CN204956704U - Close coupled type area stabilising arrangement's two -wheeled moving platform - Google Patents
Close coupled type area stabilising arrangement's two -wheeled moving platform Download PDFInfo
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- CN204956704U CN204956704U CN201520562310.2U CN201520562310U CN204956704U CN 204956704 U CN204956704 U CN 204956704U CN 201520562310 U CN201520562310 U CN 201520562310U CN 204956704 U CN204956704 U CN 204956704U
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- drive motor
- wheel
- travelling wheel
- lateral travelling
- walking chassis
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Abstract
The utility model provides a close coupled type area stabilising arrangement's two -wheeled moving platform, is including the chassis of walking, walking chassis controller, characterized by the walking chassis includes left driving motor, right driving motor, zuohang travelling wheel, the travelling wheel of walking on the right side, being equipped with driven gear in zuohang travelling wheel, the travelling wheel pivot of walking on the right side, being equipped with the driving gear in left driving motor, right driving motor's the pivot, the driving gear meshes with driven gear respectively. The utility model has the advantages of the state is stable, the walking is nimble, strong adaptability. Its development that can be used for a lot of robot system. When meetting any condition, the platform can not topple, prevents to bring the emergence of economic loss or unexpected injury because of the platform topples.
Description
Technical field
The utility model belongs to intelligent system, particularly relates to a kind of two-wheeled mobile platform of close coupled type band stabilizing device.
Background technology
In recent years, along with the development of computer science and artificial intelligence, Robotics is advanced by leaps and bounds.Mobile platform is the basis of robot motion, mainly contain tracked mobile platform at present, take turns mobile platform more, tracked mobile platform mainly applies complex-terrain as building exploration, clearance, barrier-breaking, biochemical war agent detection etc., its structure is comparatively complicated, dismounting is inconvenient, cost is higher, and the large fragile road surface of load; And take turns mobile platform more and mainly take turns based on four-wheel, six, there is gap between many wheels, the height of wheel with ground contact points in rotation process is constantly changed, on rough road surface, thus causing vibrations or the skidding of robot car body, time serious, even robot car body stands up.
Although current two-wheeled balanced sequence platform conveniently moving, flexible, the static electric power that also needs is to maintain balance, and stability is also bad, usually can fall without reason.
Summary of the invention
The utility model provides the two-wheeled mobile platform of simple, the intelligent height of a kind of structure, close coupled type band stabilizing device easy to use, to solve the problems such as existing structure is comparatively complicated, dismounting is inconvenient, cost is higher.
In order to solve the problems of the technologies described above, the technical solution adopted in the utility model is: a kind of two-wheeled mobile platform of close coupled type band stabilizing device, comprise walking chassis, walking chassis controller, it is characterized in that described walking chassis comprises left drive motor, right drive motor, left lateral travelling wheel, right lateral travelling wheel, described left lateral travelling wheel, the rotating shaft of right lateral travelling wheel are provided with ring gear, and the rotating shaft of left drive motor, right drive motor is provided with driving gear, and driving gear engages with ring gear respectively.
As preferably, described left lateral travelling wheel, the rotating shaft of right lateral travelling wheel are respectively equipped with axle sleeve, and axle sleeve is provided with connecting rod, and the end of connecting rod is provided with balance wheel drive motor, balance wheel drive motor is provided with balance wheel, and balance wheel contacts with left lateral travelling wheel, right lateral travelling wheel respectively.
As preferably, described axle sleeve is provided with two draw-in grooves, walking chassis is provided with an electromagnetism deck, electromagnetism deck is provided with the dop corresponding with two draw-in grooves, balance wheel drive motor is connected with walking chassis controller through balance wheel driving circuit, the walking states signal feedback of left lateral travelling wheel, right lateral travelling wheel is given walking chassis controller.
As preferably, described connecting rod is provided with a draw-in groove, and described walking chassis is provided with two electromagnetism decks, and electromagnetism deck is provided with the dop corresponding with draw-in groove.
