All-terrain self-balancing vehicle based on Bernoulli's theorem

Abstract

This invention belongs to the field of robotics engineering technology, specifically relating to an all-terrain balancing vehicle based on Bernoulli's theorem. It includes a drive assembly, a suction cup wheel assembly, a connecting plate, and a motor. The drive assembly includes a support component, a gear set, and a drainage fan at the output end. The suction cup wheel assembly includes a wheel frame, a suction cup, a semi-permeable membrane, and a connecting rod. The motor is mounted on a triangular plate on one side of the connecting plate. The connecting rods of both the drive assembly and the suction cup wheel assembly are connected to the output shaft of the motor. The drainage fan in the drive assembly can rotate inside, while the wheel frame itself rotates synchronously with the motor's output shaft. The wheel frame is filled with water or other liquid. When the drainage fan starts working, the liquid inside the wheel frame begins to rotate, increasing the flow rate. Due to Bernoulli's principle, a negative pressure is generated at the suction cup location, achieving the suction function. This all-terrain balancing vehicle is suitable for movement on various complex terrains and can still move on slopes with steep inclines.

Description

Technical Field

[0001] This application belongs to the field of robotics engineering technology, specifically relating to an all-terrain balancing vehicle based on Bernoulli's theorem. Background Technology

[0002] The closest existing technologies to this invention mainly include wall-climbing robots based on Bernoulli's principle and vacuum adsorption wheel systems. These technologies typically achieve adsorption and movement by generating negative pressure through rotation, but they have certain limitations. The main technical problems of the existing technologies are as follows:

[0003] (1) Insufficient adsorption on slopes or complex terrain can lead to rollover or sliding.

[0004] (2) Rotation speed and direction control rely on multi-source drive, which is complex in structure and has high energy consumption.

[0005] (3) The balance mechanism is unstable and cannot maintain a vertical posture.

[0006] (4) It limits its application efficiency and reliability in all terrains or dynamic environments.

[0007] Therefore, there is an urgent need for a new type of self-balancing vehicle that can move on various complex terrains without tipping over. Summary of the Invention

[0008] In order to solve the above-mentioned technical problems existing in the prior art, the purpose of the present invention is to realize the function of the balancing trolley working under complex working conditions, and the technical solution is as follows:

[0009] A self-balancing all-terrain vehicle based on Bernoulli's theorem includes: a drive assembly, a suction cup wheel assembly, a connecting plate, and a motor; the suction cup wheel assembly is connected to the drive assembly, and triangular plates are provided on both sides of the connecting plate, with holes at the center of each triangular plate; the drive assembly includes a support, a gear set, and a drainage fan at the output end; the drainage fan is connected to the gear set, which is connected to the support, and the support is fixedly connected to the triangular plate on one side of the connecting plate through the holes; the suction cup wheel assembly includes a wheel frame, a suction cup, a semi-permeable membrane, and a connecting rod, with the suction cup located on the outer surface of the wheel frame, the semi-permeable membrane located on the inner circumferential wall of the wheel frame, and the connecting rod extending from the center of the suction cup wheel assembly; the motor is mounted on the triangular plate on one side of the connecting plate, and the connecting rods of both the drive assembly and the suction cup wheel assembly are connected to the output shaft of the motor.

[0010] Furthermore, the gear set is divided into a driving stage gear, a variable speed stage gear, a transmission stage gear, and an output stage gear; the driving stage gear is directly connected to the motor output shaft, introducing the motor output into the entire gear set; the variable speed stage gear and the transmission stage gear provide rotational freedom and realize the function of a rotary pair through a bearing structure; the output stage gear is directly connected to the drainage fan.

[0011] Furthermore, the speed-changing gear is a double-layered gear structure with different numbers of teeth in each layer. At the same angular velocity, its input linear velocity and output linear velocity are different, which is used to achieve the acceleration function.

[0012] Furthermore, the wheel frame has equally spaced circular through holes, and the suction cups are sequentially attached to the circular through holes of the wheel frame, with the air holes of the suction cups aligned with the circular through holes on the wheel frame.

