CN107628174A - Omnidirectional's ball wheel drive is without handlebar self-balancing bicycle - Google Patents
Omnidirectional's ball wheel drive is without handlebar self-balancing bicycle Download PDFInfo
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- CN107628174A CN107628174A CN201710944395.4A CN201710944395A CN107628174A CN 107628174 A CN107628174 A CN 107628174A CN 201710944395 A CN201710944395 A CN 201710944395A CN 107628174 A CN107628174 A CN 107628174A
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Abstract
The invention discloses a kind of omnidirectional's ball wheel drive without handlebar self-balancing bicycle, including vehicle frame, forecourt wheel drive unit and rear wheel supporting mechanism, forecourt wheel drive unit includes front truck ball-collecting rack, the ball actuation of ball wheel and driving ball wheel universal rotational, the top of front truck ball-collecting rack is installed on vehicle frame front end, the bottom of front truck ball-collecting rack is the ball cover and ball hoop of connection, ball cover covers the episphere of ball wheel, the ball cuff support is on the top of ball wheel lower semisphere, between ball cover and episphere connection is rolled by the way that spherical arc shape ball is secondary, connection is rolled by the buphthalmos wheel of circumference uniform distribution between ball hoop and lower semisphere；Ball actuation is included in three single omni-directional wheels of circumference uniform distribution on ball cover, and single omni-directional wheel is vertical tangent through the opening on ball cover and ball wheel upper half sphere, and the direct current for being driven to be correspondingly arranged at front truck ball-collecting rack top of each single omni-directional wheel, which slows down, encodes motor.Flexibility ratio of the present invention is high, radius of turn is small, stability is good, can walk out arbitrary curvilinear motion.
Description
Technical field
The present invention relates to bicycle machines robot mechanism, specially a kind of omnidirectional's ball wheel drive is without handlebar self-balancing bicycle.
Background technology
Bicycle is made up of structure members such as vehicle frame, wheel, fork, foot-operated, chains, the forward and backward arrangement of its wheel, is had
Simple in construction, the features such as build is compact, fast and flexible, compared to four-wheel automobile, it can be up in some narrow roads
Sail, the trip that can be more convenient for people to, be a kind of widely used means of transport of riding instead of walk of people.
It is car is kept balance with a kind of automatic-balancing system that self-balancing balance of bicycle principle, which is,.
At present, representative self-balancing bicycle has electric bicycle Lit Motors C-1 and intelligent bicycle
" DuBike " etc..Wherein, electric bicycle " C-1 " is Lit Motors companies in the commercialization people-transport's work released in 2014
Tool, its vehicle bottom is equipped with two high speeds rotatably flywheel, according to gyroscope principle, as long as driving flywheel according to certain rules
Precession can produces gyroscopic couple to keep the lateral balance of car body；Intelligent bicycle " DuBike " is *** company 2015
The a of year announcement is grinding intelligent bicycle, and it can rely on telecar steering to keep the lateral flat of car body so far
Weighing apparatus.
Above-mentioned self-balancing bicycle embodies certain autobalance and steering capability.However, for mechanism, it is existing
Bicycle can be increased the radius of turn of car body, can also be increased using the forward and backward structure arranged and have handlebar of two-wheel, such design
The overall transverse width of extra bus body, and limitation of traditional wheeled self-balancing bicycle due to being driven wheel motion mode,
It is difficult to realize neatly all-around mobile in a small range.
The content of the invention
In view of the shortcomings of the prior art, the technical problems to be solved by the invention are to propose a kind of car body radius of turn
Small, the overall lateral dimension of vehicle body is small, kinematic dexterity is strong omnidirectional's ball wheel drive is without handlebar self-balancing bicycle.
Can solve the problem that omnidirectional's ball wheel drive of above-mentioned technical problem includes base without handlebar self-balancing bicycle, its technical scheme
In forecourt wheel drive unit and rear wheel supporting mechanism that vehicle frame is set, wherein
1st, the forecourt wheel drive unit is included the ball wheel set based on front truck ball-collecting rack and drives ball wheel universal rotational
Ball actuation, the top of the front truck ball-collecting rack are installed on vehicle frame front end, and the bottom of front truck ball-collecting rack is the hemisphere of upper and lower connection
Ball cover and ball hoop, the ball cover cover the episphere of ball wheel, and the ball cuff support is in the top of ball wheel lower semisphere, ball cover and upper half
Connection is rolled by the way that spherical arc shape ball is secondary between ball, is rolled and connected by the buphthalmos wheel of horizontal circumference uniform distribution between ball hoop and lower semisphere
Connect；The ball actuation is included in three single omni-directional wheels of circumference uniform distribution on ball cover, and each single omni-directional wheel passes through ball cover
Opening corresponding to upper is vertical with ball wheel upper half sphere tangent (ball wheel can be driven to roll to frictionally), three single omni-directional wheels
Rotation centerline intersect at upwards a bit, junction point is on the vertical centre of gyration line of ball wheel, the drive of each single omni-directional wheel
Move to be correspondingly arranged at the direct current on front truck ball-collecting rack top deceleration coding motor.
