CN205176659U - Can realize top formula wheel barrow robot system of self -balancing - Google Patents
Can realize top formula wheel barrow robot system of self -balancing Download PDFInfo
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- CN205176659U CN205176659U CN201520911303.9U CN201520911303U CN205176659U CN 205176659 U CN205176659 U CN 205176659U CN 201520911303 U CN201520911303 U CN 201520911303U CN 205176659 U CN205176659 U CN 205176659U
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- escapement
- single wheel
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- ring stand
- car
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Abstract
The utility model discloses a can realize top formula wheel barrow robot system of self -balancing, its gyro mechanism includes gyro flywheel, interior ring stand and outer ring stand, gyro flywheel passes through horizontal installation in interior ring tooth circle and by the rotation of rotor motor drive, interior ring tooth circle is installed in interior ring stand and by the rotation of interior ring tooth circle motor drive, interior ring stand is installed in outer ring tooth circle, outer ring tooth circle is installed in outer ring stand and by the rotation of outer ring tooth circle motor drive, gyro flywheel's position and interior ring tooth circle quadrature, the position and the outer ring tooth circle quadrature of interior ring tooth circle, on its balance mechanism located the gyro mechanism, including balance support and balance, the balance is vertical to be installed on the balance support and by the rotation of balance motor drive, under its single wheel mechanism located the gyro mechanism, including single wheel and car fork, the pancake motor drive that the single wheel was stuck by the car was rotatory. The utility model discloses utilize the gyro mechanism as the stable control device, can realize the two stable equilibrium controls in automobile body side direction and front and back.
Description
Technical field
The utility model relates to two-wheeled or unicycle robot, is specially a kind of gyroscope type single wheel car robot system realizing self-equilibrating.
Background technology
Wheelbarrow robot because of its have that build is narrow and small, energy utilization rate advantages of higher and receive the concern of robot research personnel.Utilize its mobile equilibrium characteristic, it is introduced complicated terrain environment, carry out transporting and the function such as rescue; Utilize its slim profile to turn to characteristic flexibly, the monitoring to narrow environment and detection can be realized.
The domestic research for wheelbarrow robot is still in the research stage, and the wheelbarrow robot of design is mostly based on flywheel inverted pendulum or balance stem control form.Domestic to wheel car robot research more be the Ruan Xiao steel team of Beijing University of Technology, " a kind of single-wheel self-balancing robot system " patent of invention (patent publication No. is CN102445944A) that such as Beijing University of Technology proposes, its Robotics scheme can the balance of vertical placement of left-right rotation by one, is used for realizing robot side direction balance and controls; Waist dish containing rotating horizontal positioned in the middle of fuselage, is used for realizing the Heading control of robot; Underbelly be one can before and after the single wheel that rotates, the anterior-posterior balance being used for realizing robot controls." a kind of one-wheel robot realizing self-equilibrating " utility model patent (license number is CN202362474U) its technical scheme that Southeast China University proposes is the robot controlled based on balance stem, this robot can keep side direction to balance and anterior-posterior balance, but lack Heading control mechanism, be difficult to realize the compound movements such as turning.
Gyro has self-stable characteristic because of it, not by advantages such as magnetic interference, is widely used in aviation, navigation, space flight and national defense industry, mostly as gyroscope or sensor use, gyro is not directly used as stabilising arrangement.
Utility model content
For the deficiencies in the prior art, technical problem to be solved in the utility model proposes a kind of gyro that utilizes as the gyroscope type single wheel car robot system of the realized self-equilibrating of stabilising arrangement.
The gyroscope type single wheel car robot of the realized self-equilibrating that can solve the problems of the technologies described above, its technical scheme comprises the control device of gyro mechanism, balance mechanism and single wheel mechanism and the operation of each mechanism, wherein
1, described gyro mechanism comprises gyrorotor, interior ring stand and outer ring stand, described gyrorotor to be installed in inner ring gear ring by rotor field spider level and to drive rotation by the rotor electric machine on support, described inner ring gear ring is installed on to drive in interior ring stand and by the inner ring gear ring motor on interior ring stand and rotates, described interior ring stand is installed in outer annular gear, and described outer annular gear is installed on to drive in outer ring stand and by the outer annular gear motor on outer ring stand and rotates; Described outer ring stand is vertically installed on substrate, and the position of gyrorotor is orthogonal with inner ring gear ring, and the position of inner ring gear ring is orthogonal with outer annular gear; Described support is provided with the rotary encoder detecting gyrorotor rotating speed, and described interior ring stand is provided with the inner ring gear ring scrambler detecting inner ring gear ring rotating speed, and described outer ring stand is provided with the outer annular gear scrambler detecting outer annular gear rotating speed.
