CN202827910U - Reset mechanism and self-balancing motor-driven two-wheel robot steering device thereof - Google Patents

Reset mechanism and self-balancing motor-driven two-wheel robot steering device thereof Download PDF

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Publication number
CN202827910U
CN202827910U CN 201220500029 CN201220500029U CN202827910U CN 202827910 U CN202827910 U CN 202827910U CN 201220500029 CN201220500029 CN 201220500029 CN 201220500029 U CN201220500029 U CN 201220500029U CN 202827910 U CN202827910 U CN 202827910U
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CN
China
Prior art keywords
rotating shaft
bringing
back mechanism
self
frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN 201220500029
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Chinese (zh)
Inventor
吴家宸
陈养彬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SHANGHAI NEW CENTURY ROBOT CO Ltd
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SHANGHAI NEW CENTURY ROBOT CO Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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Application filed by SHANGHAI NEW CENTURY ROBOT CO Ltd filed Critical SHANGHAI NEW CENTURY ROBOT CO Ltd
Priority to CN 201220500029 priority Critical patent/CN202827910U/en
Application granted granted Critical
Publication of CN202827910U publication Critical patent/CN202827910U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a reset mechanism which comprises a spindle, a rack and a torsion reset component. One end of the torsion reset component is fixed on the rack and the other end of the torsion reset component is connected with one end of the spindle. When the spindle rotates from an initial position, the torsion reset component is driven to twist and deform, and when the moment of force which drives the spindle to rotate is removed, the reset torsion generated by the torsion reset component drives the spindle to the initial position. The reset mechanism is adopted in a self-balancing motor-driven two-wheel robot steering device, and after a driving torque imposed on the self-balancing motor-driven two-wheel robot steering device by an operator is removed, the self-balancing motor-driven two-wheel robot steering device can reset to the initial position automatically. The reset mechanism is simple in structure and sturdy and durable in use.

