CN101284552B - Dynamic balancing single-wheel remotion robot body - Google Patents
Dynamic balancing single-wheel remotion robot body Download PDFInfo
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- CN101284552B CN101284552B CN2008101063483A CN200810106348A CN101284552B CN 101284552 B CN101284552 B CN 101284552B CN 2008101063483 A CN2008101063483 A CN 2008101063483A CN 200810106348 A CN200810106348 A CN 200810106348A CN 101284552 B CN101284552 B CN 101284552B
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Abstract
The invention discloses a dynamic-balancing one-wheel moving robot body, which comprises a single rotary wheel, a counterweight article for carrying weight, a support mechanism and at least a motor that can drive the central shaft to rotate; a central shaft is fixedly connected with the central hub of the rotary wheel; the counterweight article is on the same plane with the rotary wheel; the support mechanism comprises a first connecting rod fixedly sleeved on the central shaft and a second connecting rod connected with the counterweight article; the first connecting rod and the second connecting rod are connected through a central shaft. When the total length of the support mechanism connecting the counterweight article is bigger than the semi-diameter of the rotary wheel, the support mechanism and the counterweight article are above the rotary wheel; the motor that can drive the central shaft to rotate is also provided. When the total length of the support mechanism connecting the counterweight article is smaller than the semi-diameter of the rotary wheel, the support mechanism and the counterweight article are embedded in the rotary wheel with plumb-upward or downward directions. Corresponding matched control units can be utilized to realize the function of loaded traveling; and the balance issue of one-wheeler can be solved.
Description
Technical field
The invention belongs to the robot application technical field, relate in particular to a kind of mobile apparatus human body of single wheel.
Background technology
The research of single-wheel robot has broad application prospects: utilize its amphibious characteristic, it is incorporated into environment such as seabeach and marshy area, transport, rescue and mineral survey; Utilize the very thin characteristic of its profile that it is used as supervisory-controlled robot, realize monitoring narrow place; At space industry, can develop a kind of influence of topography, motion lunar rover vehicle freely of not being subjected to based on the principle of single-wheel robot.
Robot model machine Gyrover_1 and Gyrover_2 are stablized in the single-wheel of Hong Kong Chinese University's development, have only a wheel from seeing in appearance, and motion is got up the spitting image of a gyro.This single-wheel robot is realized the stable of its motion with gyroscope, have 3 motors in its structure, adopt motor to drive a suspension flywheel high speed revolution, all very stable when making high speed and low-speed motion, thereby utilize the angle control of canting electric machine control flywheel to turn to, thereby drive motor change the advancing or retreat of position drive machines people of inner barycenter.Walking that can be comparatively stable during this robot motion and freely turning, but three motor-driven, complex structure.
Summary of the invention
The purpose of this invention is to provide a kind of dynamic balancing single-wheel remotion robot body, utilize its coupling control corresponding unit can realize the function that loading is advanced.And also can solve the equilibrium problem of one-wheel robot, for the in-depth study of one-wheel robot provides theoretical method and structure mode.
For achieving the above object, the present invention takes following design plan:
A kind of dynamic balancing single-wheel remotion robot body comprises a monomer rotor wheel, connects firmly a center shaft on the center hub of rotor wheel; One realizes the mass of loading, in the same plane with rotor wheel; One supporting mechanism comprises that one is fixed in the first connecting rod on the center shaft, and connects the second connecting rod of mass, and first connecting rod and second connecting rod are connected by pivotal axis realization in; At least have one and can drive the motor that center shaft rotates.
The total length that connects mass when described supporting mechanism is during greater than the radius of rotor wheel, and supporting mechanism and mass are positioned at the top of rotor wheel; And also have the motor that pivotal axis rotates in can driving.
The total length that connects mass when described supporting mechanism is during less than the radius of rotor wheel, and supporting mechanism and mass are nested in the rotor wheel the inside, and direction is up or down vertical; The two ends of center shaft are fixed on the spheroidicity housing, and the motor that drives the center shaft rotation rotates by the gear set drive center shaft.
Dynamic balancing single-wheel remotion robot body of the present invention also may be used on other field, as mass being changed into the seat that can ride seat for the people, for the people as a kind of entertainment body-building or be applied to the instrument of advancing under the special occasions.
Advantage of the present invention is:
1, the relative robot of the above walking of two-wheeled, have volume little, be easy to carry about with one, the characteristics of convenient parking.
2, simple in structure, balance quality is good, and is applied widely, can satisfy the different size requirement.
