CN202180886U - Self-balanced intelligent traffic robot - Google Patents

Abstract

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

Self-balancing Intelligent Transportation Robot

technical field

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.

Background technique

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.

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.

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.

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.

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.

Utility model content

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.

In order to achieve the above object, the utility model adopts the following technical solutions:

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.

The above-mentioned inertial element is a circular mass disk, and the mass disk performs inertial high-speed rotation around its core axis.

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.

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.

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.

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.

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.

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.

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.

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.

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.

The attitude sensors in all the aforementioned technical solutions of the utility model can adopt angle sensors.

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.

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.

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.

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.

A direction joystick is fixedly connected to the base frame body, and a handle is fixedly installed on the top of the direction joystick.

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.

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.

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.

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.

Compared with the prior art, the utility model has the following substantive features and advantages:

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. 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. 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. 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. 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. 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. 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.

Description of drawings

Fig. 1 is a block diagram of the signal system of the intelligent traffic robot of the first embodiment of the utility model.

Fig. 2 is a side view of the base frame body and wheels of the first embodiment of the present invention.

Fig. 3 is a front view of the base frame body and wheels of the first embodiment of the present invention.

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.

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.

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.

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.

Fig. 8 is a schematic diagram of the internal structure of the ground contact device of the sixth embodiment of the present invention.

Fig. 9 is a schematic structural view of the single wheel and the direction joystick of the eighth embodiment of the present invention.

Fig. 10 is a schematic structural view of the eighth embodiment of the utility model with coaxial spaced double wheels and a direction joystick.

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.

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.

Fig. 13 is a block diagram of the signaling system of the intelligent traffic robot of the ninth embodiment of the present invention.

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.

Fig. 15 is a block diagram of the signal system of the intelligent traffic robot of the tenth embodiment of the utility model.

Fig. 16 is a structural schematic diagram of a single wheel and a seat in the eleventh embodiment of the present invention.

Fig. 17 is a structural schematic view of the coaxial adjacent double wheels and the seat in the eleventh embodiment of the present invention.

Detailed ways

The preferred embodiment of the utility model is described in detail as follows in conjunction with the accompanying drawings:

Embodiment one:

Referring to Fig. 1, a self-balancing intelligent transportation robot includes a base frame body, a motion actuator, a drive system, a control system 11, a signal sensing system and a power supply system 19 for powering each mechanism system, and the power supply system 19 is also equipped with a power supply The main switch, the base frame body includes the chassis frame 1 and the pedal 3 fixedly connected with it, the control system 11 is installed on the chassis frame 1, the motion actuator includes a grounding device that is displaced from the ground, there is at least one grounding device, and the grounding device rotates The main shaft is rotatably connected to the chassis frame 1, and the grounding device is fixedly connected to the rotating main shaft. The chassis frame 1 and the rotating main shaft form a balanced first-stage inverted pendulum. The driving system includes at least one motor 8, and the motor 8 executes the forward and reverse rotation of the output of the control system 11. Instructions, the rotating main shaft is driven by the motor 8, and then drives the grounding device to move with the ground. The signal sensing system includes at least one robot attitude sensor 9, and the attitude sensor 9 feeds back and transmits the angle signal of the front and rear tilt of the base frame body to the control system 11 in real time. The motion actuator also includes inertial elements that maintain the left-right balance of the grounding device. The inertial elements are also rotationally connected to the chassis frame 1 through the mandrel. The inertial elements are also fixedly connected to the mandrel, and the mandrel is parallel to the axis of the rotating main shaft. The mandrel is also composed of A motor 8 drives, and then drives the inertial element to rotate at a high speed. The transportation robot in this embodiment is mainly composed of a motion actuator, a drive system, a detection device and a control system. The motion actuator is the robot body, which can include a rotating pair, a moving pair or a combined motion pair; the drive system drives the motion actuator to move, and according to the command signal sent by the control system 11, the robot is moved by means of power elements. , the output of the motion actuator is the linear and angular displacement; the function of the detection device is to detect the motion of the robot in real time, and according to the intelligent self-balancing needs of the motion actuator, the measured information is sent to the control system as a real-time feedback signal. The system 11 forms a closed-loop control. After comparing with the preset information in the control system 11, it drives and adjusts the motion actuator to ensure that the action of the transportation robot meets the predetermined requirements; the control system 11 is loaded in the chassis frame 1, The circuit of the control system 11 is solidified with intelligent control program software. The attitude sensor 9 provides angle parameters for the traffic robot system, and the data is analyzed and converted by the control system 11 to control the movement speed of the grounding device and send a forward direction to the grounding device. Or retreat command electric signal, so that the transportation robot realizes the function of self-balancing travel. The traffic robot of this embodiment is a machine system that automatically performs self-balancing work. It can accept human commands and run the pre-arranged custom programs solidified in the control system 11, so that the entire robot system can Principles guide actions to realize the intelligent self-balancing of transportation robots.

