CN111452061A

CN111452061A - Single-wheel robot

Info

Publication number: CN111452061A
Application number: CN202010343443.6A
Authority: CN
Inventors: 柳维强; 兰毅
Original assignee: Planetary Computing Power Shenzhen Technology Co ltd
Current assignee: Planetary Computing Power Shenzhen Technology Co ltd
Priority date: 2020-04-27
Filing date: 2020-04-27
Publication date: 2020-07-28

Abstract

The invention provides a single-wheel robot, and belongs to the technical field of robots. The problem that an existing single-wheel robot is prone to instability when meeting an emergency is solved. This single-wheel robot includes by walking motor driven wheel and locates the walking frame on the wheel, is equipped with battery, balanced response subassembly and control circuit board on the walking frame, still is equipped with on the walking frame to be used for preventing the driving assembly that the walking frame after unbalance resets that the pole and the cooperation of preventing inclining of walking frame toppling over after the unbalance is used for making the walking frame after the unbalance reset. The invention has the advantages of simple structure, easy deployment, good portability, reliable work, small volume, good adaptability to narrow space, good trafficability, difficult instability and the like.

Description

Single-wheel robot

Technical Field

The invention belongs to the technical field of robots, and relates to a single-wheel robot.

Background

At present, the full-automatic robot that is used for making a video recording and detect at inside pipeline or complicated topography is used more and more extensively, and it can carry out some tasks that have danger to the manual work, even the manual work can't accomplish, if walk and carry out the task in narrow and small space, polluted environment, dangerous environment, still possess than advantages such as human cost is low, the incorruptibility is high, do not have tired sense.

The existing robot is mostly a quadruped robot or a tracked robot, is large in size, is not beneficial to carrying, is poor in steering capacity, and is weak in capacity of adapting to complex narrow environments. Therefore, the Chinese patent discloses a single-wheel robot [ application publication No. CN105320130A ], which mainly comprises wheels, a walking motor, a lithium battery pack, a control panel, a left balance block, a right balance block, a left balance servo motor, a right balance servo motor, a lead screw, a shell, a handle, a fixed bottom plate and the like. When the sensor detects that the vehicle body inclines rightwards, the left balance servo motor and the right balance servo motor are driven to rotate under the control of the ARM processor, and the lead screw is driven to rotate, so that the left balance block and the right balance block move leftwards until the vehicle body is kept vertical.

Although the single-wheel robot has the advantage of small volume, the following problems still exist: when an emergency occurs, the machine body is unstable, the balance of the machine body can not be maintained by the walking motor any more, and the machine body topples forwards or backwards, so that all components on the machine body are easily damaged; if the robot topples over in a narrow space, the robot cannot be recovered.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides a single-wheel robot which is not easy to destabilize in an emergency.

The purpose of the invention can be realized by the following technical scheme:

the utility model provides a single-wheel robot, includes by walking motor drive's wheel and locates the walking frame on the wheel, the walking frame on be equipped with battery, balanced response subassembly and control circuit board, the walking frame on still be equipped with the driving assembly that the anti-tilt pole that is used for preventing the walking frame after unbalance from empting and cooperation anti-tilt pole are used for making the walking frame after unbalance restore to the throne.

The battery provides electric energy for the operation of the single-wheel robot; the balance induction component is used for inducing the balance state of the walking frame; the signal input end of the control circuit board is connected with the balance induction assembly, and the signal output end of the control circuit board is connected with the walking motor and the driving assembly. When the walking frame is in a balanced state, the gravity center of the whole body consisting of the walking frame, the walking motor, the battery, the balance induction assembly, the control circuit board, the anti-roll bar and the driving assembly is positioned on the longitudinal center line of the wheels. When an emergency occurs, if the wheels bump into an obstacle which cannot be crossed, the walking frame can rotate forwards around the central axis of the wheels due to inertia, the center of gravity of the whole body moves forwards, the walking frame is unbalanced, the balance sensing assembly transmits a signal to the control circuit board, the control circuit board controls the driving assembly to act, the driving assembly drives the anti-tilt rod to swing or move linearly, and the anti-tilt rod is abutted to the ground so as to achieve the purpose of preventing the walking frame from rotating continuously around the central axis of the wheels. The walking frame after unbalance is reset by matching with the anti-roll bar under the action of the driving assembly, and the single-wheel robot is favorably recycled in a narrow space.

