CN202879697U - Intelligent self-balancing traffic robot - Google Patents

Intelligent self-balancing traffic robot Download PDF

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Publication number
CN202879697U
CN202879697U CN 201220501484 CN201220501484U CN202879697U CN 202879697 U CN202879697 U CN 202879697U CN 201220501484 CN201220501484 CN 201220501484 CN 201220501484 U CN201220501484 U CN 201220501484U CN 202879697 U CN202879697 U CN 202879697U
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drive
handle
self
spindle
means
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CN 201220501484
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Chinese (zh)
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吴海林
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仙居县威隆能动力科技有限公司
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Abstract

The utility model discloses an intelligent self-balancing traffic robot which comprises a base frame body, a movement actuating mechanism, a driving system, a control system, a signal sensing system and a power source system which supplies power to every mechanism and system. The base frame body comprises a chassis frame and pedals fixedly connected with the chassis frame. The movement actuating mechanism comprises a grounding device which is rotatably connected with the chassis frame through a rotating main shaft. The driving system comprises at least one motor which can drive the grounding device to move on the ground. The signal sensing system comprises a robot gesture sensor which can feed back angle signals of front and back inclination of the base frame body in real time. The movement actuating mechanism further comprises an inertial element which maintains the left and right balance of the grounding device. The inertial element is also rotatably connected with the chassis frame through a mandrel. The mandrel is parallel to an axis of the rotating main shaft. The mandrel is also driven by one motor to further drive the inertial element to revolve at a high speed. The intelligent self-balancing traffic robot is simple in structure, strong in flexibility, fast in response, easy to operate, safe and stable.

Description

一种智能自平衡交通机器人 An intelligent self-balancing transportation robot

技术领域 FIELD

[0001] 在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。 [0001] In the present invention relates to a robot, in particular a front-rear and left-right can be automatically balanced transportation robot, since belong to the means of transport.

背景技术 Background technique

[0002]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夕卜,在原理上没有更大的突破。 [0002] bicycles, motorcycles, cars and other land transport development so far, in addition to the power source and application of the material to Xi Bu, no bigger breakthrough in principle. 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。 Self-balancing vehicle, breaking the traditional concept of thinking, opened up a new way for the birth, development and application of new vehicles. 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。 Using gravity energy can be for people to be safe on land, smooth, green transportation provide more effective technical solutions.

[0003] 上个世纪末,美国发明家狄恩.卡门(Dean Kamen)与他的DEKA研发公司(DEKAResearch 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”。 [0003] the last century, the American inventor Dean Carmen (Dean Kamen) with his DEKA R & D company (DEKAResearch and Development Corp.) team designed an electric drive invention, self-balancing capabilities of personal transport vehicle , so that people can move without hindrance rode in the city inside, and called it "the Segway." 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。 Segway inventive concept is based on the basic principle of "dynamic stabilization" (DynamicStabilization), which is based on self-balancing capability of the vehicle itself. 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。 A built-precision gyro solid (Solid-StateGyroscopes) to determine the posture state in which the vehicle body, through sophisticated and high-speed central processing After calculating the appropriate commands to the drive motor to balance the effect.

[0004] 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。 Configuration [0004] Thought the car comprises four main components: a set of wheels and the engine, a sensor system, control system and computer control system operator. 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。 The main sensor system is a set of gyroscopes, attitude data of the vehicle is thought accurately maintain directional data acquisition having its axis of rotation within the meaning of the same characteristics by using a gyroscope. 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。 Thinking car equipped with the gyro sensor 3 ~ 5 months, to complete before detection, and the degree of inclination of the rear roll direction. 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。 Due to the complexity of the system design thinking car, and requires the use of a plurality of gyroscopes, high manufacturing costs, but also significantly increased its hardware and software maintenance costs.

[0005] 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,以及平衡轮轮毅电机驱动单元和行走轮轮毅电机驱动单元;平衡轮的轴线与行走轮的轴线垂直并且不相交。 [0005] Patent No. Beijing University of utility model patent ZL201020650188.1 discloses a self balancing a wheelbarrow manned system, comprising a travel unit and a control unit; running wheels disposed below the traveling unit system, above the running wheels provided above the rack, the rack is provided with a balance wheel, balance wheel is provided with control over the speed of movement before and after handling the wheelbarrow handle; chassis equipped with power and motion control unit, the manipulation handle is connected to the sensor assembly; control unit comprising: motion control means, manipulation of the handle unit is connected to the motion control, the sensor assembly by a tilt sensor, an inertial sensors, and a balance wheel wheel Yi motor drive unit and the running wheels wheel Yi motor drive unit; axis of the running wheel balance wheel and perpendicular to the axis do not intersect. 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。 Although the invention is to create a balance control achieved in the longitudinal direction and the lateral direction in different traveling speed of the wheelbarrow, but the complex structure and high manufacturing cost.

[0006] 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。 [0006] In summary, but for some short distance without having to bear too heavy transport tasks case, the conventional robot traffic due to the large volume, for energy consumption, and footprint area than the larger, very environmentally friendly. 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。 Traditional traffic robots, there are the following disadvantages: Human Traffic robot laborious and inefficient; and traditional power or other power due to the large volume of traffic robots, massive, and therefore greater demand for energy, for some short distance without having to bear the case of heavy transport task is very uneconomical.