[0013] Furthermore, the suction cup is made of flexible silicone; the suction cup and the wheel frame are connected by a waterproof silicone adhesive to ensure the sealing and waterproofing between the suction cup and the wheel frame.

[0014] Beneficial effects: (1) Suitable for movement on various complex terrains, and can still move on slopes with large inclines. (2) Achieves better grip on the ground. (3) Allows the connecting plate to always remain perpendicular to the ground, preventing tipping. Attached Figure Description

[0015] Figure 1a This is a front view of the all-terrain balancing vehicle based on Bernoulli's theorem of the present invention;

[0016] Figure 1b This is an axle side view of the all-terrain balancing vehicle based on Bernoulli's theorem of the present invention;

[0017] Figure 1c This is a top view of the all-terrain balancing vehicle based on Bernoulli's theorem of the present invention;

[0018] Figure 2a This is a front view of the drive component structure of the present invention;

[0019] Figure 2b This is a side view of the drive component structure of the present invention;

[0020] Figure 2c This is a top view of the drive component structure of the present invention;

[0021] Figure 2d This is an isometric view of a portion of the drive assembly structure of the present invention;

[0022] Figure 3a This is a front view of the suction wheel structure of the present invention;

[0023] Figure 3b This is a top view of the suction cup wheel structure of the present invention;

[0024] Figure 3c This is an axonometric view of the suction cup wheel structure of the present invention;

[0025] Figure 4a This is a front view of the connecting plate structure of the present invention;

[0026] Figure 4b This is a side view of the connecting plate structure of the present invention;

[0027] Figure 4c This is a top view of the connecting plate structure of the present invention;

[0028] Figure 4d This is an isometric view of the connecting plate structure of the present invention;

[0029] Figure 5a This is a front view of the gear set structure of the present invention;

[0030] Figure 5b This is a side view of the gear set structure of the present invention;

[0031] Figure 5c This is a top view of the gear set structure of the present invention.

[0032] The meanings of the labels in the attached figures are as follows: 1-Drive component, 2-Suction cup wheel, 3-Connecting plate, 4-Motor, 11-Support component, 12-Gear set, 13-Drainage fan, 121-Drive stage gear, 122-Speed ​​change stage gear, 123-Transmission stage gear, 124-Output stage gear, 21-Wheel frame, 22-Suction cup, 23-Semi-permeable membrane, 24-Connecting rod, 31-Triangle plate, 32-Hole. Detailed Implementation

[0033] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0034] like Figures 1a-1c As shown, the all-terrain balancing vehicle based on Bernoulli's theorem of the present invention includes a drive component 1, a suction cup wheel 2, a connecting plate 3, and a motor 4.

[0035] like Figures 2a-2d As shown, the drive assembly 1 includes a support 11, a gear set 12, and a drain fan 13 at the output end. The drain fan 13 is connected to the gear set 12, which is connected to the support 11 and is equipped with bearings to enable it to rotate. The purpose of the gear set 12 is to output another set of coaxial gears with different speeds as the rotational power source for the drain fan 13 while the output motor 4 rotates as the rotational power source for the suction wheel 2.

[0036] like Figures 5a-5c As shown, the gear set 12 is divided into a driving stage gear 121, a speed-changing stage gear 122, a transmission stage gear 123, and an output stage gear 124. The driving stage gear 121 is directly connected to the output shaft of the motor 4, introducing the output of the motor 4 into the entire gear set 12. The speed-changing stage gear 122 and the transmission stage gear 123 are intermediate stages, providing only rotational degrees of freedom, and realizing the function of a rotary pair through a bearing structure. The output stage gear 124 is directly connected to the drainage fan 13 (through a coupling), without the need for an additional bearing structure.

[0037] The names of each stage of the gear set 12 correspond to their functions. The driving stage gear 121 refers to the gear stage that rotates actively and can introduce the output of the motor 4 into the entire gear set 12. The speed change stage is a double-layer gear structure with different numbers of teeth in the two layers. At the same angular velocity, its input linear velocity is different from its output linear velocity, thereby realizing the acceleration function. The transmission stage gear 123 ensures that the driving stage gear 121 and the output stage gear 124 are coaxial, and allows the output stage gear 124 to mesh with the previous gear stage, while preventing the number of teeth of the output stage gear 124 from being too high. The output stage gear 124 refers to the last gear stage that outputs rotation and can output the rotation after speed change and reversal to the drainage fan 13.