In the above-mentioned single-wheel robot, the driving assembly include a driving motor fixed on the walking frame, the rotation shaft of the driving motor is parallel to the central axis of the wheel, one end of the anti-roll bar is fixedly connected to the rotation shaft of the driving motor, and the distance from the other end of the anti-roll bar to the rotation shaft of the driving motor is greater than the distance from the rotation shaft of the driving motor to the walking plane.

When the robot is in a balanced state, one end of the anti-tilting rod, which is far away from the rotating shaft of the driving motor, is not in contact with the walking plane; when the robot is unbalanced, driving motor drives prevents the tilting bar and swings round the axis of driving motor pivot, prevents that the tilting bar from keeping away from the one end of driving motor pivot and from down moving this moment, supports until preventing that the tilting bar supports and leans on the purpose that the walking plane was toppled over in order to reach and prevent the walking frame. When the walking frame is unbalanced, the driving motor drives the anti-tilting rod which is abutted to the walking plane to continuously swing, so that the walking frame rotates to a balanced state around the central axis of the wheel.

In the single-wheel robot, the two driving motors are symmetrically arranged along the longitudinal central line of the wheel respectively, each rotating shaft of the driving motor is fixedly connected with an anti-roll rod, and the two anti-roll rods are symmetrically arranged along the longitudinal central line of the wheel.

One of the driving motors and the anti-tilting rod can prevent the unbalanced walking frame from tilting forwards and can reset the unbalanced walking frame forwards; the other driving motor and the anti-tilting bar can prevent the unbalanced walking frame from tilting backwards and can reset the backward unbalanced walking frame.

The robot can maintain balance through the balance induction component, also can maintain the balance of the robot through two anti-roll bars, namely the gravity center position of the anti-roll bar is changed by the swing of the driving motor driving the anti-roll bar, thereby changing the integral gravity center position formed by the walking frame, the walking motor, the battery, the balance induction component, the control circuit board, the anti-roll bar and the driving component, and further achieving the aim of balancing the robot.

In the single-wheel robot, the projection of the central axis of the driving motor rotating shaft on the walking plane coincides with the projection of the central axis of the wheel on the walking plane, and the anti-roll bar is positioned on the side of the wheel.

When the wheels need to turn left, the anti-tilting rod on the right side is abutted against the walking plane to enable the wheels to tilt towards the left side, the left steering is realized by matching with the rolling of the wheels, and the anti-tilting rod on the left side can prevent the wheels from completely tilting; when the wheels need to turn to the right, the anti-tilting rod positioned on the left side leans against the walking plane to enable the wheels to tilt to the right, the wheels roll to achieve right turning, and the anti-tilting rod positioned on the right side can prevent the wheels from completely tilting.

In the single-wheel robot, one end of the anti-roll bar, which is far away from the rotating shaft of the driving motor, is provided with a roller, and the central axis of the roller is parallel to the rotating shaft of the driving motor. Due to the arrangement of the rollers, the abrasion of the anti-tilting rod on a walking plane can be reduced, and the service life is prolonged.

In foretell single wheel robot, walking frame including the platform that is located the wheel top, link firmly on the platform and be located the left first backup pad of wheel and be located the second backup pad on wheel right side, driving motor locate on the platform. The upper space of the platform is fully utilized to install the driving motor, the size of the robot in the left and right directions is reduced, the robot can enter a narrow space, and the application range of the robot is improved.

In order to keep the walking frame balanced, the walking frame is symmetrically arranged along the longitudinal center line of the wheel, the electric box is arranged on the first supporting plate, the balance induction component, the control circuit board and the like are arranged in the electric box, the battery is arranged on the second supporting plate, and the electric box and the battery are symmetrically arranged along the longitudinal center line of the wheel.

In the single-wheel robot, the traveling motor is a hub motor, the hub motor is arranged in the wheel, the left end of a rotating shaft of the hub motor is connected to the first supporting plate, and the right end of the rotating shaft of the hub motor is connected to the second supporting plate. Wherein, the center of gravity of the in-wheel motor is positioned on the longitudinal central line of the wheel.