As preferably, described walking chassis controller comprises accelerometer, gyroscope, described left drive motor, right drive motor are connected with travelling control treater through driver module, balance wheel drive motor is connected with travelling control treater through balance wheel driving circuit, accelerometer, gyroscope are connected with travelling control treater, and described walking chassis controller is also connected with electromagnetic lock.
The utility model have in stable condition, walking flexibly, the advantage such as strong adaptability.It may be used for the exploitation of a lot of robot system.When running into any situation, platform can not topple, and prevents from bringing the generation of economic loss or unexpected injury because platform topples.
Accompanying drawing explanation
Fig. 1 is constructional drawing of the present utility model;
Fig. 2 is walking states figure of the present utility model;
Fig. 3 is halted state figure of the present utility model;
Fig. 4 is the A place enlarged drawing of Fig. 1;
Fig. 5 is two draw-in groove location maps on axle sleeve shown in Fig. 4;
Fig. 6 is functional block diagram of the present utility model;
Fig. 7 is another kind of front view of the present utility model;
Fig. 8 is the B place enlarged drawing of Fig. 7;
Fig. 9 is another kind of functional block diagram of the present utility model.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the technical solution of the utility model is described in further detail.
Specific embodiment one: shown in composition graphs 1,4,5, the two-wheeled mobile platform of this close coupled type band stabilizing device is made up of chassis 21 of walking, walking chassis controller 22, left lateral travelling wheel 24, right lateral travelling wheel 34 etc., walking chassis 21 comprises left drive motor 23, right drive motor 33, left lateral travelling wheel 24, right lateral travelling wheel 34, left lateral travelling wheel 24, right lateral travelling wheel 34 rotating shaft are provided with ring gear 25, the rotating shaft of left drive motor 23, right drive motor 33 is provided with driving gear 26, and driving gear 26 engages with ring gear 25 respectively.Left drive motor 23, right drive motor 33 drive left lateral travelling wheel 24, right lateral travelling wheel 34 respectively, adopt Dual Drive to make the utility model dynamic performance superiority, can move freely in complex-terrain.
Shown in composition graphs 1,2,3,4,5, left lateral travelling wheel, right lateral travelling wheel 24,34 rotating shaft are respectively equipped with axle sleeve 27, axle sleeve 27 is provided with connecting rod 28, the end of connecting rod 28 is provided with balance wheel drive motor 29, balance wheel drive motor 29 is provided with balance wheel 30, and balance wheel 30 contacts with left lateral travelling wheel 24, right lateral travelling wheel 34 respectively.Axle sleeve 27 is provided with two draw-in grooves 271, walking chassis 21 is provided with an electromagnetic lock, electromagnetic lock comprises electromagnetism deck 272, dop 273, electromagnet etc., electromagnetism deck 272 is provided with the dop 273 corresponding with two draw-in grooves 271, balance wheel drive motor 29 is connected with travelling control treater through balance wheel driving circuit, whether the walking states signal feedback of left lateral travelling wheel, right lateral travelling wheel 24,34 to travelling control treater, is controlled balance wheel 30 and starts and turn to road wheel 24,34 bottom by driver module.
When travelling control treater controls driver module, drive left drive motor 23, right drive motor 33, when left lateral travelling wheel, right lateral travelling wheel 24,34 are walked, balance wheel drive motor 29 driven equilibrium wheel 30 rotates with left lateral travelling wheel 24, right lateral travelling wheel 34, and go to left lateral travelling wheel, right lateral travelling wheel 24,34 top, electromagnetism deck 272 upper chuck 273 snaps on axle sleeve 27 in draw-in groove 271, keeps balance wheel 30 constant; When travelling control treater controls left lateral travelling wheel, right lateral travelling wheel 24,34 stopping, balance wheel drive motor 29 driven equilibrium wheel 30 rotates, go to left lateral travelling wheel, right lateral travelling wheel 24,34 bottom, electromagnetism deck 272 upper chuck 273 snaps on axle sleeve 27 in draw-in groove 271, and travelling control treater controls driver module stopping simultaneously.
