CN101284552B - Dynamically balanced unicycle mobile robot body - Google Patents

Abstract

The invention discloses a dynamic balance single-wheel mobile robot body, which comprises a single rotating wheel, a central shaft is fixedly connected to the central hub of the rotating wheel; a counterweight for carrying objects is located on the same plane as the rotating wheel ; a support mechanism, including a set of first connecting rods fixed on the central shaft, and a second connecting rod connected to the counterweight, the first connecting rod and the second connecting rod are connected through a central pivot shaft; A motor that drives the central shaft. When the total length of the supporting mechanism connected with the counterweight is greater than the radius of the rotating wheel, the supporting mechanism and the counterweight are located above the rotating wheel; and a motor that can drive the central pivot shaft to rotate is also provided. When the total length of the supporting mechanism connected with the counterweight is less than the radius of the rotating wheel, the supporting mechanism and the counterweight are nested inside the rotating wheel, and the direction is vertically upward or downward. It can realize the function of carrying objects by matching the corresponding control unit. It can also solve the balance problem of the unicycle.

Description

Dynamically balanced unicycle mobile robot body

technical field

The invention belongs to the technical field of robot application, and in particular relates to a mobile robot body with one wheel.

Background technique

The research on single-wheeled robots has broad application prospects: using its amphibious characteristics, it can be introduced into environments such as beaches and swamps for transportation, rescue and mineral detection; it can be used as a monitoring robot by using its slender appearance, Realize the monitoring of narrow places; in the field of aerospace, a lunar vehicle that is not affected by terrain and can move freely can be developed based on the principle of a single-wheeled robot.

The single-wheel stable robot prototypes Gyrover_1 and Gyrover_2 developed by the Chinese University of Hong Kong have only one wheel in appearance, and they move like a top. This single-wheel robot uses a gyroscope to stabilize its movement. There are three motors in its structure. The motor drives a suspension flywheel to rotate at high speed, making it stable at high and low speeds. The tilting motor is used to control the angle of the flywheel. Control the steering and drive the motor to change the position of the internal center of mass to drive the robot forward or backward. The robot can walk more stably and turn freely when moving, but it is driven by three motors and has a complex structure.

Contents of the invention

The object of the present invention is to provide a dynamic balance single-wheeled mobile robot body, which can realize the function of carrying objects by matching with a corresponding control unit. It can also solve the balance problem of the one-wheel robot, and provides a theoretical method and a structural model for the in-depth study of the one-wheel robot.

In order to achieve the above object, the present invention adopts the following designs:

A dynamic balance single-wheel mobile robot body, including a single rotating wheel, a central shaft is fixedly connected to the central hub of the rotating wheel; a counterweight for carrying objects, located on the same plane as the rotating wheel; a supporting mechanism , including a set of first connecting rod fixed on the central shaft, and a second connecting rod connected to the counterweight, the first connecting rod and the second connecting rod are connected through a central pivot shaft; at least one can drive the central shaft to rotate motor.

When the total length of the supporting mechanism connected with the counterweight is greater than the radius of the rotating wheel, the supporting mechanism and the counterweight are located above the rotating wheel; and a motor that can drive the central pivot shaft to rotate is also provided.

When the total length of the supporting mechanism connected with the counterweight is less than the radius of the rotating wheel, the supporting mechanism and the counterweight are nested inside the rotating wheel, and the direction is vertically upward or downward; the two ends of the central axis are fixed on the flat On the spherical housing, the motor driving the central shaft rotates through the gear set to drive the central shaft to rotate.

The body of the dynamic balancing single-wheel mobile robot of the present invention can also be applied to other fields, such as changing the counterweight to a seat for people to ride on, for people to use as a walking tool for entertainment and fitness or for special occasions.

The advantages of the present invention are:

1. Compared with a robot that walks with more than two wheels, it has the characteristics of small size, easy to carry, and convenient to park.

2. The structure is simple, the balance performance is good, the application range is wide, and it can meet the requirements of different sizes.