发明内容[0007] 本实用新型的目的在于提供一种智能自平衡交通机器人,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。 SUMMARY OF THE INVENTION [0007] The object of the present invention is to provide a self-balancing transportation intelligent robot, the front-back and left-right balance balance of the robot employ different intelligent balancing aspect, the invention contemplated the use of lower-cost, solution transportation robot balance problems, and to provide a simple structure, strong flexibility, quick response, easy operation and safe and stable practical intelligent transportation robot.

[0008] 为实现上述目的,本实用新型提供了如下技术方案:一种智能自平衡交通机器人,包括基架本体、运动执行机构、驱动系统、控制系统、信号传感系统和为所述各机构系统供电的电源系统,所述电源系统还装有电源总开关,所述基架本体包括底盘架和与其固定连接的踏板,所述控制系统安装于所述底盘架上,所述运动执行机构包括与地面发生位移的接地装置,所述接地装置至少为一个,所述接地装置通过旋转主轴与所述底盘架转动连接,所述接地装置与旋转主轴固定连接,所述底盘架和旋转主轴构成平衡的一级倒立摆,所述驱动系统驱动包括至少一个电机,所述电机执行所述控制系统输出的正反转指令,所述旋转主轴由所述电机来驱动,进而带动所述接地装置与地面发生位移,所述信号传感系统包括至少一个机器人姿态传感器,所述姿态传感 [0008] To achieve the above object, the present invention provides the following technical solutions: an intelligent self-balancing transportation robot, a base frame comprising a body, a movement mechanism, drive systems, control systems, sensor systems and signal to the agencies system power supply system, said power supply system further equipped with power switch, the base frame and a pedal body including a chassis frame fixedly connected thereto, the control system is mounted on said chassis frame, said motion actuator comprises grounding means is displaced with the ground, said at least one grounding means, said ground means is rotatably connected via the rotary spindle chassis frame, said ground means is fixedly connected with the rotary shaft, and the chassis frame of the balanced rotary spindle the inverted pendulum, the drive system comprises a reversing drive of the instruction execution control system outputs at least one of a motor, a rotary spindle driven by the motor so as to drive said ground means with the ground displacement, the signal sensing system comprises at least one robot posture sensor, sensing the gesture 器向所述控制系统实时反馈传输所述基架本体前后倾斜的角度信号,所述运动执行机构还包括维持所述接地装置左右平衡的惯性元件,所述惯性元件也通过芯轴与所述底盘架转动连接,所述惯性元件也与所述芯轴固定连接,且所述芯轴与所述旋转主轴的轴线平行,所述芯轴也由所述一个电机来驱动,进而带动所述惯性元件高速旋转。 Before and after transmission of the real time feedback to the substrate holder body inclination angle signal control system, the motion actuator further comprising maintaining means around the ground balancing inertial member, the inertial element and also through said spindle chassis turret connector, also the inertial member fixedly connected to the mandrel, and the mandrel parallel to the rotational axis of the spindle, the spindle can be driven by the one motor, so as to drive the inertia member high-speed rotation.

[0009] 进一步,所述惯性元件为圆形的质量盘,所述质量盘以其芯轴为轴进行惯性高速旋转;所述踏板上设有垫式软体薄膜开关,所述薄膜开关的信号引出线与所述控制系统的初始化信号接收端相连接。 [0009] Further, the inertial mass element is a circular disc, said disc in its mass inertia high-speed rotation of the mandrel axis; soft-pad provided on said membrane switch pedal, the membrane switch lead signal initializing control signal line and the receiving end system is connected.

[0010] 本实用新型的接地装置的方案一为:所述接地装置为为两个同轴的主驱动轮子,两个同轴的主驱动轮子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,所述踏板位于两个所述主驱动轮子之间的所述底盘架的上表面上。 [0010] The utility of the new scheme is a grounding device: said grounding means is a front wheel drive two coaxial main drive wheels are coaxial with two parallel mounted to the left and right sides of the chassis frame interval, are formed long wheelbase motion actuator, the two said pedal is positioned on the upper surface of the main drive of the chassis between the wheels.

[0011] 本实用新型的接地装置的方案二为:所述接地装置为履带机构,所述履带机构的主动轮和旋转主轴构成旋转摆。 [0011] embodiment of the present invention is a two grounding device: said grounding means is a track mechanism, said drive wheel rotating spindle and form a rotating pendulum track mechanism.

[0012] 本实用新型的的接地装置的方案三为:所述接地装置为机械腿,所述机械腿和旋转主轴构成支撑摆。 [0012] The embodiment of the present invention the grounding means is three: the ground means is a mechanical leg, said mechanical rotating spindle and constitutes a support leg swing.

[0013] 进一步,所述姿态传感器为角度传感器。 [0013] Further, the posture sensor is an angle sensor.