In the single-wheel robot, the walking frame is provided with a head, and a holder structure is arranged between the head and the walking frame. The head can be provided with a camera/sensor/lighting source/traction interface and the like, so that the operations of camera shooting, gas detection, cable traction and the like can be realized, and the acquired data is transmitted back to the user through a wireless network. When a plurality of single-wheel robots are used simultaneously, the single-wheel robots can be used for relaying signals.

In the above single-wheel robot, the holder structure includes a first motor fixed on the walking frame and having a rotation shaft extending in a horizontal direction, and a second motor fixed on the rotation shaft of the first motor, the rotation shaft of the second motor is perpendicular to the rotation shaft of the first motor, and the head is fixed on the rotation shaft of the motor. The axis of the first motor is parallel to the axis of the wheel, and the rotating shaft of the second motor longitudinally extends when the head is in a horizontal state. The first motor and the second motor are respectively controlled by the control circuit board, the pitching motion of the head can be realized when the first motor acts, the left-right swinging motion of the head can be realized when the second motor acts, and the observation range of the head is enlarged.

In the single-wheel robot, the balance induction component is a gyroscope.

Compared with the prior art, the single-wheel robot has the following advantages:

the structure is simple, the deployment is easy, and the portability is good; the work is reliable, the volume is small, the adaptability to narrow space is good, and the trafficability characteristic is good; can realize multiple functions in extreme environment and has wide application range; the part of the robot can be effectively protected during working, the service life is prolonged, meanwhile, the robot in a narrow space can be recycled, and the use cost is reduced.

Drawings

Fig. 1 is a front view of a first embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a first embodiment of the present invention.

Fig. 3 is a front view of the second embodiment of the present invention.

Fig. 4 is a schematic structural diagram of a second embodiment of the present invention.

In the figure, 1, wheel; 2. a battery; 3. an anti-roll bar; 4. a drive motor; 5. a roller; 61. a platform; 62. a first support plate; 63. a second support plate; 7. a head portion; 81. a first motor; 82. a second motor; 9. an electrical box.

Detailed Description

The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.

Example one

The single-wheel robot shown in fig. 1 and 2 comprises a wheel 1 driven by a walking motor and a walking frame arranged on the wheel 1, wherein the walking frame comprises a platform 61 positioned above the wheel 1, a first supporting plate 62 fixedly connected on the platform 61 and positioned at the left side of the wheel 1 and a second supporting plate 63 positioned at the right side of the wheel 1, and the first supporting plate 62, the second supporting plate 63 and the platform 61 are integrally formed. Wheel 1 is the rubber tyer, and the walking motor is wheel hub motor, and in wheel 1 was located to wheel hub motor, the left end of wheel hub motor's pivot was connected on first backup pad 62, and its right-hand member is connected on second backup pad 63.

As shown in fig. 1 and 2, an electrical box 9 is disposed on the first support plate 62, a control circuit board and a balance sensing assembly for sensing a balance state of the walking frame are disposed in the electrical box 9, the balance sensing assembly is a gyroscope, an ARM processor chip and a servo motor driver are disposed on the control circuit board, a signal input end of the ARM processor chip is connected with the gyroscope, a signal output end of the ARM processor chip is connected with the servo motor driver, and the servo motor driver is used for controlling an action of the walking motor. As shown in fig. 1, a battery 2 for supplying electric power for the operation of the one-wheel robot is provided on the second support plate 63, and an electric box 9 is provided symmetrically to the battery 2 along the longitudinal center line of the wheel 1.