Specific embodiment two: shown in composition graphs 7,8,9, the two-wheeled mobile platform of this close coupled type band stabilizing device is made up of chassis 21 of walking, walking chassis controller 22, left lateral travelling wheel 24, right lateral travelling wheel 34 etc., walking chassis 21 comprises left drive motor 23, right drive motor 33, left lateral travelling wheel 24, right lateral travelling wheel 34, left lateral travelling wheel 24, right lateral travelling wheel 34 rotating shaft are provided with ring gear 25, the rotating shaft of left drive motor 23, right drive motor 33 is provided with driving gear 26, and driving gear 26 engages with ring gear 25 respectively.Left drive motor 23, right drive motor 33 drive left lateral travelling wheel 24, right lateral travelling wheel 34 respectively, adopt Dual Drive to make the utility model dynamic performance superiority, can move freely in complex-terrain.
Shown in composition graphs 6, walking chassis controller 22 comprises accelerometer, gyroscope, left drive motor 23, right drive motor 33 are connected with travelling control treater through driver module, balance wheel drive motor 29 is connected with travelling control treater through balance wheel driving circuit, accelerometer, gyroscope are connected with travelling control treater, and walking chassis controller is also connected with electromagnetic lock.
Left lateral travelling wheel, right lateral travelling wheel 24,34 rotating shaft are respectively equipped with axle sleeve 27, axle sleeve 27 is provided with connecting rod 28, the end of connecting rod 28 is provided with balance wheel drive motor 29, and balance wheel drive motor 29 is provided with balance wheel 30, and balance wheel 30 contacts with left lateral travelling wheel 24, right lateral travelling wheel 34 respectively.Balance wheel drive motor 29 is connected with travelling control treater through balance wheel driving circuit, the walking states signal feedback of left lateral travelling wheel, right lateral travelling wheel 24,34 is given walking chassis controller 22.Connecting rod 28 is provided with a draw-in groove 281, and walking chassis 21 is provided with two electromagnetic locks, and electromagnetic lock comprises electromagnetism deck 272, dop 273, electromagnet etc., and electromagnetism deck 282, electromagnetism deck 282 is provided with the dop 283 corresponding with draw-in groove 281.
When travelling control treater controls driver module, drive left drive motor 23, right drive motor 33, when left lateral travelling wheel, right lateral travelling wheel 24,34 are walked, balance wheel drive motor 29 driven equilibrium wheel 30 rotates with left lateral travelling wheel 24, right lateral travelling wheel 34, and go to left lateral travelling wheel, right lateral travelling wheel 24,34 top, electromagnetism deck 282 upper chuck 283 snaps on connecting rod 28 in draw-in groove 281, keeps balance wheel 30 constant; When travelling control treater controls left lateral travelling wheel, right lateral travelling wheel 24,34 stopping, balance wheel drive motor 29 driven equilibrium wheel 30 rotates, go to left lateral travelling wheel, right lateral travelling wheel 24,34 bottom, electromagnetism deck 282 upper chuck 283 snaps on connecting rod 28 in draw-in groove 281, and the driver module of travelling control treater control simultaneously quits work.
The utility model judges the posture state of walking residing for chassis with built-in accurate solid-state gyroscope, after calculating suitable instruction through central microprocessor that is accurate and high speed, CD-ROM drive motor accomplishes the effect balanced.The overall center of gravity longitudinal axis on walking chassis is as reference line.When this axle is toward top rake, the built-in electro-motor on walking chassis can produce strength forward, the moment of torsion of toppling over before balance walking chassis on the one hand, produce the acceleration/accel allowing walking chassis advance on the one hand, contrary, when gyroscope finds the center of gravity on walking chassis toward hypsokinesis, also the strength that can produce backward reaches counterbalance effect.When the utility model road wheel speed fall close to zero time, strut bar puts down, with stable platform.Or when treater detects accelerometer and gyroscope numerical value mal, strut bar also can put down in time, with stable platform.
Finally it should be pointed out that above detailed description of the invention is only the more representational example of the utility model.Obviously, the utility model is not limited to above-mentioned detailed description of the invention, can also have many distortion.Every above detailed description of the invention is done according to technical spirit of the present utility model any simple modification, equivalent variations and modification, all should think and belong to protection domain of the present utility model.