2, described balance mechanism is located at above gyro mechanism, comprise escapement support and escapement, described escapement support installing is in outer shroud top of the trellis, described escapement to be vertically installed on escapement support and to be driven by the escapement motor on escapement support and rotates, and described escapement support is provided with the escapement scrambler detecting escapement rotating speed.
3, described single wheel mechanism is located at below gyro mechanism, and comprise single wheel and car fork, described car fork is installed on B.B.P, and described single wheel is installed in car fork and the pancake motor pitched by car drives and rotates, and car fork is provided with the single wheel scrambler detecting single wheel rotating speed.
In said structure, when the gyrorotor of high speed autobiography with inner ring gear ring according to certain control law relative to outer annular gear universal rotational time, the gyroscopic couple produced can the gravitational torque that is subject to of balanced robot, keeps car body balance and realizes Servo Control mode one; Escapement acceleration and deceleration and rotating then provide car body overturn moment, the inclination angle making car body keep certain, realize Servo Control mode two, and then balance by different experiments mode and control effects checking curvilinear motion the mechanical mechanism controlled.
For reaching good control effects, described escapement and outer ring stand are in same perpendicular.
Better control effects is that the position of described single wheel is orthogonal with escapement.
Described control device comprises the electric battery, boat appearance survey sensor, wireless module, motion controller and the servo-driver that are connected by interlock circuit, and control device detects vehicle body attitude in real time and sends drive singal according to vehicle body attitude to each motor, receives the feedback signal of each scrambler to revise each motor rotation further simultaneously.
The beneficial effects of the utility model:
1, the gyro mechanism that the utility model can realize the gyroscope type single wheel car robot system of self-equilibrating can realize the universal movement of gyrorotor.
2, the utility model utilizes gyro mechanism to have the characteristic of self-stabilization, be not subject to the feature of magnetic interference, directly it can be used as stabilization control device, the single control of single institution different from the past, this gyro mechanism can realize car body side and control to front and back bistable balance.
3, single wheel of the present utility model can be used as front and back stability control mechanism, and the front and back stable equilibrium strengthening robot controls, and also can be used as pure driving mechanism, realizes the uniform motion of robot.
Accompanying drawing explanation
Fig. 1 is the perspective view of a kind of embodiment of the utility model.
Fig. 2 is the perspective view of gyro mechanism in Fig. 1 embodiment.
Figure number identifies: 1, gyrorotor; 2, interior ring stand; 3, outer ring stand; 4, rotor field spider; 5, inner ring gear ring; 6, rotor electric machine; 7, inner ring gear ring motor; 8, outer annular gear; 9, outer annular gear motor; 10, rotary encoder; 11, inner ring gear ring scrambler; 12, outer annular gear scrambler; 13, substrate; 14, escapement support; 15, escapement; 16, escapement scrambler; 17, single wheel; 18, car fork; 19, pancake motor; 20, single wheel scrambler; 21, gyro mechanism; 22, escapement motor; 23, wireless module; 24, motion controller; 25, servo-driver; 26, electric battery; 27, navigate appearance survey sensor.
Embodiment
Below in conjunction with accompanying drawing illustrated embodiment, the technical solution of the utility model is described further.
The gyroscope type single wheel car robot system that the utility model can realize self-equilibrating comprises the control device that the gyro mechanism 21, balance mechanism and single wheel mechanism and each mechanism that arrange based on substrate 13 run.
