-convex joint portion on axially and groove limit, be provided with elastic body 14 in the space, elastic body 14 can make handle reset.
Above-mentioned displacement pickup is a Hall displacement transducer 21; The magnet 15 of Hall displacement transducer 21 and Hall element 16 are installed on the inwall of cylindricality short sleeve 13 respectively or on the outer wall of handle corresponding with it 7, the signal output part of Hall element 16 is connected with the signal receiving end of control system 11.Present embodiment can be controlled traffic robot's steering order through adopting Hall displacement transducer send the operator to movement executing mechanism, characteristics such as that Hall displacement transducer has is simple in structure, volume is little, in light weight, bandwidth, dynamic characteristics is good, the life-span is long.
Embodiment ten:
Present embodiment and embodiment nine are basic identical, and difference is:
Referring to Figure 14 and Figure 15; The displacement pickup of present embodiment is a resistance-type displacement pickup 22; The resistive element 17 of resistance-type displacement pickup 22 and movably brush 18 be installed on the inwall of cylindricality short sleeve 13 respectively or on the outer wall of handle corresponding with it 7, the signal output part of resistance-type displacement pickup 22 is connected with the signal receiving end of control system 11.Present embodiment can also be controlled traffic robot's steering order through adopting the resistance-type displacement pickup to send the operator to movement executing mechanism; In fact the resistance-type displacement pickup is exactly a slide rheostat; Be to use, show the actual position of measured position with relative voltage as bleeder.The resistance-type displacement pickup has characteristics such as miniaturization, comformability is strong, simple in structure, cost is low.
Embodiment 11:
Present embodiment and embodiment eight are basic identical, and difference is:
Referring to Figure 16 and Figure 17, on the sole 1 of present embodiment seat 20 can be installed.Add cartridge seat 20 in the present embodiment, can convenient operator use.
Combine accompanying drawing that the utility model embodiment is illustrated above, but the utility model is not limited to the foregoing description, can also makes multiple variation according to the purpose of the utility model innovation and creation.Any modification of being done, be equal to replacement, improvement etc., all should be included within the protection domain of the utility model.

Claims (21)

