CN107902004A - Two-wheeled self-balancing transformable robot - Google Patents
Two-wheeled self-balancing transformable robot Download PDFInfo
- Publication number
- CN107902004A CN107902004A CN201711160035.1A CN201711160035A CN107902004A CN 107902004 A CN107902004 A CN 107902004A CN 201711160035 A CN201711160035 A CN 201711160035A CN 107902004 A CN107902004 A CN 107902004A
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- CN
- China
- Prior art keywords
- driving
- cabin
- motor
- balancing
- wheel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 239000003921 oil Substances 0.000 claims description 11
- 238000009825 accumulation Methods 0.000 claims description 4
- 239000000945 filler Substances 0.000 claims description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims 1
- 230000009194 climbing Effects 0.000 description 4
- 108010066057 cabin-1 Proteins 0.000 description 3
- 108010066114 cabin-2 Proteins 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The invention discloses a kind of two-wheeled self-balancing transformable robot, including middle control cabin, two driving cabins, two driving wheels, two deformation ratchet wheels and two spindle motors, two driving cabins are symmetricly set on middle control cabin both sides, it is connected with middle control cabin, cabin is driven to include driving motor, motor cabinet and driving shell out of my cabin, driving motor is fixed on by motor cabinet to be driven out of my cabin in shell, driving motor output shaft is connected with driving wheel, two deformation ratchet wheels are separately positioned on the outside of two driving wheels, and the wheel hub for deforming ratchet wheel and driving wheel connects.Spindle motor is located between driving wheel and driving cabin.Compact-sized, small, good concealment of the invention, it is easy to carry, drop operation.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of two-wheeled self-balancing transformable robot.
Background technology
Continuous with mankind's activity field expands, and robot is being explored, rescue, and the field role such as operation is increasingly
Substantially.The complexity and uncertainty that are mainly characterized by working environment in these fields, investigation tasks are performed in these environment
High risk is usually associated with, the moment threatens the life security of investigator.
It is crawler type or wheeled robot to quote more Detecting Robot at present, and wheeled robot it is more using four-wheel as
It is main.Crawler type obstacle climbing ability is strong, but speed is low；Wheeled speed, but obstacle climbing ability is insufficient.
The group of woods in 2015 is warm etc. to disclose one kind《Self-balancing coaxial two wheels robot》, which is a kind of two-wheeled being longitudinally arranged
Formula self-balance robot, can be in small space by the way that but flexibility and passability are poor.
Shen Ke Yang exists《A kind of design for throwing wheeled Detecting Robot》（Machine design and manufacture engineering）Carried in one text
A kind of two-wheeled Detecting Robot is gone out, using a kind of screw type movable pulley, balancing pole is housed in the middle part of two wheels, has one
Fixed obstacle climbing ability, but when facing step gully, obstacle climbing ability is substantially insufficient.Meanwhile screw type wheel vibration noise compared with
Greatly, flexibility deficiency.
The content of the invention
It is an object of the invention to provide a kind of two-wheeled self-balancing transformable robot, solves dangerous complicated landform
Inconvenient investigation problem.
The technical solution for realizing the object of the invention is：A kind of two-wheeled self-balancing transformable robot, including middle control
Cabin, two driving cabins, two driving wheels, two deformation ratchet wheels and two spindle motors, two driving cabins are symmetricly set on middle control
Cabin both sides, are connected with middle control cabin, and driving cabin includes driving motor, motor cabinet and driving shell out of my cabin, and driving motor passes through motor cabinet
Driving is fixed on out of my cabin in shell, driving motor output shaft is connected with driving wheel, and two deformation ratchet wheels are separately positioned on two drivings
The outside of wheel, the wheel hub for deforming ratchet wheel and driving wheel connect.Spindle motor is located between driving wheel and driving cabin.
Compared with prior art, the present invention its remarkable advantage is：（1）Designing one kind according to hydraulic damper principle can open
Open type deforms ratchet wheel, in face of complicated landform, during obstacle, deformation ratchet wheel can be used to substitute driving wheel and improve passability；（2）Deform pawl
Wheel is integrated in one with driving wheel, and light structure is convenient, and control is simple；（3）With eccentric self-balancing mechanism, for offsetting motor
Torque, keeps body posture balancing and stabilization；（4）Compact-sized, small, good concealment is easy to carry, drops operation.