2nd, the rear wheel supporting mechanism includes being installed on rear wheel in rear vehicle fork lower tine body, the rear vehicle fork it is upper
Portion is installed on vehicle frame rear end.
In said structure, three single omni-directional wheels are driven respectively by corresponding direct current deceleration coding motor, and ball
By three single omni-directional wheel friction-drivens, velocity caused by three single omni-directional wheels can synthesize space for the motion of body
The velocity of middle any direction, can produce lateral velocity makes car body keep lateral balance, and and can produces forward and backward
Velocity makes the forward and backward movement of car body, so as to realize the omnibearing movable of spheroid.
A kind of more firm front truck ball-collecting rack superstructure includes montant and the brace around montant circumference uniform distribution, described perpendicular
The upper end of bar is installed on vehicle frame front end, and the lower end of montant, which is installed, connects ball cover, the connected montant in upper end of each montant, under each montant
The connected ball cover in end or the connecting portion of connected ball hoop or connected ball cover and ball hoop.
A kind of structure of ball cover and ball the hoop connecting portion includes upper and lower flange circle, and upper flange circle is located on ball cover, under
Flange circle is connected on ball hoop between upper and lower flange circle by bolt assembly.
A kind of secondary structure of the spherical arc shape ball includes ballframe carriage and ball, and the ballframe carriage is to be installed on ball cover
The spherical arc shape suspension of bottom, the ball are installed on the ball on ballframe carriage and rotated in hole position, the upper and lower part bead point of ball
Upper half sphere not with ball cover bottom and ball wheel is in rolling contact.
Beneficial effects of the present invention：
1st, omnidirectional's ball wheel drive of the present invention is used without handlebar self-balancing bicycle and designed without handle bar structure, reduces vehicle body
Lateral dimension, vehicle body build is compact, easy to operate.
2nd, the present invention is by the way of three single omnidirectional's wheel drive ball wheels, before horizontal turning and longitudinal direction that car body can be achieved
OK, this steering mode flexibility ratio is high, and radius of turn is small, and stability is good, can flexibly be moved in small space, can walk to take the post as
The curvilinear motion of meaning
3rd, in the present invention, driving of three single omni-directional wheels through direct current deceleration coding motor can produce three different directions
Velocity, the velocity of these three different directions can synthesize the velocity of any direction in space, so as to real
The omnibearing movable of existing ball wheel.
4th, in the present invention, vehicle frame is fixed with one with front truck ball-collecting rack and rear vehicle fork, and there is mechanism to design simple, process and assemble
The advantages that property is good.
Brief description of the drawings
Fig. 1 is the front view of one embodiment of the present invention.
Fig. 2 is A-A sectional views in Fig. 1.
Fig. 3 is the structure chart that arc ball is secondary in Fig. 1, Fig. 2 embodiment.
Figure number identifies：1st, vehicle frame；2nd, ball wheel；3rd, direct current, which slows down, encodes motor；4th, ball cover；5th, ball hoop；6th, spherical arc shape ball
It is secondary；6-1, ballframe carriage；6-2, ball；7th, buphthalmos wheel；8th, single omni-directional wheel；9th, rear vehicle fork；10th, rear wheel；11st, montant；12、
Brace；13rd, upper flange circle；14th, lower flange circle；15th, motor seat board.
Embodiment
Illustrated embodiment is described further to technical scheme below in conjunction with the accompanying drawings.
Omnidirectional's ball wheel drive of the present invention includes vehicle frame 1 and forecourt wheel drive unit without handlebar self-balancing bicycle, its structure
And rear wheel supporting mechanism.
The vehicle frame 1 uses U-typed frame, and its front end is high and stretches forward and (can be used as and help plate), rear end is low and stretches backward
(seat board can be used as), as shown in Figure 1.