Described gyro mechanism 21 comprises outer ring stand 3, outer annular gear 8, interior ring stand 2, inner ring gear ring 5, rotor field spider 4 and gyrorotor 1.Described outer ring stand 3 is vertically arranged and by floor installation on substrate 13, described outer annular gear 8 is with being located in outer shroud frame 3, four uniform on outer ring stand 3 outer annular gear driven wheels engage with the external tooth of outer annular gear 8, one of them outer annular gear driven wheel is connected on the outer annular gear motor 9 of installation on outer ring stand 3, in the symmetric position of outer annular gear motor 9, another outer annular gear driven wheel is connected on the outer annular gear scrambler 12 of installation on outer ring stand 3; Described interior ring stand 2 is vertically installed in outer annular gear 8 and position is orthogonal with outer annular gear 8, described inner ring gear ring 5 is coaxially installed in interior ring stand 2, four inner ring gear ring driven wheels uniform on interior ring stand 2 engage with the external tooth of inner ring gear ring 5, one of them inner ring gear ring driven wheel is connected to the inner ring gear ring motor 7 that interior ring stand 2 is installed, in the symmetric position of inner ring gear ring motor 7, another inner ring gear ring driven wheel is connected to the inner ring gear ring scrambler 11 that interior ring stand 2 is installed; Described gyrorotor 1 is installed in inner ring gear ring 5 by rotor field spider 4 level, installs the rotor electric machine 6 being connected gyrorotor 1 and rotary encoder 10 respectively, as shown in Figure 1 and Figure 2 bottom described rotor field spider 4 with top.
Described balance mechanism is located on gyro mechanism 21, comprise escapement support 14 and escapement 15, described escapement support 14 is installed on the top of outer ring stand 3 by Connection Block, described escapement 15 is vertically installed in escapement support 14 and escapement 15 and outer ring stand 3 exist together in a vertical plane, escapement support 14 is provided with the escapement motor 22 and escapement scrambler 16 that engage with escapement 15 wheel rim internal tooth respectively, as shown in Figure 1 and Figure 2.
Described single wheel mechanism is located at below gyro mechanism 21, comprise single wheel 17 and car fork 18, the top of described car fork 18 is through substrate 13 and base connection, described single wheel 17 is installed in the both sides fork body of car fork 18, the position of single wheel 17 is orthogonal with escapement 15, the pancake motor 19 that the side fork body of car fork 18 is installed connects the internal tooth on single wheel 17 wheel rim, car is pitched on 18 homonymy fork bodies and is installed single wheel scrambler 20 by swash plate, described single wheel scrambler 20 connects the internal tooth on single wheel 17 wheel rim, as shown in Figure 1 and Figure 2.
Described control device comprises the electric battery 26, boat appearance survey sensor 27, wireless module 23, motion controller 24 and the servo-driver 25 that are connected by interlock circuit, and control device detects car body (gyro mechanism 21, balance mechanism and single wheel mechanism are formed jointly) attitude in real time and sends drive singal according to vehicle body attitude to each motor, receives the feedback signal of each scrambler to revise each motor rotation further simultaneously.
The major function of the utility model wheelbarrow robot is under the prerequisite keeping car body pitch balance and side direction balance, and can realize robot rectilinear motion and Servo Control, the process that robot keeps car body to balance at traveling process is:
The motion controller 24 of wheelbarrow robot obtains the vehicle body attitude signal of boat appearance survey sensor 27 collection, calculate the acceleration corresponding to the driving moment of each motor and each motor torque by predetermined control algolithm, send ASCII character and perform control to servo-driver 25.
When robot side direction or pitching are toppled over, the gyrorotor 1 of high speed rotation can produce corresponding precession, corresponding inclination angle measured by boat appearance survey sensor 27, and then control that outer annular gear motor 9 and inner ring gear ring motor 7 change by predetermined control algolithm can the precession angle of universal rotational gyrorotor 1 and angular velocity of precession, thus adjustment gyroscopic couple and overturn moment balance each other.
When robot turns, escapement 15 acceleration and deceleration and rotating provide car body overturn moment, and car body keeps certain inclination angle, the centripetal acceleration of side acceleration for providing robot to turn.
Pancake motor 19 drives before and after single wheel 17 and rotates, and controls anterior-posterior balance and walking.
