CN101085626A - Balance ball car - Google Patents
Balance ball car Download PDFInfo
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- CN101085626A CN101085626A CN 200610083783 CN200610083783A CN101085626A CN 101085626 A CN101085626 A CN 101085626A CN 200610083783 CN200610083783 CN 200610083783 CN 200610083783 A CN200610083783 A CN 200610083783A CN 101085626 A CN101085626 A CN 101085626A
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- ball
- wheel
- spheroid
- drive wheel
- horizontal cross
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Abstract
The balanced ball cart comprises a ball and its frame that has horizontal driving wheel and horizontal vertical driving wheel with their balance touch point at the horizontal radius of the ball at the same surface through the core of the ball, with two drive wheel vertically orthogonal, bearing lubrication structure between the frame and the ball in mechanical or air pressure structure. The mechanical structure comprises at least three deviational universal wheel or three concentric universal ball wheel, with the said air pressure in disc air cushion, two drive wheels made of chains, motor driven or shell rotary motor. It is simple in structure, novel in design, flexible in running and highly entertaining.
Description
Technical field
The present invention relates to the vehicle technology field, is a kind of balance ball car.
Background technology
Chinese patent application number: 200310112992.9 disclose a kind of Self-Balancing vehicle, this Self-Balancing vehicle is made up of wheel and driver chamber, wheel has two, be installed in the both sides of driving compartment respectively, driving compartment is installed on the Wheel bearing by driving the suspension of housings support frame and axle assembly, and driving compartment relies on gravity nature and ground to keep vertical.Driver very pulsation-free is sitting in the driving compartment, rotates the chain drum combination as trampling by bike during driving, thereby make wheel and driving compartment produce relativity power Self-Balancing vehicle is moved.Because this Self-Balancing vehicle is advanced by two wheels, turn radius is bigger, underaction.
Summary of the invention
The purpose of this invention is to provide a kind of simple in structure, structure is unique, advance flexibly, the strong balance ball car of amusement and recreation.
For achieving the above object, the present invention takes following design plan:
A kind of balance ball car, it includes:
The spheroid that can roll;
A ball-collecting rack that is arranged on the described spheroid, ball-collecting rack are provided with horizontal cross drive wheel and the vertical drive wheel of level that drives the spheroid motion;
The balance contact point of described horizontal cross drive wheel and vertical drive wheel of level and spheroid is in the horizontal radius of spheroid, and is in the same plane by the centre of sphere, and two drive wheels and ball Surface Vertical are tangent;
Between ball-collecting rack and spheroid, be connected with the load-bearing lubrication system of reducing friction; Described ball-collecting rack includes upper ring body and lower ring body, this upper ring body and lower ring body are separately positioned on the both sides up and down of the central horizontal hatching of spheroid, uniformly between upper ring body and lower ring body be connected with four wheel carriers, wherein two interior one of relative wheel carriers are installed the horizontal cross drive wheel, the horizontal cross flower wheel is installed in another wheel carrier, vertical drive wheels of installation level in other two relative wheel carriers, the vertical flower wheel of level is installed in another wheel carrier, is connected with arch support on the top of upper ring body.
Described load-bearing lubrication system is divided into physical construction or pneumatic structure.
Described physical construction is made of three eccentric cardan wheels at least, and this off-centre cardan wheel is vertical with spherome surface tangent, and the axis of this off-centre cardan wheel passes the center of spheroid.
Described pneumatic structure is to be made of dish-shaped air cushion, and this dish air cushion is arranged on the inner, top of arch support, and this dish air cushion and spheroid top match, and are provided with air gate below dish-shaped air-sprung.
Described physical construction or be made of three concentric universal ball wheels at least, the axis of the sleeve of described universal ball wheel passes the center of spheroid.
In the ball-collecting rack outer setting cover body is arranged, a seat that is arranged on described cover body top, captive joint or rotary connection between this seat and the ball-collecting rack.