Brief description of the drawings
Fig. 1 is the two-wheeled self-balancing transformable robot monnolithic case figure of the present invention.
Fig. 2 is the deformed monnolithic case figure of two-wheeled self-balancing transformable robot of the present invention.
Fig. 3 is the sectional view of the retractable pawl of the present invention.
Fig. 4 is the structure diagram of the deformation ratchet wheel of the present invention.
Fig. 5 is the schematic diagram of the eccentric self-balancing mechanism of the present invention.
Fig. 6 is the module annexation figure that cabin is controlled in the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
With reference to Fig. 1 and Fig. 2, two-wheeled self-balancing transformable robot of the present invention includes middle 1, two driving in control cabin
2, two, the cabin deformation ratchet wheel 5 of driving wheel 3, two and two spindle motors, two driving cabins 2 are symmetricly set on middle control 1 both sides of cabin,
It is connected by bolt and middle control cabin 1, driving cabin 2 includes driving motor, motor cabinet and driving shell out of my cabin, and driving motor passes through motor
Seat is fixed on driving out of my cabin in shell, and driving motor output shaft is connected with driving wheel 3, and two deformation ratchet wheels 5 are separately positioned on two
The outside of driving wheel 3, deformation ratchet wheel 5 are connected with the wheel hub of driving wheel 3.Spindle motor is located between driving wheel 3 and driving cabin 2.
With reference to Fig. 6, the middle control cabin 1 includes sensor, master control borad, gyroscope, eccentric self-balancing mechanism, and middle control is out of my cabin
Shell, sensor, master control borad and eccentric self-balancing mechanism are arranged at middle control out of my cabin in shell.Master control borad respectively with sensor, gyro
Instrument, eccentric self-balancing mechanism connection, master control borad are connected with driving motor.During robot manipulating task, surrounding ring is gathered by sensor
Border signal, sends a signal to master control borad, while gathers itself posture position information by gyroscope, transmits signals to master control
Plate.Driving motor and eccentric self-balancing mechanism are controlled by master control borad, realize the movement of machine and the control to itself posture
System.
With reference to Fig. 4, the deformation ratchet wheel 5 includes circular base 22, position limitation protection cover 27, leading screw 24, N number of retractable pawl 23
With M connecting rod 25, wherein M=N, N >=3；22 outer wall of circular base is uniformly distributed P connects bayonet socket, N number of 23 one end of retractable pawl
The connects bayonet socket with pedestal 22 is hinged respectively, P=N, and leading screw 24 is arranged in position limitation protection cover 27, and position limitation protection cover is stretched out in one end
27 and it is connected through circular base 22 with spindle motor, 27 one end of position limitation protection cover is fixed on 22 center of circular base, spacing guarantor
Several sliding slots are uniformly distributed on 27 lateral wall of shield, M 25 one end of connecting rod passes through the sliding slot and silk by feed screw nut 26
Thick stick 24 connects, and the other end is hinged with 23 outer wall of retractable pawl.Circular base 22 is connected with the wheel hub of driving wheel 3, passes through leading screw electricity
Machine drives leading screw 24, by the linear motion for being converted into feed screw nut 26 of leading screw 24, completes deformed movement.
With reference to Fig. 3, the retractable pawl 23 includes rubber pad 6,7, telescopic shaft 8 of being ramed, end cap 9, outer tube 10, oil sealing
11st, bearing 12, pressure accumulation sponge 13, piston head 15, inner tube 17, spring 19, non-return valve 20, oil filler plug 21, connector 4, inner tube 17
It is nested in outer tube 10,17 length of inner tube is less than 10 length of outer tube, and non-return valve 20 is stretched into from 10 bottom of outer tube, and embedded inner tube 17
Bottom, 9 center of end cap are equipped with through hole, and end cap 9 is fixed on the top of outer tube 10, and spring 19 is arranged in inner tube 17, its one end with
Non-return valve 20 is connected, and the other end is nested on piston head 15, and 8 bottom of telescopic shaft is connected by key and piston head 15, and top passes through
The through hole of end cap 9 stretches out outer tube 10, and with being ramed 7 by pin connection, and rubber pad 6, which is nested in, is ramed on 7, and axle sleeve 22 is sleeved on
On telescopic shaft 8, and in outer tube 10, ensure the concentricity of telescopic shaft 8, bearing 12 is fixed on axle sleeve 22, pressure accumulation sponge 13
It is arranged between axle sleeve 22 and outer tube 10, oil sealing 11 is equipped between axle sleeve 22 and telescopic shaft 8, hydraulic oil 18 is housed in inner tube 17,
Oil filler plug 21 is arranged in non-return valve 20, and hydraulic oil 18 is replaced for adding.14 He of oil return hole is provided with 17 side wall of inner tube
Three outages 16.20 bottom of non-return valve is hinged by connection 4 and the connects bayonet socket of pedestal 22.
