CN202180886U - Self-balanced intelligent traffic robot - Google Patents
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Abstract
本实用新型公开了一种自平衡智能交通机器人,包括基架本体、运动执行机构、驱动系统、控制系统、信号传感系统和为各机构系统供电的电源系统,基架本体包括底盘架和与其固定连接的踏板,运动执行机构包括接地装置,接地装置通过旋转主轴与底盘架转动连接,驱动系统驱动包括至少一个电机,可带动接地装置与地面发生位移,信号传感系统包括机器人姿态传感器,可实时反馈传输基架本体前后倾斜的角度信号,运动执行机构还包括维持接地装置左右平衡的惯性元件,惯性元件也通过芯轴与底盘架转动连接,且芯轴与旋转主轴的轴线平行,芯轴也由一个电机来驱动,进而带动惯性元件高速旋转。本交通机器人结构简单、灵活性强、响应迅速、操作容易且安全稳定。
The utility model discloses a self-balancing intelligent transportation robot, which comprises a base frame body, a motion executing mechanism, a drive system, a control system, a signal sensing system and a power supply system for supplying power to each mechanism system. The base frame body includes a chassis frame and its The pedal is fixedly connected, the motion actuator includes a grounding device, the grounding device is rotatably connected to the chassis frame through the rotating main shaft, the driving system includes at least one motor, which can drive the grounding device to move with the ground, and the signal sensing system includes a robot attitude sensor, which can The real-time feedback transmits the angle signal of the front and rear tilt of the base frame body. The motion actuator also includes an inertial element that maintains the left-right balance of the grounding device. It is also driven by a motor, which in turn drives the inertial element to rotate at high speed. The transportation robot has the advantages of simple structure, strong flexibility, rapid response, easy operation, safety and stability.
Description
技术领域 technical field
本实用新型涉及一种机器人,特别是一种能自动实现前后和左右平衡的交通机器人,属于可由于代步的交通工具。 The utility model relates to a robot, in particular to a transportation robot capable of automatically realizing front-back and left-right balance, which belongs to a vehicle that can be used instead of walking.
背景技术 Background technique
自行车、摩托车、汽车等陆地交通工具发展至今,除了动力来源和材料的应用以外,在原理上没有更大的突破。自平衡车,打破了传统的思维理念,为新交通工具的诞生、发展和应用开辟了新的道路。利用重力能源,可以为人们在陆地上进行安全、平稳、绿色的运输提供更加有效的技术解决方案。 Since the development of land vehicles such as bicycles, motorcycles, and automobiles, there has been no major breakthrough in principle except for the application of power sources and materials. The self-balancing vehicle has broken the traditional thinking concept and opened up a new path for the birth, development and application of new vehicles. The use of gravity energy can provide more effective technical solutions for people to carry out safe, stable and green transportation on land.
上个世纪末,美国发明家狄恩·卡门(Dean Kamen)与他的DEKA研发公司(DEKA Research and Development Corp.)团队发明设计了一种电力驱动、具有自我平衡能力的个人用运输载具,可以让人们骑着它在都市里面毫无障碍地移动,并称之为“思维车”。思维车的发明构思是建立在“动态稳定”(DynamicStabilization)的基本原理上,也就是基于车辆本身的自动平衡能力。以内置的精密固态陀螺仪(Solid-StateGyroscopes)来判断车身所处的姿势状态,透过精密且高速的中央微处理器计算出适当的指令后,驱动马达来做到平衡的效果。思维车上的构造包括四大主要部件:车轮和发动机组、传感器系统、电脑控制系统和操作员控制系统。主要的传感器系统是一组陀螺仪,通过利用陀螺仪具有保持其旋转轴所指的方向不变的特性对思维车的姿态数据进行精准地数据采集。思维车装有3~5个陀螺仪传感器,用以完成探测前、后方向的倾斜度和侧倾程度。由于思维车的系统设计复杂,且需采用多个陀螺仪,制造成本高,同时也显著增加了其软硬件的维护的成本。 At the end of the last century, American inventor Dean Kamen and his DEKA Research and Development Corp. team invented and designed an electric-driven, self-balancing personal transport vehicle that can Let people ride it to move around the city without hindrance, and call it a "thinking car". The concept of the thinking car is based on the basic principle of "Dynamic Stabilization", which is based on the automatic balancing ability of the vehicle itself. The built-in precision solid-state gyroscope (Solid-State Gyroscopes) is used to judge the posture state of the car body, and the precise and high-speed central microprocessor calculates the appropriate command, and then drives the motor to achieve the balance effect. The structure of the thinking vehicle includes four main components: the wheel and engine block, the sensor system, the computer control system and the operator control system. The main sensor system is a group of gyroscopes, which can accurately collect data on the attitude data of the thinking car by using the gyroscope's characteristic of keeping the direction of its rotation axis unchanged. The thinking car is equipped with 3 to 5 gyroscope sensors, which are used to detect the inclination and roll degree of the front and rear directions. Since the system design of the Thinking Car is complex and requires the use of multiple gyroscopes, the manufacturing cost is high, and the maintenance cost of its hardware and software is also significantly increased.
独轮车集合运动、健身、娱乐于一体,独轮车不需要专用场地,无论在马路、公园、林间小道或庭院、室内等不同场合均可使用,它的可骑性几乎是全天候的。普通的独轮车虽然具有趣味性、简单易学、便携体轻特点,但还是存在安全和稳定性差的不足,虽然能迎合青少年使用者的兴趣和爱好,但对于中老年人使用者就不能适合,这也导致骑行独轮车的运动项目推广受到限制。 The unicycle integrates sports, fitness, and entertainment. The unicycle does not need a special place. It can be used in different occasions such as roads, parks, forest trails, courtyards, and indoors. Its rideability is almost all-weather. Although the common unicycle is interesting, easy to learn, and portable, it still has the disadvantages of poor safety and stability. Although it can cater to the interests and hobbies of young users, it cannot be suitable for middle-aged and elderly users. The promotion of sports events that lead to riding unicycles is limited.