Description

Bringing-back mechanism and self-balancing two wheel robot steering hardwares thereof
Technical field
The utility model relates to Bringing-back mechanism and steering hardware, relates in particular to a kind of Bringing-back mechanism and steering hardware thereof for self-balancing two wheel robot steering hardwares.
Background technology
At present, the steering hardware of self-balancing two wheel robots mainly contains two kinds of operating structures, and a kind of is oscillating type, and another is rotary type.In shuttle-type steering hardware, the rotating shaft on even keel is arranged on the support platform of self-balancing two wheel robots, one end of rotating shaft links to each other with a fork, the operator handles the handle grip movable pendulum bar that is arranged at the fork upper end and swings to the left or to the right from initial midway location when turning to, and then drive the horizontal rotating shaft link to each other with this fork by initial position around the axis of this horizontal rotating shaft along clockwise direction or the anticlockwise direction rotation, detect the size of this horizontal rotating shaft rotational angle by detecting device, and the detection signal that will reflect this rotational angle variable quantity is sent to the control system of these self-balancing two wheel robots, thereby controls turning to of these self-balancing two wheel robots.In the steering hardware of rotary type, rotating shaft is erected on the support platform of self-balancing two wheel robots, operator's operation drive by hand or leg when turning to is arranged at the handle of rotating shaft upper end to clockwise direction or anticlockwise direction rotation, and then drive the rotating shaft link to each other with this handle by initial position around the axis of this rotating shaft along clockwise direction or the anticlockwise direction rotation, detect the size of this rotating shaft rotational angle by detecting device, and the detection signal that will reflect this rotational angle variable quantity is sent to the control system of these self-balancing two wheel robots, thereby controls turning to of these self-balancing two wheel robots.
In two kinds of above-mentioned steering hardwares, all need to consider after the operator cancels the rotating torque that imposes on steering hardware, can make the rotating shaft of this steering hardware and handle or fork automatically revert to the reset issues of initial position.In existing oscillating type steering hardware, although be provided with Bringing-back mechanism, exist complex structure, short-life shortcoming.
Summary of the invention
Technical problem to be solved in the utility model be to provide a kind of when order about moment that rotating shaft rotates eliminate after, can make rotating shaft reset to the Bringing-back mechanism of initial position, this Bringing-back mechanism is simple in structure, and is sturdy and durable.
Further technical matters to be solved in the utility model is to provide a kind of self-balancing two wheel robot steering hardwares that adopted above-mentioned Bringing-back mechanism, cancel the rotating torque of the steering hardware that imposes on self-balancing two wheel robots the operator after, handle or the fork of the steering hardware of these self-balancing two wheel robots can automatically reset to initial position.
The utility model provides a kind of Bringing-back mechanism, comprises rotating shaft and frame; Be characterized in that this Bringing-back mechanism also comprises the reverse reset element; One end of reverse reset element is fixed on the described frame, and the other end links to each other with an end of rotating shaft; When rotating shaft is rotated by an initial position, can drive this reverse reset element torsional deflection; After the moment of ordering about this rotating shaft rotation was eliminated, the torsion that resets that this reverse reset element produces can drive this rotating shaft and reset to described initial position.
Above-mentioned Bringing-back mechanism, wherein, but the reverse reset element is plate or the rod of elastic torsion distortion.
Above-mentioned Bringing-back mechanism, wherein, but the plate of described elastic torsion distortion or rod are made by metal, plastics or rubber.
Above-mentioned Bringing-back mechanism, wherein, the reverse reset element is elastic steel sheet.
Above-mentioned Bringing-back mechanism, wherein, frame comprises frame body and a fixed block that is arranged on the frame body; One end of reverse reset element is connected with this fixed block is detachable, the detachable connection of an end of the other end and rotating shaft.
Above-mentioned Bringing-back mechanism, wherein, the rotating shaft on even keel is installed on the frame.
Above-mentioned Bringing-back mechanism, wherein, frame comprises frame body and the bearing seat that is arranged on the frame body, is arranged with bearing in the rotating shaft, this bearing is installed on the bearing seat.