The walking frame is also provided with an anti-tilting rod 3 for preventing the unbalanced walking frame from tilting and a driving assembly matched with the anti-tilting rod 3 and used for resetting the unbalanced walking frame. When the walking frame is in a balanced state, the gravity center of the whole body consisting of the walking frame, the walking motor, the battery 2, the balance induction assembly, the control circuit board, the anti-roll bar 3 and the driving assembly is positioned on the longitudinal central line of the wheel 1. When an emergency occurs, if the wheel 1 collides with an obstacle which cannot be crossed, the walking frame can rotate forwards around the central axis of the wheel 1 due to inertia, the center of gravity of the whole body moves forwards, the walking frame is unbalanced, the balance sensing assembly transmits a signal to the control circuit board, the control circuit board controls the driving assembly to act, the driving assembly drives the anti-tilt rod 3 to swing or move linearly, and the anti-tilt rod 3 abuts against the ground so as to achieve the purpose of preventing the walking frame from continuously rotating around the central axis of the wheel 1. The walking frame after preventing inclining 3 messenger unbalance resets of preventing inclining the pole under drive assembly's effect afterwards, is favorable to retrieving single-wheel robot in narrow and small space.

Specifically, as shown in fig. 1 and 2, the driving assembly includes a driving motor 4 fixed on the platform 61 and controlled by a servo motor driver, the driving motor 4 is installed by making full use of the upper space of the platform 61, the size of the robot in the left-right direction is reduced, the robot can enter a narrow space, and the application range of the robot is improved. As shown in fig. 1, the rotating shaft of the driving motor 4 is parallel to the central axis of the wheel 1, the rotating shaft of the driving motor 4 is located right above the central axis of the wheel 1, the anti-roll bar 3 is located on the side of the wheel 1, one end of the anti-roll bar 3 is fixedly connected with the rotating shaft of the driving motor 4, and the distance from the other end of the anti-roll bar 3 to the rotating shaft of the driving motor 4 is greater than the distance from the rotating shaft of the driving motor 4 to the walking plane.

When the robot is in a balanced state, one end of the anti-tilting rod 3, which is far away from the rotating shaft of the driving motor 4, is not in contact with the walking plane. When the robot is unbalanced, the gyroscope gives ARM treater chip with signal transmission, ARM treater chip control servo motor driver, servo motor driver control driving motor 4's action, thereby make prevent the axis swing of anti-roll bar 3 round driving motor 4 pivot, prevent that the one end that anti-roll bar 3 kept away from driving motor 4 pivot from last down motion this moment, support until anti-roll bar 3 and lean on the purpose that prevents walking frame and topple over in order to reach the walking plane. When the walking frame is unbalanced, the driving motor 4 drives the anti-tilting rod 3 which is abutted to the walking plane to continuously swing, so that the walking frame rotates to a balanced state around the central axis of the wheel 1.

As shown in fig. 1, two driving motors 4 are symmetrically arranged along the longitudinal center line of the wheel 1, each rotating shaft of each driving motor 4 is fixedly connected with an anti-roll bar 3, and the two anti-roll bars 3 are symmetrically arranged along the longitudinal center line of the wheel 1. The driving motor 4 and the anti-tilting rod 3 can prevent the unbalanced walking frame from tilting forwards and can reset the unbalanced walking frame forwards; the other driving motor 4 and the anti-roll bar 3 can prevent the unbalanced travelling frame from falling backwards and can reset the backward unbalanced travelling frame.

The robot maintains the balance of the robot through the two anti-roll bars 3, namely under the action of the ARM processor chip, the gravity center position of the anti-roll bar 3 is changed by driving the anti-roll bar 3 to swing through the driving motor 4, so that the integral gravity center position formed by the walking frame, the walking motor, the battery 2, the balance induction assembly, the control circuit board, the anti-roll bar 3 and the driving assembly is changed, and the aim of balancing the robot is fulfilled.

When the wheel 1 needs to turn left, the anti-tilt rod 3 on the right side is abutted to the walking plane to enable the wheel 1 to tilt to the left side, the left steering is realized by matching with the rolling of the wheel 1, and the anti-tilt rod 3 on the left side can prevent the wheel 1 from completely tilting; when the wheel 1 needs to turn to the right, the anti-tilt rod 3 positioned on the left side leans against the walking plane to enable the wheel 1 to tilt to the right, the right turning is realized by matching the rolling of the wheel 1, and the anti-tilt rod 3 positioned on the right side can prevent the wheel 1 from completely tilting.