北京工业大学的专利号为ZL201020650188.1的实用新型专利公开了一种自平衡载人独轮车系统,包括行走单元和控制单元;行走单元的行走轮设置在系统的下方,行走轮的上方设有机架,机架的上方设有平衡轮,平衡轮的上方设有控制独轮车前后运动速度的操控手柄;机架内设有电源和运动控制单元,操控手柄连接到传感器组件上;控制单元包括:运动控制单元,与运动控制单元连接的操控手柄,由倾角传感器、惯性传感器组成的传感器组件,以及平衡轮轮毂电机驱动单元和行走轮轮毂电机驱动单元;平衡轮的轴线与行走轮的轴线垂直并且不相交。该发明创造虽然实现了独轮车不同行进速度下在前后方向和左右方向的平衡控制,但结构复杂,制造成本高。 The utility model patent No. ZL201020650188.1 of Beijing University of Technology discloses a self-balancing unicycle system for carrying people, including a walking unit and a control unit; There is a balance wheel on the top of the frame, and a control handle for controlling the front and rear movement speed of the unicycle is set above the balance wheel; a power supply and a motion control unit are arranged in the frame, and the control handle is connected to the sensor assembly; the control unit includes: The control unit, the control handle connected with the motion control unit, the sensor assembly composed of the inclination sensor and the inertial sensor, and the hub motor drive unit of the balance wheel and the hub motor drive unit of the road wheel; the axis of the balance wheel is perpendicular to the axis of the road wheel and does not intersect. Although this invention realizes the balance control of the wheelbarrow in the front-back direction and the left-right direction under different travel speeds, the structure is complex and the manufacturing cost is high.
总之,而对于一些短距离且无需承担过重运输任务的情况,常规的交通机器人由于体积大,对于能源的消耗以及占用空间面积都比较大,很不环保。传统的交通机器人,还存在着以下缺点:人力交通机器人费力且效率低;而传统的电力或其他动力的交通机器人由于体积大、质量大,因此对于能源需求较大,对于一些短距离且无需承担过重运输任务的情况显得非常不经济。 In short, for some short-distance and no need to undertake heavy transportation tasks, conventional transportation robots consume a lot of energy and occupy a large space due to their large size, which is not environmentally friendly. Traditional transportation robots also have the following disadvantages: human-powered transportation robots are laborious and inefficient; traditional electric or other powered transportation robots have a large demand for energy due to their large size and mass, and for some short-distance and no need to bear The case of overweight transport tasks appears to be very uneconomical.
实用新型内容 Utility model content
本实用新型的目的是提供一种自平衡智能交通机器人,对于机器人的前后平衡和左右平衡分别采用了不同的智能平衡技术方案,采用较低成本的发明构思,解决交通机器人的平衡问题,并提供一种具有结构简单、灵活性强、响应迅速、操作容易且安全稳定的实用智能交通机器人。 The purpose of this utility model is to provide a self-balancing intelligent transportation robot, which adopts different intelligent balancing technical solutions for the front-back balance and left-right balance of the robot, and adopts a relatively low-cost inventive concept to solve the balance problem of the transportation robot, and provides A practical intelligent transportation robot with simple structure, strong flexibility, quick response, easy operation, safety and stability.
为达到上述目的,本实用新型采用下述技术方案: In order to achieve the above object, the utility model adopts the following technical solutions:
一种自平衡智能交通机器人,包括基架本体、运动执行机构、驱动系统、控制系统、信号传感系统和为各机构系统供电的电源系统,电源系统还装有电源总开关,基架本体包括底盘架和与其固定连接的踏板,控制系统安装于底盘架上,运动执行机构包括与地面发生位移的接地装置,接地装置至少为一个,接地装置通过旋转主轴与底盘架转动连接,接地装置与旋转主轴固定连接,底盘架和旋转主轴构成平衡的一级倒立摆,驱动系统驱动包括至少一个电机,电机执行控制系统输出的正反转指令,旋转主轴由电机来驱动,进而带动接地装置与地面发生位移,信号传感系统包括至少一个机器人姿态传感器,姿态传感器向控制系统实时反馈传输基架本体前后倾斜的角度信号,运动执行机构还包括维持接地装置左右平衡的惯性元件,惯性元件也通过芯轴与底盘架转动连接,惯性元件也与芯轴固定连接,且芯轴与旋转主轴的轴线平行,芯轴也由一个电机来驱动,进而带动惯性元件高速旋转。 A self-balancing intelligent transportation robot, including a base frame body, a motion actuator, a drive system, a control system, a signal sensing system, and a power supply system for supplying power to each mechanism system. The power supply system is also equipped with a main power switch. The base frame body includes The chassis frame and the pedals fixedly connected with it, the control system is installed on the chassis frame, the motion actuator includes a grounding device that is displaced from the ground, there is at least one grounding device, and the grounding device is connected to the chassis frame through the rotating spindle. The main shaft is fixedly connected, the chassis frame and the rotating main shaft form a balanced first-stage inverted pendulum, and the drive system includes at least one motor, which executes the forward and reverse instructions output by the control system, and the rotating main shaft is driven by the motor, which in turn drives the grounding device to contact the ground The displacement and signal sensing system includes at least one robot attitude sensor. The attitude sensor feeds back and transmits the angle signal of the front and rear tilt of the base frame body to the control system in real time. The motion actuator also includes an inertial element that maintains the balance of the grounding device. It is rotatably connected with the chassis frame, and the inertial element is also fixedly connected with the mandrel, and the mandrel is parallel to the axis of the rotating main shaft, and the mandrel is also driven by a motor, which in turn drives the inertial element to rotate at high speed.
上述惯性元件为圆形的质量盘,质量盘以其芯轴为轴进行惯性高速旋转。 The above-mentioned inertial element is a circular mass disk, and the mass disk performs inertial high-speed rotation around its core axis.
作为本实用新型的改进,在踏板上设有垫式软体薄膜开关,薄膜开关的信号引出线与控制系统的初始化信号接收端相连接。 As an improvement of the utility model, a pad-type soft membrane switch is provided on the pedal, and the signal lead-out line of the membrane switch is connected with the initialization signal receiving end of the control system.
