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Unicycle device for cornering balance

A unicycle and balancing technology, which is applied in the directions of motor vehicles, transportation and packaging, can solve the problems of lateral balance and difficulty in turning control, and achieve the effect of controlling the direction of the vehicle body and making the control simple.

Active Publication Date: 2017-08-25
GUILIN UNIV OF ELECTRONIC TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

On the other hand, it minimizes the contact area between the car body and the ground to make it more flexible, but its multi-variable, strong coupling, and nonlinear complex dynamic system also makes it more difficult to control lateral balance and turning.

Method used

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  • Unicycle device for cornering balance
  • Unicycle device for cornering balance
  • Unicycle device for cornering balance

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Embodiment Construction

[0022] The technical solutions of the present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.

[0023] The technical solution of the unicycle device capable of realizing turning balance of the present invention includes a pitch balance adjusting traveling mechanism, a lateral balance adjusting mechanism and a turning adjusting mechanism arranged based on the base body 1 .

[0024] The base body 1 is composed of a bottom plate, a middle and upper partition, a top plate, and left and right side plates, such as figure 1 , figure 2 , image 3 shown.

[0025] The lateral balance adjustment mechanism is located at the lower part of the substrate 1 between the bottom plate and the partition, and includes a lateral balance frame 2 (the frame is horizontal, its length direction is the horizontal direction of left and right, and its internal space is the direction of front and rear. ) and the lateral balance turntable...

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Abstract

The invention discloses a wheelbarrow device capable of realizing turning balance. The lateral balance adjustment mechanism includes upper and lower lateral balance frames arranged on the middle and lower parts of a base body and upper and lower lateral balance frames respectively arranged based on the upper and lower lateral balance frames. To the balance turntable, the upper and lower sides rotate at a high speed to the balance turntable, and the upper and lower sides rotate relatively to the balance frame at a small angle; the pitch balance adjustment walking mechanism is set at the bottom of the base body, including the single wheel and the fork; the turning adjustment mechanism is set The upper part of the base includes a turning adjustment frame and a turning adjustment dial arranged on the turning adjustment frame. The left and right turning adjustment dials rotate at high speed, and the turning adjustment frame rotates at a small angle. The invention not only realizes decoupling in physical structure, but also decoupling in mathematical model, so the control is simpler.

Description

technical field [0001] The invention relates to the application technology of a two-wheel or unicycle bicycle robot, in particular to a unicycle device capable of realizing turning balance. Background technique [0002] The unicycle self-balancing robot has dynamic characteristics that are statically unstable and dynamically stable. Because of its single-wheel grounding characteristics, it becomes a new type of road walking device with a light structure, energy saving and flexibility, and is used in express logistics, service performances and other service types Industry has potential applications and thus has received a lot of attention. [0003] In recent years, researchers at home and abroad have conducted a series of related research on the construction of the unicycle self-balancing robot mechanism prototype and the design and verification of the balance control strategy. At present, most of the existing unicycle robots are based on the principle of the inverted pendul...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D61/00
Inventor 庄未江汉黄用华何淑通刘成举张明明张杰王昌盛钟永全
Owner GUILIN UNIV OF ELECTRONIC TECH
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