With reference to Fig. 5, it is described bias self-balancing mechanism include external stator 27, wheel hub motor 29, electric motor end cap 30, bar 31, partially
Heart mass block 32 and roller 33, external stator 27 are nested at the central axis in middle control cabin 1, and external stator 27 is uncovered cylindrical box
Body, its inner wall are provided with a circle roller groove 28, and wheel hub motor 29 is secured by bolts in 27 center of external stator, and electric motor end cap 30 is sleeved on
On wheel hub motor 29, it is bolted, eccentric massblock 32 is housed on bar 31,31 one end of bar is connected with electric motor end cap 30, separately
One end is equipped with roller 33, is rolled in roller groove 28 of the roller 33 on external stator 27.
In flat road surface when driving, deformation ratchet wheel 5 is in contraction state, is driven by driving wheel 3, wheel hub motor 29 drives electricity
Generator terminal lid 30, bar 31, eccentric massblock 32 and rotor 33 rotate backward, and offset the moment of torsion of driving motor.During obstacle detouring, by leading screw electricity
Machine drives leading screw 24 to rotate, then the linear motion for being converted into feed screw nut 26 by leading screw 24, connecting rod 25 is opened, together
When, feed screw nut 26 moves to dead-centre position, is automatically locked, and robot switchs to ratchet wheel driving.Telescopic shaft 8 runs into raised, gully
When obstacle, compressible deformation, improves passability.
Claims (6)
- A kind of 1. two-wheeled self-balancing transformable robot, it is characterised in that：Including middle control cabin（1）, two driving cabins（2）, two A driving wheel（3）, two deformation ratchet wheels（5）With two spindle motors, two driving cabins（2）It is symmetricly set on middle control cabin（1）Two Side, with middle control cabin（1）It is connected, drives cabin（2）Including driving motor, motor cabinet and driving, shell, driving motor pass through motor out of my cabin Seat is fixed on driving out of my cabin in shell, driving motor output shaft and driving wheel（3）It is connected, two deformation ratchet wheels（5）It is separately positioned on Two driving wheels（3）Outside, deform ratchet wheel（5）With driving wheel（3）Wheel hub connection；Spindle motor is located at driving wheel（3）With Drive cabin（2）Between.
- 2. two-wheeled self-balancing transformable robot according to claim 1, it is characterised in that：The middle control cabin（1）Bag Sensor, master control borad, gyroscope, eccentric self-balancing mechanism are included, it is middle to control shell, sensor, master control borad and eccentric self-balancing machine out of my cabin Structure is arranged at middle control out of my cabin in shell；Master control borad be connected with sensor, gyroscope, eccentric self-balancing mechanism respectively, master control borad and Driving motor is connected bottle；During robot manipulating task, surrounding signals are gathered by sensor, send a signal to master control borad, together When itself posture position information gathered by gyroscope, transmit signals to master control borad；By master control borad control driving motor with And eccentric self-balancing mechanism, realize the movement of machine and the control to itself posture.
- 3. two-wheeled self-balancing transformable robot according to claim 1, it is characterised in that：The deformation ratchet wheel（5） Including circular base（22）, position limitation protection cover（27）, leading screw（24）, N number of retractable pawl（23）With M connecting rod（25）, wherein M= N, N >=3；Circular base（22）Outer wall is uniformly distributed P connects bayonet socket, N number of retractable pawl（23）One end respectively with pedestal（22） Connects bayonet socket be hinged, P=N, leading screw（24）It is arranged on position limitation protection cover（27）Interior, position limitation protection cover is stretched out in one end（27）And wear Cross circular base（22）It is connected with spindle motor, position limitation protection cover（27）One end is fixed on circular base（22）Center, spacing guarantor Shield（27）Several sliding slots, M connecting rod are uniformly distributed on lateral wall（25）One end passes through feed screw nut（26）Through the cunning Groove and leading screw（24）Connection, the other end and retractable pawl（23）Outer wall is hinged；Circular base（22）With driving wheel（3）Wheel hub connect Connect, leading screw is driven by spindle motor（24）, by leading screw（24）Rotation be converted into feed screw nut（26）Linear motion, complete Deformed movement.