上述接地装置为轮子,轮子和旋转主轴构成旋转摆,接地装置至少包括一个主驱动轮子。 The above-mentioned grounding device is a wheel, the wheel and the rotating main shaft form a rotating pendulum, and the grounding device includes at least one main driving wheel.
上述接地装置可以为履带机构,履带机构的主动轮和旋转主轴构成旋转摆。 The above-mentioned grounding device may be a crawler mechanism, and the driving wheel and the rotating main shaft of the crawler mechanism constitute a rotating pendulum.
上述接地装置还可以为机器人机械腿,机械腿和旋转主轴构成支撑摆。 The above-mentioned grounding device can also be a mechanical leg of the robot, and the mechanical leg and the rotating main shaft form a supporting pendulum.
本实用新型的接地装置为轮子时,交通机器人可以仅有一个主驱动轮子,运动执行机构形成独轮行走机构,踏板分别位于主驱动轮子的左右两侧。 When the grounding device of the present utility model is a wheel, the traffic robot can only have one main driving wheel, and the motion actuator forms a single-wheel walking mechanism, and the pedals are respectively located on the left and right sides of the main driving wheel.
本实用新型的接地装置为轮子时的另一种技术方案为:交通机器人还可以有两个不同轴的轮子,分别为一个后置的主驱动轮子和一个前置的转向轮子,交通机器人直行时两个轮子的轮毂侧面处于相互共面状态,踏板分别位于主驱动轮子的左右两侧;基架本体上固定连接有方向操纵杆,方向操纵杆的顶端固定安装把手,方向操纵杆的底部与转向轮子的中心轴的端部铰接,并向中心轴传输扭矩,从而带动转向轮子左右摆动。 Another technical solution when the grounding device of the utility model is a wheel is: the traffic robot can also have two wheels with different axes, which are respectively a rear main drive wheel and a front steering wheel, and the traffic robot can go straight When the hub sides of the two wheels are coplanar with each other, the pedals are respectively located on the left and right sides of the main drive wheel; the base frame body is fixedly connected with a direction joystick, the top of the direction joystick is fixedly equipped with a handle, and the bottom of the direction joystick is connected to the The end of the central shaft of the steering wheel is hinged, and transmits torque to the central shaft, thereby driving the steering wheel to swing left and right.
本实用新型的接地装置为轮子时的还有一种技术方案为:交通机器人也可以具有两个同轴的主驱动轮子。 Another technical solution when the grounding device of the present invention is a wheel is: the traffic robot can also have two coaxial main drive wheels.
上述两个同轴的主驱动轮子可以分别并列间隔安装于底盘架的左右两侧,形成长轴距的运动执行机构,踏板位于两个主驱动轮子之间的底盘架的上表面上。 The above two coaxial main driving wheels can be installed side by side at intervals on the left and right sides of the chassis frame respectively to form a long wheelbase motion actuator, and the pedal is located on the upper surface of the chassis frame between the two main driving wheels.
上述两个同轴的主驱动轮子还可以并列紧邻安装在一起,成为同轴的主驱动轮组,形成短轴距的运动执行机构,底盘架位于主驱动轮子的上方,踏板分别位于主驱动轮组的左右两侧。 The above two coaxial main drive wheels can also be installed side by side next to each other to form a coaxial main drive wheel set to form a short wheelbase motion actuator. The chassis frame is located above the main drive wheels, and the pedals are respectively located on the main drive wheels. the left and right sides of the group.
本实用新型前述的所有技术方案中的姿态传感器皆可采用角度传感器。 The attitude sensors in all the aforementioned technical solutions of the utility model can adopt angle sensors.
上述主驱动轮子与质量盘相结合,质量盘内含于主驱动轮子的轮毂外圈内,并绕相同的转动轴线转动,主驱动轮子与质量盘共用一个电机,在质量盘的转动轴和主驱动轮子的轮毂传动主轴之间加装大传动比机构,主驱动轮子相比质量盘为低速运动件,大传动比机构仅具有一个自由度,电机的传动轴直接驱动大传动比机构的原动件,大传动比机构的从动执行件间接传动质量盘和主驱动轮子。 The above-mentioned main driving wheel is combined with the mass disc, and the mass disc is contained in the outer ring of the hub of the main driving wheel and rotates around the same rotation axis. A large transmission ratio mechanism is installed between the hub drive shafts that drive the wheels. The main drive wheel is a low-speed moving part compared to the mass disc. The large transmission ratio mechanism has only one degree of freedom. The drive shaft of the motor directly drives the prime mover of the large transmission ratio mechanism. The driven actuator of the large transmission ratio mechanism indirectly drives the mass disc and the main drive wheel.
上述大传动比机构为轮系,轮系的原动件和从动执行件为齿轮、摩擦轮或链轮。 The above-mentioned large transmission ratio mechanism is a gear train, and the driving parts and driven executive parts of the gear train are gears, friction wheels or sprockets.
上述大传动比机构为杆系,杆系的原动件和从动执行件皆为系杆。 The above-mentioned large transmission ratio mechanism is a rod system, and the driving part and the driven actuator of the rod system are both tie rods.
上述轮系可采用行星轮系,行星轮系的太阳轮的传动轴直接与主驱动轮子的旋转主轴固定连接,行星轮系的从动执行件与惯性元件固定连接。 The above-mentioned gear train can be a planetary gear train, the transmission shaft of the sun gear of the planetary gear train is directly fixedly connected with the rotating main shaft of the main drive wheel, and the driven actuator of the planetary gear train is fixedly connected with the inertial element.
上述基架本体上固定连接有方向操纵杆,方向操纵杆的顶端固定安装把手。 A direction joystick is fixedly connected to the base frame body, and a handle is fixedly installed on the top of the direction joystick.