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.

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.

Referring to FIG. 1 , the pedal 3 of this embodiment is also provided with a pad-type soft membrane switch 10 , and the signal lead-out line of the membrane switch is connected to the initialization signal receiving end of the control system 11 . When the power switch is activated to power up the system, the traffic robot cannot maintain balance. After an operator steps on the pedal 3 and starts the pad type soft membrane switch 10, the control system 11 begins to initialize, so that the traffic robot maintains balance and prevents traffic After the robot is powered on, it quickly balances and injures the user, especially to prevent the hardware of the traffic robot from impacting children; in addition, it can also prevent dangerous accidents caused by slipping when the traffic robot is suddenly started on the slope.

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 main driving wheel 2 . In this embodiment, the traffic robot and the ground contact device can use traditional wheels. Such motion actuators are more effective, and the motion actuators driven by wheels are relatively simple, high in efficiency, easy to use, and low in manufacturing cost.

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.

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.

Embodiment two:

This embodiment is basically the same as Embodiment 1, the difference is:

Referring to FIG. 4 , the wheels of this embodiment only include one main driving wheel 2 , the motion actuator forms a single-wheel walking mechanism, and the pedals 3 are respectively located on the left and right sides of the main driving wheel 2 . In this embodiment, when the traffic robot and the ground contact device are a main driving wheel 2, a main motor can drive the main driving wheel 2 to realize the forward or backward rotation of the traffic robot by turning forward or backward, and the rotation of the mass disc 5 can be driven by the main motor or another Driven by a motor. Because the mass disc 5 rotates at a high speed, it can effectively maintain the balance between left and right. It is small in size and easy to learn to use; its steering is realized by the user changing the posture of the human body and applying external force; it overcomes the left and right balance of the traditional unicycle that requires special learning before it can be used. Insufficient, applicable to a wider range of people.

Embodiment three:

This embodiment is basically the same as Embodiment 2, the difference is:

Referring to Fig. 5, the wheels of the present embodiment are two wheels with different shafts, which are respectively a rear main drive wheel 2 and a front steering wheel 12. In the surface state, the pedals 3 are respectively located on the left and right sides of the main driving wheel 2; the base frame body is fixedly connected with a direction joystick 6, the top of the direction joystick 6 is fixedly equipped with a handle 7, and the bottom of the direction joystick 6 is connected to the center of the steering wheel. The ends of the shaft are hinged and transmit torque to the central shaft, which causes the steering wheels to swing from side to side. When the transportation robot of this embodiment adopts the front and rear two wheels, it forms a wheel mechanism similar to bicycles and motorcycles, including electric bicycles. The mass disc 5 can ensure the left and right balance of the rear driving wheels, and improve the balance and stability of this type of two-wheeled vehicle. It can better guarantee the balance and safety of the car in high-speed driving, sudden braking, turning or other speed changing situations.