[0014] 进一步,所述主驱动轮子与所述质量盘相结合,所述质量盘内含于所述主驱动轮子的轮毂外圈内,并绕相同的转动轴线转动,所述主驱动轮子与所述质量盘共用一个电机,在所述质量盘的转动轴和所述主驱动轮子的轮毂传动主轴之间加装大传动比机构,所述主驱动轮子相比质量盘为低速运动件,所述大传动比机构具有一个自由度,所述电机的传动轴直接驱动所述大传动比机构的原动件,所述大传动比机构的从动执行件间接传动所述质量盘和所述主驱动轮子;所述大传动比机构为轮系,所述轮系的原动件和从动执行件为齿轮、摩擦轮或链轮;所述轮系为行星轮系,所述行星轮系的太阳轮的传动轴直接与所述主驱动轮子的旋转主轴固定连接,所述行星轮系的从动执行件与所述惯性元件固定连接。 [0014] Further, the main drive wheel engaging said mass disc, the disc is embedded in the mass of the outer circle of the hub main drive wheels, and rotated about the same axis of rotation, the main drive wheel and the quality of a common disc motor, the installation of a large gear ratio between the drive wheel mechanism in the quality of the disc rotation axis and the main drive shaft hub, the main drive wheel disc is a low mass compared to the moving member, the said large transmission ratio mechanism having one degree of freedom, the motor shaft is directly driven prime mover of the large transmission ratio mechanism, the large gear ratio of the driven member performs an indirect mechanism the quality of the disc drive and the main drive wheels; mechanism is a gear ratio of the large gear train, the prime mover and the driven member of the train wheel member performing a gear, a friction wheel or sprocket; the gear train is a planetary gear train, said planetary gear train rotation of the spindle shaft of the sun gear is fixedly connected with the main drive wheels is directly driven member performs the planetary gear train is fixedly connected with the inertia element.

[0015] 进一步,所述基架本体上固定连接有方向操纵杆,所述方向操纵杆的顶端固定安装把手,所述方向操纵杆的底部与转向轮子的中心轴的端部铰接,并向所述中心轴传输扭矩,从而带动转向轮子左右摆动。 [0015] Further, the base frame fixedly connected with the body direction of the joystick, the direction of the top of the lever handle is fixedly mounted, the direction of the steering lever and the center axis of the bottom end portion of the wheel is hinged to the the central axis of said torque transmission, so as to drive the wheel about the steering pivot. [0016] 进一步,所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,所述柱形短套筒与所述方向操纵杆的顶端固定连接,所述把手与所述柱形短套筒间隙配合,所述把手沿所述柱形短套筒的内腔进行微动直线滑移,所述柱形短套筒的内壁和所述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,在把手轴向上的所述凹凸结合部的凸缘两侧与凹槽边之间空隙内设有弹性体,所述柱形短套筒的内壁或与其相对应的所述把手的外壁区域设有检测所述把手滑移的位移传感器,所述位移传感器向控制系统传输位移信号; [0016] Further, the handle short middle cylindrical sleeve coaxial with the direction of the lever is movably connected, the short cylindrical sleeve and said direction lever is fixedly connected to the top of the handle and the short cylindrical sleeve a clearance fit, the handle lumen along the cylindrical sleeve is shorter micro slip straight inner wall of the short cylindrical sleeve and the outer wall of the handle portion corresponding to the concavo-convex binding slip fitting each stopper mechanism is formed, the gap between the elastic body equipped with flanges and on both sides of the groove of the concavo-convex portion is incorporated in the handle axial direction on the side wall of the cylindrical sleeve or short thereto corresponding to the outer wall of the handle region of the handle is provided with a displacement sensor detects slip, the displacement of the displacement sensor signal to the transmission control system;

[0017] 本实用新型的位移传感器的方案一为:所述位移传感器为霍尔式位移传感器,霍尔式位移传感器的磁铁和霍尔元件分别安装于所述柱形短套筒的内壁上或与其相对应的所述把手的外壁上,霍尔元件的信号输出端与所述控制系统的信号接收端连接。 [0017] The present invention is a displacement sensor scheme: displacement sensor is a Hall-type displacement sensor, displacement sensor of the Hall magnet and Hall elements are mounted on the inner wall of the cylindrical sleeve or short an outer wall of the handle corresponding thereto, the signal output of the Hall element and the signal receiving terminal connected to the control system.

[0018] 本实用新型的位移传感器的方案二为:所述位移传感器为电阻式位移传感器,电阻式位移传感器的电阻体和可移动的电刷分别安装于所述柱形短套筒的内壁上或与其相对应的所述把手的外壁上,所述电阻式位移传感器的信号输出端与所述控制系统的信号接收端连接。 [0018] The embodiment of the present invention is a displacement sensor two: a resistive displacement sensor displacement sensor, the resistor and the resistance of the displacement sensor movable brushes are mounted on an inner wall of the short cylindrical sleeve or an outer wall of the handle corresponding thereto, the signal output of the displacement sensor and the resistance signal receiving terminal connected to the control system.

[0019] 进一步,所述底盘架上安装座位。 [0019] Further, the seat mounting frame chassis.

[0020] 进一步,所述底盘架的左右侧均安装有挡泥板,挡泥板的上部向对应的主驱动轮子的上方延伸;所述方向操纵杆包括外杆和内杆,内杆插接在外杆内并通过锁紧旋钮固定。 [0020] Further, the left and right sides of the chassis frame are attached to the fender, the upper fender extending upward corresponding to the main drive wheel; comprising the direction of the outer shaft and an inner lever rod, the rod connector the outer rod and secured by locking knob.

[0021] 本实用新型相比现有技术的有益效果是: [0021] The present invention as compared to prior art beneficial effects:

[0022] 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。 [0022] The balance of the present invention using a combination of transportation robot balancing technical solution: the mass balance around the disk transport robot controlled to achieve high-speed rotation, having a fixed axis to maintain its spin axis attitude characteristics based on high-speed rotation by the inertial body, mass so that when the centrifugal force of rotation of the disk itself balance; balance traffic before and after the robot is acquired by the angle sensor tilt parameter, data processing by the control system, the last instruction of the motor drive means forward or backward grounding be implemented. 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。 According to the traffic traveling robot posture stress characteristics in different directions, with different stable equilibrium solutions can be more effective in achieving self-balancing robot traffic.