上述把手的中部通过同轴的柱形短套筒与方向操纵杆活动连接,柱形短套筒与方向操纵杆的顶端固定连接,把手与柱形短套筒间隙配合,把手沿柱形短套筒的内腔进行微动直线滑移,柱形短套筒的内壁和把手的外壁对应处通过凹凸结合部互相嵌合形成滑移限位机构,沿把手轴向上的凹凸结合部的凸缘两侧与凹槽边之间空隙内设有弹性体,柱形短套筒的内壁或与其相对应的把手的外壁区域设有检测把手滑移的位移传感器,位移传感器向控制系统传输位移信号。 The middle part of the above-mentioned handle is movably connected with the direction joystick through a coaxial cylindrical short sleeve, and the cylindrical short sleeve is fixedly connected with the top end of the direction joystick. The inner cavity of the barrel performs micro-motion linear sliding, and the inner wall of the cylindrical short sleeve and the outer wall of the handle correspond to each other through the concave-convex joint to form a sliding limit mechanism, and the flange of the concave-convex joint along the handle axis An elastic body is provided in the gap between the two sides and the edge of the groove, and a displacement sensor is provided on the inner wall of the cylindrical short sleeve or the outer wall area of the corresponding handle to detect the slippage of the handle, and the displacement sensor transmits a displacement signal to the control system.
本实用新型的机器人转向受控的一种技术方案为:上述位移传感器可采用霍尔式位移传感器,霍尔式位移传感器的磁铁和霍尔元件分别安装于柱形短套筒的内壁上或与其相对应的把手的外壁上,霍尔元件的信号输出端与控制系统的信号接收端连接。 A kind of technical solution of the controlled steering of the robot of the utility model is: the above-mentioned displacement sensor can adopt a Hall-type displacement sensor, and the magnet and the Hall element of the Hall-type displacement sensor are respectively installed on the inner wall of the cylindrical short sleeve or connected with it. On the outer wall of the corresponding handle, the signal output end of the Hall element is connected with the signal receiving end of the control system.
本实用新型的机器人转向受控的又一种技术方案为:上述位移传感器还可采用电阻式位移传感器,电阻式位移传感器的电阻体和可移动的电刷分别安装于柱形短套筒的内壁上或与其相对应的把手的外壁上,电阻式位移传感器的信号输出端与控制系统的信号接收端连接。 Yet another technical solution of the controlled steering of the robot of the utility model is: the above-mentioned displacement sensor can also adopt a resistive displacement sensor, and the resistor body and the movable electric brush of the resistive displacement sensor are installed on the inner wall of the cylindrical short sleeve respectively. or on the outer wall of the corresponding handle, the signal output end of the resistive displacement sensor is connected with the signal receiving end of the control system.
作为本实用新型的方向操纵杆安装位移传感器的进一步改进,上述底盘架上安装座位。 As a further improvement of the displacement sensor installed on the direction joystick of the present invention, a seat is installed on the above-mentioned chassis frame.
本实用新型与现有技术相比较,具有如下实质性特点和优点: Compared with the prior art, the utility model has the following substantive features and advantages:
1.本实用新型交通机器人的平衡采用组合平衡的技术方案:交通机器人的左右平衡通过质量盘受控高速转动来实现,基于高速旋转的惯性体具有保持其自转轴姿态的定轴特性,质量盘转动时的离心力会使其自身保持平衡;交通机器人的前后平衡通过角度传感器进行倾斜参数采集,经控制系统进行数据处理,最后指令电机驱动接地装置前进或后退加以实现。根据交通机器人行进姿态在不同方向上的受力特点,采用不同的稳定平衡方案,可以更加有效地实现交通机器人自平衡。 1. The balance of the traffic robot of the utility model adopts the technical scheme of combined balance: the left and right balance of the traffic robot is realized through the controlled high-speed rotation of the mass disk, and the inertial body based on high-speed rotation has the fixed axis characteristic of maintaining its rotation axis posture, and the mass disk The centrifugal force during rotation will keep itself balanced; the front and rear balance of the traffic robot is collected through the angle sensor, the data is processed by the control system, and finally the motor is instructed to drive the grounding device forward or backward to achieve. According to the force characteristics of the traffic robot's traveling posture in different directions, different stable balance schemes can be used to realize the self-balancing of the traffic robot more effectively.
2.采用质量盘高速旋转的陀螺效应,在实现交通机器人的左右平衡的同时,质量盘高速旋转还会产生进动性,还会辅助接地装置运动,质量盘成为储能蓄能器并能间断地释放能量,优化运动执行机构的动作效率。 2. Using the gyro effect of the high-speed rotation of the mass disk, while realizing the left-right balance of the transportation robot, the high-speed rotation of the mass disk will also produce precession, and will also assist the movement of the grounding device. The mass disk becomes an energy storage accumulator and can be interrupted Release energy efficiently and optimize the action efficiency of motion actuators.
3.本实用新型在踏板上设有垫式软体薄膜开关,在启动电源开关对系统加电时,交通机器人并不能保持平衡,只有踏上踏板,启动垫式软体薄膜开关后,控制系统才开始初始化,使交通机器人保持平衡,防止交通机器人加电迅速平衡导致碰伤使用者;此外,还可以防止在斜坡上突然启动交通机器人时,发生溜坡而导致危险事故。 3. The utility model is equipped with a pad-type soft membrane switch on the pedal. When the power switch is activated to power up the system, the traffic robot cannot maintain balance. Only after stepping on the pedal and starting the pad-type soft membrane switch, the control system starts Initialization keeps the traffic robot in balance and prevents the traffic robot from bruising users due to rapid balance when it is powered on. In addition, it can also prevent dangerous accidents caused by slipping when the traffic robot is suddenly started on a slope.
4.本实用新型的方向控制系统采用可抽动的把手,带动传感器,构造简单,可以很好地实现转向动作。 4. The directional control system of the utility model adopts a twitchable handle to drive the sensor, has a simple structure, and can well realize the steering action.
5.本实用新型交通机器人与地面接触装置为一个时,由于质量盘在地面接触装置内部高速旋转,能有效地保持左右平衡,体积小巧,很容易学习使用;克服了传统的独轮车左右的平衡需要专门学习才能使用的不足,适用于更加广泛的人群。 5. When the traffic robot and the ground contact device of the utility model are one, because the mass disk rotates at high speed inside the ground contact device, it can effectively maintain the left and right balance, and the volume is small and compact, which is easy to learn and use; it overcomes the left and right balance needs of the traditional wheelbarrow The lack of specialized learning talents is applicable to a wider group of people.