Claims (5)
1. the two-wheeled mobile platform of a close coupled type band stabilizing device, comprise walking chassis, walking chassis controller, it is characterized in that described walking chassis comprises left drive motor, right drive motor, left lateral travelling wheel, right lateral travelling wheel, described left lateral travelling wheel, the rotating shaft of right lateral travelling wheel are provided with ring gear, the rotating shaft of left drive motor, right drive motor is provided with driving gear, and driving gear engages with ring gear respectively.
2. the two-wheeled mobile platform of a kind of close coupled type band stabilizing device according to claim 1, it is characterized in that described left lateral travelling wheel, the rotating shaft of right lateral travelling wheel are respectively equipped with axle sleeve, axle sleeve is provided with connecting rod, the end of connecting rod is provided with balance wheel drive motor, balance wheel drive motor is provided with balance wheel, and balance wheel contacts with left lateral travelling wheel, right lateral travelling wheel respectively.
3. the two-wheeled mobile platform of a kind of close coupled type band stabilizing device according to claim 2, it is characterized in that described axle sleeve is provided with two draw-in grooves, walking chassis is provided with an electromagnetism deck, electromagnetism deck is provided with the dop corresponding with two draw-in grooves, balance wheel drive motor is connected with walking chassis controller through balance wheel driving circuit, the walking states signal feedback of left lateral travelling wheel, right lateral travelling wheel is given walking chassis controller.
4. the two-wheeled mobile platform of a kind of close coupled type band stabilizing device according to claim 2, it is characterized in that described connecting rod is provided with a draw-in groove, described walking chassis is provided with two electromagnetism decks, and electromagnetism deck is provided with the dop corresponding with draw-in groove.
5. the two-wheeled mobile platform of a kind of close coupled type band stabilizing device according to claim 4, it is characterized in that described walking chassis controller comprises accelerometer, gyroscope, described left drive motor, right drive motor are connected with travelling control treater through driver module, balance wheel drive motor is connected with travelling control treater through balance wheel driving circuit, accelerometer, gyroscope are connected with travelling control treater, and described walking chassis controller is also connected with electromagnetic lock.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520562310.2U CN204956704U (en) | 2015-07-30 | 2015-07-30 | Close coupled type area stabilising arrangement's two -wheeled moving platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520562310.2U CN204956704U (en) | 2015-07-30 | 2015-07-30 | Close coupled type area stabilising arrangement's two -wheeled moving platform |
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| Publication Number | Publication Date |
|---|---|
| CN204956704U true CN204956704U (en) | 2016-01-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520562310.2U Expired - Fee Related CN204956704U (en) | 2015-07-30 | 2015-07-30 | Close coupled type area stabilising arrangement's two -wheeled moving platform |
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| CN (1) | CN204956704U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105676858A (en) * | 2016-03-02 | 2016-06-15 | 深圳市美莱创新股份有限公司 | Self-balancing two-wheel balance vehicle and control method |
| CN108453744A (en) * | 2018-02-11 | 2018-08-28 | 坎德拉（深圳）科技创新有限公司 | Main body frame and robot for robot |
-
2015
- 2015-07-30 CN CN201520562310.2U patent/CN204956704U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105676858A (en) * | 2016-03-02 | 2016-06-15 | 深圳市美莱创新股份有限公司 | Self-balancing two-wheel balance vehicle and control method |
| CN108453744A (en) * | 2018-02-11 | 2018-08-28 | 坎德拉（深圳）科技创新有限公司 | Main body frame and robot for robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190807 Address after: 433000 Taoyuan Apartment, Taoyuan Avenue, Ganhe Office, Xiantao City, Hubei Province Patentee after: HUBEI ZHIQUAN PATENT TECHNOLOGY APPLICATION DEVELOPMENT Co.,Ltd. Address before: 433000 Hubei province directly under the central government administrative unit, Xiantao Taoyuan Avenue, No. 1, unit 15, 201 Patentee before: HUBEI ZHIQUAN INTELLECTUAL PROPERTY CONSULTING Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160113 Termination date: 20210730 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |