CN107037825A - A kind of self-balance robot - Google Patents
A kind of self-balance robot Download PDFInfo
- Publication number
- CN107037825A CN107037825A CN201710488278.1A CN201710488278A CN107037825A CN 107037825 A CN107037825 A CN 107037825A CN 201710488278 A CN201710488278 A CN 201710488278A CN 107037825 A CN107037825 A CN 107037825A
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- Prior art keywords
- universal wheel
- wheel
- crank
- self
- sliding block
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- 238000005096 rolling process Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of self-balance robot, including car body and relative the first wheel laid, the second wheel, also include wheel jack, it includes the first universal wheel, slider-crank mechanism, telescoping mechanism, and slider-crank mechanism includes the first crank, sliding block and the first connecting rod being rotationally connected between the first crank and sliding block.Telescoping mechanism is used for band movable slider and moved back and forth, and the first crank is rotationally connected with car body, and is fixedly connected on the first universal wheel.When telescoping mechanism band movable slider is moved to first position, the first universal wheel abuts ground with bearing body, and when telescoping mechanism band movable slider is moved to the second place, the first universal wheel is contained in vehicle body.The self-balance robot that the present invention is provided, can effectively improve the bearing capacity of self-balance robot, it is ensured that its traveling comfort under conditions of the software algorithm of complexity is avoided.
Description
Technical field
The present invention relates to robotic technology field, it particularly relates in a kind of bearing capacity of self-balance robot
Improve.
Background technology
At present, the self-balance robot of existing two-wheel is structurally characterized in that coaxial two-wheeled, independent driving, vehicle body center of gravity are located at
Above axletree, it keeps car body to balance by wheel movement.As shown in figure 1, self-balance robot is by right wheel 11, right motor
12nd, left motor 13, left wheel 14 and car body 15 are constituted.Fixed right motor 12, left motor 1 drive right car respectively on car body 15
Wheel 11, left wheel 14.
Because the self-balance robot of traditional two-wheel can normally only keep dynamic equilibrium, motion process needs to adjust at any time
It is whole, and due to dynamic equilibrium and the limitation of two-wheel so that its bearing capacity is low, if self-balancing have to be realized by algorithm,
Then improve the difficulty of software algorithm, and it is difficult to ensure that reliability.
The content of the invention
It is an object of the invention to provide a kind of self-balance robot, under conditions of the software algorithm of complexity is avoided, lead to
Cross and improve its structure, not only increase the bearing capacity of self-balance robot, also effectively ensure that traveling comfort.
To reach above-mentioned purpose, the present invention is achieved using following technical scheme：
A kind of self-balance robot, including car body and relative the first wheel laid, the second wheel, in addition to wheel radio and tape player
Structure, the wheel jack includes the first universal wheel, slider-crank mechanism, telescoping mechanism, and the slider-crank mechanism includes
First crank, sliding block and the first connecting rod being rotationally connected between first crank and the sliding block.It is described flexible
Mechanism is used to drive the sliding block to move back and forth；First crank is rotationally connected with the car body, and is fixedly connected on described
First universal wheel；When the telescoping mechanism drives the sliding block to be moved to first position, first universal wheel abuts ground
To carry the car body, when the telescoping mechanism drives the sliding block to be moved to the second place, first universal wheel is housed
In the vehicle body.
Further, when first universal wheel abut ground when, first universal wheel be located at first wheel with
The vertical of second wheel line is divided equally on face.
Further, when first universal wheel abuts ground, first universal wheel and first wheel, second
Wheel is laid in equilateral triangle.
Further, the wheel jack also includes the second universal wheel, and the slider-crank mechanism also includes described
Second crank and the second connecting rod being rotationally connected between second crank and the sliding block, second crank, which is rotated, to be connected
The car body is connected to, and is fixedly connected on second universal wheel：When the telescoping mechanism drives the sliding block to be moved to first
During position, second universal wheel abuts ground to carry the car body, when the telescoping mechanism drives the sliding block to be moved to
During the second place, second universal wheel is contained in the vehicle body.