The forecourt wheel drive unit is below the preceding extended end of vehicle frame 1, including front truck ball-collecting rack, ball wheel 2 and ball wheel drive
Motivation structure.The upper part of the front truck ball-collecting rack is made up of the brace 12 of montant 11 and circle distribution around montant 11, front truck ball
The lower part of frame includes half ball cover 4 and ball hoop 5 of upper and lower position, passes through upper flange circle 13 between the ball cover 4 and ball hoop 5
It is connected with lower flange circle 14, the ball wheel 2 is located between ball cover 4 and ball hoop 5, is led between the episphere and ball cover 4 of ball wheel 2
Cross spherical arc shape ball pair 6 and roll connection, described 5 sets of supports of ball hoop are in the top of the lower semisphere of ball wheel 2, ball wheel 2 and horizontal circle on ball hoop 5
All local buphthalmos wheels 7 roll connection, and the upper end of the montant 11 is connected to the preceding extended end bottom of vehicle frame 1, under montant 11
End is connected to the top of ball cover 4, and the upper end of each brace 12 is connected on the top body of rod of montant 11, and the lower end of each brace 12 is connected to
On upper flange circle 13, as shown in Figure 1 and Figure 2.
The ball actuation includes three single omni-directional wheels 8 of circumference uniform distribution on ball cover 4, and each single omni-directional wheel 8 is worn
Cross corresponding opening (spherical arc shape ball pair 6 should be avoided) and the upper half sphere of ball wheel 2 on ball cover 4 it is vertical it is tangent contact, three lists
The rotation centerline of row's omni-directional wheel 8 is intersected at a bit upwards, and junction point is on the vertical centre of gyration line of ball wheel 2；It is each single
Omni-directional wheel 8 is driven to corresponding direct current deceleration coding motor 3, and each direct current deceleration coding motor 3 is oblique by what is be correspondingly arranged
Motor cabinet bar is installed on the cross motor seat board 15 between montant 11 and brace 12, as shown in Figure 1 and Figure 2.
The spherical arc shape ball pair 6 includes ballframe carriage 6-1 and ball 6-2, the ballframe carriage 6-1 to be installed on ball cover
The spherical arc shape suspension of 4 bottoms, the ball 6-2 are installed on ball on ballframe carriage 6-1 and rotated in hole position, ball 6-2 it is upper,
Bottom bead is exposed independent from ballframe carriage 6-1 and the upper half sphere with the bottom of ball cover 4 and ball wheel 2 is in rolling contact respectively, such as Fig. 2, Fig. 3
It is shown.
The rear wheel supporting mechanism is below the rear extended end of vehicle frame 1, including rear vehicle fork 9 and rear wheel 10, described
The top body of rod of rear vehicle fork 9 is connected in the bottom of extended end after vehicle frame 1, and the rear wheel 10 is installed on the fork of the bottom of rear vehicle fork 9
In vivo, as shown in Figure 1.
The present invention the method for operation be：
1st, when self-balancing bicycle straight ahead or retrogressing, it is each right that three direct currents deceleration coding motors 3 drive respectively
The single omni-directional wheel 8 answered rotates, and three velocities caused by three single omni-directional wheels 8 finally synthesize bicycle longitudinal direction
Velocity, so as to drive ball wheel 2 it is forward and backward rotation and realize straight ahead or the retrogressing of self-balancing bicycle.
2nd, when self-balancing bicycle needs to be turned, three direct currents deceleration coding motors 3 drive respective corresponding respectively
Single omni-directional wheel 8 rotate, finally synthesis has three velocities caused by three single omni-directional wheels 8 with bicycle longitudinal direction
The velocity of certain angle, so as to drive ball wheel 2 to realize the turning of self-balancing bicycle.
Claims (4)
1. omnidirectional's ball wheel drive is without handlebar self-balancing bicycle, it is characterised in that：Forecourt wheel including being set based on vehicle frame (1) is driven
Dynamic device and rear wheel supporting mechanism, wherein
1., the forecourt wheel drive unit include based on front truck ball-collecting rack set ball wheel (2) and driving ball wheel (2) universal rotational
Ball actuation, the top of the front truck ball-collecting rack is installed on vehicle frame (1) front end, and the bottom of front truck ball-collecting rack is upper and lower connection
Half ball cover (4) and ball hoop (5), the ball cover (4) covers the episphere of ball wheel (2), and ball hoop (5) the set support is in ball wheel
(2) top of lower semisphere, ball cover (4) roll connection, ball hoop (5) and lower half between episphere by spherical arc shape ball secondary (6)
Connection is rolled by the buphthalmos wheel (7) of horizontal circumference uniform distribution between ball；The ball actuation is included in circumference on ball cover (4)
Three uniform single omni-directional wheels (8), each single omni-directional wheel (8) are open and ball wheel (2) episphere through corresponding on ball cover (4)
Face is vertically tangent, and the rotation centerline of each single omni-directional wheel (8) intersects at a bit upwards, and junction point is in the vertical of ball wheel (2)
On centre of gyration line, the direct current for being driven to be correspondingly arranged at front truck ball-collecting rack top of each single omni-directional wheel (8), which slows down, encodes motor
(3)；
2., the rear wheel supporting mechanism includes being installed on rear wheel (10) in rear vehicle fork (9) lower tine body, the rear vehicle fork
(9) top is installed on vehicle frame (1) rear end.
