CN206644922U - The Double-wheel self-balancing car of spherical top regulation - Google Patents
The Double-wheel self-balancing car of spherical top regulation Download PDFInfo
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- CN206644922U CN206644922U CN201720387860.4U CN201720387860U CN206644922U CN 206644922 U CN206644922 U CN 206644922U CN 201720387860 U CN201720387860 U CN 201720387860U CN 206644922 U CN206644922 U CN 206644922U
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Abstract
The utility model discloses a kind of Double-wheel self-balancing car of spherical top regulation, it is installed on Chinese herbaceous peony, before rear end, rear car wheel apparatus, before described, rear car wheel apparatus includes wheel steering mechanism and drive mechanism for wheel, the vehicle frame is provided with vehicle balance device, before the vehicle balance device includes, spherical top mechanism afterwards, before described, spherical top mechanism includes spherical shell afterwards, in on spherical shell, three omni-directional wheel groups of circumference uniform distribution and the gyroscope in spherical shell are distinguished on lower peripheral surface, each omni-directional wheel group includes the omni-directional wheel of at least three and sphere-contact on corresponding wheel carrier, connected two-by-two between the rotating shaft of omni-directional wheel by universal joint, it is first, the rotating shaft difference connected ball shell motor of tail omni-directional wheel and the incremental encoder for detecting omnidirectional's wheel speed.The utility model can realize that car balance exercise, straight line balance exercise, turning balance exercise and complex curve balance exercise are determined in original place, and motion is flexible, and structure is changeable, reliable and stable.
Description
Technical field
Balance control technology is the utility model is related to, specially a kind of Double-wheel self-balancing car of spherical top regulation.
Background technology
Self-Balancing vehicle is the high-tech intelligent artifact to be moved forward and backward using principle of mobile equilibrium control car body, and it runs master
One kind is built upon to be referred to as in " dynamic stability " (Dynamic Stabilization) general principle.At present, self-balancing
Car majority judges the posture state residing for vehicle body with built-in accurate solid-state gyroscope (Solid-State Gyroscopes),
After calculating appropriate instruction by accurate and high speed central microprocessor, drive motor accomplishes the effect of balance.
Control-moment gyro technology is a technology applied to space industry, is usually used in satellite or spacecraft in space
Direction (posture) adjust, its be achieved in that by control at a high speed rotation inertial flywheel system precession produce a certain size and
The torque in direction, the torque are put on the object (such as satellite) at place, so that the spatial attitude of object or sensing change
Become.
Lit Motors C1 are one of products of Self-Balancing vehicle technology and control-moment gyro technology, same in structure to rub
Motorcycle equally only has two wheels, but has totally enclosed vehicle body as automobile, and can be always maintained at erectility.
Patent control system built in Lit Motors C1, there is the machine that two rotating speeds are 5000-12000r/m under the seat of driver
Tool gyroscopic apparatus, the two gyroscopic apparatus can allow vehicle to keep balance not fall when stopping, travelling or turning；But Lit
Motors C1 two mechanical gyros to be horizontally mounted, can only unidirectional precession in the pitch direction, its caused gyroscopic couple side
To can be subject to certain restrictions.
Beijing University of Post ＆ Telecommunication Guo Lei, Song's original etc.《A kind of polymorphic structure changes intelligent balance car》Patent of invention (Application No.
201610524122.X), the balance car can be operated in straight traffic state and can and be operated in segway states, be cut according to varying environment
Transport condition is changed, the switching of its state is realized by rotating fork, but the fork of the balance car can only be around fork axis direction (lead
Vertical direction) rotate, the free degree is single, for some terrain environments complicated and changeable, it is difficult to tackle；In addition, the balance car is main
By vehicle wheel rotation and rotating handlebar and keep car body to balance, car body is fitted without special balance adjustment mechanical device, therefore its
Range of balance and load capacity need further to be improved.
Utility model content
In view of the shortcomings of the prior art, technical problem to be solved in the utility model is to propose a kind of a variety of roads of adaptation
Condition walk environment and mechanical stability it is high spherical top regulation Double-wheel self-balancing car.
