CN203191852U - Two-wheeled vertical type self-balancing trolley - Google Patents
Two-wheeled vertical type self-balancing trolley Download PDFInfo
- Publication number
- CN203191852U CN203191852U CN 201320053156 CN201320053156U CN203191852U CN 203191852 U CN203191852 U CN 203191852U CN 201320053156 CN201320053156 CN 201320053156 CN 201320053156 U CN201320053156 U CN 201320053156U CN 203191852 U CN203191852 U CN 203191852U
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- vertical type
- chip microcomputer
- type self
- motor
- wheeled
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Abstract
The utility model discloses a two-wheeled vertical type self-balancing trolley, comprising an angle sensor (1), a singlechip (2), a gyroscope (3), a motor (4), a motor driving unit (5), and a power module (6). The self-balancing trolley can walk upright stably, drive automatically, and operate accurately and flexibly.
Description
Technical field
The utility model relates to the robot application technical field, is specifically related to a kind of two-wheeled vertical type self balancing dolly.
Background technology
At present, along with science and technology development, increasing robot appears in people's the life.The two-wheeled vertical type self balancing dolly is a kind of wheeled robot, can rely on two-wheeled uprightly to travel.It is a kind of integrate automatically travel, the system ensemble of fluid drive and function such as be kept upright automatically.Existing upright dolly has shortcomings such as speed is low, complex structure, upright instability.
Summary of the invention
The utility model has designed the upright dolly of a kind of intelligence in order to overcome the deficiency of existing upright dolly.It is simple in structure, stable, speed is fast, has solved the deficiency that existing upright dolly exists.
The technical scheme that its technical matters that overcomes the utility model adopts is: the two-wheeled vertical type self balancing dolly comprises angular transducer (1), single-chip microcomputer (2), gyroscope (3), motor (4), electric-motor drive unit (5), power module (6).Electric-motor drive unit (5) is used for the drive motor running, and motor (4) provides power for two wheels of car body bottom.Angular transducer (1) is used for measuring the angle of inclination of car body, and gyroscope (3) is used for measuring the angular velocity of car body.Single-chip microcomputer (2) model is MC9S12DG128 type single-chip microcomputer, uses increment type PID algorithm to carry out the adjustment of speed and the control of direct of travel.Power module (6) is the total system power supply.
The beneficial effects of the utility model are: what the utility model can be stable walks upright, and travels the operation accurate and flexible automatically.
Description of drawings
Fig. 1 is general structure synoptic diagram of the present utility model.
Embodiment
Be described further below in conjunction with 1 pair of the utility model of accompanying drawing.
As shown in Figure 1, the two-wheeled vertical type self balancing dolly that the utility model is announced, comprise angular transducer (1), single-chip microcomputer (2), gyroscope (3), motor (4), electric-motor drive unit (5), power module (6), described angular transducer (1), gyroscope (3) link to each other with single-chip microcomputer (2), and single-chip microcomputer (2) links to each other with motor (4) by electric-motor drive unit (5).
During concrete the operation, electric-motor drive unit is accepted two rotating speed of motor of coherent signal control of single-chip microcomputer, and trolley travelling direction and speed are regulated, and dolly can be travelled at a high speed accurately automatically; Gyroscope and angular transducer pass to single-chip microcomputer with the inclination information of car body, and MC9S12DG128 type single-chip microcomputer uses increment type PID algorithm to regulate the acceleration of motor, realizes the self-equilibrating of dolly; Power module is the total system power supply.
Claims (2)
1. two-wheeled vertical type self balancing dolly, it is characterized in that: comprise angular transducer (1), single-chip microcomputer (2), gyroscope (3), motor (4), electric-motor drive unit (5), power module (6), described angular transducer (1), gyroscope (3) link to each other with single-chip microcomputer (2), and single-chip microcomputer (2) links to each other with motor (4) by electric-motor drive unit (5).
2. two-wheeled vertical type self balancing dolly according to claim 1, it is characterized in that: described single-chip microcomputer (2) is MC9S12DG128 type single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320053156 CN203191852U (en) | 2013-01-31 | 2013-01-31 | Two-wheeled vertical type self-balancing trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320053156 CN203191852U (en) | 2013-01-31 | 2013-01-31 | Two-wheeled vertical type self-balancing trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203191852U true CN203191852U (en) | 2013-09-11 |
Family
ID=49108700
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320053156 Expired - Fee Related CN203191852U (en) | 2013-01-31 | 2013-01-31 | Two-wheeled vertical type self-balancing trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203191852U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103623590A (en) * | 2013-10-24 | 2014-03-12 | 吴远东 | Remote-control toy car capable of stand-turning running and operation method |
| CN107499393A (en) * | 2017-08-04 | 2017-12-22 | 歌尔科技有限公司 | A kind of Double-wheel self-balancing robot |
-
2013
- 2013-01-31 CN CN 201320053156 patent/CN203191852U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103623590A (en) * | 2013-10-24 | 2014-03-12 | 吴远东 | Remote-control toy car capable of stand-turning running and operation method |
| CN103623590B (en) * | 2013-10-24 | 2016-08-17 | 吴远东 | A kind of remote-controlled toy vehicle and operational approach travelled that can uprightly roll |
| CN107499393A (en) * | 2017-08-04 | 2017-12-22 | 歌尔科技有限公司 | A kind of Double-wheel self-balancing robot |
| CN107499393B (en) * | 2017-08-04 | 2020-11-13 | 歌尔科技有限公司 | Double round self-balancing robot |
| US11027416B2 (en) | 2017-08-04 | 2021-06-08 | Goertek Technology Co., Ltd. | Two-wheeled self-balancing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130911 Termination date: 20140131 |