6. 本实用新型交通机器人与地面接触装置为多个时,提出了同轴心并列紧邻安装排列的方式,形成短轴距的运动执行机构,可以使本交通机器人在最小的空间实现原地转向功能,克服普通两轮平衡车车体较大而导致空间占用的不足。 6. When there are multiple traffic robots and ground contact devices of the utility model, a way of installing and arranging the coaxial centers side by side next to each other is proposed to form a motion actuator with a short wheelbase, which can make the traffic robot turn on the spot in the smallest space Function, to overcome the lack of space occupied by the larger body of ordinary two-wheeled self-balancing vehicles.
7. 本实用新型交通机器人同轴两个轮子并列间隔安装,也就是传统的双轮平衡车车轮位置排布,形成长轴距的运动执行机构。当平衡车高速行驶时,由于轮距太近容易侧翻,质量盘在车轮内部高速旋转,能有效地保持左右平衡,显著减少侧翻的可能性,使急转弯时更加安全可靠,并防止踏板上的使用者被摔出。 7. The traffic robot of the utility model is installed side by side with two coaxial wheels at intervals, that is, the position of the wheels of the traditional two-wheeled balance car is arranged to form a motion actuator with a long wheelbase. When the balance car is running at high speed, it is easy to roll over because the wheelbase is too close, and the mass disc rotates at a high speed inside the wheel, which can effectively maintain the left and right balance, significantly reduce the possibility of rollover, make sharp turns safer and more reliable, and prevent pedals The user on it is thrown out.
附图说明 Description of drawings
图1是本实用新型第一个实施例的智能交通机器人的信号系统框图。 Fig. 1 is a block diagram of the signal system of the intelligent traffic robot of the first embodiment of the utility model.
图2是本实用新型第一个实施例的基架本体和轮子的侧面视图。 Fig. 2 is a side view of the base frame body and wheels of the first embodiment of the present invention.
图3是本实用新型第一个实施例的基架本体和轮子的正面视图。 Fig. 3 is a front view of the base frame body and wheels of the first embodiment of the present invention.
图4是本实用新型第二个实施例的接地装置为单轮的结构示意图。 Fig. 4 is a schematic diagram of the structure of the second embodiment of the utility model in which the grounding device is a single wheel.
图5是本实用新型第三个实施例的接地装置为不同轴的双轮的结构示意图。 Fig. 5 is a structural schematic diagram of a third embodiment of the utility model in which the grounding device is two wheels with different axes.
图6是本实用新型第四个实施例的接地装置为同轴的间隔双轮的结构示意图。 Fig. 6 is a structural schematic diagram of a fourth embodiment of the utility model in which the grounding device is coaxial spaced double wheels.
图7是本实用新型第五个实施例的接地装置为同轴的紧邻双轮的结构示意图。 Fig. 7 is a structural schematic diagram of a fifth embodiment of the utility model in which the grounding device is coaxial and adjacent to the double wheels.
图8是本实用新型第六个实施例的地面接触装置的内部结构示意图。 Fig. 8 is a schematic diagram of the internal structure of the ground contact device of the sixth embodiment of the present invention.
图9是本实用新型第八个实施例的单轮和方向操纵杆的结构示意图。 Fig. 9 is a schematic structural view of the single wheel and the direction joystick of the eighth embodiment of the present invention.
图10是本实用新型第八个实施例的同轴的间隔双轮和方向操纵杆的结构示意图。 Fig. 10 is a schematic structural view of the eighth embodiment of the utility model with coaxial spaced double wheels and a direction joystick.
图11是本实用新型第八个实施例的同轴的紧邻双轮和方向操纵杆的结构示意图。 Fig. 11 is a schematic structural view of the coaxial adjacent double wheels and the direction joystick in the eighth embodiment of the present invention.
图12是本实用新型第九个实施例的方向操纵杆安装霍尔式位移传感器的结构示意图。 Fig. 12 is a structural schematic diagram of a Hall-type displacement sensor mounted on a direction joystick according to a ninth embodiment of the present invention.
图13是本实用新型第九个实施例智能交通机器人的信号系统框图。 Fig. 13 is a block diagram of the signaling system of the intelligent traffic robot of the ninth embodiment of the present invention.
图14是本实用新型第十个实施例的方向操纵杆安装电阻式位移传感器的结构示意图。 Fig. 14 is a structural schematic diagram of a tenth embodiment of the utility model in which a resistive displacement sensor is mounted on the direction joystick.
图15是本实用新型第十个实施例智能交通机器人的信号系统框图。 Fig. 15 is a block diagram of the signal system of the intelligent traffic robot of the tenth embodiment of the utility model.
图16是本实用新型第十一个实施例的单轮和座位的结构示意图。 Fig. 16 is a structural schematic diagram of a single wheel and a seat in the eleventh embodiment of the present invention.
图17是本实用新型第十一个实施例的同轴的紧邻双轮和座位的结构示意图。 Fig. 17 is a structural schematic view of the coaxial adjacent double wheels and the seat in the eleventh embodiment of the present invention.