Embodiment four:

This embodiment is basically the same as Embodiment 2 and Embodiment 3, the difference is that:

Referring to FIG. 6 , the wheels of this embodiment are two coaxial main drive wheels 2 . The above-mentioned two coaxial main driving wheels 2 are respectively installed side by side at intervals on the left and right sides of the chassis frame 1 to form a motion actuator with a long wheelbase, and the pedal 3 is located on the upper surface of the chassis frame 1 between the two main driving wheels 2 superior. In this embodiment, the coaxial two wheels of the transportation robot are installed side by side and spaced apart, that is, when the traditional two-wheel balancing car wheel position arrangement method is adopted, the mass disk 5 is not necessary. However, when the balance car is running at high speed, the wheelbase is too close and it is easy to roll over. The mass disc 5 rotates at a high speed, which can effectively maintain the left and right balance of the transportation robot, significantly reduce the possibility of rollover, and make sharp turns safer and more reliable. Can effectively prevent the user on the pedal 3 from being thrown out. Its steering is realized by the user changing the posture of the human body and applying external force.

Embodiment five:

This embodiment is basically the same as Embodiment 4, the difference is:

Referring to Fig. 7, the two coaxial main drive wheels 2 of this embodiment are installed side by side next to each other to form a coaxial main drive wheel set and form a motion actuator with a short wheelbase. The chassis frame 1 is located on the main drive wheel 2 Above, the pedals 3 are respectively located on the left and right sides of the main drive wheel set.

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.

The attitude sensor 9 of all the aforementioned embodiments of the present utility model can adopt an angle sensor. The dynamic and static posture of the traffic robot can be described by the inclination parameters of the traffic robot body. The left and right balance of the traffic robot can be maintained by using the inertial components including the mass disk 5. The front and rear balance of the traffic robot can be sensed by the angle sensor through another balance strategy. Measure the angle data of the forward and backward tilt of the traffic robot body and convert it into an available output electrical signal, and send the feedback of the forward and backward tilt angle data of the traffic robot body to the control system 11, so as to control the traffic robot body to use the required speed and forward and backward movement. The traffic robot always maintains a front-to-back balance. Its steering is realized by the user changing the posture of the human body and applying external force.

Embodiment six:

This embodiment is basically the same as Embodiment 2 to Embodiment 5, except that:

Referring to Fig. 8, the main driving wheel 2 of this embodiment is combined with the mass disk 5, the mass disk 5 is contained in the hub outer ring 4 of the main driving wheel 2, and rotates around the same rotation axis, the main driving wheel 2 and the mass The disk 5 shares a motor 8, and a large transmission ratio mechanism is installed between the rotating shaft of the mass disk 5 and the hub transmission spindle of the main driving wheel 2. Compared with the mass disk 5, the main driving wheel 2 is a low-speed moving part, and the large transmission ratio mechanism With only one degree of freedom, the transmission shaft of the motor 8 directly drives the driving element of the large transmission ratio mechanism, and the driven actuator of the large transmission ratio mechanism indirectly drives the mass disc 5 and the main driving wheel 2 . In this embodiment, the mass disc 5 rotates inside the main drive wheel 2, the rotation axis of the mass disc 5 coincides with the axis of the hub spindle of the main drive wheel 2, and the transmission is realized by the same motor, which requires a substantial improvement in mass The transmission ratio between the disc 5 and the main drive wheel 2 can be increased by installing a large transmission ratio mechanism between the rotating shaft of the mass disc 5 and the hub transmission spindle of the main drive wheel 2, which can reduce the quality and volume of the equipment, and provide a better solution for the power supply system. 19 to allow more space to increase battery capacity. the

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.

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 main drive wheel 2, and the driven actuator of the planetary gear train is fixedly connected with the inertial element. The main features of planetary gear transmission are small size, large load capacity, and stable operation, which can ensure the smooth movement of the motion actuator.