The Double-wheel self-balancing car of the spherical top regulation of above-mentioned technical problem is can solve the problem that, its technical scheme includes being installed on
The forward and backward wheel assembly of vehicle frame front and back ends, the forward and backward wheel assembly include wheel steering mechanism and wheel driving machine
Structure, the vehicle frame are provided with vehicle balance device, except that the vehicle balance device includes forward and backward spherical top machine
Structure, the forward and backward spherical top mechanism include spherical shell, in three omnidirectionals that circumference uniform distribution is distinguished on the upper and lower sphere of spherical shell
Wheel group and the gyroscope in spherical shell, each omni-directional wheel group include connecing with spherical shell sphere located at least three corresponded on wheel carrier
Tactile omni-directional wheel, connected two-by-two between the rotating shaft of omni-directional wheel by universal joint, the rotating shaft of initial and end omni-directional wheel connects spherical shell electricity respectively
The incremental encoder of machine and detection omnidirectional wheel speed.
A kind of structure of the drive mechanism for wheel includes fork and wheel, and the wheel is in the left and right fork of fork bottom
Installed in arm, yoke is provided with the incremental encoder of movable motor and detection vehicle wheel rotational speed that driving moment rotates.
A kind of structure of the wheel steering mechanism includes fixed mount, adjustable shelf and axle bed, and the fixed mount is installed on car
Frame end head, the adjustable shelf are installed in fixed mount by forward and backward rotating mechanism, and the axle bed passes through left and right rotating machine
Structure is installed in adjustable shelf, and the fork shaft on the fork top is installed through axle bed, and the axle bed is provided with the steering for rotating fork
The absolute type encoder of motor and detection fork corner；The fixed mount is provided with the lateral tilting motor for rotating adjustable shelf and detection
The absolute type encoder of adjustable shelf corner；The adjustable shelf is provided with the anteversion and retroversion motor of rotating shaft base and detects axle bed corner
Absolute type encoder.
A kind of structure of the gyroscope includes gyrorotor, and the upper and lower shaft end of the gyrorotor passes through Bearning mechanism
Installation, the shaft end connection gyro machine of gyrorotor, the incremental encoder of another shaft end connecting detection gyrorotor rotating speed.
The beneficial effects of the utility model：
1st, the Double-wheel self-balancing car of the utility model spherical top regulation can realize that car balance exercise is determined in original place, straight line is put down
Weighing apparatus motion, turning balance exercise and complex curve balance exercise.
2nd, Liang Ge spherical tops mechanism is arranged on the vehicle frame of balance car by the utility model, the production of Liang Ge spherical tops mechanism
Raw complementary torque or caused torque superposition can strengthen stability and contracting of the balance car in balance exercise on vehicle body
Short vehicle body reaches the time of balance, improves the Self-regulation ability of balance car and enhances the counterbalance effect of Self-Balancing vehicle, makes
Balance car is adapted to the walking of different road conditions environment.
3rd, wheel steering mechanism of the present utility model can rotate on any direction of space, can be according to reality during balance exercise
Border requires to reduce the center of gravity of vehicle body by rotating accordingly and adjust position of centre of gravity, and the Self-Balancing vehicle can be operated in longitudinal state
(bicycle state), transverse state (Sai Gewei states) can be also operated in, can also worked and other states, embodied flexible and changeable, suitable
The characteristics of Ying Xingqiang.
4th, six omni-directional wheel group collective effects of the utility model are in the rotating shaft side that can make the gyrorotor in spherical shell on spherical shell
Change to any, and then spherical top mechanism is produced the torque of any direction in space, this torque is rationally applied to balance
Che Shang, greatly improve the stability of balance car.
Brief description of the drawings：
Fig. 1 is a kind of structural representation of embodiment of the utility model.
Fig. 2 is the structural representation of the wheel assembly and spherical top mechanism in Fig. 1 embodiments.
Fig. 3 is Fig. 2 side view.
Fig. 4 is Fig. 2 top view.
Fig. 5 is the structural representation of adjustable shelf and axle bed in Fig. 2.
Fig. 6 is the structural representation inside spherical shell in Fig. 2.
Figure number identifies：1st, vehicle frame；2nd, spherical shell；3rd, gyrorotor；4th, wheel carrier；5th, omni-directional wheel；6th, universal joint；7th, spherical shell electricity
Machine；8th, incremental encoder；9th, spherical top mechanism；10th, fork；11st, wheel；12nd, movable motor；13rd, fixed mount；14th, it is living
Moving frame；15th, axle bed；16th, absolute type encoder；17th, steering motor；18th, lateral tilting motor；19th, anteversion and retroversion motor；20th, gyro
Motor；21st, rotating mechanism；22nd, support.