Description of drawings
Fig. 1 a is kinetic balance single wheel mobile robot one an example structure scheme drawing (side-looking) of the present invention
Fig. 1 b is Fig. 1 a illustrated embodiment structural representation (forward sight)
Fig. 2 be another embodiment of the present invention structural representation (schematic diagram, do not comprise rotor wheel the axle bar)
Fig. 3 be further embodiment of this invention structural representation (schematic diagram, do not comprise rotor wheel the axle bar)
Fig. 4 is the kinetic balance single wheel mobile robot structural representation that has handle
Fig. 5 is a kinetic balance single wheel mobile robot structural representation not with handles
Below in conjunction with drawings and the specific embodiments to being described in further details:
The specific embodiment
Consult Fig. 1 to shown in Figure 5, the main basic framework of dynamic balancing single-wheel remotion robot body of the present invention comprises a monomer rotor wheel 1, one supporting mechanism, one with the same mass 8 of advancing of rotor wheel, and its control unit of realizing control unit of fore-and-aft direction and realizing left and right directions of control is set on body.Dynamic balancing single-wheel remotion robot body of the present invention is meant a kind of physical construction body of robot, does not comprise intelligent control part.The intelligent control part of control unit can be developed separately at multiple function, its will be not as the application's main body.
Fig. 1 a and Fig. 1 b show kinetic balance single wheel mobile robot one agent structure of the present invention, comprise: on the center hub of rotor wheel 1, connect firmly a center shaft 2, center shaft 2 is located in first connecting rod 4 lower ends, the motor 5 that pivotal axis rotates in can driving motor 3 that center shaft rotates and can driving is installed on the first connecting rod 4, first connecting rod 4 is connected by middle pivotal axis 6 with second connecting rod 7, and mass 8 connects firmly with second connecting rod 7.Described mass 8 should be in the same plane with rotor wheel 1, among this embodiment, supporting mechanism connects the radius of the total length of mass greater than rotor wheel, supporting mechanism and mass are positioned at the top of rotor wheel, and the first connecting rod lower end of described supporting mechanism is a fork configuration, two forks are sleeved on the center shaft 2, drive motor 3 output shafts that center shaft rotates directly and center shaft connect firmly.
It also comprises leader's device, is fixed on the supporting mechanism, referring to Fig. 4.
Fig. 2 and Fig. 3 show the agent structure form of two other embodiment of kinetic balance single wheel mobile robot of the present invention: supporting mechanism connects the radius of the total length of mass less than rotor wheel in this kind form, supporting mechanism and mass are nested in the rotor wheel the inside, and direction is up or down vertical; The two ends of center shaft 2 are fixed on the spheroidicity housing, and the motor 3 that drives the center shaft rotation rotates by the gear set drive center shaft.
Rotor wheel can be the spheroidicity enclosed construction, and enclosed construction can prevent that dust or external impurities from entering, and inner driving arrangement is shielded the convenient for maintaining that opens the door in side operation.
Kinetic balance single wheel mobile robot's of the present invention motor 3 drives center shaft 2 and rotor wheel 1 rotates, and realizes the control of fore-and-aft direction, and motor 5 drive second connecting rods 7 that pivotal axis rotated during another can drive and mass 8 are realized the control of left and right directions around the axle swing.Two motors provide the moment of torsion of two quadratures, and the swing of rotor wheel and two connecting rods realizes the balance control of both direction, and is simple in structure, and are easy to control.
Kinetic balance single wheel mobile robot proposed by the invention also can realize manned function, uses as a kind of vehicle.Wherein mass 8 is adapted as seat, by people's weight as counterweight.When one-wheel robot jug device (as shown in Figure 4), the people can realize left and right sides balance by signaling handle, and anterior-posterior balance is still realized by rotor wheel.When robot does not have handle (as shown in Figure 5), the motion that the electric machine control seat drives the people realizes left and right sides balance, and anterior-posterior balance as mentioned above.
Working process of the present invention and principle are: when robot has when falling trend forward, motor 3 control rotor wheels 1 rotate, and make rotor wheel 1 travel forward; When robot has when falling trend backward, motor 3 control rotor wheels 1 move backward; When robot has when falling trend left, motor 5 control second connecting rods 7 and mass 8 are swung to the right around middle pivotal axis; When robot has when falling trend to the right, motor 5 control second connecting rods 7 and mass 8 are swung left around axle 6.When robot was all fallen trend on both direction, two motors were worked simultaneously, drove corresponding parts and produced motion, adjusted the position of total system center of gravity, made the robot balance.The control of opening of motor is realized that by intelligent control unit this does not give unnecessary details.