Further, when first universal wheel, the second universal wheel abut ground, first universal wheel, second
Universal wheel is respectively positioned on first wheel and divided equally with the second the vertical of wheel line on face.
Further, the telescoping mechanism includes motor, sleeve, trapezoidal screw, screw:The trapezoidal screw, screw position
In the sleeve inner；The motor connection is between the car body and the trapezoidal screw, for driving the trapezoidal screw
Reciprocating rotation；The screw is threadedly connected to the trapezoidal screw, for driving the sliding block to move back and forth；The sleeve and institute
State and guiding mechanism, the rotation for limiting the screw are provided between screw.
Further, the telescoping mechanism also includes connector, rolling bearing：The connector is fixedly connected on the silk
It is female between the sliding block；The rolling bearing is assemblied between the sleeve and the trapezoidal screw, and the neighbouring motor.
The car body is formed with the first limited block, the second limited block, when first universal wheel, the second universal wheel abut ground
During face, first crank, the second crank bear against first limited block, the second limited block.
Further, first crank, the second crank structure are identical, and the first universal wheel, the second Universal wheel structure are identical.
Compared with prior art, advantages of the present invention and beneficial effect are：The self-balance robot that the present invention is provided, without
Self-balancing just can be realized by complicated software algorithm.The wheel jack set up, when sliding block is moved into first position,
First universal wheel abuts ground, the first universal wheel now effective strong point that caused self-balance robot many, not only can be with
Together play a part of bearing body with the first wheel, the second wheel, so that the bearing capacity of balanced robot is effectively improved, and
Due to the first universal wheel have in itself can 360 degree rotations characteristic, when self-balance robot is in mobile, do not interfere with certainly yet
The operation of balanced robot, and the first universal wheel set up also effectively prevent operating self-balance robot and needs to adjust at any time
It is whole to ensure to maintain dynamically balanced state, the problem of it also avoid the low bearing capacity that dynamic balancing is brought.
It is read in conjunction with the figure after the detailed description of embodiment of the present invention, the other features and advantages of the invention will become more
Plus it is clear.
Brief description of the drawings
Fig. 1 is the structural representation of the self-balance robot of two-wheel in the prior art；
Fig. 2 is the side view of wheel jack in specific embodiment of the invention self-balance robot；
Fig. 3 is the decomposing schematic representation of wheel jack in specific embodiment of the invention self-balance robot；
Fig. 4 is the sectional view of telescoping mechanism in specific embodiment of the invention self-balance robot.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
The shape of dynamic equilibrium is kept for traditional Double-wheel self-balancing robot, it is necessary at any time adjust in the process of running
State, not only reliability it cannot be guaranteed that, also substantially reduce its bearing capacity, therefore, the present embodiment proposes a kind of self-balance robot,
Except including car body 20 and relative the first wheel 21 laid, the second wheel 22, it is preferred that emphasis is also including wheel jack,
Specifically, wheel jack includes the first universal wheel 31, slider-crank mechanism 40, telescoping mechanism 50, referring to figs. 2 to figure
Shown in 4.
Slider-crank mechanism 40 include the first crank 41, sliding block 42 and be rotationally connected with the first crank 41 and sliding block 42 it
Between first connecting rod 43.And the setting of telescoping mechanism 50 be exactly in order to for band movable slider 42 move back and forth, and in order to realize
While the reciprocating linear of sliding block 42 is moved, the first crank 41 can be rotated in the range of certain angle, and first is bent in the present embodiment
Handle 41 is rotationally connected with car body 20, for example, being realized using hinge, the first crank 41 is also fixedly connected with the first universal wheel
31 so that the first crank 41 is under the driving of sliding block 42, and not only own rotation can also drive the first universal wheel 31 to abut ground simultaneously
Face.Specifically, for the ease of description, sliding block 42 has two positions on its shift motion：First position, the second place.When stretching
When contracting mechanism 50 is moved to first position with movable slider 42, the first universal wheel 31 abuts ground with bearing body 20, works as telescopic machine
When structure 50 is moved to the second place with movable slider 42, the first universal wheel 31 is contained in inside car body 20.