Embodiment
Illustrated embodiment is described further to the technical solution of the utility model below in conjunction with the accompanying drawings.
The Double-wheel self-balancing car of the utility model spherical top regulation, its technical scheme include vehicle frame 1, the vehicle frame 1
Forward and backward both ends are arranged with forward and backward wheel assembly, and spherical top mechanism 9, each wheel dress are arranged with the front and rear portions of vehicle frame 1
Put and include wheel steering mechanism and drive mechanism for wheel, as shown in Figure 1.
The spherical top mechanism 9 includes spherical shell 2 and the gyroscope in spherical shell 2, and the spherical shell 2 is by upper and lower two groups
Actuator (corresponds in upper and lower hemisphere shell surface) omni-directional drive rotation respectively, and each group actuator includes three of circumference uniform distribution
Omni-directional wheel group (each omni-directional wheel group is on corresponding vertical plane), each omni-directional wheel group include three installed by corresponding wheel carrier 4
The omni-directional wheel 5 contacted with spherical shell 2, the rotating shaft of first omni-directional wheel 5 and the rotating shaft of second omni-directional wheel 5, second omni-directional wheel 5
Rotating shaft and the 3rd omni-directional wheel 5 rotating shaft between connected by universal joint 6, the rotating shaft of first omni-directional wheel 5 with wheel carrier 4
The output axis connection of the spherical shell motor 7 of installation, the rotating shaft of the 3rd omni-directional wheel 5 and the incremental encoder 8 installed on wheel carrier 4
Rotating shaft is connected, and each wheel carrier 4 is installed on the correspondence position in vehicle frame 1；The gyroscope includes horizontal gyrorotor 3, institute
The upper and lower end for stating the rotating shaft of gyrorotor 3 is installed in place by the upper and lower Bearning mechanism inside spherical shell 2 respectively, 3 turns of gyrorotor
The upper end of axle is directly driven by gyro machine 20, the lower end of the rotating shaft of gyrorotor 3 connection absolute type encoder 16, as Fig. 2, Fig. 3,
Shown in Fig. 6.
The drive mechanism for wheel includes wheel 11 and fork 10, and the wheel 11 is in the left and right yoke of the bottom of fork 10
It is interior to install in place, movable motor 12 is provided with by support 22 on a yoke, the movable motor 12 inside support 22 by setting
The reduction gear pair driving moment 11 put rotates, and is additionally provided with the support 22 and detects wheel 11 by gear transmission mode
The absolute type encoder 16 of rotating speed, as shown in Figure 2 and Figure 3.
The wheel steering mechanism includes fixed mount 13, adjustable shelf 14 and the axle installed in place for the fork shaft on the top of fork 10
Seat 15, the fixed mount 13 are fixedly installed in the corresponding end of vehicle frame 1, and the adjustable shelf 14 is located at the inside of fixed mount 13 and passes through
Forward and backward rotating mechanism 21 is installed, and the fixed mount 13 is provided with lateral tilting motor 18, and the lateral tilting motor 18 passes through reduction of speed tooth
One rotating mechanism 21 of wheel kind of drive connection adjustable shelf 14, the left side of forward and reverse rotation drive adjustable shelf 14 of lateral tilting motor 18,
Right swing, it is additionally provided with fixed mount 13 and the incremental encoder 8 of the rotating mechanism 21 is connected by gear transmission mode to detect
The swing angle of adjustable shelf 14；The axle bed 15 is installed in adjustable shelf 14 and by left and right rotating mechanism 21, the work
Moving frame 14 is provided with anteversion and retroversion motor 19, the anteversion and retroversion motor 19 pass through deceleration gear kind of drive connection shaft seat 15 one turn
Motivation structure 21, the forward and reverse 15 forward and backward swing of rotational band moving axis seat of anteversion and retroversion motor 19, it is additionally provided with adjustable shelf 14 and passes through tooth
The wheel kind of drive connects the incremental encoder 8 of the rotating mechanism 21 to detect the swing angle of axle bed 15；In the fork 10
The fork shaft in portion in the installation in place of the inside of axle bed 15, the axle bed 15 in a manner of to be provided with steering motor 17, the steering
Motor 17 connects fork shaft, the forward and reverse rotational band motor-car fork 10 i.e. wheel 11 of steering motor 17 by the deceleration gear kind of drive
Turn to, be additionally provided with axle bed 15 by the incremental encoder 8 of gear transmission mode connection fork shaft to detect the steering of wheel 11
Angle, as shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5.
