CN207129043U - A kind of two-wheeled omnidirectional self-balancing chassis - Google Patents
A kind of two-wheeled omnidirectional self-balancing chassis Download PDFInfo
- Publication number
- CN207129043U CN207129043U CN201720855647.1U CN201720855647U CN207129043U CN 207129043 U CN207129043 U CN 207129043U CN 201720855647 U CN201720855647 U CN 201720855647U CN 207129043 U CN207129043 U CN 207129043U
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- omni
- vehicle frame
- mounting seat
- directional
- wheel
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Abstract
The utility model provides a kind of two-wheeled omnidirectional self-balancing chassis, including vehicle frame, two mounting seats and two omni-directional wheels, and two mounting seat compartments are installed in bottom of frame, and two mounting seat Relative verticals are set, and omni-directional wheel rotary type is installed in mounting seat.The utility model on vehicle frame by installing mounting seat, the perpendicular shape of two mounting seats is set, and install omni-directional wheel respectively in mounting seat, so that two omni-directional wheels on vehicle frame are arranged in a mutually vertical manner, i.e. two omni-directional wheels one are laid along the X direction, another lays along the Y direction, and coordinate and be respectively provided with reducing motor on two omni-directional wheels, by the rotating speed and the direction that control two reducing motors respectively, so that each caused power forms one and can turned to and makes a concerted effort for any direction two omni-directional wheels, so as to realize the active force on two omni-directional wheels of control, to realize the auto-steering of two wheels, make its structure simpler, cost is cheaper and operation is more convenient.
Description
Technical field
Balance control technology field is the utility model is related to, more particularly, to a kind of two-wheeled omnidirectional self-balancing chassis.
Background technology
With developing rapidly for robot technology, mobile robot have been widely used for machine-building, electric business logistics,
The every field such as service, military affairs.Needs based on industry-by-industry, many occasions require that mobile robot has motion is quick to ring
Should be able to power, the flexibility of motion and the ability entered in various narrow region concurrence.This requires one kind and possesses omnidirectional's shifting
The platform of kinetic force helps mobile robot to realize this function, thus the design of this Omni-mobile platform just turns into movement
The emphasis of Robot Design work.
Omni-mobile platform technology is general at present uses at least three driving wheels, but moves dumb, four driving wheels
Mobile platform movement it is flexible, but complicated in mechanical structure degree is higher, causes its energy consumption and to make maintenance cost high.
Self-balancing chassis uses the mechanical structure of single driving wheel or two driving wheels, but single driven wheel chassis only exists
It can keep balancing in motion, and balancing is kept by operator, is not automatically controlled.The machinery knot of dual drive wheel
Structure, although still can keep balancing under static state, its direction of motion is front and rear single direction, if necessary to turn to,
Whole chassis is needed to do overall deflecting movement, the radius of steering is related to chassis radius, and movement is dumb.
Therefore, oneself of a kind of Omni-mobile platform simple in construction, operation movement is flexible and cost is cheap how is designed
Chassis is balanced, turns into the key of Omni-mobile platform technology development.
Utility model content
The utility model provides a kind of two-wheeled omnidirectional self-balancing chassis, is answered with solving upper existing Omni-mobile platform structure
Miscellaneous, mobile dumb and complex operation technical problem.
According to one side of the present utility model, there is provided a kind of two-wheeled omnidirectional self-balancing chassis, including vehicle frame, two installations
Seat and two omni-directional wheels, the mounting seat is in groove-like, and two mounting seat compartments are installed in the bottom of frame, and two
The individual mounting seat Relative vertical is set, and the omni-directional wheel is installed in the mounting seat by axletree rotary type, and in institute
State axletree one end by a yielding coupling with the output shaft of a reducing motor to be connected, on the output shaft of the reducing motor
Provided with photoelectric velocity measurement device.
On the basis of such scheme preferably, installing plate is also equiped with the vehicle frame, the reducing motor is installed in installation
On plate.
On the basis of such scheme preferably, the omni-directional wheel includes two wheel bodys being coaxially disposed.
On the basis of such scheme preferably, the wheel body includes centre wheel and multiple axis using the centre wheel as axle center
All cinctures of circumference array arrangement.
On the basis of such scheme preferably, the gyro for detecting the vehicle frame angular speed is also equiped with the vehicle frame
Instrument.
On the basis of such scheme preferably, in addition to controller, the gyroscope, photoelectric velocity measurement device and reducing motor are distinguished
It is electrical connected with the controller.