Description of drawings

Fig. 1a is a schematic view of the structure of an embodiment of the dynamic balancing single-wheeled mobile robot of the present invention (side view)

Fig. 1b is a schematic view of the structure of the embodiment shown in Fig. 1a (front view)

Fig. 2 is a structural schematic view of another embodiment of the present invention (schematic diagram, excluding the shaft bar of the rotating wheel)

Fig. 3 is a structural schematic diagram of another embodiment of the present invention (schematic diagram, excluding the axis bar of the rotating wheel)

Figure 4 is a schematic diagram of the structure of a dynamic balancing one-wheeled mobile robot with a handle

Figure 5 is a schematic diagram of the structure of a dynamic balancing one-wheeled mobile robot without a handle

Below in conjunction with accompanying drawing and specific embodiment to be described in further detail:

Detailed ways

Referring to Figures 1 to 5, the most important basic structure of the body of the dynamic balancing single-wheel mobile robot of the present invention includes a single rotating wheel 1, a support mechanism, and a counterweight 8 that travels with the rotating wheel. It is provided with a control unit for controlling it to realize the front and rear direction and a control unit for realizing the left and right direction. The body of the dynamic balancing single-wheel mobile robot in the present invention refers to a mechanical structure of the robot, excluding the intelligent control part. The intelligent control part of the control unit can be developed separately for various functions, which will not be the subject of this application.

Fig. 1a and Fig. 1b show a main structure of the dynamic balancing single-wheel mobile robot of the present invention, including: a central shaft 2 is fixedly connected to the central hub of the rotating wheel 1, and the central shaft 2 is passed through the lower end of the first connecting rod 4, The motor 3 that can drive the central shaft to rotate and the motor 5 that can drive the central pivot shaft to rotate are installed on the first connecting rod 4, the first connecting rod 4 and the second connecting rod 7 are connected by the central pivot shaft 6, and the counterweight 8 is connected to the second connecting rod. Two connecting rods 7 are fixedly connected. The counterweight 8 should be located on the same plane as the rotating wheel 1. In this embodiment, the total length of the supporting mechanism connecting the counterweight is greater than the radius of the rotating wheel, and the supporting mechanism and the counterweight are located above the rotating wheel, and The lower end of the first connecting rod of the support mechanism is a fork-shaped structure, and the two fork ends are sleeved on the central shaft 2, and the output shaft of the motor 3 that drives the central shaft to rotate is directly fixedly connected with the central shaft.

It also includes a handle device, fixed on the support mechanism, see Figure 4.

Fig. 2 and Fig. 3 have shown the main structural forms of other two embodiments of the dynamic balancing single-wheel mobile robot of the present invention: in this form, the total length of the support mechanism connecting the counterweight is less than the radius of the rotating wheel, the support mechanism and the counterweight The object is nested in the rotating wheel, and the direction is vertically upward or downward; the two ends of the central shaft 2 are fixed on the oblate spherical housing, and the motor 3 driving the central shaft rotates to drive the central shaft to rotate through the gear set.

The rotating wheel can be an oblate spherical closed structure, which can prevent dust or foreign debris from entering, protect the internal driving equipment, and open the door on the side to facilitate maintenance and operation.

The motor 3 of the dynamic balancing single-wheel mobile robot of the present invention drives the central shaft 2 and the rotating wheel 1 to rotate to realize the control of the front and rear directions, and another motor 5 that can drive the central pivot shaft to rotate drives the second connecting rod 7 and the counterweight 8 to rotate around the shaft Swing to realize left and right direction control. The two motors provide two orthogonal torques, the swing of the rotating wheel and the two connecting rods realizes the balance control in two directions, and the structure is simple and easy to control.

The dynamic balance single-wheel mobile robot proposed by the present invention can also realize the function of carrying people, and can be used as a means of transportation. Wherein the counterweight object 8 is converted into a seat, and the weight of a person is used as a counterweight. When the unicycle robot has a handle device (as shown in Figure 4), people can realize left and right balance by manipulating the handle, and the front and rear balance is still realized by the rotating wheel. When the robot has no handle (as shown in Figure 5), the motor control seat drives people's motion to realize the left and right balance, and the front and rear balance is as described above.