Described horizontal cross drive wheel and the vertical drive wheel of level or be made of the housing motor rotating are gone into drive wheel thereby be surrounded by tire outside housing.
Arch support is provided with grillage, the horizontal cross drive motor is installed on grillage, and this motor is connected with the horizontal cross drive wheel by chain, and horizontal vertical drive motor also is installed on grillage, this motor is connected by the vertical drive wheel of chain and level, and battery also is installed on grillage.
Grillage is provided with dual spindle gyroscopes or inclinometer, detects ball-collecting rack simultaneously at x axle and angular acceleration on the y axle and/or angle of inclination.
On grillage, be provided with controller, accept the monitoring information of dual spindle gyroscopes or inclinometer, thereby control described horizontal cross drive wheel and the vertical drive wheel of level by analytical calculation.
Advantage of the present invention is: simple in structure, structure is unique, advance flexibly, amusement and recreation are strong.
Description of drawings
Fig. 1 is a profile perspective view of the present invention.
Fig. 2 is embodiment 1 perspective view that the present invention removes clamshell.
Fig. 3 is the main TV structure scheme drawing of embodiment 1.
Fig. 4 is the schematic top plan view of Fig. 3.
Fig. 5 is a ball-collecting rack perspective view of the present invention.
Fig. 6 is that the master that the present invention removes the embodiment 2 of clamshell looks scheme drawing.
Fig. 7 is Fig. 6 schematic top plan view.
Fig. 8 is that scheme drawing is looked on Fig. 6 left side.
Fig. 9 is that Fig. 6 looks up schematic perspective view.
Figure 10 is that the master that the present invention removes the embodiment 3 of clamshell looks scheme drawing.
The specific embodiment
Embodiment 1:
Referring to Fig. 1～shown in Figure 5:
A kind of balance ball car, it includes:
The spheroid that can roll 1 is made with metal, is hollow form, or makes with non-metals such as glass-felt plastic, engineering plastics.
A ball-collecting rack 19 that is arranged on the described spheroid, ball-collecting rack are provided with horizontal cross drive wheel 11 and the vertical drive wheel 4 of level that drives the spheroid motion, in the ball-collecting rack outer setting cover body 2 are arranged; The welding of cover body 2 usefulness metal sheets is made, or makes with non-metallic material.
The balance contact point of the vertical drive wheel of described horizontal cross drive wheel 11 and level 4 and spheroid 1 is in the horizontal radius of spheroid 1, and is in the same plane by the centre of sphere, and two drive wheels and ball Surface Vertical are tangent;
There are 2, one of cover bodies to be arranged on the seat 3 on described cover body top, captive joint or rotary connection between this seat 3 and the ball-collecting rack 19 in ball-collecting rack 19 outer setting.
Between ball-collecting rack 19 and spheroid 1, be connected with the load-bearing lubrication system of reducing friction.
Described load-bearing lubrication system is divided into physical construction or pneumatic structure.
Described physical construction constitutes by three eccentric cardan wheels 14 are uniform at least, and this off-centre cardan wheel 14 is tangent with spheroid 1 Surface Vertical, and the axis 15 of this off-centre cardan wheel 14 passes the center of spheroid 1, makes ball-collecting rack 19 form stable support; Present embodiment 1 is provided with four eccentric cardan wheels 14.
Described ball-collecting rack 19 includes upper ring body 21 and lower ring body 22, this upper ring body 21 and lower ring body 22 are separately positioned on the both sides up and down of the central horizontal hatching 16 of spheroid 1, uniformly between upper ring body 21 and lower ring body 22 be connected with four wheel carriers 12, wherein two interior one of relative wheel carriers are installed horizontal cross drive wheel 11, horizontal cross flower wheel 17 is installed in another wheel carrier, vertical drive wheels 4 of installation level in other two relative wheel carriers, the vertical flower wheel 18 of the level that is equipped with in another wheel carrier, be connected with arch support 20 on the top of upper ring body, uniformly in the outside, the inner, top of arch support 20 be connected with four cardan wheels 14.