Embodiment seven:

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.

Embodiment eight:

This embodiment is basically the same as Embodiment 2, Embodiment 4, Embodiment 5, Embodiment 6, the difference is:

Referring to FIGS. 9-11 , the pedestal body of this embodiment is fixedly connected with a direction joystick 6 , and a handle 7 is fixedly installed on the top of the direction joystick 6 . The direction joystick 6 is additionally installed on the base frame body, which can support the human body, and the user grasps the direction joystick 6 firmly, and can realize turning by manpower operation.

Embodiment nine:

This embodiment is basically the same as Embodiment 8, the difference is:

Referring to Fig. 12 and Fig. 13, the middle part of the handle 7 of the present embodiment is movably connected with the direction joystick 6 through a coaxial cylindrical short sleeve 13, and the cylindrical short sleeve 13 is fixedly connected with the top end of the direction joystick 6, and the handle 7 and the cylindrical short sleeve 13 clearance fit, the handle 7 moves along the inner cavity of the cylindrical short sleeve 13 and slides in a straight line, the inner wall of the cylindrical short sleeve 13 and the outer wall of the handle 7 correspond to each other through the concave-convex joint Fitted to form a sliding limit mechanism, an elastic body 14 is arranged in the gap between the two sides of the flange of the concave-convex joint part in the axial direction of the handle 7 and the edge of the groove, and the inner wall of the cylindrical short sleeve 13 or corresponds to it The outer wall area of the handle 7 is provided with a displacement sensor for detecting the slippage of the handle 7, and the displacement sensor transmits a displacement signal to the control system 11. The operator pulls the handle 7 horizontally to the left and right, driving the moving components on the displacement sensor to generate horizontal displacement, thereby generating electrical signal changes, and the control system 11 outputs control commands to the motion actuator after receiving the feedback information from the displacement sensor. The traveling direction of the traffic robot can be controlled by twitching the handle 7 left and right. An elastic body 14 is arranged in the gap between the two sides of the flange of the concave-convex joint part in the axial direction of the handle 7 and the edge of the groove, and the elastic body 14 can reset the handle.

Above-mentioned displacement sensor is Hall type displacement sensor 21, and the magnet 15 of Hall type displacement sensor 21 and Hall element 16 are respectively installed on the inner wall of cylindrical short sleeve 13 or on the outer wall of handle 7 corresponding thereto, Hall The signal output terminal of the element 16 is connected to the signal receiving terminal of the control system 11 . In this embodiment, the Hall-type displacement sensor can be used to send the operator to control the steering order of the traffic robot to the motion actuator. The Hall-type displacement sensor has the characteristics of simple structure, small size, light weight, wide frequency band, good dynamic characteristics, and long life. .

Embodiment ten:

This embodiment is basically the same as Embodiment 9, the difference is:

Referring to Fig. 14 and Fig. 15, the displacement sensor of the present embodiment is a resistive displacement sensor 22, and the resistor body 17 and the movable brush 18 of the resistive displacement sensor 22 are respectively installed on the inner wall of the cylindrical short sleeve 13 or with it. On the outer wall of the corresponding handle 7 , the signal output end of the resistive displacement sensor 22 is connected to the signal receiving end of the control system 11 . In this embodiment, a resistive displacement sensor can also be used to send an operator control traffic robot steering command to the motion actuator. The resistive displacement sensor is actually a sliding rheostat, which is used as a voltage divider and displays the measured position with a relative voltage. actual location. Resistive displacement sensors have the characteristics of miniaturization, strong adaptability, simple structure, and low cost.

Embodiment eleven:

This embodiment is basically the same as Embodiment 8, the difference is:

Referring to Fig. 16 and Fig. 17, a seat 20 can be installed on the chassis frame 1 of this embodiment. Adding seat 20 in the present embodiment can be more convenient for the operator to use.

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.

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.

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