As shown in fig. 1 and 2, a roller 5 or a bearing is disposed at one end of the anti-roll bar 3 away from the rotating shaft of the driving motor 4, and the central axis of the roller 5 or the bearing is parallel to the rotating shaft of the driving motor 4, so that the abrasion of the anti-roll bar 3 on the walking plane can be reduced, and the service life can be prolonged.

As shown in fig. 1 and 2, a head 7 is provided on the table. The head part 7 is provided with a camera/sensor/lighting source/traction interface and the like, so that the operations of camera shooting, gas detection, cable traction and the like can be realized, and the acquired data is transmitted back to the user through a wireless network; when a plurality of single-wheel robots are used simultaneously, the single-wheel robot can be used for relaying signals.

Example two

The structure principle of the present embodiment is basically the same as that of the first embodiment, except that a pan-tilt structure is provided between the head 7 and the table.

As shown in fig. 3 and 4, the pan/tilt head structure includes a first motor 81 fixed on the walking frame and having a rotation shaft extending in a horizontal direction, and a second motor 82 fixed on the rotation shaft of the first motor 81, wherein the rotation shaft of the second motor 82 is perpendicular to the rotation shaft of the first motor 81, and the head 7 is fixed on the rotation shaft of the motor. Specifically, as shown in fig. 3, the central axis of the first motor 81 is parallel to the central axis of the wheel 1, and the rotating shaft of the second motor 82 extends longitudinally when the head 7 is in the horizontal state.

The first motor 81 and the second motor 82 are driven by a servo motor driver, and when the first motor 81 is operated, the pitching operation of the head 7 is realized, and when the second motor 82 is operated, the yawing operation of the head 7 is realized, and the observation range of the head 7 is increased.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims

1. The utility model provides a single-wheel robot, includes by walking motor driven wheel (1) and locates the walking frame on wheel (1), its characterized in that, the walking frame on be equipped with battery (2), balanced response subassembly and control circuit board, the walking frame on still be equipped with anti-tilt rod (3) and cooperation anti-tilt rod (3) that are used for preventing the walking frame after unbalance from empting and be used for making the drive assembly that the walking frame after unbalance resets.

2. The unicycle robot as claimed in claim 1, wherein the driving assembly comprises a driving motor (4) fixed on the walking frame, the rotation axis of the driving motor (4) is parallel to the central axis of the wheel (1), one end of the anti-roll bar (3) is fixedly connected with the rotation axis of the driving motor (4), and the distance from the other end of the anti-roll bar (3) to the rotation axis of the driving motor (4) is greater than the distance from the rotation axis of the driving motor (4) to the walking plane.

3. The unicycle robot according to claim 2, wherein the two driving motors (4) are symmetrically arranged along the longitudinal central line of the wheel (1), each driving motor (4) has a rotation shaft to which an anti-roll bar (3) is fixed, and the two anti-roll bars (3) are symmetrically arranged along the longitudinal central line of the wheel (1).

4. The unicycle robot according to claim 2 or 3, wherein the projection of the central axis of the rotation shaft of the driving motor (4) on the walking plane coincides with the projection of the central axis of the wheel (1) on the walking plane, and the anti-roll bar (3) is located at the side of the wheel (1).

5. The unicycle robot as claimed in claim 4, wherein the anti-roll bar (3) has a roller (5) at its end away from the rotation shaft of the driving motor (4), and the central axis of the roller (5) is parallel to the rotation shaft of the driving motor (4).

6. The unicycle robot according to claim 2, wherein said walking frame comprises a platform (61) located above the wheel (1), a first support plate (62) attached to the platform (61) and located at the left side of the wheel (1), and a second support plate (63) located at the right side of the wheel (1), said driving motor (4) being provided on the platform (61).

7. The unicycle robot according to claim 6, wherein said walking motor is a hub motor, said hub motor is installed in the wheel (1), the left end of the rotation shaft of said hub motor is connected to the first supporting plate (62), and the right end is connected to the second supporting plate (63).

8. The unicycle robot according to claim 1 or 2 or 3 or 6 or 7, wherein said walking frame is provided with a head (7).

9. The unicycle robot according to claim 8, wherein a pan-tilt structure is provided between the head (7) and the walking frame.

10. The unicycle robot of claim 1, 2, 3, 6 or 7, wherein said balancing induction module is a gyroscope.