The working process and principle of the present invention are: when the robot has a tendency to fall forward, the motor 3 controls the rotation of the rotating wheel 1, so that the rotating wheel 1 moves forward; when the robot has a tendency to fall backward, the motor 3 controls the rotating wheel 1 to move forward; Rear movement; when the robot has a tendency to fall to the left, the motor 5 controls the second connecting rod 7 and the counterweight 8 to swing to the right around the central pivot axis; when the robot has a tendency to fall to the right, the motor 5 controls the second connecting rod 7 And the counterweight 8 swings to the left around the axis 6. When the robot tends to fall in both directions, the two motors work simultaneously to drive the corresponding parts to move, adjust the position of the center of gravity of the entire system, and balance the robot. The start-up and control of the motor is realized by the intelligent control unit, which will not be repeated here.

At the joint formed by the first connecting rod 4 and the second connecting rod 7, the second connecting rod 7 can only swing around the central pivot shaft 6, and the central pivot shaft 6 is in a horizontal direction. When the rotating wheel 1 advances or retreats, the first connecting rod 4 moves together with the second connecting rod 7 and the counterweight 8. Only when the robot has a tendency to fall left and right, the second connecting rod 7 and the counterweight fixedly connected thereto will move together. Object 8 just produces left and right swing, and this moment first connecting rod 4 does not move.

The radius of the rotating wheel can be less than the total length of the supporting mechanism connected to the counterweight, and now the supporting mechanism and the counterweight are located above the wheel (see Figure 1); the radius of the rotating wheel can also be greater than the total length of the supporting mechanism and the counterweight, in this case Next, the supporting mechanism, the counterweight, the central shaft, and the motor can be nested on the plane of the rotating wheel, and the direction can be vertically upward or downward. At this time, the rotating wheel can be oblate, and the motor 3 is installed on the connecting rod 4. The rotating wheel is driven to rotate through gear transmission.

Claims (7)

1. A dynamic balance single-wheel mobile robot body, comprising a single rotating wheel, is characterized in that: A central shaft is fixed on the central hub of the rotating wheel; 1. The counterweight for carrying objects is located on the same plane as the rotating wheel; A support mechanism, including a set of first connecting rods fixed on the central shaft, and a second connecting rod connected to the counterweight, the first connecting rod and the second connecting rod are connected through a central pivot shaft; At least one motor capable of driving the central shaft to rotate; And also have a motor that can drive the pivot shaft to rotate. 2. The dynamic balancing single-wheel mobile robot body according to claim 1, characterized in that: the total length of the supporting mechanism connected to the counterweight is greater than the radius of the rotating wheel, and the supporting mechanism and the counterweight are located above the rotating wheel . 3. The dynamic balancing single-wheel mobile robot body according to claim 2, characterized in that: the lower end of the first connecting rod of the support mechanism is a fork-shaped structure, and the two fork ends are sleeved on the central shaft to drive the central shaft to rotate. The output shaft of the motor is directly fixedly connected with the central shaft. 4. The body of the dynamic balancing single-wheel mobile robot according to claim 2, characterized in that it also includes a handle device fixed on the support mechanism or the counterweight. 5. The dynamic balancing single-wheel mobile robot body according to claim 1, characterized in that: the total length of the supporting mechanism connected to the counterweight is less than the radius of the rotating wheel, and the supporting mechanism and the counterweight are nested on the rotating wheel Inside, the direction is vertically upward or downward; the two ends of the central shaft are fixed on the oblate spherical shell, and the motor driving the central shaft rotates through the gear set to drive the central shaft to rotate. 6. The dynamic balancing single-wheel mobile robot according to claim 5, characterized in that: the rotating wheel is an oblate spherical closed structure. 7. The dynamic balancing one-wheeled mobile robot according to claim 2, characterized in that: said counterweight is a seat for people to ride on.

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