[0038] The suction wheel part 2 and the drive assembly part 1 are connected, such as Figures 3a-3c As shown, the suction wheel part 2 includes a wheel frame 21, suction cups 22, a semi-permeable membrane 23, and a connecting rod 24. The wheel frame 21 is the basic framework of the entire suction wheel part 2, with evenly spaced circular through holes distributed on it. The suction cups 22 are sequentially attached to the outer surface of the wheel frame 21, and the air holes of the suction cups 22 are aligned with the circular through holes of the wheel frame 21 to ensure that changes in air pressure on the inside are transmitted to the suction cups 22. The suction cups 22 and the wheel frame 21 are connected by a waterproof silicone adhesive to ensure sealing and waterproofing. The semi-permeable membrane 23 is completely attached to the inner circumferential wall of the wheel frame 21 to ensure the airtightness of the liquid while gas is being exchanged normally. The connecting rod 24 extends from the center of the bottom surface of the wheel frame 21 and is an integral structure that transmits rotation. The suction wheel part 2 is directly connected to the output shaft of the motor 4 through the connecting rod 24, and can also be connected via a coupling. The rotation output of the motor 4 can be directly transmitted to the suction wheel part 2.

[0039] like Figures 4a-4dAs shown, triangular plates 31 are provided on both sides of the connecting plate 3, and a hole 32 is provided in the center of the triangular plate 31; the support member 11 is fixedly connected to the triangular plate 31 on one side of the connecting plate 3 through the hole 32, and the connection method is bolt and nut connection; the motor 4 is installed on the triangular plate 31 on one side of the connecting plate 3, and the connecting rod 24 of the drive component part 1 and the suction wheel part 2 are both connected to the output shaft of the motor 4. The output shaft of the motor 4, the hole 32 on both sides of the triangular plate of the connecting plate 3, and the center hole of the active gear 121 of the gear set 12 are concentrically positioned.

[0040] All materials in the drive assembly section 1 can be made of engineering plastics, which can improve durability in various environments, such as underwater, while ensuring a certain strength, and reduce the possibility of rust and corrosion caused by the use of metal. Among them, the support 11 and the drainage fan 13 can be made of polycarbonate (PC) material, which takes into account both strength and easy injection molding; the gear set 12 can be made of polyoxymethylene (POM) to achieve high rigidity, wear resistance and other properties.

[0041] The wheel frame 21 and connecting rod 24 in suction cup wheel part 2 can also be made of engineering plastic (polycarbonate), the suction cup 22 is made of flexible silicone, and the semi-permeable membrane 23 can be made of polyamide membrane.

[0042] The connecting plate 3 can be made of engineering plastic (polycarbonate) to achieve a lightweight and stable overall structure.

[0043] The drain fan 13 of the drive assembly 1 can rotate inside it, while the wheel frame 21 itself rotates synchronously with the output shaft of the motor 4. The wheel frame 21 is filled with liquid such as water. When the drain fan 13 starts to work, the liquid inside the wheel frame 21 begins to rotate, and the flow rate increases. Due to the Bernoulli principle, a negative pressure is generated at the position of the suction cup 22, realizing the adsorption function. At the same time, due to the presence of the semi-permeable membrane 23, the liquid is prevented from flowing out of the hole of the suction cup 22.

[0044] Among them, due to Bernoulli's principle That is, the sum of pressure, velocity, and energy in a fluid remains constant. Therefore, under the premise that the energy remains constant, changing the fluid velocity... This allows for the change of fluid pressure. The change in flow rate is achieved through the relative rotation between the drain fan 13 and the suction wheel 2: assuming the motor 4 outputs a rotational angular velocity... The radii of the drive stage gear 121, the transmission stage gear 122 (large and small layers), the transmission stage gear 123, the output stage gear 124, and the drainage fan 13 are respectively... The relative rotational speed between the drainage fan 13 and the suction wheel part 2 is This allows for a larger speed difference, thereby controlling the inner side of the wheel frame 21. Change, thereby achieving a change in quantity with the external environment. Therefore, each suction cup 22 can generate The pressure, among which, Let 22 be the surface area of ​​the suction cup.