2. omnidirectional's ball wheel drive according to claim 1 is without handlebar self-balancing bicycle, it is characterised in that：The front truck ball
The top of frame includes montant (11) and the brace (12) around montant (11) circumference uniform distribution, and the upper end of the montant (11) is installed on
Vehicle frame (1) front end, lower end installation connection ball cover (4), the connected montant (11) in upper end of each montant (11), the lower end of each montant (11)
Be connected ball cover (4) or the connecting portion of connected ball hoop or connected ball cover (4) and ball hoop (5).
3. omnidirectional's ball wheel drive according to claim 2 is without handlebar self-balancing bicycle, it is characterised in that：The ball cover
(4) and the structure of ball hoop (5) connecting portion includes upper and lower flange circle (13,14), upper flange circle (13) on ball cover (4), under
Flange circle (14) is connected on ball hoop (5) between upper and lower flange circle (13,14) by bolt assembly.
4. omnidirectional's ball wheel drive according to any one in claims 1 to 3 exists without handlebar self-balancing bicycle, its feature
In：The spherical arc shape ball secondary (6) includes ballframe carriage (6-1) and ball (6-2), and the ballframe carriage (6-1) is to be installed on
The spherical arc shape suspension of ball cover (4) bottom, the ball (6-2) are installed on the ball on ballframe carriage (6-1) and rotated in hole position, rolling
Upper half sphere of the upper and lower part bead of pearl (6-2) respectively with ball cover (4) bottom and ball wheel (2) is in rolling contact.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710944395.4A CN107628174B (en) | 2017-09-30 | 2017-09-30 | Omnidirectional ball wheel driven handlebar-free self-balancing bicycle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710944395.4A CN107628174B (en) | 2017-09-30 | 2017-09-30 | Omnidirectional ball wheel driven handlebar-free self-balancing bicycle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107628174A true CN107628174A (en) | 2018-01-26 |
| CN107628174B CN107628174B (en) | 2022-10-28 |
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ID=61104226
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710944395.4A Active CN107628174B (en) | 2017-09-30 | 2017-09-30 | Omnidirectional ball wheel driven handlebar-free self-balancing bicycle |
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| Country | Link |
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| CN (1) | CN107628174B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639647A (en) * | 2017-10-30 | 2018-01-30 | 桂林电子科技大学 | The wrist joint of robot mechanism of omnidirectional's wheel drive |
| CN108945233A (en) * | 2018-07-10 | 2018-12-07 | 上海电机学院 | It is a kind of to use spherical wheel and drive preposition two-wheeled motor vehicle and its control method |
| CN110481687A (en) * | 2019-08-26 | 2019-11-22 | 大连球球时代科技有限公司 | A kind of wheel ball-type balance car |
| CN110492786A (en) * | 2019-08-12 | 2019-11-22 | 东南大学 | A kind of Three Degree Of Freedom power interactive device and its application method based on multi-modal conversion hysteria ultrasound electric machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107639647A (en) * | 2017-10-30 | 2018-01-30 | 桂林电子科技大学 | The wrist joint of robot mechanism of omnidirectional's wheel drive |
| CN108945233A (en) * | 2018-07-10 | 2018-12-07 | 上海电机学院 | It is a kind of to use spherical wheel and drive preposition two-wheeled motor vehicle and its control method |
| CN110492786A (en) * | 2019-08-12 | 2019-11-22 | 东南大学 | A kind of Three Degree Of Freedom power interactive device and its application method based on multi-modal conversion hysteria ultrasound electric machine |
| CN110481687A (en) * | 2019-08-26 | 2019-11-22 | 大连球球时代科技有限公司 | A kind of wheel ball-type balance car |
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|---|---|
| CN107628174B (en) | 2022-10-28 |
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