Also include electric control gear in technical solutions of the utility model, the electric control gear is included by industrial computer as upper
Machine, multiple slave computers and outside multiple sensors and power supply using dsp chip as control circuit, for collecting each portion of balance car
The rotation of componental movement parameter and the control multiple motors of balance car, from the purpose for reaching control balance car motion.
The utility model has three kinds of motion states：
11 parallel and and vehicle frame of transverse movement state (Sai Gewei states), lengthwise movement state (bicycle state) and two wheels
1 angled motion state.Wherein, when Self-Balancing vehicle is in transverse movement state, two wheels 11 are forward and backward with vehicle frame 1
Direction is vertical；When being in lengthwise movement state, a wheel 11 is parallel with the front and rear direction of vehicle frame 1, another wheel and vehicle frame 1
Front and rear direction is angled and is rotated in the angular range to aid in the balance of two-wheel car system.
When Self-Balancing vehicle is in transverse state (Sai Gewei states) and walks in the plane, regulation spherical top mechanism 9
Direction, it is set to produce the moment vector parallel to 1 left and right direction of vehicle frame, to realize that Self-Balancing vehicle pitching balances；During upward slope, adjust
The direction of spherical top mechanism 9 is saved, it is produced the moment vector parallel to the left and right direction of vehicle frame, the torque can make self-balancing
Car pitching balances and has certain adhesive force over the ground, to realize that Self-Balancing vehicle can go up a slope and pitch orientation balances；During descending, regulation
The direction of spherical top mechanism 9, makes it produce the moment vector parallel to 1 left and right direction of vehicle frame, and the torque can make Self-Balancing vehicle
Pitching balances and has certain adhesive force over the ground, to realize Self-Balancing vehicle energy descending and pitch orientation balance.
When Self-Balancing vehicle is in lengthwise movement state (bicycle state) and walks in the plane, spherical top mechanism is adjusted
9 direction, it is set to produce the moment vector parallel to 1 left and right direction of vehicle frame, to realize that Self-Balancing vehicle laterally balances；During upward slope,
The direction of spherical top mechanism 9 is adjusted, it is produced parallel to upward slope direction and the resultant moment perpendicular to 1 left and right direction of vehicle frame
Vector, the moment vector parallel to upward slope direction be ensure Self-Balancing vehicle laterally balance and perpendicular to the power in 1 left and right direction of vehicle frame
Moment vector is to ensure that vehicle body has certain adhesive force over the ground, and both moment vectors of making a concerted effort can realize that Self-Balancing vehicle can go up a slope and laterally
Balance；During descending, the direction of regulation spherical top mechanism 9, make its produce parallel to direction of fall with it is left and right perpendicular to vehicle frame 1
Direction make a concerted effort moment vector, the moment vector parallel to direction of fall be ensure Self-Balancing vehicle laterally balance and perpendicular to vehicle frame 1
The moment vector in left and right direction is to ensure that vehicle body has certain adhesive force over the ground, to realize Self-Balancing vehicle energy descending and laterally put down
Weighing apparatus.
Claims (4)
1. the Double-wheel self-balancing car of spherical top regulation, including the forward and backward wheel assembly of vehicle frame (1) front and back ends is installed on, it is described
Forward and backward wheel assembly includes wheel steering mechanism and drive mechanism for wheel, and the vehicle frame (1) fills provided with vehicle balance
Put, it is characterised in that：The vehicle balance device includes forward and backward spherical top mechanism (9), the forward and backward spherical top mechanism
Include spherical shell (2), on spherical shell (2) upper and lower sphere distinguish circumference uniform distribution three omni-directional wheel groups and located at spherical shell (2)
Interior gyroscope, omni-directional wheel (5) of each omni-directional wheel group including at least three on corresponding wheel carrier (4) with sphere-contact, two
Connected between the rotating shaft of two omni-directional wheels (5) by universal joint (6), the rotating shaft difference connected ball shell motor of initial and end omni-directional wheel (5)
(7) and detection omni-directional wheel (5) rotating speed incremental encoder (8).