[0045] Therefore, the balancing trolley of this invention can operate in various environments. When it needs to operate in the air, no liquid needs to be added to the wheel frame 21 to achieve normal movement on land; when it needs to move underwater, only the wheel frame 21 needs to be filled with water to achieve normal movement underwater. The key is that it is only necessary to ensure that the air pressure inside and outside the semi-permeable membrane 23 is balanced when stationary.

[0046] The balance of the balancing trolley of the present invention is achieved solely through the structural design of the connecting plate 3. When the overall center of gravity is higher than the central axis (center of the circle) of the suction wheel 2, additional control of the balancing trolley is required to ensure stability. However, when the overall center of gravity is lower than the central axis of the suction wheel 2, the connecting plate 3 will automatically tend to a stable state due to gravity, without the need for complex nonlinear control.

[0047] The all-terrain balancing trolley of the present invention can move in various complex terrains. When it moves, the suction cup 22 will start to work, which can achieve better gripping of the ground. It can still move on slopes with a large gradient. At the same time, due to the design of the two-wheel balancing trolley, the part of the connecting plate 3 can always remain perpendicular to the ground and will not tip over. The connecting plate 3 can be further expanded to install various tools, which can realize the function of working in complex working conditions.

Claims

1. An all-terrain self-balancing vehicle based on Bernoulli's theorem, comprising: The drive assembly (1), suction wheel (2), connecting plate (3), and motor (4) are characterized in that the suction wheel (2) is connected to the drive assembly (1), and triangular plates (31) are provided on both sides of the connecting plate (3), with a hole (32) in the center of the triangular plate (31); the drive assembly (1) includes a support (11), a gear set (12), and a drain fan (13) at the output end; the drain fan (13) is connected to the gear set (12), the gear set (12) is connected to the support (11), and the support (11) is connected to the motor (4) through the hole (32). The triangular plate (31) on one side of the connecting plate (3) is fixedly connected; the suction cup wheel part (2) includes a wheel frame (21), a suction cup (22), a semi-permeable membrane (23) and a connecting rod (24). The suction cup (22) is located on the outer surface of the wheel frame (21), the semi-permeable membrane (23) is located on the inner circumferential wall of the wheel frame (21), and the connecting rod (24) extends from the center of the bottom surface of the wheel frame (21); the motor (4) is installed on the triangular plate (31) on one side of the connecting plate (3), and the connecting rod (24) of the drive component part (1) and the suction cup wheel part (2) are both connected to the output shaft of the motor (4).

2. The all-terrain balancing vehicle based on Bernoulli's theorem according to claim 1, characterized in that, The gear set (12) is divided into a drive gear (121), a speed-changing gear (122), a transmission gear (123), and an output gear (124). The drive gear (121) is directly connected to the output shaft of the motor (4), and the output of the motor (4) is introduced into the entire gear set (12). The speed-changing gear (122) and the transmission gear (123) provide rotational freedom and realize the function of a rotary pair through a bearing structure. The output gear (124) is directly connected to the drainage fan (13).

3. The all-terrain balancing vehicle based on Bernoulli's theorem according to claim 2, characterized in that, The variable speed gear (122) is a double-layer gear structure with different numbers of teeth in each layer. At the same angular velocity, its input linear velocity and output linear velocity are different, which is used to achieve the acceleration function.

4. The all-terrain balancing vehicle based on Bernoulli's theorem according to claim 1, characterized in that, The wheel frame (21) has equally spaced circular through holes. The suction cups (22) are attached to the circular through holes of the wheel frame (21) in sequence. The air holes of the suction cups (22) are aligned with the circular through holes on the wheel frame (21).

5. The all-terrain balancing vehicle based on Bernoulli's theorem according to claim 1, characterized in that, The suction cup (22) is made of flexible silicone material; the suction cup (22) and the wheel frame (21) are connected by a waterproof silicone adhesive to ensure the sealing and waterproofness between the suction cup (22) and the wheel frame (21).

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