1. self-balancing intelligent transportation robot; Comprise pedestal body, movement executing mechanism, drive system, control system (11), signal sensing system and be the power-supply system (19) of said each train of mechanism power supply; Said power-supply system (19) also is equipped with battery isolator control, and said pedestal body comprises sole (1) and the pedal of captiveing joint with it (3), and said control system (11) is installed on the said sole (1); Said movement executing mechanism comprises the earth system that is subjected to displacement with ground; Said earth system is at least one, and said earth system is rotationally connected through live spindle and said sole (1), and said earth system is captiveed joint with live spindle; Said sole (1) and live spindle constitute the one-level inverted pendulum of balance; Said drive systems comprises at least one motor (8), and said motor (8) is carried out the rotating instruction of said control system (11) output, and said live spindle is driven by said motor (8); And then drive said earth system and ground is subjected to displacement; Said signal sensing system comprises at least one robot pose sensor (9), and said attitude sensor (9) is the bevelled angle signal before and after the said pedestal body of the real-time feedback transmission of said control system (11), it is characterized in that:
Said movement executing mechanism also comprises the inertance element of keeping said earth system left and right sides balance; Said inertance element also is rotationally connected through mandrel and said sole (1); Said inertance element is also captiveed joint with said mandrel; And the parallel axes of said mandrel and said live spindle, said mandrel are also driven by a said motor (8), and then drive said inertance element high speed revolution.
2. self-balancing intelligent transportation robot according to claim 1 is characterized in that: said inertance element is circular quality dish (5), and said quality dish (5) serves as that axle carries out the inertia high speed revolution with its mandrel.
3. self-balancing intelligent transportation robot according to claim 2; It is characterized in that: said pedal (3) is provided with cushion software thin-film switch (10), and the signal pig-tail wire of said thin-film switch is connected with the initializing signal receiving end of said control system (11).
4. self-balancing intelligent transportation robot according to claim 3 is characterized in that: said earth system is a wheel, and said wheel and live spindle constitute the rotation pendulum, and said earth system comprises main drive wheel (2) at least.
5. self-balancing intelligent transportation robot according to claim 3 is characterized in that: said earth system is a pedrail mechanism, and the driving wheel of said pedrail mechanism and live spindle constitute the rotation pendulum.
6. self-balancing intelligent transportation robot according to claim 3 is characterized in that: said earth system is the robot pedipulator, and said pedipulator and live spindle constitute to support to be put.
7. self-balancing intelligent transportation robot according to claim 4; It is characterized in that: said wheel only comprises main drive wheel (2); Said movement executing mechanism forms the single wheel traveling gear, and said pedal (3) lays respectively at the left and right sides of said main drive wheel (2).
8. self-balancing intelligent transportation robot according to claim 4; It is characterized in that: said wheel is two out-of-alignment wheels; Be respectively main drive wheel (2) and of a postposition preposition turn to wheel (12); The wheel hub side of said two wheels was in mutual coplane state when the traffic robot kept straight on, and said pedal (3) lays respectively at the left and right sides of said main drive wheel (2); Be fixedly connected with directional control bar (6) on the said pedestal body; The top fixed installation handle (7) of said directional control bar (6); The bottom of said directional control bar (6) is hinged with the end of the center shaft that turns to wheel; And, turn to wheel to swing thereby drive to said center shaft transfer of torque.
9. self-balancing intelligent transportation robot according to claim 4 is characterized in that: said wheel is two coaxial main drive wheel (2).
10. self-balancing intelligent transportation robot according to claim 9; It is characterized in that: said two coaxial main drive wheel (2) are installed on the left and right sides of said sole (1) respectively side by side at interval; Form the movement executing mechanism of long wheelbase, said pedal (3) is positioned on the upper surface of the said sole (1) between two said main drive wheel (2).
11. self-balancing intelligent transportation robot according to claim 9; It is characterized in that: said two coaxial main drive wheel (2) next-door neighbour side by side are installed together; Become coaxial main drive wheel group; Form the movement executing mechanism of short wheelbase, said sole (1) is positioned at the top of said main drive wheel (2), and said pedal (3) lays respectively at the left and right sides of said main drive wheel group.
12. according to any described self-balancing intelligent transportation robot in the claim 1~11, it is characterized in that: said attitude sensor (9) is an angular transducer.
13. according to any described self-balancing intelligent transportation robot in the claim 7~11; It is characterized in that: said main drive wheel (2) combines with said quality dish (5); Be contained in the said quality dish (5) in the wheel hub outer ring (4) of said main drive wheel (2); And around identical pivot axis; Said main drive wheel (2) and the shared motor of said quality dish (5) (8); Between the wheel hub transmission main shaft of the turning cylinder of said quality dish (5) and said main drive wheel (2), install big speed ratio mechanism additional, said main drive wheel (2) phase specific mass dish (5) is a low-speed motion spare, and said big speed ratio mechanism has one degree of freedom; The driving link of the said big speed ratio of the transmission shaft direct drive mechanism of said motor (8), the said quality dish of driven executive item indirect drive (5) of said big speed ratio mechanism and said main drive wheel (2).
14. self-balancing intelligent transportation robot according to claim 13 is characterized in that: said big speed ratio mechanism is a train, and the driving link of said train and driven executive item are gear, friction wheel or sprocket wheel.
15. self-balancing intelligent transportation robot according to claim 13 is characterized in that: said big speed ratio mechanism is a leverage, and the driving link of said leverage and driven executive item are tie-rod.
16. self-balancing intelligent transportation robot according to claim 14; It is characterized in that: said train is a planet circular system; The transmission shaft of the sun wheel of said planet circular system is directly captiveed joint with the live spindle of said main drive wheel (2), and the driven executive item of said planet circular system is captiveed joint with said inertance element.
17. according to any described self-balancing intelligent transportation robot in the claim 7,9,10 or 11; It is characterized in that: be fixedly connected with directional control bar (6) on the said pedestal body, the top fixed installation handle (7) of said directional control bar (6).
18. self-balancing intelligent transportation robot according to claim 17; It is characterized in that: the middle part of said handle (7) flexibly connects through coaxial cylindricality short sleeve (13) and directional control bar (6); Said cylindricality short sleeve (13) is captiveed joint with the top of said directional control bar (6); Said handle (7) and said cylindricality short sleeve (13) free-running fit; Said handle (7) carries out the slippage of fine motion straight line along the inner chamber of said cylindricality short sleeve (13); The outer wall corresponding position of the inwall of said cylindricality short sleeve (13) and said handle (7) is through the mutual chimeric formation sliding and position limitation in concavo-convex joint portion mechanism; Be provided with elastic body (14) in the space between the flange both sides of the said concavo-convex joint portion on handle (7) is axial and the groove limit; The inwall of said cylindricality short sleeve (13) or with it outer wall area of corresponding said handle (7) is provided with the displacement pickup that detects said handle (7) slippage, said displacement pickup is to control system (11) transmission displacement signal.
19. self-balancing intelligent transportation robot according to claim 18; It is characterized in that: said displacement pickup is Hall displacement transducer (21); The magnet (15) of said Hall displacement transducer (21) and Hall element (16) are installed on the inwall of said cylindricality short sleeve (13) respectively or with it on outer wall of corresponding said handle (7), the signal output part of said Hall element (16) is connected with the signal receiving end of said control system (11).
20. self-balancing intelligent transportation robot according to claim 18; It is characterized in that: said displacement pickup is resistance-type displacement pickup (22); The resistive element (17) of said resistance-type displacement pickup (22) and movably brush (18) be installed on the inwall of said cylindricality short sleeve (13) respectively or with it on outer wall of corresponding said handle (7), the signal output part of said resistance-type displacement pickup (22) is connected with the signal receiving end of said control system (11).
21. self-balancing intelligent transportation robot according to claim 17 is characterized in that: said sole (1) is gone up seat (20) is installed.
CN2011202749562U 2011-08-01 2011-08-01 Self-balanced intelligent traffic robot Expired - Fee Related CN202180886U (en)