The quantity of universal wheel is not unique in wheel jack of the present invention, for example, in other embodiments of the invention,
One universal wheel, i.e. the first universal wheel 31 can be only set, in order to keep the first universal wheel 31 and the first wheel 21, the second wheel 22
Between symmetry, improve self-balance robot reliability of operation, the first universal wheel 31 abut ground when so that the 10000th
It is located at the vertical of line between the first wheel 21, the second wheel 22 to wheel 31 to divide equally on face so that abut in the first universal wheel 31
During ground, the distance of first the 31 to the first wheel of universal wheel 21 is equal with the distance of first the 31 to the second wheel of universal wheel 22, or
Person, the characteristics of using equilateral triangle stability, further the first universal wheel 31 of design is in the first wheel 21, the second wheel 22
Equilateral triangle is laid.
Two universal wheels are provided with the present embodiment in wheel jack, i.e., except the first universal wheel 31, wheel is received
Laying mechanism also includes the second universal wheel 32, makees in order that obtaining the second universal wheel 32 and can play identical simultaneously with the first universal wheel 31
With, in the present embodiment slider-crank mechanism 40 also include the second crank 44 and be rotationally connected with the second crank 44 and sliding block 42 it
Between second connecting rod 45, similar with the connection scheme of the first crank 41, the second crank 44 is rotationally connected with car body 20, and is fixedly connected
In the second universal wheel 32.When telescoping mechanism 50 is moved to first position with movable slider 42, the second universal wheel 32 abut ground with
Bearing body 20, when telescoping mechanism 50 is moved to the second place with movable slider 42, the second universal wheel 32 is contained in car body 20
Portion, while to ensure that sliding block 42 is moved back and forth, it is possible to achieve the first universal wheel 31, the second universal wheel 32 abut simultaneously ground or
It is contained in simultaneously inside car body 20.Further, first universal wheel 31, the second universal wheel 32 are respectively positioned on first wheel
21 with vertical the dividing equally on face of the line of the second wheel 22, to ensure balanced to carry whole car body 20.
Telescoping mechanism 50 has multiple choices in the present invention, for example, hydraulic mandril, hydraulic elevator platform, electric pushrod, electric cylinders,
Pneumatic slid platform etc., motor 51, sleeve 52, trapezoidal screw 53, silk are specifically included to simplify telescoping mechanism 50 in structure, the present embodiment
Mother 54.Wherein, trapezoidal screw 53 is threadedly coupled and is respectively positioned on inside sleeve 52 with screw 54, and is set between sleeve 52 and screw 54
There is guiding mechanism（Accompanying drawing is not shown）, the rotation for limiting screw 54, for example, guide frame can be formed at the screw
Guide pad on 54 and the guide groove being formed on the inwall of sleeve 52, guide pad, which is plugged in guide groove, realizes limitation silk
The rotation of mother 54.Motor 51 is connected between car body 20 and trapezoidal screw 53, and the reciprocating rotation of trapezoidal screw 53 is driven to realize, by
In screw 54 be threadedly coupled with trapezoidal screw and sleeve 52 and screw 54 between the guiding mechanism that sets, trapezoidal screw 53 it is past
Multiple rotate can realize moving back and forth for screw 54, therefore, and screw 54 can move back and forth for drive sliding block 42.In the present invention
Screw 54 can be both made into integration with sliding block 42 using same material, can also be welded to connect, because screw 54 is located in sleeve 52
Portion, for the ease of dismounting, that is, facilitates the connection or dismounting between screw 54 and sliding block 42, specifically, telescopic machine in the present embodiment
Structure 50 also includes connector 55, rolling bearing 56, wherein, connector 55 is fixedly connected between screw 54 and sliding block 42, can
Realize being fixedly connected between screw 54 and sliding block 42, moreover it is possible to play a part of guiding to the movement of sliding block, connector 55 it is upper
Portion is located inside sleeve 52, and its underpart is located at the outside of sleeve 52 and is fixedly connected with sliding block 42, for example, can be connected using screw or bolt
Connecting connector 55 and screw 54, and will be welded to connect by the way of welding between sliding block 42 and connector 55, as shown in figure 4,
Rolling bearing 56 is then assemblied between sleeve 52 and trapezoidal screw 53, and neighbouring motor 51, in order to reduce sleeve 52 with it is trapezoidal
Abrasion between leading screw 53, moreover it is possible to prevent dust, particle etc. from entering sleeve 52.