[0023] 2.采用质量盘高速旋转的驼螺效应,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。 [0023] 2. The use of camel spiro effect high speed rotation of the disk quality, while achieving a balance of traffic around the robot, the quality of high speed rotation of the disk will produce precession, auxiliary grounding means also moving, mass storage disk becomes accumulator and is able to intermittently release energy, optimize efficiency action movement of the actuator.

[0024] 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。 [0024] 3. The present invention has the formula software membrane switch pad on the pedal, at power switch on the power system, the robot can not balance the traffic, only the foot on the pedal, soft start-pad membrane switch, control the system began initialization, the transportation robot to maintain balance and prevent traffic balancing robot powered up quickly lead to bruised users; Additionally, you can prevent sudden start robot traffic on the slopes, slip slope leading to the occurrence of dangerous incidents.

[0025] 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。 [0025] 4. The present invention uses the directional control system can handle twitch, driven by the sensor, a simple structure can realize a steering operation.

[0026] 5.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,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,操作简单,安全可靠,适用于广泛的人群。 [0026] 5. Since the mass of the ground contact means inside the disk rotates at high speed, left-right balance can be effectively held, compact, can present transport robots to place steering function in the smallest space, balanced against the car body than the ordinary two large that the space occupied by the lack of simple, safe and reliable for a wide range of people.

附图说明[0027] 图1是本实用新型第一个实施例的原理图。 BRIEF DESCRIPTION [0027] FIG. 1 is a schematic diagram of a first embodiment of the present invention embodiment.

[0028] 图2是本实用新型第一个实施例的立体示意图。 [0028] FIG. 2 is a perspective schematic view of a first embodiment of the present invention embodiment.

[0029] 图3是本实用新型的操纵杆安装霍尔式位移传感器的结构示意图。 [0029] FIG. 3 is a schematic view of the present invention mounted lever Hall displacement sensor.

[0030] 图4是本实用新型的方向操纵杆安装电阻式位移传感器的结构示意图。 [0030] FIG. 4 of the present invention is a structural diagram of a direction the joystick displacement sensor mount resistors.

具体实施方式 Detailed ways

[0031] 下面结合附图和实施例,对本实用新型的具体实施方式作进一步详细描述。 [0031] accompanying drawings and the following embodiments, the present invention specific embodiments described in further detail. 以下实施例用于说明本实用新型,但不用来限制本实用新型的范围。 The following examples serve to illustrate the present invention but are not intended to limit the scope of the invention.

[0032] 实施例1 :如图1-3所示,一种智能自平衡交通机器人,包括基架本体、运动执行机构、驱动系统、控制系统4、信号传感系统和为所述各机构系统供电的电源系统5,所述电源系统还装有电源总开关,所述基架本体包括底盘架13和与其固定连接的踏板,所述控制系统4安装于所述底盘架13上,所述运动执行机构包括与地面发生位移的接地装置,所述接地装置至少为一个,所述接地装置通过旋转主轴与所述底盘架13转动连接,所述接地装置与旋转主轴固定连接,所述底盘架13和旋转主轴构成平衡的一级倒立摆,所述驱动系统驱动包括至少一个电机6,所述电机6执行所述控制系统4输出的正反转指令,所述旋转主轴由所述电机6来驱动,进而带动所述接地装置与地面发生位移,所述信号传感系统包括至少一个机器人姿态传感器1,所述姿态传感器I向所述控制系 [0032] Example 1: As shown, an intelligent self-balancing transportation robot, a base frame comprising a body, a movement mechanism, drive systems, control systems 1-3 4, the signal sensing system and the system for agencies the power supply system 5, the power supply system is further provided with the power switch, the base body comprises a chassis frame and a pedal bracket 13 fixedly connected thereto, the control system 4 is mounted on the chassis frame 13, the movement actuator displacement means include a ground and the ground, said at least one grounding means, said ground connecting means 13 is rotated by the rotation of the main shaft and the chassis frame, said ground means is fixedly connected with a rotary spindle, the chassis frame 13 rotating spindle and constituting the balanced inverted pendulum, the drive system comprises at least one drive motor 6, the motor 6 controlling the reversing instruction execution output system 4, the rotary spindle driven by the motor 6 so as to drive the ground with the ground displacement means, the signal sensing system comprises at least one attitude sensor of the robot 1, the attitude control system to the sensor I 4实时反馈传输所述基架本体前后倾斜的角度信号,所述运动执行机构还包括维持所述接地装置左右平衡的惯性元件,所述惯性元件也通过芯轴与所述底盘架3转动连接,所述惯性元件也与所述芯轴固定连接,且所述芯轴与所述旋转主轴的轴线平行,所述芯轴也由所述一个电机6来驱动,进而带动所述惯性元件高速旋转。 4 before and after the transmission of real-time feedback of the base frame main body tilting angle signal, the motion actuator further comprising maintaining means around the ground balancing inertial member, the inertial member 3 is also rotated via the spindle to the chassis frame, also the inertial member fixedly connected to the mandrel, and the mandrel parallel to the axis of rotation of the spindle, the spindle can be driven by the one motor 6 so as to drive high-speed rotation of the inertial member.