The utility model also provides a kind of self-balancing two wheel robot steering hardwares, and this steering hardware comprises handle and Bringing-back mechanism; This Bringing-back mechanism comprises rotating shaft, frame and reverse reset element; One end of reverse reset element is fixed on the described frame, and the other end links to each other with an end of described rotating shaft; When rotating shaft is rotated by an initial position, can drive this reverse reset element torsional deflection; After the moment of ordering about this rotating shaft rotation was eliminated, the torsion that resets that this reverse reset element produces can drive this rotating shaft and reset to described initial position; Wherein, handle is connected with the other end of rotating shaft, and can drive rotating shaft around the axis rotation of this rotating shaft; The frame of this Bringing-back mechanism is the support platform of vehicle frame or self-balancing two wheel robots of self-balancing two wheel robots.
The utility model also provides a kind of self-balancing two wheel robot steering hardwares, and this steering hardware comprises fork and Bringing-back mechanism; This Bringing-back mechanism comprises rotating shaft, frame and reverse reset element; One end of reverse reset element is fixed on the frame, and the other end links to each other with an end of rotating shaft; When rotating shaft is rotated by an initial position, can drive this reverse reset element torsional deflection; After the moment of ordering about this rotating shaft rotation was eliminated, the torsion that resets that this reverse reset element produces can drive this rotating shaft and reset to described initial position; Wherein, fork is connected with the other end of rotating shaft, and can drive rotating shaft around the axis rotation of this rotating shaft; The frame of this Bringing-back mechanism is the support platform of self-balancing two wheel robots, and the rotating shaft on even keel is installed on the support platform.
Above-mentioned self-balancing two wheel robot steering hardwares, wherein, support platform comprises the support platform body, be arranged on the fixed block on the support platform body and be arranged on bearing seat on the support platform body, one end of reverse reset element is connected with this fixed block is detachable, be arranged with bearing in the rotating shaft, this bearing is installed on the bearing seat.
The utlity model has following advantage:
1, Bringing-back mechanism of the present utility model is mainly realized resetting of rotating shaft by the torsion that a reverse reset element provides.When rotating shaft is rotated to clockwise direction and anticlockwise direction by initial position, can drive this reverse reset element torsional deflection; After the moment of ordering about this rotating shaft rotation was eliminated, the torsion that resets that this reverse reset element produces can drive this rotating shaft and reset to initial position.This reverse reset element removably is fixed on the frame, and is simple in structure, and makes easily and install;
2, the utility model adopts elastic steel sheet as the reverse reset element, and is more sturdy and durable, and the control accuracy height that resets.
Description of drawings
Fig. 1 is the general illustration that adopts an embodiment of self-balancing two wheel robots of Bringing-back mechanism of the present utility model.
Fig. 2 is the local enlarged diagram of Fig. 1, shows an embodiment of the utility model Bringing-back mechanism.
Fig. 3 is the schematic side view of Fig. 2.
Fig. 4 is the cross-sectional view of another embodiment of the utility model Bringing-back mechanism, and wherein, fork is in initial position.
Fig. 5 is the A-A directional profile scheme drawing of Fig. 4, and wherein, fork and rotating shaft are in initial position.
Fig. 6 is the schematic top plan view of Fig. 4.
Fig. 7 is the cross-sectional view of another embodiment of the utility model Bringing-back mechanism, and fork is in swing position.
Fig. 8 is the A-A directional profile scheme drawing of Fig. 7, and wherein, fork is in swing position.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is made and to further specify.
Fig. 1 shows a kind of integral structure scheme drawing that adopts self-balancing two wheel robots 100 of rotary type steering hardware.Fig. 2 is the local enlarged diagram of the P part of Fig. 1.Fig. 3 is the schematic side view of Fig. 2.
Referring to figs. 1 to Fig. 3.Bringing-back mechanism according to the utility model one embodiment comprises rotating shaft 1, frame 2 and reverse reset element 3.The upper end of rotating shaft 1 links to each other with the handle 120 of self-balancing two wheel robots, and can rotate the axis 10 around this rotating shaft under the drive of handle 120.In the present embodiment, frame 2 is the vehicle frame of self-balancing two wheel robots, and vehicle frame is arranged on the support platform 110.Rotating shaft 1 can be a solid axle or a tubular body.One end of reverse reset element 3 is fixed on the frame, and the other end links to each other with the lower end of rotating shaft 1.