To swing around middle pivotal axis 6, middle pivotal axis 6 is a horizontal direction only for the joint that first connecting rod 4 and second connecting rod 7 are formed, second connecting rod 7.When rotor wheel 1 advances or retreats, first connecting rod 4 is with second connecting rod 7, mass 8 motions, when falling trend about having only robot to produce, second connecting rod 7 and connect firmly thereon mass 8 and just produces and swing, first connecting rod 4 did not have and moved this moment.
The rotor wheel radius can connect the total length of mass less than supporting mechanism, and this moment, supporting mechanism and mass were positioned at wheel top (see figure 1); The rotor wheel radius also can be greater than supporting mechanism and mass total length, in this case, supporting mechanism, mass, center shaft, motor can be nested in the rotor wheel plane, direction can be for up or down vertical, at this moment, rotor wheel can be spheroidicity, and motor 3 is installed on the connecting rod 4, drives rotor wheel by gear transmission and rotates.
Claims (7)
1. a dynamic balancing single-wheel remotion robot body comprises a monomer rotor wheel, it is characterized in that:
On the center hub of rotor wheel, set firmly a center shaft;
One realizes the mass of loading, in the same plane with rotor wheel;
One supporting mechanism comprises that one is fixed in the first connecting rod on the center shaft, and connects the second connecting rod of mass, and first connecting rod and second connecting rod are connected by pivotal axis realization in;
At least have one and can drive the motor that center shaft rotates;
And also have one can drive in the motor that rotates of pivotal axis.
2. dynamic balancing single-wheel remotion robot body according to claim 1 is characterized in that: described supporting mechanism connects the radius of the total length of mass greater than rotor wheel, and supporting mechanism and mass are positioned at the top of rotor wheel.
3. dynamic balancing single-wheel remotion robot body according to claim 2, it is characterized in that: the first connecting rod lower end of described supporting mechanism is a fork configuration, two forks are sleeved on the center shaft, drive motor output shaft that center shaft rotates directly and center shaft connect firmly.
4. dynamic balancing single-wheel remotion robot body according to claim 2 is characterized in that: it also comprises leader's device, is fixed on supporting mechanism or the mass.
5. dynamic balancing single-wheel remotion robot body according to claim 1, it is characterized in that: described supporting mechanism connects the radius of the total length of mass less than rotor wheel, supporting mechanism and mass are nested in the rotor wheel the inside, and direction is up or down vertical; The two ends of center shaft are fixed on the spheroidicity housing, and the motor that drives the center shaft rotation rotates by the gear set drive center shaft.
6. kinetic balance single wheel mobile robot according to claim 5 is characterized in that: rotor wheel is the spheroidicity enclosed construction.
7. kinetic balance single wheel mobile robot according to claim 2 is characterized in that: described mass is for riding the seat of seat for the people.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101063483A CN101284552B (en) | 2008-05-12 | 2008-05-12 | Dynamic balancing single-wheel remotion robot body |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101063483A CN101284552B (en) | 2008-05-12 | 2008-05-12 | Dynamic balancing single-wheel remotion robot body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101284552A CN101284552A (en) | 2008-10-15 |
| CN101284552B true CN101284552B (en) | 2010-04-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2008101063483A Expired - Fee Related CN101284552B (en) | 2008-05-12 | 2008-05-12 | Dynamic balancing single-wheel remotion robot body |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102520720B (en) * | 2011-12-09 | 2013-10-09 | 东南大学 | Single-wheel robot capable of realizing self balance |
| CN103645735B (en) * | 2013-12-04 | 2016-01-20 | 桂林电子科技大学 | A kind of wheelbarrow robot realizing self-equilibrating |
| CN109015667B (en) * | 2018-06-26 | 2022-05-03 | 坎德拉（深圳）软件科技有限公司 | Spherical robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1695905A (en) * | 2005-06-17 | 2005-11-16 | 北京航空航天大学 | Omnibearing movable spherical robot |
| CN200981609Y (en) * | 2006-08-16 | 2007-11-28 | 吴佳琦 | Single-wheel electric vehicle |
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2008
- 2008-05-12 CN CN2008101063483A patent/CN101284552B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1695905A (en) * | 2005-06-17 | 2005-11-16 | 北京航空航天大学 | Omnibearing movable spherical robot |
| CN200981609Y (en) * | 2006-08-16 | 2007-11-28 | 吴佳琦 | Single-wheel electric vehicle |
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| CN101284552A (en) | 2008-10-15 |
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