A kind of two-wheeled omnidirectional self-balancing chassis of the present utility model, by installing two mounting seats on vehicle frame, make two
The perpendicular shape of mounting seat is set, and installs omni-directional wheel respectively in mounting seat, so that two on vehicle frame omni-directional wheel is mutual
It is vertically arranged, i.e., two omni-directional wheels one are laid along X directions, and another lays along the Y direction, and coordinates in Liang Ge omnidirectionals
Reducing motor is respectively provided with wheel, by the rotating speed and the direction that control two reducing motors respectively so that two omni-directional wheels are each
Form one from caused power and can turn to and make a concerted effort for any direction, so as to realize the active force on two omni-directional wheels of control, with
The auto-steering of two wheels is realized, makes its structure simpler, cost is cheaper and operation is more convenient.
Brief description of the drawings
Fig. 1 is a kind of structural representation on two-wheeled omnidirectional self-balancing chassis of the present utility model；
Fig. 2 is a kind of vehicle frame force analysis figure on two-wheeled omnidirectional self-balancing chassis of the present utility model；
Fig. 3 is the stereogram of omni-directional wheel of the present utility model；
Fig. 4 is the front view of omni-directional wheel of the present utility model；
In figure：10th, vehicle frame；12nd, mounting seat；13rd, omni-directional wheel；14th, axletree；15th, yielding coupling；16th, reducing motor；
20th, wheel body；21st, centre wheel；22nd, all cinctures.
Embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is used to illustrate the utility model, but is not limited to the scope of the utility model.
Refer to Fig. 1 and with reference to shown in Fig. 2, the utility model provides a kind of two-wheeled omnidirectional self-balancing chassis, including car
10, two mounting seats 12 of frame and two omni-directional wheels 13.
Wherein, mounting seat 12 of the present utility model is in groove-like, and the openend of mounting seat 12 is arranged on into vehicle frame 10 down
Bottom, and make two mounting seats 12 be mutually perpendicular to be arranged at intervals.Mounting seat 12 is equiped with axletree 14, omnidirectional provided with rotary type
Wheel 13 is installed in mounting seat 12 by axletree 14, and a reducing motor 16 is equiped with one end of axletree 14, is slowed down
The output shaft of motor 16 is connected by a yielding coupling 15 with axletree 14, and is provided with the output shaft of reducing motor 16
Photoelectric velocity measurement device.
In use, reducing motor 16 drives axletree 14 to rotate, so as to drive omni-directional wheel 13 to rotate, due to two omni-directional wheels
13 are vertically arranged, and each omni-directional wheel 13 is correspondingly provided with a reducing motor 16, therefore, in use, can be slowed down by controlling
Motor 16, change the stress size of each omni-directional wheel 13, so that vehicle frame 10 is overall to receive making a concerted effort for two omni-directional wheels 13, from
And to change the overall rotation direction of vehicle frame 10.
As shown in figure 1, two omni-directional wheels 13 of the present utility model, one is set along the X direction, and another is along the Y direction
Set, when the stress of omni-directional wheel 13 along the X direction is mxWhen, the stress of omni-directional wheel 13 along the Y direction is mYWhen, and vehicle frame 10 by
Power is S, then the stress of vehicle frame 10Specific force analysis is referred to shown in Fig. 2.
Wherein, m is worked asxDuring by active force for along X-axis positive direction, mYDuring by active force for along Y-axis positive direction, then
The stress of vehicle frame 10 is in first quartile；Work as mxDuring by active force for along X-axis opposite direction, mYIt is square along Y-axis by active force
Xiang Shi, then the stress of vehicle frame 10 is in the second quadrant；Work as mxDuring by active force for along X-axis opposite direction, mYBy active force be along
During Y-axis opposite direction, then the stress of vehicle frame 10 is in third quadrant；Work as mxDuring by active force for along X-axis positive direction, mYActed on
When power is along Y-axis opposite direction, then the stress of vehicle frame 10 is in fourth quadrant.
Based on above-mentioned principle, rotating speed and steering that user can be by the reducing motor 16 for controlling two omni-directional wheels 13, so as to
Realize that the fast and flexible of vehicle frame 10 turns to.
It should be noted that being also equiped with installing plate on vehicle frame 10 of the present utility model, reducing motor 16 is installed in installation
On plate.
Omni-directional wheel 13 of the present utility model includes two wheel bodys 20 being coaxially disposed, wherein, wheel body 20 includes centre wheel 21
The all cinctures 22 arranged with multiple axis using centre wheel 21 as axle center circumference array, concrete structure refer to Fig. 3 and Fig. 4 institutes
Show.It should be noted that the diameter of two wheel bodys 20 of the present utility model can with it is equal can also be different.