具体实施方式 Detailed ways
本实用新型优选的实施例结合附图详述如下: The preferred embodiment of the utility model is described in detail as follows in conjunction with the accompanying drawings:
实施例一:Embodiment one:
参见图1,一种自平衡智能交通机器人,包括基架本体、运动执行机构、驱动系统、控制系统11、信号传感系统和为各机构系统供电的电源系统19,电源系统19还装有电源总开关,基架本体包括底盘架1和与其固定连接的踏板3,控制系统11安装于底盘架1上,运动执行机构包括与地面发生位移的接地装置,接地装置至少为一个,接地装置通过旋转主轴与底盘架1转动连接,接地装置与旋转主轴固定连接,底盘架1和旋转主轴构成平衡的一级倒立摆,驱动系统驱动包括至少一个电机8,电机8执行控制系统11输出的正反转指令,旋转主轴由电机8来驱动,进而带动接地装置与地面发生位移,信号传感系统包括至少一个机器人姿态传感器9,姿态传感器9向控制系统11实时反馈传输基架本体前后倾斜的角度信号。运动执行机构还包括维持接地装置左右平衡的惯性元件,惯性元件也通过芯轴与底盘架1转动连接,惯性元件也与芯轴固定连接,且芯轴与旋转主轴的轴线平行,芯轴也由一个电机8来驱动,进而带动惯性元件高速旋转。本实施例交通机器人主要由运动执行机构、驱动系统、检测装置和控制系统构成。其中的运动执行机构即为机器人本体,可包括转动副、移动副或其组合运动副;其中的驱动系统驱使运动执行机构运动,按照控制系统11发出的指令信号,借助于动力元件使机器人进行动作,运动执行机构输出的是线、角位移量;其中的检测装置的作用是实时检测机器人的运动情况,根据运动执行机构的智能自平衡需要,将所测得的信息作为实时反馈信号送至控制系统11,形成闭环控制,与控制系统11中预设信息进行比较后,对运动执行机构进行驱动调整,以保证交通机器人的动作符合预定的要求;其中的控制系统11装载于底盘架1内,控制系统11的电路固化有智能控制的程序软件,姿态传感器9为交通机器人系统提供角度参数,交由控制系统11进行数据分析和转换,用以控制接地装置的运动速度,并向接地装置发出前进或后退的指令电信号,使交通机器人实现自平衡行进功能。本实施例交通机器人是自动执行自平衡工作的机器系统,它既可以接受人的指挥,又可以运行控制系统11中固化的预先编排的定制程序,可以使整个机器人系统根据以人工智能技术制定的原则纲领行动,实现交通机器人的智能自平衡。
Referring to Fig. 1, a self-balancing intelligent transportation robot includes a base frame body, a motion actuator, a drive system, a
上述惯性元件为圆形的质量盘5,质量盘5以其芯轴为轴进行惯性高速旋转。 The above-mentioned inertial element is a circular mass disk 5, and the mass disk 5 performs inertial high-speed rotation around its core axis.
本实施例交通机器人的主电机带动与地面接触装置通过前转或后转实现车体前进或后退;质量盘5的转动可以由主电机或另一个电机带动,质量盘5是一个有一定厚度和质量的盘状物体,质量盘5绕自身圆心由电机传动做高速旋转运动,能有效地保持交通机器人行进和暂驻时的左右平衡。质量盘5基于高速旋转的惯性体具有保持其自转轴姿态的定轴特性,质量盘5转动时的离心力会使其自身保持平衡。由于质量盘5高速旋转的陀螺效应,在实现交通机器人的左右平衡的同时,质量盘5高速旋转还会产生进动性,还会辅助接地装置运动,质量盘5成为储能蓄能器能间断地释放能量,可优化运动执行机构的动作效率。 The main motor of the traffic robot in this embodiment drives the ground contact device to realize the forward or backward rotation of the car body; the rotation of the mass disc 5 can be driven by the main motor or another motor, and the mass disc 5 is a device with a certain thickness and The disc-shaped object of mass, the mass disc 5 is driven by a motor to perform high-speed rotational motion around its own center of circle, which can effectively maintain the left-right balance of the traffic robot when it is moving and temporarily parked. The mass disk 5 has a fixed-axis characteristic of maintaining its rotation axis posture based on the high-speed rotating inertial body, and the centrifugal force when the mass disk 5 rotates will keep itself in balance. Due to the gyro effect of the high-speed rotation of the mass disk 5, while realizing the left-right balance of the traffic robot, the high-speed rotation of the mass disk 5 will also produce precession, and will also assist the movement of the grounding device. The mass disk 5 becomes an energy storage accumulator that can interrupt Release energy in a timely manner, which can optimize the action efficiency of the motion actuator.
参见图1,本实施例的踏板3上还设有垫式软体薄膜开关10,薄膜开关的信号引出线与控制系统11的初始化信号接收端相连接。在启动电源开关对系统加电时,交通机器人并不能保持平衡,直到有操作者踏上踏板3,启动垫式软体薄膜开关10后,控制系统11才开始初始化,使交通机器人保持平衡,防止交通机器人加电后迅速平衡而导致碰伤使用者,尤其可防止交通机器人的硬件对儿童的撞击伤害;此外,还可以防止在斜坡上突然启动交通机器人时,发生溜坡而导致危险事故。
Referring to FIG. 1 , the
参见图2和图3,上述接地装置可以为轮子,轮子和旋转主轴构成旋转摆,接地装置至少包括一个主驱动轮子2。本实施例交通机器人与地面接触装置可以采用传统轮子,这样的运动执行机构比较有效,采用轮子驱动的运动执行机构比较简单,效率较高,使用方便,制造成本较低。
Referring to FIG. 2 and FIG. 3 , the above-mentioned grounding device can be a wheel, and the wheel and the rotating main shaft constitute a rotary pendulum, and the grounding device includes at least one
上述接地装置还可以为履带机构,履带机构的主动轮和旋转主轴构成旋转摆。本实施例交通机器人与地面接触装置还可以采用传统的履带机构,由于履带与地面接触的一面有加强防滑筋,可以提高履带板的坚固性和履带与地面的附着力,适应地形复杂、环境恶劣的场合。 The above-mentioned grounding device can also be a crawler mechanism, and the driving wheel and the rotating main shaft of the crawler mechanism constitute a rotary pendulum. In this embodiment, the traffic robot and the ground contact device can also use a traditional crawler mechanism. Since the side of the track that contacts the ground has reinforced anti-slip ribs, the firmness of the track shoe and the adhesion between the track and the ground can be improved, and it can adapt to complex terrain and harsh environments. occasions.
上述接地装置也可以为机器人机械腿,机械腿和旋转主轴构成支撑摆。本实施例交通机器人与地面接触装置还可以采用机械腿,形成腿式行走机器人,与圆轮机械相比更加能适应自然环境,并能实现野外作业和农业作业。 The above-mentioned grounding device can also be a mechanical leg of a robot, and the mechanical leg and the rotating main shaft form a supporting pendulum. In this embodiment, the transportation robot and the ground contact device can also use mechanical legs to form a legged walking robot, which is more adaptable to the natural environment than the circular wheel machine, and can realize field operations and agricultural operations.