But reverse reset element 3 can adopt plate or the rod of elastic torsion distortion, but plate or rod that should elastic torsion distortion be made poly-urethane rubber for example by materials such as metal, plastics, rubber.In a specific embodiment, reverse reset element 3 can adopt elastic steel sheet.Frame 2 comprises frame body 21, be arranged on the fixed block 22 on the frame body 21 and be arranged on pair of bearing 23 on the frame body.Fixed block 22 comprises body 221 and the first fixed part 222 that is extended to rotating shaft one side by the top of body 221.Rotating shaft 1 and this fixed block 22 relative ends are provided with one second fixed part 12.Be respectively equipped with the first groove 223 and the second groove 13 that vertically extend on the opposite face of the first fixed part 222 and the second fixed part 12.One end of elastic steel sheet 3 is embedded in the first groove 223, and by passing elastic steel sheet and being connected the threaded fasteners 41 and 222 detachable connections of the first fixed part of fixed part 222; The other end of elastic steel sheet is embedded in the second groove 13, and by passing elastic steel sheet and being connected the threaded fasteners 42 and these 13 detachable connections of the second fixed part of fixed part 12.This threaded fasteners 41,42 all can adopt bolt.Be arranged with the pair of bearings (not shown) in the rotating shaft 1, this pair of bearings is installed in respectively on the pair of bearing 23.
In another embodiment, frame 2 is the support platform 110 of self-balancing two wheel robots, and the upper end of rotating shaft 1 is connected with handle 120, and the lower end of rotating shaft 1 is connected with the upper end of reverse reset element 3, and the lower end of reverse reset element 3 is fixed on the support platform 110.
When the operator will operate the Self-balancing electronic two-wheel car and turns to a side direction, handle 120 can be rotated to this side direction, thereby the rotating shaft 1 that links to each other with handle 120 is applied a rotating torque, rotating shaft 1 can be from an initial position to clockwise direction or anticlockwise direction rotate, the reverse reset element 3 that an end links to each other with rotating shaft 1 is because of the distortion that twists that is fixed of the rotation of rotating shaft and the other end.When the operator unclamps handle 120, orders about after moment that rotating shaft 1 rotates eliminates, rotating shaft 1 can reset to original initial position under the effect of the torsion that resets of reverse reset element 3, and drive simultaneously handle 120 and return back to initial position, the reverse reset element of torsional deflection also restores to the original state simultaneously.
Fig. 4 to Fig. 8 shows the structural representation according to the Bringing-back mechanism that is applied to the oscillating type steering hardware of the another embodiment of the utility model.Bringing-back mechanism according to another embodiment of the utility model comprises rotating shaft 1a, frame 2a and reverse reset element 3a.In this embodiment, frame 2a is the support platform of self-balancing two wheel robots.It is support platform that rotating shaft 1a on even keel is installed on frame 2a() on.The end of reverse reset element 3a is fixed on the frame 2a, and the other end links to each other with the end of rotating shaft 1a.The other end of rotating shaft 1a is connected with the fork 5 of oscillating type steering hardware, and can rotate by the axis 10a around this rotating shaft under the drive of fork 5.
Reverse reset element 3a can adopt elastic steel sheet.Frame 2a comprises frame body 21a, be arranged on the fixed block 22a on the frame body 21a and be arranged on pair of bearing 23a on the frame body.Fixed block 22a comprises body 221a and the first fixed part 222a that is extended to rotating shaft one side by the top of body 221a.The end that rotating shaft 1a is relative with this fixed block 22a is provided with one second fixed part 12a.Be respectively equipped with the first groove 223a and the second groove 13a that along continuous straight runs extends on the opposite face of the first fixed part 222a and the second fixed part 12a.The end of elastic steel sheet 3a is embedded in the first groove 223a, and by passing elastic steel sheet and being connected the threaded fasteners 41a of fixed part 222a with first fixed part 222a is detachable is connected; The other end of elastic steel sheet is embedded in the second groove 13a, and by passing elastic steel sheet and being connected the threaded fasteners 42a and detachable connection of this second fixed part 13a of fixed part 12a.This threaded fasteners 41a, 42a all can adopt bolt.Be arranged with the pair of bearings (not shown) on the rotating shaft 1a, this pair of bearings is installed in respectively on the pair of bearing 23a.
When the operator will operate self-balancing two wheel robots and turns to a side direction, fork 5 can be swung to this side direction, thereby the rotating shaft 1a that links to each other with fork 5 is applied a torque, make rotating shaft 1a from initial position to clockwise direction or anticlockwise direction rotates, the reverse reset element 3a that an end links to each other with rotating shaft 1a is because of the distortion that twists that is fixed of the rotation of rotating shaft and the other end.When the operator unclamps fork 5, orders about after moment that rotating shaft 1a rotates eliminates, rotating shaft 1a can reset to original initial position under the effect of the torsion that resets of reverse reset element 3a, and drive simultaneously fork 5 and return back to initial midway location, the reverse reset element of torsional deflection also restores to the original state simultaneously.