On grillage 8, be provided with controller 901, accept the monitoring information of dual spindle gyroscopes or inclinometer, thereby by analytical calculation controlling level horizontal drive motor 13 and horizontal vertical drive motor 6.
When people's seat on the seat the time, by dual spindle gyroscopes or inclinometer controlling level horizontal drive motor 13 and 6 work of horizontal vertical drive motor, people on the seat is equilibrated on the spheroid, need be when that direction be advanced, by that machine operation of controller function, by driving the corresponding driving wheel spheroid is rotated, different operating state by vertical drive wheel 4 of controlling level and horizontal cross drive wheel 11, spheroid is advanced to different directions, convenient flexibly, make the occupant reach order ground quickly and easily.
Embodiment 2:
Referring to Fig. 6～shown in Figure 9: present embodiment 2 with the difference of embodiment 1 is, described physical construction constitutes by three concentric universal ball wheels 26 are uniform at least, the axis 263 of the sleeve 261 of described universal ball wheel 26 passes the center of spheroid 1, makes ball-collecting rack 19 form stable support; Present embodiment 2 is uniform to be provided with four universal ball wheels 26, and multi-directional ball 262 is arranged in sleeve 261.
The vertical drive wheel 4 of described horizontal cross drive wheel 11 and level is made of housing 23 motor rotating, thereby being surrounded by tire 24 outside housing 23 goes into drive wheel, the characteristics of this motor are that center rotor axle 25 maintains static, housing 23 rotations of its outer stator, thereby go into drive wheel, can save chain gear like this, thus the structure of simplifying.
Embodiment 3:
Referring to shown in Figure 10: present embodiment 3 with the difference of the foregoing description is, described pneumatic structure is to be made of dish-shaped air cushion 27, this dish air cushion 27 is arranged on the inner, top of arch support 20, and this dish air cushion 27 matches with spheroid 1 top, is provided with air gate 271 below dish-shaped air cushion 27; By the high pressure gas of air gate 271 outputs, make to form between dish-shaped air cushion 27 and the spheroid 1 and support air cushion 272, make ball-collecting rack 19 form stable support.
In sum, but the load-bearing lubrication system selector tool structure or the pneumatic structure of this balance ball car make ball-collecting rack 19 form stable support.Drive the horizontal cross drive wheel 11 and the vertical drive wheel 4 of level of spheroid motion, can drive or constitute by motor and chain by housing 23 motor rotating; By dual spindle gyroscopes or the inclinometer that is provided with, detect ball-collecting rack simultaneously at x axle and angular acceleration on the y axle and/or angle of inclination, by the controller that is arranged on the grillage, accept the monitoring information of dual spindle gyroscopes or inclinometer, thereby control described horizontal cross drive wheel and the vertical drive wheel of level by analytical calculation, realize the balance of balance ball car and advance.
Claims (10)
1, a kind of balance ball car is characterized in that, it includes:
A spheroid that can roll (1);
A ball-collecting rack (19) that is arranged on the described spheroid, ball-collecting rack are provided with horizontal cross drive wheel (11) and the vertical drive wheel of level (4) that drives the spheroid motion;
The balance contact point of described horizontal cross drive wheel (11) and the vertical drive wheel of level (4) and spheroid (1) is in the horizontal radius of spheroid, and is in the same plane by the centre of sphere, and two drive wheels and ball Surface Vertical are tangent;
Between ball-collecting rack and spheroid, be connected with the load-bearing lubrication system of reducing friction.