2. the Double-wheel self-balancing car of spherical top regulation according to claim 1, it is characterised in that：The wheel driving machine
Structure includes fork (10) and wheel (11), and the wheel (11) sets in being installed in the left and right yoke of fork (10) bottom on yoke
There is the movable motor (12) of driving moment (11) rotation and detect the incremental encoder (8) of wheel (11) rotating speed.
3. the Double-wheel self-balancing car of spherical top regulation according to claim 2, it is characterised in that：The wheel steering machine
Structure includes fixed mount (13), adjustable shelf (14) and axle bed (15), and the fixed mount (13) is installed on vehicle frame (1) termination, the work
Moving frame (14) is installed in fixed mount (13) by forward and backward rotating mechanism (21), and the axle bed (15) passes through left and right rotation
Mechanism (21) is installed in adjustable shelf (14), and the fork shaft on fork (10) top is installed through axle bed (15), the axle bed
(15) steering motor (17) for rotating fork (10) and the absolute type encoder (16) for detecting fork (10) corner are provided with；It is described
Fixed mount (13) is provided with the lateral tilting motor (18) for rotating adjustable shelf (14) and the absolute type volume for detecting adjustable shelf (14) corner
Code device (16)；The adjustable shelf (14) is provided with the anteversion and retroversion motor (19) of rotating shaft base (15) and detects axle bed (15) corner
Absolute type encoder (16).
4. the Double-wheel self-balancing car of the spherical top regulation according to any one in claims 1 to 3, it is characterised in that：
The gyroscope includes gyrorotor (3), and the upper and lower shaft end of the gyrorotor (3) is installed by Bearning mechanism, gyrorotor
(3) shaft end connection gyro machine (20), the incremental encoder (8) of another shaft end connecting detection gyrorotor (3) rotating speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720387860.4U CN206644922U (en) | 2017-04-13 | 2017-04-13 | The Double-wheel self-balancing car of spherical top regulation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720387860.4U CN206644922U (en) | 2017-04-13 | 2017-04-13 | The Double-wheel self-balancing car of spherical top regulation |
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| Publication Number | Publication Date |
|---|---|
| CN206644922U true CN206644922U (en) | 2017-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720387860.4U Withdrawn - After Issue CN206644922U (en) | 2017-04-13 | 2017-04-13 | The Double-wheel self-balancing car of spherical top regulation |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106882300A (en) * | 2017-04-13 | 2017-06-23 | 桂林电子科技大学 | The Double-wheel self-balancing car of spherical top regulation |
| CN108466668A (en) * | 2018-02-11 | 2018-08-31 | 坎德拉（深圳）科技创新有限公司 | Automatic rolling walking device and its motion control method |
| CN108515508A (en) * | 2018-02-11 | 2018-09-11 | 坎德拉（深圳）科技创新有限公司 | Two-wheel robot |
-
2017
- 2017-04-13 CN CN201720387860.4U patent/CN206644922U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106882300A (en) * | 2017-04-13 | 2017-06-23 | 桂林电子科技大学 | The Double-wheel self-balancing car of spherical top regulation |
| CN106882300B (en) * | 2017-04-13 | 2022-07-22 | 桂林电子科技大学 | Double-wheel self-balancing vehicle adjusted by spherical gyroscope |
| CN108466668A (en) * | 2018-02-11 | 2018-08-31 | 坎德拉（深圳）科技创新有限公司 | Automatic rolling walking device and its motion control method |
| CN108515508A (en) * | 2018-02-11 | 2018-09-11 | 坎德拉（深圳）科技创新有限公司 | Two-wheel robot |
| CN108515508B (en) * | 2018-02-11 | 2020-09-04 | 坎德拉（深圳）科技创新有限公司 | Two-wheeled robot |
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Legal Events
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| AV01 | Patent right actively abandoned | ||
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| AV01 | Patent right actively abandoned |
Granted publication date: 20171117 Effective date of abandoning: 20220722 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20171117 Effective date of abandoning: 20220722 |