Preferably, the gyroscope for detecting the angular speed of vehicle frame 10 is also equiped with vehicle frame 10 of the present utility model
And controller, wherein, gyroscope, photoelectric velocity measurement device and reducing motor 16 are electrical connected with controller respectively.In use, gyro
Instrument obtains the angular speed of vehicle frame 10, and the speed of two omni-directional wheels 13 is obtained using photoelectric velocity measurement device, so as to complete to obtain two
To the stress size of wheel 13, then according to purpose needs, by controller adjust reducing motor 16 moment of torsion change its speed and
Turn to, so as to automatically adjust the purpose of steering to reach.
A kind of two-wheeled omnidirectional self-balancing chassis of the present utility model, by installing two mounting seats 12 on vehicle frame 10, make
Two 12 perpendicular shapes of mounting seat are set, and install omni-directional wheel 13 respectively in mounting seat 12, so that two on vehicle frame 10
Individual omni-directional wheel 13 is arranged in a mutually vertical manner, i.e., two omni-directional wheels 13 1 are laid along the X direction, and another lays along the Y direction, and
Cooperation is respectively provided with reducing motor 16 on two omni-directional wheels 13, by the rotating speed and the side that control two reducing motors 16 respectively
To so that two omni-directional wheels 13, each caused power forms one and can turned to and makes a concerted effort for any direction, so as to realize control two
Active force on individual omni-directional wheel 13, to realize the auto-steering of two wheels, make its structure simpler, cost it is cheaper and
Operation is more convenient.
Finally, the present processes are only preferable embodiment, are not intended to limit the scope of protection of the utility model.
All any modification, equivalent substitution and improvements within the spirit and principles of the utility model, made etc., should be included in this reality
Within new protection domain.
Claims (6)
1. a kind of two-wheeled omnidirectional self-balancing chassis, it is characterised in that described including vehicle frame, two mounting seats and two omni-directional wheels
Mounting seat is in groove-like, and two mounting seat compartments are installed in the bottom of frame, and two mounting seats are hung down relatively
Straight to set, the omni-directional wheel is installed in the mounting seat by axletree rotary type, and passes through one in described axletree one end
Individual yielding coupling is connected with the output shaft of a reducing motor, and the output shaft of the reducing motor is provided with photoelectric velocity measurement device.
2. a kind of two-wheeled omnidirectional self-balancing chassis as claimed in claim 1, it is characterised in that peace is also equiped with the vehicle frame
Loading board, the reducing motor installing is on a mounting board.
3. a kind of two-wheeled omnidirectional self-balancing chassis as claimed in claim 1, it is characterised in that the omni-directional wheel includes two together
The wheel body that axle is set.
A kind of 4. two-wheeled omnidirectional self-balancing chassis as claimed in claim 3, it is characterised in that the wheel body include centre wheel and
All cinctures that multiple axis using the centre wheel are arranged as axle center circumference array.
5. a kind of two-wheeled omnidirectional self-balancing chassis as claimed in claim 1, it is characterised in that be also equiped with use on the vehicle frame
In the gyroscope for detecting the vehicle frame angular speed.
6. a kind of two-wheeled omnidirectional self-balancing chassis as claimed in claim 5, it is characterised in that also including controller, the top
Spiral shell instrument, photoelectric velocity measurement device and reducing motor are electrical connected with the controller respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720855647.1U CN207129043U (en) | 2017-07-14 | 2017-07-14 | A kind of two-wheeled omnidirectional self-balancing chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720855647.1U CN207129043U (en) | 2017-07-14 | 2017-07-14 | A kind of two-wheeled omnidirectional self-balancing chassis |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207129043U true CN207129043U (en) | 2018-03-23 |
Family
ID=61634230
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720855647.1U Active CN207129043U (en) | 2017-07-14 | 2017-07-14 | A kind of two-wheeled omnidirectional self-balancing chassis |
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| Country | Link |
|---|---|
| CN (1) | CN207129043U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110202484A (en) * | 2019-07-04 | 2019-09-06 | 姜涛 | Ball blast cambered surface wall-climbing device |
| JP2020138586A (en) * | 2019-02-27 | 2020-09-03 | フラワー・ロボティクス株式会社 | Wheel drive device, and omnidirectional moving carriage |
-
2017
- 2017-07-14 CN CN201720855647.1U patent/CN207129043U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020138586A (en) * | 2019-02-27 | 2020-09-03 | フラワー・ロボティクス株式会社 | Wheel drive device, and omnidirectional moving carriage |
| CN110202484A (en) * | 2019-07-04 | 2019-09-06 | 姜涛 | Ball blast cambered surface wall-climbing device |
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