2, balance ball car according to claim 1 is characterized in that: described load-bearing lubrication system is divided into physical construction or pneumatic structure; Described ball-collecting rack (19) includes upper ring body (21) and lower ring body (22), this upper ring body (21) and lower ring body (22) are separately positioned on the both sides up and down of the central horizontal hatching (16) of spheroid (1), uniform four wheel carriers (12) that are connected with between upper ring body (21) and lower ring body (22), wherein two interior one of relative wheel carriers are installed horizontal cross drive wheel (11), horizontal cross flower wheel (17) is installed in another wheel carrier, the vertical drive wheels of installation level (4) in other two relative wheel carriers, the vertical flower wheel of level (18) is installed in another wheel carrier, is connected with arch support (20) on the top of upper ring body.
3, balance ball car according to claim 2 is characterized in that: described physical construction is made of three eccentric cardan wheels (14) at least, and this off-centre cardan wheel is vertical with spherome surface tangent, and the axis of this off-centre cardan wheel (15) passes the center of spheroid.
4, balance ball car according to claim 2, it is characterized in that: described pneumatic structure is to be made of dish-shaped air cushion (27), this dish air cushion is arranged on the inner, top of arch support (20), this dish air cushion and spheroid top match, and are provided with air gate (271) below dish-shaped air-sprung.
5, balance ball car according to claim 2 is characterized in that: described physical construction is made of three concentric universal ball wheels at least, and the axis of the sleeve of described universal ball wheel passes the center of spheroid.
6, balance ball car according to claim 1 is characterized in that: in the ball-collecting rack outer setting cover body (2) is arranged, a seat (3) that is arranged on described cover body (2) top, captive joint or rotary connection between this seat and the ball-collecting rack.
7, balance ball car according to claim 2 is characterized in that: described horizontal cross drive wheel and the vertical drive wheel of level are made of the housing motor rotating, go into drive wheel thereby be surrounded by tire outside housing.
8, balance ball car according to claim 2, it is characterized in that: arch support (20) is provided with grillage (8), horizontal cross drive motor (13) is installed on grillage (8), this motor is connected with horizontal cross drive wheel (11) by chain (10), horizontal vertical drive motor (6) also is installed on grillage (8), this motor is connected with the vertical drive wheel of level (4) by chain (5), and battery (7) also is installed on grillage (8).
9, balance ball car according to claim 8 is characterized in that: grillage (8) is provided with dual spindle gyroscopes or inclinometer, detects ball-collecting rack (19) simultaneously at x axle and angular acceleration on the y axle and/or angle of inclination.
10, balance ball car according to claim 9, it is characterized in that: on grillage (8), be provided with controller, accept the monitoring information of dual spindle gyroscopes or inclinometer, drive district's driving wheel and the vertical drive wheel of level thereby control described horizontal cross by analytical calculation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610083783 CN101085626A (en) | 2006-06-06 | 2006-06-06 | Balance ball car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200610083783 CN101085626A (en) | 2006-06-06 | 2006-06-06 | Balance ball car |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101085626A true CN101085626A (en) | 2007-12-12 |
Family
ID=38936845
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200610083783 Pending CN101085626A (en) | 2006-06-06 | 2006-06-06 | Balance ball car |
Country Status (1)
| Country | Link |