In addition, on the basis of the present embodiment, can be formed with car body 20 again in other embodiments of the invention
One limited block, the second limited block, can be realized by welding or bolt connection or be integrally formed so that first universal wheel 31,
When second universal wheel 32 abuts ground, i.e., when sliding block 42 is moved to first position, the first crank 41 is against the first limited block and the
Two cranks 44 can improve the steadiness of wheel jack against the second limited block, the first limited block, the setting of the second limited block,
Improve its usage cycles.On the other hand, in order to simplify the buying types of parts, the versatility of parts is improved, can also be designed
First crank 41, the structure of the second crank 44 are identical, and the first universal wheel 31, the structure of the second universal wheel 32 are identical.
Although the aspect of the present invention is subject to specifically shown and explanation, those skilled in the art with reference to above-described embodiment
It will be understood that, can be by being modified to disclosed technical scheme come pre- on the premise of disclosed spirit and scope are not departed from
Phase various other embodiment.Such embodiment is appreciated that true such as based on claims and its any equivalent
In fixed protection scope of the present invention.
Claims (9)
1. a kind of self-balance robot, including car body and relative the first wheel laid, the second wheel, it is characterised in that also
Including wheel jack, it includes the first universal wheel, slider-crank mechanism, telescoping mechanism, and the slider-crank mechanism includes
First crank, sliding block and the first connecting rod being rotationally connected between first crank and the sliding block：
The telescoping mechanism is used to drive the sliding block to move back and forth;
First crank is rotationally connected with the car body, and is fixedly connected on first universal wheel;
When the telescoping mechanism drives the sliding block to be moved to first position, first universal wheel abuts ground to carry
Car body is stated, when the telescoping mechanism drives the sliding block to be moved to the second place, first universal wheel is contained in the car
Internal portion.
2. self-balance robot according to claim 1, it is characterised in that when first universal wheel abuts ground,
First universal wheel is divided equally on face positioned at first wheel with the second the vertical of wheel line.
3. self-balance robot according to claim 2, it is characterised in that when first universal wheel abuts ground,
First universal wheel is laid with first wheel, the second wheel in equilateral triangle.
4. self-balance robot according to claim 1, it is characterised in that the wheel jack also includes the 20000th
To wheel, the slider-crank mechanism also include second crank and be rotationally connected with second crank and the sliding block it
Between second connecting rod, second crank is rotationally connected with the car body, and is fixedly connected on second universal wheel：
When the telescoping mechanism drives the sliding block to be moved to first position, second universal wheel abuts ground to carry
Car body is stated, when the telescoping mechanism drives the sliding block to be moved to the second place, second universal wheel is contained in the car
Internal portion.
5. self-balance robot according to claim 4, it is characterised in that when first universal wheel, the second universal wheel
When abutting ground, it is vertical with the second wheel line that first universal wheel, the second universal wheel are respectively positioned on first wheel
Divide equally on face.
6. self-balance robot according to any one of claim 1 to 5, it is characterised in that the telescoping mechanism includes
Motor, sleeve, trapezoidal screw, screw:
The trapezoidal screw, screw are located at the sleeve inner；
The motor connection is between the car body and the trapezoidal screw, for driving the trapezoidal screw reciprocating rotation；
The screw is threadedly connected to the trapezoidal screw, for driving the sliding block to move back and forth；
Guiding mechanism, the rotation for limiting the screw are provided between the sleeve and the screw.