[0033] 进一步,所述惯性元件为圆形的质量盘,所述质量盘以其芯轴为轴进行惯性高速旋转;所述踏板上设有垫式软体薄膜开关2,所述薄膜开关2的信号引出线与所述控制系统4的初始化信号接收端相连接。 [0033] Further, the inertial mass element is a circular disc, said disc in its mass inertia high-speed rotation of the mandrel axis; soft-pad provided on the membrane switch pedal 2, the membrane switch 2 initialization signal lead wire 4 and the control system is connected to the receiving end.

[0034] 进一步,所述接地装置为为两个同轴的主驱动轮子12,两个同轴的主驱动轮子12分别并列间隔安装于底盘架13的左右两侧,形成长轴距的运动执行机构,所述踏板位于两个所述主驱动轮12子之间的所述底盘架13的上表面上。 [0034] Further, the grounding means is a drive wheel 12 is a front two coaxial, two coaxial main drive wheels 12 are mounted in parallel spaced left and right sides of the chassis frame 13, forming a moving long wheelbase performed mechanism, the pedal is located between the two drive wheels on the upper surface of the main frame of the chassis 12 between the sub-13.

[0035] 进一步,所述姿态传感器I为角度传感器。 [0035] Further, the posture sensor I is an angle sensor.

[0036] 进一步,所述主驱动轮子12与所述质量盘相结合,所述质量盘内含于所述主驱动轮子12的轮毂外圈内,并绕相同的转动轴线转动,所述主驱动轮子与所述质量盘共用一个电机,在所述质量盘的转动轴和所述主驱动轮子的轮毂传动主轴之间加装大传动比机构,所述主驱动轮子相比质量盘为低速运动件,所述大传动比机构具有一个自由度,所述电机6的传动轴直接驱动所述大传动比机构的原动件,所述大传动比机构的从动执行件间接传动所述质量盘和所述主驱动轮子;所述大传动比机构为轮系,所述轮系的原动件和从动执行件为齿轮、摩擦轮或链轮;所述轮系为行星轮系,所述行星轮系的太阳轮的传动轴直接与所述主驱动轮子的旋转主轴固定连接,所述行星轮系的从动执行件与所述惯性元件固定连接。 [0036] Further, the main drive wheel 12 in combination with the mass of the disc, the disc is embedded in the mass of the main drive wheel hub 12 of the outer ring, and rotates about the same axis of rotation, the main drive the mass of the wheel disc and a common motor, the installation of a large transmission ratio mechanism between the axis of rotation of the disc and the mass of the main drive wheel hub drive shaft, the main drive wheel mass compared to a low speed movement of the disc member the transmission ratio means having a large degree of freedom, the drive shaft 6 of the motor-driven prime mover directly to said large transmission ratio mechanism, the driven member performs a large transmission ratio of the transmission mechanism indirectly disc quality and the main drive wheel; large transmission ratio mechanism of the gear train, and the driven member performs motive member is a gear of the gear train, friction wheels or sprockets; the gear train is a planetary gear train, said planetary rotation of the spindle shaft is fixedly connected to the sun gear of the gear train of the main drive wheel is directly driven member performs the planetary gear train is fixedly connected with the inertia element.

[0037] 进一步,所述基架本体上固定连接有方向操纵杆,所述方向操纵杆的顶端固定安装把手7,所述方向操纵杆的底部与转向轮子的中心轴的端部铰接,并向所述中心轴传输扭矩,从而带动转向轮子左右摆动。 [0037] Further, the base frame fixedly connected with the body direction of the joystick, the joystick direction is fixedly mounted to the top of the handle 7, the direction of the bottom end portion of the lever articulated steering wheel of the central axis, and transferring torque to the central axis, so as to drive the wheel about the steering pivot.

[0038] 进一步,所述把手7的中部通过同轴的柱形短套筒14与方向操纵杆活动连接,所述柱形短套筒14与所述方向操纵杆的顶端固定连接,所述把手7与所述柱形短套筒14间隙配合,所述把手7沿所述柱形短套筒14的内腔进行微动直线滑移,所述柱形短套筒17的内壁和所述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,在把手轴向上的所述凹凸结合部的凸缘两侧与凹槽边之间空隙内设有弹性体15,所述柱形短套筒的内壁或与其相对应的所述把手的外壁区域设有检测所述把手滑移的位移传感器5,所述位移传感器5向控制系统传输位移信号; [0038] Further, the center of the handle 7 is connected through a coaxial cylindrical sleeve 14 and the short direction of the joystick activities, the short cylindrical sleeve 14 with the direction of the lever is fixedly connected to the top of the handle 7 and the cylindrical gap 14 with a short sleeve, the handle 7 along the lumen of the cylindrical sleeve 14 is a short straight micro slip inner wall of the short cylindrical sleeve 17 and the handle fitted to each other at the outer wall corresponding to the slip limiting mechanism is formed by the uneven binding unit, space is provided between the side elastic member 15 and the uneven binding groove of the flange portion in the axial direction of the handle side, the a short cylindrical inner wall of the sleeve or its corresponding region of an outer wall of the handle of the handle is provided with a slip detecting a displacement sensor 5, the displacement of the displacement sensor 5 to the control signal transmission system;

[0039] 所述位移传感器为霍尔式位移传感器,霍尔式位移传感器的磁铁16和霍尔元件17分别安装于所述柱形短套筒14的内壁上或与其相对应的所述把手7的外壁上,霍尔元件17的信号输出端与所述控制系统4的信号接收端连接。 The [0039] The displacement sensor displacement sensor is a Hall, Hall magnet 16 and the displacement sensor 17 are Hall elements mounted on an inner wall of the short cylindrical sleeve 14 or its corresponding handle 7 the outer wall, the Hall element signal output terminal 17 is connected to the signal receiving terminal 4 of the control system.