实施例二:Embodiment two:
本实施例与实施例一基本相同,不同之处在于:
This embodiment is basically the same as
参见图4,本实施例的轮子仅包括一个主驱动轮子2,运动执行机构形成独轮行走机构,踏板3分别位于主驱动轮子2的左右两侧。本实施例交通机器人与地面接触装置为一个主驱动轮子2时,一个主电机可带动主驱动轮子2通过前转或后转实现交通机器人前进或后退,质量盘5的转动可以由主电机或另一个电机带动。由于质量盘5在高速旋转,能有效地保持左右平衡,体积小巧,很容易学习使用;其转向由使用者变化人体姿态施加外力来实现;克服了传统的独轮车左右的平衡需要专门学习才能使用的不足,适用于更加广泛的人群。
Referring to FIG. 4 , the wheels of this embodiment only include one
实施例三:Embodiment three:
本实施例与实施例二基本相同,不同之处在于:
This embodiment is basically the same as
参见图5,本实施例的轮子为两个不同轴的轮子,分别为一个后置的主驱动轮子2和一个前置的转向轮子12,交通机器人直行时两个轮子的轮毂侧面处于相互共面状态,踏板3分别位于主驱动轮子2的左右两侧;基架本体上固定连接有方向操纵杆6,方向操纵杆6的顶端固定安装把手7,方向操纵杆6的底部与转向轮子的中心轴的端部铰接,并向中心轴传输扭矩,从而带动转向轮子左右摆动。本实施例交通机器人采用前后置双轮时,形成类似自行车、摩托车,包括电动自行车的走轮机构,质量盘5可以保证后驱动轮的左右平衡,提高这类两轮车子的平衡稳定性,更好地保障车子在高速行进、急刹车、转弯或其他变速情况等情境下的平衡与安全。
Referring to Fig. 5, the wheels of the present embodiment are two wheels with different shafts, which are respectively a rear
实施例四:Embodiment four:
本实施例与实施例二、实施例三基本相同,不同之处在于:
This embodiment is basically the same as
参见图6,本实施例的轮子为两个同轴的主驱动轮子2。上述两个同轴的主驱动轮子2分别并列间隔安装于底盘架1的左右两侧,形成长轴距的运动执行机构,踏板3位于两个主驱动轮子2之间的底盘架1的上表面上。本实施例交通机器人同轴两个轮子并列间隔安装,也就是采用传统的双轮平衡车车轮位置排布方式时,质量盘5不是必须的。但当平衡车高速行驶时,由于轮距太近容易侧翻,质量盘5高速旋转,能有效地保持交通机器人的左右平衡,显著减少侧翻的可能性,使急转弯时更加安全可靠,并能有效防止踏板3上的使用者被摔出。其转向由使用者变化人体姿态施加外力来实现。
Referring to FIG. 6 , the wheels of this embodiment are two coaxial
实施例五:Embodiment five:
本实施例与实施例四基本相同,不同之处在于: This embodiment is basically the same as Embodiment 4, the difference is:
参见图7,本实施例的两个同轴的主驱动轮子2并列紧邻安装在一起,成为同轴的主驱动轮组,并形成短轴距的运动执行机构,底盘架1位于主驱动轮子2的上方,踏板3分别位于主驱动轮组的左右两侧。
Referring to Fig. 7, the two coaxial
本实施例交通机器人与地面接触装置为多个时,还可采用同轴心并列紧邻安装排列的方式,形成短轴距的运动执行机构,实现短轴距或超短轴距驱动,可以使交通机器人在最小的空间实现原地转向功能,克服普通两轮平衡车车体较大而导致空间占用的不足。对于本实施例,质量盘5不是必须的,质量盘5高速旋转可以克服短轴距驱动左右颠簸或侧翻的不足,可以更加充分地保持交通机器人左右平衡。 In this embodiment, when there are multiple traffic robots and ground contact devices, they can also be installed and arranged side by side with the coaxial centers to form a short-wheelbase motion actuator to realize short-wheelbase or ultra-short-wheelbase drive, which can make traffic The robot realizes the in-situ steering function in the smallest space, overcoming the lack of space occupation caused by the large body of ordinary two-wheeled self-balancing vehicles. For this embodiment, the mass disk 5 is not necessary, and the high-speed rotation of the mass disk 5 can overcome the shortage of short wheelbase driving left and right bumps or rollovers, and can more fully maintain the left and right balance of the traffic robot.
本实用新型的前述所有实施例的姿态传感器9皆可采用角度传感器。对交通机器人的动静姿态可以通过交通机器人本体的倾角参数进行描述,采用质量盘5在内的惯性元件可以保持交通机器人左右平衡,而交通机器人的前后平衡通过另外的平衡策略,角度传感器能感受被测交通机器人本体前后倾斜的角度数据并转换成可用输出的电信号,并将交通机器人本体前后倾斜的角度数据实施反馈送至控制系统11,从而控制交通机器人本体以所需的速度和进退运动使交通机器人始终保持前后平衡状态。其转向由使用者变化人体姿态施加外力来实现。
The
实施例六:Embodiment six:
本实施例与实施例二~实施例五基本相同,不同之处在于:
This embodiment is basically the same as
参见图8,本实施例的主驱动轮子2与质量盘5相结合,质量盘5内含于主驱动轮子2的轮毂外圈4内,并绕相同的转动轴线转动,主驱动轮子2与质量盘5共用一个电机8,在质量盘5的转动轴和主驱动轮子2的轮毂传动主轴之间加装大传动比机构,主驱动轮子2相比质量盘5为低速运动件,大传动比机构仅具有一个自由度,电机8的传动轴直接驱动大传动比机构的原动件,大传动比机构的从动执行件间接传动质量盘5和主驱动轮子2。在本实施例中,质量盘5在主驱动轮子2内部转动,质量盘5的转动轴与主驱动轮子2的轮毂主轴的轴心重合,通过同一部电机实现传动,这样就需要大幅度提高质量盘5和主驱动轮子2之间的传动比,可以通过在质量盘5的转动轴与主驱动轮子2的轮毂传动主轴之间加装大传动比机构,可以减轻设备质量和体积,为电源系统19让出更多的空间,以便增大电池容量。
Referring to Fig. 8, the
本实施例的大传动比机构可以为轮系,轮系的原动件和从动执行件为齿轮、摩擦轮或链轮。轮系传动精确,转动灵活,可以适应重载的情形,通过多级轮系可以实现大于100的传动比,并可方便实现从动执行件变速或变向转动。 The large transmission ratio mechanism in this embodiment can be a gear train, and the driving element and the driven actuator of the gear train are gears, friction wheels or sprockets. The transmission of the gear train is precise, the rotation is flexible, and it can adapt to heavy loads. The transmission ratio greater than 100 can be realized through the multi-stage gear train, and it is convenient to realize the speed change or direction change of the driven actuator.
