CN209467267U - A kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform - Google Patents
A kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform Download PDFInfo
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- CN209467267U CN209467267U CN201821978209.5U CN201821978209U CN209467267U CN 209467267 U CN209467267 U CN 209467267U CN 201821978209 U CN201821978209 U CN 201821978209U CN 209467267 U CN209467267 U CN 209467267U
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- vehicle body
- synchronous
- steering shaft
- steering
- synchronous belt
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Abstract
The utility model discloses a kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform, including vehicle body, steering shaft there are two being set on vehicle body, two axis are connected by synchronizing device realizes synchronous turn to, it is locked by locking nut the upper end of each steering shaft, lower end is fixed with one end of connector, and the other end of two connectors is connected with hub motor respectively.Vehicle body includes upper vehicle body and under body two parts, and upper vehicle body is connected under body by support column, and is carried out to the steering shaft circumferentially positioned.There are two types of forms for synchronous steering mechanism: one is synchronous belt and synchronous pulley, and two synchronous pulleys are separately fixed in two rotation axis, and synchronous belt, which is then wrapped in, realizes that the synchronous of each axis turns on synchronous pulley.Secondly being parallel four-bar linkage, two isometric parallel rod one end are separately fixed in two rotation axis, by being connected with two rotation axis centers away from isometric connecting rod, connecting rod unexpected misfortune and two rotation axis center away from a parallelogram is formed the other end, and the synchronous steering of two shafts can be realized.
Description
Technical field
The utility model relates to robotic technology fields, balance and move especially suitable for a kind of two-wheel manifold type omnidirectional's inverted pendulum
Moving platform.
Background technique
Nowadays mobile platform technology has become an important branch of robotics, wherein omni-directional moving platform AGV
Due to whole three degree of freedom with plane motion, front and rear, left and right and rotation theoretically can be in any angles with any speed
Degree moves in locating plane.Using Mecanum wheel, Lun Deng compound wheel type mechanism, Switzerland as representative, the development of Omni-mobile machinery
More rapidly, it is widely used in the machinery such as scientific research, industrial automation production and game contest.Currently, wheeled Omni-mobile is flat
Platform is roughly divided into two kinds: one is special wheel construction is applied, another kind is using traditional wheel construction.Special wheel construction is excessively complicated
And follower easily causes body oscillating.And conventional wheel structural electromotor number is more, whole design is at high cost, is not suitable for small-sized system
System.Currently, occurring the successful examples of many Double-wheel self-balancing inverted pendulums in world wide, it is widely used in daily life,
Such as the system architecture of Segway scooter has certain reference value, but solution details needs are rethought.
Utility model content
In order to solve the above technical problems, the purpose of the utility model is to provide a kind of two-wheel manifold type omnidirectional's inverted pendulum balances
Mobile platform, specific technical solution are as follows:
A kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform, including support column, synchronous belt tension device, locking screw
Mother, bearing, steering shaft, battery, control device, hub motor, connector, synchronous steering mechanism and vehicle body；
The vehicle body is made of upper vehicle body and under body two parts, and upper vehicle body and under body are equipped with mounting hole, are used for
Steering shaft is installed；
The upper vehicle body and under body are locked by tapered roller bearing two steering shafts of setting by locking nut；
Support column is equipped between the steering shaft, support styletable angle is equipped with corner brace, guarantees support for increasing contact area
Column is vertical, improves the bearing capacity of vehicle body；
The synchronous steering mechanism is divided into synchronous belt or four-bar mechanism two ways, is arranged in steering shaft；
The synchronous pulley is fixed in steering shaft by jackscrew, is adjacent on tapered roller bearing, and upper end is withstood on bearing,
Lower end is positioned by the shaft shoulder, and synchronous belt, which is wrapped in, realizes that the synchronous of each axis turns on synchronous pulley；
The synchronous belt tension device is made of deep groove ball bearing, fiberboard, gasket and nut；
Upper vehicle body lower end has two plugs of constant spacing to play bolt, thereon respectively by two deep groove ball bearings, acts on same
Step band two sides, fiberboard setting beat bolt both ends in plug, and gasket is arranged above between fiberboard and deep groove ball bearing, and nut is set
It sets between following deep groove ball bearing and fiberboard, synchronous belt is realized by synchronous belt tension device and is tensioned；
Synchronization is turned to away from four-bar mechanism, realization is formed by the long fixed center with two steering shafts of two quarter butts and one
Effect；By an end cap of two quarter butts by getting on the bus in the steering shaft that the steering shaft up or down vehicle body lower end that end is stretched out with it is stretched out,
The other end is connect with stock, and wherein stock is with the center of two steering shafts away from isometric；
The connector is L-shaped, and under body lower end is stretched out steering shaft and is plugged on connector, the other end connection of connector
Hub motor；
The battery adheres under body upper end, and controller adheres on battery.
A kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform, preferred embodiment are each steering shaft
It is connected by four tapered roller bearings with vehicle body, two of them tapered roller bearing installs fixed steering shaft face-to-face and gets on the bus
Body is separately installed face-to-face with two tapered roller bearings and fixes the steering shaft and under body.
A kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform, preferred embodiment be the upper vehicle body, under
Vehicle body, support column are aluminum products.
The utility model has the beneficial effects that the technical solution of the utility model is suitble to the work in complex environment, have
Good maintainability, and have that structure is simple, handling good, adaptable, at low cost, system dynamic source is few and runs
The advantages that orientation arbitrarily controls.
Compared with prior art, a kind of two-wheel manifold type of the beneficial effects of the utility model omnidirectional inverted pendulum balanced sequence is flat
Platform is well used, and greatly improves the stationarity and obstacle climbing ability of mobile robot fast running.
Detailed description of the invention
Fig. 1 is a kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform structure schematic diagram；
Fig. 2 is a kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform main view；
Fig. 3 is a kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform top view；
Fig. 4 is straight running condition figure；
Fig. 5 is curve motion state diagram；
Fig. 6 is four-bar mechanism schematic diagram.
In figure, 1- support column, 2- synchronizing wheel, 3- locking nut, 4- tapered roller bearing, 5- bearing block, 6- steering shaft, 7-
Hub motor, 8- connector, the 9- shaft shoulder, 10- synchronous belt, 11- deep groove ball bearing, 12- fiberboard, 13- plug play bolt, and 14- is short
Bar, 15- stock, 16- battery, 17- controller, the upper vehicle body of 18-, 19- under body.
Specific embodiment
A kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform as shown in figures 1 to 6, including support column 1, synchronous belt
Tight device, tapered roller bearing 4, steering shaft 6, battery 16, controller 17, hub motor 7, connector 8, synchronizes locking nut 3
Steering mechanism and vehicle body；
The vehicle body is made of upper vehicle body 18 and 19 two parts of under body, and upper vehicle body 18 and under body 19 are equipped with installation
Hole, for installing steering shaft 6；
Two steering shafts 6 are arranged by tapered roller bearing 4 under body 19 in the upper vehicle body 18, pass through locking nut 3
Locking；
Support column 1 is equipped between the steering shaft 6,1 end angle of support column is equipped with corner brace, guarantees branch for increasing contact area
Dagger 1 is vertical, improves the bearing capacity of vehicle body；
The synchronous steering mechanism is divided into synchronous belt or four-bar mechanism two ways, is arranged in steering shaft 6；
The synchronous pulley 2 is fixed in steering shaft 6 by jackscrew, is adjacent to tapered roller bearing 4, upper end withstands on bearing
On, lower end is positioned by the shaft shoulder 9, and synchronous belt 10, which is wrapped in, realizes that the synchronous of each axis turns on synchronous pulley 2；
The synchronous belt tension device is made of deep groove ball bearing 11, fiberboard 12, gasket and nut；
Upper 18 lower end of vehicle body has two plugs of constant spacing to play bolt 13, is made respectively by two deep groove ball bearings 11 thereon
Used in synchronous belt two sides, the setting of fiberboard 12 beats 13 both ends of bolt in plug, and gasket is arranged above fiberboard 12 and deep-groove ball axis
It holds between 11, between the nut deep groove ball bearing 11 being disposed below and fiberboard 12, synchronous belt 10 is tensioned by synchronous belt and is filled
Set realization tensioning；
By the fixed center of two quarter butts 14 and a stock 15 and two steering shafts 6 away from four-bar mechanism is formed, realize
Turn to synchronous effect；6 up or down vehicle body of steering shaft, 19 lower end that one end cap of two quarter butts 14 is stretched out by upper 18 upper end of vehicle body
In the steering shaft 6 of stretching, the other end is connect with stock 15, and wherein stock 15 is with the center of two steering shafts 6 away from isometric；
The connector 8 is L-shaped, 19 lower end of under body stretch out steering shaft 6 be plugged on connector 8, connector 8 it is another
End connection hub motor 7；
The battery 16 adheres to 19 upper end of under body, and controller 17 adheres on battery 16.
Each steering shaft 6 is connected by four tapered roller bearings 4 with vehicle body, two of them tapered roller bearing 4
Fixed steering shaft 6 and upper vehicle body 18 are installed face-to-face, another the steering shaft 6 is fixed in installation face-to-face with two tapered roller bearings 4
With under body 19.Bearing block 5 is installed simultaneously to share circumferential load, the steering shaft 6 is realized by the shaft shoulder 9 and locking nut 3
Axially position, each steering shaft 6 are set there are two the shaft shoulder 9, configure two locking nuts, 3, synchronous pulleys 2 and four circular cones
Roller bearing 4.
The upper vehicle body 18, under body 19, support column 1 are aluminum products.
In order to keep the technical problems to be solved in the utility model, technical solution and advantage more clear below in conjunction with attached drawing
And specific embodiment is described in detail.