[0040] 进一步,所述底盘架13上安装座位。 [0040] Further, the chassis 13 is mounted on the seat frame.

[0041] 进一步,所述底盘架13的左右侧均安装有挡泥板11,挡泥板11的上部向对应的主驱动轮子12的上方延伸;所述方向操纵杆包括外杆10和内杆8,内杆8插接在外杆10内并通过锁紧旋钮8固定,挡泥板的设计使本实用新型经过积水路面也不易沾湿衣物,同时操作人员可以通过旋松或旋紧所述锁紧旋钮来调整方向操纵杆的高度,以适应不同的人群。 [0041] Further, the left and right sides of the chassis frame 13 are attached to the fender 11, the upper fender 11 to the corresponding main driving wheel 12 extends upward; said lever comprises an outer direction of the rod 10 and the inner rod 8, the lever 8 is inserted within the outer rod 10 and secured by locking knob 8, fender design of the present invention through the water surface is less likely to wet the laundry, while the operator can tighten or loosen the locking knob to adjust the direction of the joystick height to accommodate different people.

[0042] 实施例2 :本实施例与实施例1基本相同,其不同之处在于:所述接地装置为履带机构,所述履带机构的主动轮和旋转主轴构成旋转摆。 [0042] Example 2: The present embodiment is substantially the same as Example 1, except that which: said grounding means is a track mechanism, said drive wheel rotating spindle and form a rotating pendulum track mechanism.

[0043] 实施例3 :本实施例与实施例1基本相同,其不同之处在于:所述接地装置为机械腿,所述机械腿和旋转主轴构成支撑摆。 [0043] Example 3: Example of the present embodiment is substantially the same as Example 1, except that which: said grounding means is a mechanical leg, said mechanical rotating spindle and constitutes a support leg swing.

[0044] 实施例4 :如图1、2、4所示,本实施例与实施例1基本相同,其不同之处在于:所述位移传感器为电阻式位移传感器,电阻式位移传感器的电阻体18和可移动的电刷19分别安装于所述柱形短套筒14的内壁上或与其相对应的所述把手7的外壁上,所述电阻式位移传感器的信号输出端与所述控制系统4的信号接收端连接。 [0044] Example 4: 2, 4, the present embodiment is substantially the same Example 1 Example, except that it: a resistive displacement sensor displacement sensor, displacement sensor resistor of resistance 18 and 19 are movable brush attached to an inner wall of the short cylindrical sleeve 14 or its corresponding outer wall of the handle 7, the signal output of the displacement sensor resistor to the control system 4 is connected to the signal receiving end.

[0045] 以上所述仅是本实用新型的优选实施方式,应当指出,对于本技术领域的普通技术人员来说,在不脱离本实用新型技术原理的前提下,还可以做出若干改进和变型,这些改进和变型也应视为本实用新型的保护范围。 [0045] The above description is only the preferred embodiment of the present invention embodiments, it should be noted that those of ordinary skill in the art, in the present invention without departing from the principles of the technology premise, can make various modifications and variations these improvements and modifications should also be considered within the scope of the present invention to protect.

Claims (10)