Claims (10)

1. a Bringing-back mechanism comprises rotating shaft and frame; It is characterized in that this Bringing-back mechanism also comprises the reverse reset element; One end of described reverse reset element is fixed on the described frame, and the other end links to each other with an end of described rotating shaft;
When rotating shaft is rotated by an initial position, can drive this reverse reset element torsional deflection; After the moment of ordering about this rotating shaft rotation was eliminated, the torsion that resets that this reverse reset element produces can drive this rotating shaft and reset to described initial position.
2. Bringing-back mechanism as claimed in claim 1 is characterized in that, but described reverse reset element is plate or the rod of elastic torsion distortion.
3. Bringing-back mechanism as claimed in claim 2 is characterized in that, but the plate of described elastic torsion distortion or rod are made by metal, plastics or rubber.
4. Bringing-back mechanism as claimed in claim 1 is characterized in that, described reverse reset element is elastic steel sheet.
5. such as any one described Bringing-back mechanism in the claim 1 to 4, it is characterized in that described frame comprises frame body and a fixed block that is arranged on the frame body; One end of described reverse reset element is connected with this fixed block is detachable, the detachable connection of an end of the other end and described rotating shaft.
6. Bringing-back mechanism as claimed in claim 1 is characterized in that, described rotating shaft on even keel is installed on the described frame.
7. such as claim 1 or 6 described Bringing-back mechanisms, it is characterized in that described frame comprises frame body and the bearing seat that is arranged on the frame body, is arranged with bearing in the described rotating shaft, this bearing is installed on the described bearing seat.
8. self-balancing two wheel robot steering hardwares is characterized in that, this steering hardware comprises handle and such as any one described Bringing-back mechanism in the claim 1 to 4;
Wherein, described handle is connected with the other end of rotating shaft, and can drive described rotating shaft around the axis rotation of this rotating shaft; The frame of this Bringing-back mechanism is the support platform of vehicle frame or self-balancing two wheel robots of self-balancing two wheel robots.
9. self-balancing two wheel robot steering hardwares is characterized in that, this steering hardware comprises fork and such as any one described Bringing-back mechanism in the claim 1 to 4;
Wherein, described fork is connected with the other end of the rotating shaft of described Bringing-back mechanism, and can drive described rotating shaft around the axis rotation of this rotating shaft; The frame of this Bringing-back mechanism is the support platform of self-balancing two wheel robots, and described rotating shaft on even keel is installed on the described support platform.
10. self-balancing two wheel robot steering hardwares as claimed in claim 9, it is characterized in that, described support platform comprises the support platform body, be arranged on the fixed block on the support platform body and be arranged on bearing seat on the support platform body, one end of described reverse reset element is connected with this fixed block is detachable, be arranged with bearing in the described rotating shaft, this bearing is installed on the described bearing seat.
CN 201220500029 2012-09-28 2012-09-28 Reset mechanism and self-balancing motor-driven two-wheel robot steering device thereof Expired - Fee Related CN202827910U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220500029 CN202827910U (en) 2012-09-28 2012-09-28 Reset mechanism and self-balancing motor-driven two-wheel robot steering device thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220500029 CN202827910U (en) 2012-09-28 2012-09-28 Reset mechanism and self-balancing motor-driven two-wheel robot steering device thereof

Publications (1)

Publication Number Publication Date
CN202827910U true CN202827910U (en) 2013-03-27

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102826147A (en) * 2012-09-28 2012-12-19 上海新世纪机器人有限公司 Reset mechanism and steering device of self-balancing two-wheeled robot utilizing reset mechanism
CN106196486A (en) * 2016-07-29 2016-12-07 青岛海尔空调器有限总公司 Outdoor machine of air-conditioner cleaning method
CN106627941A (en) * 2016-11-18 2017-05-10 深圳市四驾马车科技实业有限公司 Multi-degree-of-freedom electric self-balancing vehicle handlebar

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102826147A (en) * 2012-09-28 2012-12-19 上海新世纪机器人有限公司 Reset mechanism and steering device of self-balancing two-wheeled robot utilizing reset mechanism
CN106196486A (en) * 2016-07-29 2016-12-07 青岛海尔空调器有限总公司 Outdoor machine of air-conditioner cleaning method
CN106196486B (en) * 2016-07-29 2019-07-02 青岛海尔空调器有限总公司 Outdoor machine of air-conditioner cleaning method
CN106627941A (en) * 2016-11-18 2017-05-10 深圳市四驾马车科技实业有限公司 Multi-degree-of-freedom electric self-balancing vehicle handlebar

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C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20130327

Termination date: 20190928

CF01 Termination of patent right due to non-payment of annual fee