Claims (4)
1. can realize the gyroscope type single wheel car robot system of self-equilibrating, it is characterized in that: the control device comprising gyro mechanism (21), balance mechanism and single wheel mechanism and the operation of each mechanism, wherein
1., described gyro mechanism comprises gyrorotor (1), interior ring stand (2) and outer ring stand (3), described gyrorotor (1) to be installed in inner ring gear ring (5) by rotor field spider (4) level and to drive rotation by the rotor electric machine (6) on support (4), described inner ring gear ring (5) is installed on to drive in interior ring stand (2) and by the inner ring gear ring motor (7) on interior ring stand (2) and rotates, described interior ring stand (2) is installed in outer annular gear (8), described outer annular gear (8) to be installed in outer ring stand (3) and to be rotated by outer annular gear motor (9) driving on outer ring stand (3), described outer ring stand (3) is vertically installed on substrate (13), the position of gyrorotor (1) is orthogonal with inner ring gear ring (5), the position of inner ring gear ring (5) is orthogonal with outer annular gear (8), described support (4) is provided with the rotary encoder (10) detecting gyrorotor (1) rotating speed, described interior ring stand (2) is provided with the inner ring gear ring scrambler (11) detecting inner ring gear ring (5) rotating speed, described outer ring stand (3) is provided with the outer annular gear scrambler (12) detecting outer annular gear (8) rotating speed,
2., described balance mechanism is located at above gyro mechanism, comprise escapement support (14) and escapement (15), described escapement support (14) is installed on outer ring stand (3) top, described escapement (15) is vertically installed on escapement support (14) and goes up and drive rotation by the escapement motor (22) on escapement support (14), and described escapement support (14) is provided with the escapement scrambler (16) detecting escapement (15) rotating speed;
3., described single wheel mechanism is located at below gyro mechanism, comprise single wheel (17) and car fork (18), described car fork (18) is installed on substrate (13) bottom, described single wheel (17) is installed on the pancake motor (19) pitched on (18) in car fork (18) and by car and drives rotation, and car fork (18) is provided with the single wheel scrambler (20) detecting single wheel (17) rotating speed.
2. the gyroscope type single wheel car robot system realizing self-equilibrating according to claim 1, is characterized in that: described escapement (15) and outer ring stand (3) are in same perpendicular.
3. the gyroscope type single wheel car robot system realizing self-equilibrating according to claim 2, is characterized in that: the position of described single wheel (17) is orthogonal with escapement (15).
4. according to the gyroscope type single wheel car robot system of the realized self-equilibrating in claims 1 to 3 described in any one, it is characterized in that: described control device comprise connected by interlock circuit electric battery (26), boat appearance survey sensor (27), wireless module (23), motion controller (24) and servo-driver (25), control device detects vehicle body attitude in real time and sends drive singal according to vehicle body attitude to each motor, receives the feedback signal of each scrambler to revise each motor rotation further simultaneously.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520911303.9U CN205176659U (en) | 2015-11-16 | 2015-11-16 | Can realize top formula wheel barrow robot system of self -balancing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520911303.9U CN205176659U (en) | 2015-11-16 | 2015-11-16 | Can realize top formula wheel barrow robot system of self -balancing |
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| CN205176659U true CN205176659U (en) | 2016-04-20 |
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| CN201520911303.9U Withdrawn - After Issue CN205176659U (en) | 2015-11-16 | 2015-11-16 | Can realize top formula wheel barrow robot system of self -balancing |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105302148A (en) * | 2015-11-16 | 2016-02-03 | 桂林电子科技大学 | Gyroscopic wheelbarrow robot system capable of realizing self-balancing |
| CN106643693A (en) * | 2016-10-14 | 2017-05-10 | 哈尔滨工业大学 | Air floating ball bearing three-dimensional attitude measurement device |
-
2015
- 2015-11-16 CN CN201520911303.9U patent/CN205176659U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105302148A (en) * | 2015-11-16 | 2016-02-03 | 桂林电子科技大学 | Gyroscopic wheelbarrow robot system capable of realizing self-balancing |
| CN106643693A (en) * | 2016-10-14 | 2017-05-10 | 哈尔滨工业大学 | Air floating ball bearing three-dimensional attitude measurement device |
| CN106643693B (en) * | 2016-10-14 | 2019-09-13 | 哈尔滨工业大学 | A kind of air-floating ball bearing three-dimensional attitude measuring |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160420 Effective date of abandoning: 20180410 |
|
| AV01 | Patent right actively abandoned |