1. 一种智能自平衡交通机器人,包括基架本体、运动执行机构、驱动系统、控制系统、信号传感系统和为所述各机构系统供电的电源系统,所述电源系统还装有电源总开关,所述基架本体包括底盘架和与其固定连接的踏板,所述控制系统安装于所述底盘架上,所述运动执行机构包括与地面发生位移的接地装置,所述接地装置至少为一个,所述接地装置通过旋转主轴与所述底盘架转动连接,所述接地装置与旋转主轴固定连接,所述底盘架和旋转主轴构成平衡的一级倒立摆,所述驱动系统驱动包括至少一个电机,所述电机执行所述控制系统输出的正反转指令,所述旋转主轴由所述电机来驱动,进而带动所述接地装置与地面发生位移,所述信号传感系统包括至少一个机器人姿态传感器,所述姿态传感器向所述控制系统实时反馈传输所述基架本体前后倾斜 An intelligent self-balancing transportation robot, a base frame comprising a body, a movement mechanism, drive systems, control systems, sensor systems and signal supply means for each of the system power supply, the power supply system is further provided with a total switch, the base frame and a pedal body including a chassis frame fixedly connected thereto, the control system is mounted on said chassis frame, said actuator comprising a ground motion displacement means and the ground, said grounding means is at least a the ground by rotation of a spindle means rotatably connected to said chassis frame, said ground means is fixedly connected with the rotary shaft, and the chassis frame of the balanced rotary spindle of an inverted pendulum, the drive system comprises at least one drive motor said motor reversing execute the control instruction output from the rotary spindle driven by the motor so as to drive the ground with the ground displacement means, the signal sensing system comprises at least one robot posture sensor the real-time feedback transmission gesture sensor body of the pedestal to the front and rear tilt control system 角度信号,其特征在于:所述运动执行机构还包括维持所述接地装置左右平衡的惯性元件,所述惯性元件也通过芯轴与所述底盘架转动连接,所述惯性元件也与所述芯轴固定连接,且所述芯轴与所述旋转主轴的轴线平行,所述芯轴也由所述一个电机来驱动,进而带动所述惯性元件高速旋转。 Angle signal, wherein: said actuator further includes a motion maintaining means around the ground balancing inertial member, the inertial member is also rotated by the spindle is connected to the chassis frame, and also the inertial member of the core fixedly connected to the shaft, and the rotation of the mandrel parallel to the axis of the spindle, the spindle can be driven by the one motor, so as to drive high-speed rotation of the inertial member.
2.根据权利要求1所述的一种智能自平衡交通机器人,其特征在于:所述惯性元件为圆形的质量盘,所述质量盘以其芯轴为轴进行惯性高速旋转;所述踏板上设有垫式软体薄膜开关,所述薄膜开关的信号引出线与所述控制系统的初始化信号接收端相连接。 2. An intelligent according to claim 1 self-balancing transportation robot, wherein: said inertia mass element is a circular disc, said disc in its mass inertia high speed rotation spindle axis; said pedal software provided with the pad type membrane switch, a membrane switch lead signal and the initialization signal of the control system connected to the receiving end.
3.根据权利要求2所述的一种智能自平衡交通机器人,其特征在于:所述接地装置为为两个同轴的主驱动轮子,两个同轴的主驱动轮子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,所述踏板位于两个所述主驱动轮子之间的所述底盘架的上表面上。 The Intelligent according to claim 2 self-balancing transportation robot, characterized in that: said grounding means is a front wheel drive two coaxial main drive wheels are coaxial two spaced parallel mounted to the chassis left and right sides of the frame, forming a long wheelbase of actuator movement, said two of said pedal is positioned on the upper surface of the main drive of the chassis between the wheels.
4.根据权利要求2所述的一种智能自平衡交通机器人,其特征在于:所述接地装置为履带机构,所述履带机构的主动轮和旋转主轴构成旋转摆;或,所述接地装置为机械腿,所述机械腿和旋转主轴构成支撑摆。 4. An intelligent self-balancing transportation robot according to claim 2, wherein: said grounding means is a track mechanism, and the rotary spindle of the drive wheel track means constitutes a rotary weight; or the ground is a device mechanical leg, said mechanical rotating spindle and constitutes a support leg swing.
5.根据权利要求1〜4中任意一项所述的一种智能自平衡交通机器人,其特征在于: 所述姿态传感器为角度传感器。 An intelligent ~ 4 according to any one of claims self-balancing transportation robot, characterized in that: said attitude sensor is an angle sensor.
6.根据权利要求3所述的一种智能自平衡交通机器人,其特征在于:所述主驱动轮子与所述质量盘相结合,所述质量盘内含于所述主驱动轮子的轮毂外圈内,并绕相同的转动轴线转动,所述主驱动轮子与所述质量盘共用一个电机,在所述质量盘的转动轴和所述主驱动轮子的轮毂传动主轴之间加装大传动比机构,所述主驱动轮子相比质量盘为低速运动件,所述大传动比机构具有一个自由度,所述电机的传动轴直接驱动所述大传动比机构的原动件,所述大传动比机构的从动执行件间接传动所述质量盘和所述主驱动轮子;所述大传动比机构为轮系,所述轮系的原动件和从动执行件为齿轮、摩擦轮或链轮;所述轮系为行星轮系,所述行星轮系的太阳轮的传动轴直接与所述主驱动轮子的旋转主轴固定连接,所述行星轮系的从动执行件与所述惯性元件固定连接。 A smart according to claim 3, the self-balancing transportation robot, characterized in that: said main drive wheels in combination with the mass of the disk, the disk is embedded in the mass of the main drive wheel hub wheel outer ring within and about the same axis of rotation, the main drive wheel and the mass share a disk motor, the installation of a large transmission ratio mechanism between the axis of rotation of the disc and the mass of the main drive wheel hub drive spindle the main drive wheel disk mass than the low-speed moving parts, the large transmission ratio mechanism has one degree of freedom, the motor shaft is directly driven prime mover of the large transmission ratio mechanism, the large transmission ratio the driven member performs indirect drive mechanism of the disk quality and the main drive wheel; large transmission ratio mechanism of the gear train, and the driven member performs motive member is a gear of the gear train, friction wheels or sprockets ; the gear train is a planetary gear train, said planetary gear train of the drive shaft of the sun gear wheel is directly driven rotary spindle and fixedly connected to the master, the driven member performs a planetary gear train with the inertia member fixed connection.
7.根据权利要求3所述的一种智能自平衡交通机器人,其特征在于:所述基架本体上固定连接有方向操纵杆,所述方向操纵杆的顶端固定安装把手,所述方向操纵杆的底部与转向轮子的中心轴的端部铰接,并向所述中心轴传输扭矩,从而带动转向轮子左右摆动。 An intelligent according to claim 3 of the self-balancing transportation robot, characterized in that: said base frame fixedly connected with the body direction of the joystick, the joystick direction is fixedly mounted to the top of the handle, the direction of the joystick a bottom end portion articulated with the steering wheel of the central axis, said central axis to transmit torque, so as to drive the wheel about the steering pivot.
8.根据权利要求7所述的一种智能自平衡交通机器人,其特征在于:所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,所述柱形短套筒与所述方向操纵杆的顶端固定连接,所述把手与所述柱形短套筒间隙配合,所述把手沿所述柱形短套筒的内腔进行微动直线滑移,所述柱形短套筒的内壁和所述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,在把手轴向上的所述凹凸结合部的凸缘两侧与凹槽边之间空隙内设有弹性体,所述柱形短套筒的内壁或与其相对应的所述把手的外壁区域设有检测所述把手滑移的位移传感器,所述位移传感器向控制系统传输位移信号,其中,所述位移传感器为霍尔式位移传感器,霍尔式位移传感器的磁铁和霍尔元件分别安装于所述柱形短套筒的内壁上或与其相对应的所述把手的外壁上,霍尔元件的信号 An intelligent according to claim 7, the self-balancing transportation robot, characterized in that: said handle short middle cylindrical sleeve coaxial with the direction of the active lever connected to a short cylindrical sleeve said direction lever is fixedly connected to the top, the handle cooperating with said cylindrical sleeve short gap, along the lumen of the handle of the cylindrical sleeve is shorter linear micro slip the short cylindrical the inner wall of the sleeve and the outer wall of the handle corresponds to each other at a fitting means formed by a slip stopper convex coupling portion, on both sides of the gaps between the flanges of the convex coupling portion in the axial direction of the handle side of the groove a resilient body, a short cylindrical inner wall of the sleeve or corresponding thereto in the outer casing of the handle is provided with a displacement sensor for detecting slip of the handle, the displacement of the displacement sensor signal to the transmission control system, wherein the displacement sensor is a Hall-type displacement sensor, displacement sensor Hall magnet and Hall elements are mounted on the outer wall of the handle on the inner wall of the cylindrical sleeve or shorter corresponding thereto, the Hall element signal of 出端与所述控制系统的信号接收端连接;或,所述位移传感器为电阻式位移传感器,电阻式位移传感器的电阻体和可移动的电刷分别安装于所述柱形短套筒的内壁上或与其相对应的所述把手的外壁上,所述电阻式位移传感器的信号输出端与所述控制系统的信号接收端连接。 A signal receiving terminal and the control terminal is connected to the system; or, a resistive displacement sensor displacement sensor, the resistor and the resistance of the displacement sensor movable brushes are mounted on the inner wall of the cylindrical sleeve is shorter on the outer wall of the handle or corresponding thereto, the signal output of the displacement sensor and the resistance signal receiving terminal connected to the control system.
9.根据权利要求7所述的一种智能自平衡交通机器人,其特征在于:所述底盘架上安装座位。 An intelligent according to claim 7, wherein said self-balancing transportation robot, characterized in that: said chassis frame mounting seat.
10.根据权利要求7所述的一种智能自平衡交通机器人,其特征在于:所述底盘架的左右侧均安装有挡泥板,挡泥板的上部向对应的主驱动轮子的上方延伸;所述方向操纵杆包括外杆和内杆,内杆插接在外杆内并通过锁紧旋钮固定。 A smart according to claim 7, said self-balancing transportation robot, characterized in that: said left and right side of the chassis frame are attached to the fender, the upper fender extending above the drive wheels to the corresponding master; said direction lever comprises an outer shaft and an inner shaft, the inner lever rod inside the outer plug and is fixed by locking knob.
CN 201220501484 2012-09-27 2012-09-27 Intelligent self-balancing traffic robot CN202879697U (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103753557A (en) * 2014-02-14 2014-04-30 上海创绘机器人科技有限公司 Self-balance control method of movable type inverted pendulum system and self-balance vehicle intelligent control system
CN104149918A (en) * 2013-05-14 2014-11-19 久鼎金属实业股份有限公司 Electric carrier with handlebar sensing device
KR101929833B1 (en) * 2015-05-13 2018-12-18 나인보트 (베이징) 테크 컴퍼니 리미티드 Vehicle dynamic balance control mechanism
EP3196108A4 (en) * 2014-09-15 2019-01-02 Changzhou Airwheel Tech Co Ltd Self-balancing double-wheeled electrical scooter
US10189528B2 (en) 2014-09-15 2019-01-29 Changzhou Airwheel Self-balancing double-wheeled electrical scooter
US10286971B2 (en) 2014-09-15 2019-05-14 Changzhou Airwheel Technology Co., Ltd. (Cn) Self-balancing double-wheeled electrical scooter

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104149918A (en) * 2013-05-14 2014-11-19 久鼎金属实业股份有限公司 Electric carrier with handlebar sensing device
CN103753557A (en) * 2014-02-14 2014-04-30 上海创绘机器人科技有限公司 Self-balance control method of movable type inverted pendulum system and self-balance vehicle intelligent control system
EP3196108A4 (en) * 2014-09-15 2019-01-02 Changzhou Airwheel Tech Co Ltd Self-balancing double-wheeled electrical scooter
US10189528B2 (en) 2014-09-15 2019-01-29 Changzhou Airwheel Self-balancing double-wheeled electrical scooter
US10286971B2 (en) 2014-09-15 2019-05-14 Changzhou Airwheel Technology Co., Ltd. (Cn) Self-balancing double-wheeled electrical scooter
KR101929833B1 (en) * 2015-05-13 2018-12-18 나인보트 (베이징) 테크 컴퍼니 리미티드 Vehicle dynamic balance control mechanism

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