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| CN (1) | CN101085626A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102991600A (en) * | 2012-12-10 | 2013-03-27 | 北京交通大学 | Ball type self-balancing robot |
| RU2505447C2 (en) * | 2012-03-27 | 2014-01-27 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Ижевский государственный технический университет имени М.Т. Калашникова" | Kalinkin's ball-wheel |
| RU2581806C1 (en) * | 2014-11-25 | 2016-04-20 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Ижевский государственный технический университет имени М.Т. Калашникова" | Ball-wheel propulsor |
| WO2016072931A1 (en) * | 2014-11-07 | 2016-05-12 | Wai Soon CHEW | A personal transport vehicle |
| CN106741402A (en) * | 2016-12-22 | 2017-05-31 | 桂林电子科技大学 | It is capable of achieving double ball wheel walking mechanisms of lateral translation |
| CN107407939A (en) * | 2015-03-12 | 2017-11-28 | 株式会社村田制作所 | Ball balanced robot |
| CN107628174A (en) * | 2017-09-30 | 2018-01-26 | 桂林电子科技大学 | Omnidirectional's ball wheel drive is without handlebar self-balancing bicycle |
| CN108674091A (en) * | 2018-06-26 | 2018-10-19 | 王岚晖 | A kind of multi-directional ball carrying roller |
| KR101920817B1 (en) | 2014-09-04 | 2018-11-21 | 한화에어로스페이스 주식회사 | Robot apparatus based on the ball driving |
| CN109389895A (en) * | 2018-10-31 | 2019-02-26 | 合肥磐石自动化科技有限公司 | A kind of the Balance for Rotating Ball device and the Balance for Rotating Ball method |
| CN109826914A (en) * | 2019-03-23 | 2019-05-31 | 张闯报 | A kind of drive mechanism of all-around mobile |
| CN110294039A (en) * | 2018-03-22 | 2019-10-01 | 本田技研工业株式会社 | Moving body |
| CN112572053A (en) * | 2020-12-24 | 2021-03-30 | 江苏巨龙电动车制造有限公司 | Electric flat carriage with spherical tires |
-
2006
- 2006-06-06 CN CN 200610083783 patent/CN101085626A/en active Pending
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2505447C2 (en) * | 2012-03-27 | 2014-01-27 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Ижевский государственный технический университет имени М.Т. Калашникова" | Kalinkin's ball-wheel |
| CN102991600A (en) * | 2012-12-10 | 2013-03-27 | 北京交通大学 | Ball type self-balancing robot |
| KR101920817B1 (en) | 2014-09-04 | 2018-11-21 | 한화에어로스페이스 주식회사 | Robot apparatus based on the ball driving |
| WO2016072931A1 (en) * | 2014-11-07 | 2016-05-12 | Wai Soon CHEW | A personal transport vehicle |
| RU2581806C1 (en) * | 2014-11-25 | 2016-04-20 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Ижевский государственный технический университет имени М.Т. Калашникова" | Ball-wheel propulsor |
| CN107407939B (en) * | 2015-03-12 | 2020-08-14 | 株式会社村田制作所 | Ball balance robot |
| CN107407939A (en) * | 2015-03-12 | 2017-11-28 | 株式会社村田制作所 | Ball balanced robot |
| CN106741402A (en) * | 2016-12-22 | 2017-05-31 | 桂林电子科技大学 | It is capable of achieving double ball wheel walking mechanisms of lateral translation |
| CN107628174A (en) * | 2017-09-30 | 2018-01-26 | 桂林电子科技大学 | Omnidirectional's ball wheel drive is without handlebar self-balancing bicycle |
| CN110294039A (en) * | 2018-03-22 | 2019-10-01 | 本田技研工业株式会社 | Moving body |
| CN108674091A (en) * | 2018-06-26 | 2018-10-19 | 王岚晖 | A kind of multi-directional ball carrying roller |
| CN109389895A (en) * | 2018-10-31 | 2019-02-26 | 合肥磐石自动化科技有限公司 | A kind of the Balance for Rotating Ball device and the Balance for Rotating Ball method |
| CN109389895B (en) * | 2018-10-31 | 2020-12-29 | 合肥磐石自动化科技有限公司 | Sphere balancing device and sphere balancing method |
| CN109826914A (en) * | 2019-03-23 | 2019-05-31 | 张闯报 | A kind of drive mechanism of all-around mobile |
| CN112572053A (en) * | 2020-12-24 | 2021-03-30 | 江苏巨龙电动车制造有限公司 | Electric flat carriage with spherical tires |
| CN112572053B (en) * | 2020-12-24 | 2022-07-12 | 江苏巨龙电动车制造有限公司 | Electric flat carriage with spherical tires |
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| PB01 | Publication | ||
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Open date: 20071212 |