本实施例的轮系最好为行星轮系,行星轮系的太阳轮的传动轴直接与主驱动轮子2的旋转主轴固定连接,行星轮系的从动执行件与惯性元件固定连接。采用行星齿轮传动的主要特点是体积小,承载能力大,工作平稳,可以保障运动执行机构平稳运动。
The gear train of this embodiment is preferably a planetary gear train, the transmission shaft of the sun gear of the planetary gear train is directly fixedly connected with the rotating main shaft of the
实施例七:Embodiment seven:
大传动比机构为杆系,杆系的原动件和从动执行件皆为系杆。运动型空间杆系结构简单,杆系可包括多个相互铰接的连架杆,杆系传动系统重量轻,体积小,结构紧凑。 The large transmission ratio mechanism is a rod train, and the driving part and the driven actuator of the rod train are both tie rods. The sports space rod system has a simple structure, and the rod system may include a plurality of connecting frame rods hinged to each other. The rod system transmission system is light in weight, small in size and compact in structure.
实施例八:Embodiment eight:
本实施例与实施例二、实施例四、实施例五、实施例六基本相同,不同之处在于:
This embodiment is basically the same as
参见图9~11,本实施例的基架本体上固定连接有方向操纵杆6,方向操纵杆6的顶端固定安装把手7。在基架本体上加装方向操纵杆6,可以支撑人体,使用者抓牢方向操纵杆6,通过人力操作可以实现转向。
Referring to FIGS. 9-11 , the pedestal body of this embodiment is fixedly connected with a
实施例九:Embodiment nine:
本实施例与实施例八基本相同,不同之处在于:
This embodiment is basically the same as
参见图12和图13,本实施例的把手7的中部通过同轴的柱形短套筒13与方向操纵杆6活动连接,柱形短套筒13与方向操纵杆6的顶端固定连接,把手7与柱形短套筒13间隙配合,把手7沿柱形短套筒13的内腔进行微动直线滑移,柱形短套筒13的内壁和把手7的外壁对应处通过凹凸结合部互相嵌合形成滑移限位机构,在把手7轴向上的凹凸结合部的凸缘两侧与凹槽边之间空隙内设有弹性体14,柱形短套筒13的内壁或与其相对应的把手7的外壁区域设有检测把手7滑移的位移传感器,位移传感器向控制系统11传输位移信号。通过操作者使把手7水平方向左右拉动,带动位移传感器上的移动组件产生水平位移,从而产生电信号变化,控制系统11接收位移传感器的反馈信息后向运动执行机构输出控制指令,操作者手握把手7左右抽动即可控制交通机器人的行进方向。在把手7轴向上的凹凸结合部的凸缘两侧与凹槽边之间空隙内设有弹性体14,弹性体14可使把手复位。
Referring to Fig. 12 and Fig. 13, the middle part of the
上述位移传感器为霍尔式位移传感器21,霍尔式位移传感器21的磁铁15和霍尔元件16分别安装于柱形短套筒13的内壁上或与其相对应的把手7的外壁上,霍尔元件16的信号输出端与控制系统11的信号接收端连接。本实施例可以通过采用霍尔式位移传感器向运动执行机构发出操作员控制交通机器人转向指令,霍尔式位移传感器具有结构简单、体积小、重量轻、频带宽、动态特性好、寿命长等特点。
Above-mentioned displacement sensor is Hall
实施例十:Embodiment ten:
本实施例与实施例九基本相同,不同之处在于:
This embodiment is basically the same as
参见图14和图15,本实施例的位移传感器为电阻式位移传感器22,电阻式位移传感器22的电阻体17和可移动的电刷18分别安装于柱形短套筒13的内壁上或与其相对应的把手7的外壁上,电阻式位移传感器22的信号输出端与控制系统11的信号接收端连接。本实施例还可以通过采用电阻式位移传感器向运动执行机构发出操作员控制交通机器人转向指令,电阻式位移传感器实际上就是一个滑动变阻器,是作为分压器使用,以相对电压来显示所测量位置的实际位置。电阻式位移传感器具有小型化、适应性强、结构简单、成本低等特点。
Referring to Fig. 14 and Fig. 15, the displacement sensor of the present embodiment is a
实施例十一:Embodiment eleven:
本实施例与实施例八基本相同,不同之处在于:
This embodiment is basically the same as
参见图16和图17,本实施例的底盘架1上可以安装座位20。本实施例中加装座位20,可以更加方便操作者使用。
Referring to Fig. 16 and Fig. 17, a
上面结合附图对本实用新型实施例进行了说明,但本实用新型不限于上述实施例,还可以根据本实用新型发明创造的目的做出多种变化。所作的任何修改、等同替换、改进等,均应包含在本实用新型的保护范围之内。 The embodiments of the utility model have been described above in conjunction with the accompanying drawings, but the utility model is not limited to the above embodiments, and various changes can also be made according to the purpose of the invention of the utility model. Any modifications, equivalent replacements, improvements, etc., should be included within the protection scope of the present utility model.
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CN103645735A (en) * | 2013-12-04 | 2014-03-19 | 桂林电子科技大学 | Unicycle robot with function of self-balancing realization |
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CN103112509A (en) * | 2013-03-06 | 2013-05-22 | 何志波 | Self-balancing electric double track vehicle |
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