Embodiment 1
Two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform inverted pendulum can be anti-along the inclination angle of a direction in space
Its posture is answered, gyroscope can measure the posture of inverted pendulum balance car, be converted into inclination angle relationship.Mpu6050 detects trolley appearance
State signal returns to stm32f4, generates a pwm wave signal after single-chip microcontroller processing, exports by rectification circuit to motor driven
Plate controls the revolving speed of wheel；Revolving speed by controlling wheel hub electric locomotive wheel reaches the self-balancing of car body.
Two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform can realize following several states when running:
Linear motion, as shown in figure 4, the speed for controlling two hub motors is fast when vehicle body has the tendency that forward or backward
Slowly, that is, it can guarantee that platform's position and pose is constant, makes two hub motors speed having the same, linear running can be realized.
Curvilinear motion, as shown in figure 5, increasing the speed of left side hub motor, connector generates up time relative to steering shaft
The torque of needle, since two steering shafts have synchronizing device connection, two steering shafts rotate clockwise simultaneously, i.e. realization curvilinear motion.
Rotation, motion state is similar to Fig. 5, and two hub motors is made to have contrary, the identical speed of size
It realizes.
Claims (3)
1. a kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform, it is characterised in that: including support column, synchronous belt tensioning dress
It sets, locking nut, bearing, steering shaft, battery, control device, hub motor, connector, synchronous steering mechanism and vehicle body；
The vehicle body is made of upper vehicle body and under body two parts, and upper vehicle body and under body are equipped with mounting hole, for installing
Steering shaft；
The upper vehicle body and under body are locked by tapered roller bearing two steering shafts of setting by locking nut；
Support column is equipped between the steering shaft, support styletable angle is equipped with corner brace, guarantees that support column is perpendicular for increasing contact area
Directly, the bearing capacity of vehicle body is improved；
The synchronous steering mechanism is divided into synchronous belt or four-bar mechanism two ways, is arranged in steering shaft；
The synchronous pulley is fixed in steering shaft by jackscrew, is adjacent to tapered roller bearing, and upper end is withstood on bearing, and lower end is logical
Shaft shoulder positioning is crossed, synchronous belt, which is wrapped in, realizes that the synchronous of each axis turns on synchronous pulley；
The synchronous belt tension device is made of deep groove ball bearing, fiberboard, gasket and nut；
Upper vehicle body lower end has two plugs of constant spacing to play bolt, acts on synchronous belt by two deep groove ball bearings respectively thereon
Two sides, fiberboard setting beat bolt both ends in plug, and gasket is arranged above between fiberboard and deep groove ball bearing, and nut setting exists
Between following deep groove ball bearing and fiberboard, synchronous belt is realized by synchronous belt tension device and is tensioned；
Synchronous make is turned to away from four-bar mechanism, realization is formed by the long fixed center with two steering shafts of two quarter butts and one
With；By an end cap of two quarter butts by getting on the bus in the steering shaft that the steering shaft up or down vehicle body lower end that end is stretched out with it is stretched out, separately
One end is connect with stock, and wherein stock is with the center of two steering shafts away from isometric；
The connector is L-shaped, and under body lower end is stretched out steering shaft and is plugged on connector, and the other end of connector connects wheel hub
Motor；
The battery adheres under body upper end, and controller adheres on battery.
2. a kind of two-wheel manifold type omnidirectional as described in claim 1 inverted pendulum balanced sequence platform, it is characterised in that: Mei Gesuo
It states steering shaft to be connected by four tapered roller bearings with vehicle body, two of them tapered roller bearing installs fixed steering face-to-face
Axis and upper vehicle body are separately installed face-to-face with two tapered roller bearings and fix the steering shaft and under body.
3. a kind of two-wheel manifold type omnidirectional as described in claim 1 inverted pendulum balanced sequence platform, it is characterised in that: on described
Vehicle body, under body, support column are aluminum products.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821978209.5U CN209467267U (en) | 2018-11-29 | 2018-11-29 | A kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821978209.5U CN209467267U (en) | 2018-11-29 | 2018-11-29 | A kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209467267U true CN209467267U (en) | 2019-10-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821978209.5U Expired - Fee Related CN209467267U (en) | 2018-11-29 | 2018-11-29 | A kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform |
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| CN (1) | CN209467267U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515585A (en) * | 2018-11-29 | 2019-03-26 | 东北大学 | A kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform |
| CN114414202A (en) * | 2022-01-26 | 2022-04-29 | 吉林大学 | Wheel rotation working condition test device for small-scale wind tunnel model |
-
2018
- 2018-11-29 CN CN201821978209.5U patent/CN209467267U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515585A (en) * | 2018-11-29 | 2019-03-26 | 东北大学 | A kind of two-wheel manifold type omnidirectional inverted pendulum balanced sequence platform |
| CN109515585B (en) * | 2018-11-29 | 2023-11-10 | 东北大学 | Double-wheel coupling type omnidirectional inverted pendulum balance moving platform |
| CN114414202A (en) * | 2022-01-26 | 2022-04-29 | 吉林大学 | Wheel rotation working condition test device for small-scale wind tunnel model |
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191008 Termination date: 20201129 |
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| CF01 | Termination of patent right due to non-payment of annual fee |