7. self-balance robot according to claim 6, it is characterised in that the telescoping mechanism also includes connector, rolling
Dynamic bearing：
The connector is fixedly connected between the screw and the sliding block；
The rolling bearing is assemblied between the sleeve and the trapezoidal screw, and the neighbouring motor.
8. self-balance robot according to claim 6, it is characterised in that the car body is formed with the first limited block,
Two limited blocks, when first universal wheel, the second universal wheel abut ground, first crank, the second crank are born against
First limited block, the second limited block.
9. self-balance robot according to claim 6, it is characterised in that first crank, the second crank structure phase
Together, the first universal wheel, the second Universal wheel structure are identical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710488278.1A CN107037825A (en) | 2017-06-23 | 2017-06-23 | A kind of self-balance robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710488278.1A CN107037825A (en) | 2017-06-23 | 2017-06-23 | A kind of self-balance robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107037825A true CN107037825A (en) | 2017-08-11 |
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ID=59541268
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710488278.1A Pending CN107037825A (en) | 2017-06-23 | 2017-06-23 | A kind of self-balance robot |
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| Country | Link |
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| CN (1) | CN107037825A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111347386A (en) * | 2018-12-20 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Robot chassis and robot |
| US20220144353A1 (en) * | 2019-02-20 | 2022-05-12 | Siemens Aktiengesellschaft | Self-balancing driverless transport vehicle |
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| CN203032844U (en) * | 2012-12-18 | 2013-07-03 | 武济群 | Self-balanced vehicle auxiliary wheel structure and self-balanced vehicle with same |
| CN104943786A (en) * | 2015-06-29 | 2015-09-30 | 深圳市宝乐机器人技术有限公司 | Automatic safety protection method for two-wheeled balance car |
| CN205499126U (en) * | 2016-01-14 | 2016-08-24 | 西南科技大学 | Complementary unit and adopt its novel balanced mobile device |
| CN106080889A (en) * | 2016-07-19 | 2016-11-09 | 尚艳燕 | A kind of electrodynamic balance car |
| CN205872283U (en) * | 2016-07-29 | 2017-01-11 | 陈培珍 | Take double round electrodynamic balance car of undercarriage |
| CN206863590U (en) * | 2017-06-23 | 2018-01-09 | 歌尔科技有限公司 | A kind of self-balance robot |
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2017
- 2017-06-23 CN CN201710488278.1A patent/CN107037825A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203032844U (en) * | 2012-12-18 | 2013-07-03 | 武济群 | Self-balanced vehicle auxiliary wheel structure and self-balanced vehicle with same |
| CN104943786A (en) * | 2015-06-29 | 2015-09-30 | 深圳市宝乐机器人技术有限公司 | Automatic safety protection method for two-wheeled balance car |
| CN205499126U (en) * | 2016-01-14 | 2016-08-24 | 西南科技大学 | Complementary unit and adopt its novel balanced mobile device |
| CN106080889A (en) * | 2016-07-19 | 2016-11-09 | 尚艳燕 | A kind of electrodynamic balance car |
| CN205872283U (en) * | 2016-07-29 | 2017-01-11 | 陈培珍 | Take double round electrodynamic balance car of undercarriage |
| CN206863590U (en) * | 2017-06-23 | 2018-01-09 | 歌尔科技有限公司 | A kind of self-balance robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111347386A (en) * | 2018-12-20 | 2020-06-30 | 沈阳新松机器人自动化股份有限公司 | Robot chassis and robot |
| US20220144353A1 (en) * | 2019-02-20 | 2022-05-12 | Siemens Aktiengesellschaft | Self-balancing driverless transport vehicle |
| US11884338B2 (en) * | 2019-02-20 | 2024-01-30 | Körber Supply Chain Logistics Gmbh | Self-balancing driverless transport vehicle |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170811 |
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| RJ01 | Rejection of invention patent application after publication |