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103112509A (en) * 2013-03-06 2013-05-22 何志波 Self-balance power-driven double-track vehicle
CN103645735A (en) * 2013-12-04 2014-03-19 桂林电子科技大学 Unicycle robot with function of self-balancing realization
CN103753557A (en) * 2014-02-14 2014-04-30 上海创绘机器人科技有限公司 Self-balance control method of movable type inverted pendulum system and self-balance vehicle intelligent control system
CN103792946A (en) * 2014-02-14 2014-05-14 上海创绘机器人科技有限公司 Signal processing method for motion type inverted pendulum system control and intelligent self-balancing vehicle signal control system
WO2016095209A1 (en) * 2014-12-19 2016-06-23 深圳市森浦精机科技有限公司 Foot controlled electric vehicle
CN106444798A (en) * 2015-08-10 2017-02-22 上海慧流云计算科技有限公司 Method for two-wheeled balancing device to fly off to the ground in a floating way and two-wheeled balancing device
WO2017161532A1 (en) * 2016-03-24 2017-09-28 罗春晖 Electric self-balancing scooter
CN112394655A (en) * 2019-08-01 2021-02-23 纳恩博(北京)科技有限公司 Balance car, method for controlling balance car and storage medium

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103112509A (en) * 2013-03-06 2013-05-22 何志波 Self-balance power-driven double-track vehicle
CN103645735A (en) * 2013-12-04 2014-03-19 桂林电子科技大学 Unicycle robot with function of self-balancing realization
CN103645735B (en) * 2013-12-04 2016-01-20 桂林电子科技大学 A kind of wheelbarrow robot realizing self-equilibrating
CN103753557A (en) * 2014-02-14 2014-04-30 上海创绘机器人科技有限公司 Self-balance control method of movable type inverted pendulum system and self-balance vehicle intelligent control system
CN103792946A (en) * 2014-02-14 2014-05-14 上海创绘机器人科技有限公司 Signal processing method for motion type inverted pendulum system control and intelligent self-balancing vehicle signal control system
CN103792946B (en) * 2014-02-14 2016-08-24 上海创绘机器人科技有限公司 The signal processing method of motor type reversible pendulum system control and Intelligent self-balancing car whistle control system
WO2016095209A1 (en) * 2014-12-19 2016-06-23 深圳市森浦精机科技有限公司 Foot controlled electric vehicle
CN106444798A (en) * 2015-08-10 2017-02-22 上海慧流云计算科技有限公司 Method for two-wheeled balancing device to fly off to the ground in a floating way and two-wheeled balancing device
WO2017161532A1 (en) * 2016-03-24 2017-09-28 罗春晖 Electric self-balancing scooter
CN112394655A (en) * 2019-08-01 2021-02-23 纳恩博(北京)科技有限公司 Balance car, method for controlling balance car and storage medium

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