- 4. two-wheeled self-balancing transformable robot according to claim 3, it is characterised in that：The retractable pawl（23） Including rubber pad（6）, ramed（7）, telescopic shaft（8）, end cap（9）, outer tube（10）, oil sealing（11）, bearing（12）, pressure accumulation sponge （13）, piston head（15）, inner tube（17）, spring（19）, non-return valve（20）, oil filler plug（21）, connector（4）, inner tube（17）It is embedding It is sleeved on outer tube（10）It is interior, non-return valve（20）From outer tube（10）Bottom is stretched into, and embedded inner tube（17）Bottom, end cap（9）Center is set There are through hole, end cap（9）It is fixed on outer tube（10）Top, spring（19）It is arranged at inner tube（17）It is interior, its one end and non-return valve （20）It is connected, the other end is nested in piston head（15）On, telescopic shaft（8）Bottom passes through key and piston head（15）It is connected, top is worn Cross end cap（9）Through hole stretch out outer tube（10）, and with being ramed（7）Pass through pin connection, rubber pad（6）It is nested in and is ramed（7） On, axle sleeve 22 is sleeved on telescopic shaft（8）On, and it is located at outer tube（10）It is interior, ensure telescopic shaft（8）Concentricity, bearing（12）It is fixed On axle sleeve 22, pressure accumulation sponge（13）It is arranged on axle sleeve 22 and outer tube（10）Between, axle sleeve 22 and telescopic shaft（8）Between be equipped with oil Envelope（11）, inner tube（17）In hydraulic oil is housed（18）, oil filler plug（21）It is arranged on non-return valve（20）It is interior, replace hydraulic pressure for adding Oil（18）；Inner tube（17）An oil return hole is provided with side wall（14）With three outages（16）；Non-return valve（20）Bottom passes through company Connect 4 and pedestal（22）Connects bayonet socket be hinged.
- 5. two-wheeled self-balancing transformable robot according to claim 4, it is characterised in that：Said inner tube（17）Length Less than outer tube（10）Length.
- 6. two-wheeled self-balancing transformable robot according to claim 1, it is characterised in that：The bias self-balancing machine Structure includes external stator（27）, wheel hub motor（29）, electric motor end cap（30）, bar（31）, eccentric massblock（32）And roller（33）, outside Stator（27）It is nested in middle control cabin（1）Central axis at, external stator（27）For uncovered cylindrical box body, its inner wall is provided with a circle Roller groove（28）, wheel hub motor（29）It is fixed on external stator（27）Center, electric motor end cap（30）It is sleeved on wheel hub motor（29）On, bar （31）It is upper that eccentric massblock is housed（32）, bar（31）One end and electric motor end cap（30）It is connected, the other end is equipped with roller（33）, roller （33）In external stator（27）On roller groove（28）Interior rolling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711160035.1A CN107902004B (en) | 2017-11-20 | 2017-11-20 | Two-wheeled self-balancing deformable robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711160035.1A CN107902004B (en) | 2017-11-20 | 2017-11-20 | Two-wheeled self-balancing deformable robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107902004A true CN107902004A (en) | 2018-04-13 |
| CN107902004B CN107902004B (en) | 2024-04-05 |
Family
ID=61846562
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711160035.1A Active CN107902004B (en) | 2017-11-20 | 2017-11-20 | Two-wheeled self-balancing deformable robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107902004B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111055947A (en) * | 2019-12-03 | 2020-04-24 | 上海交通大学 | Foldable wheel type deformation robot device |
| CN112934872A (en) * | 2021-03-31 | 2021-06-11 | 通威太阳能(眉山)有限公司 | Cleaning robot in pipe |
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| US20120273284A1 (en) * | 2011-04-28 | 2012-11-01 | Nesnas Issa A D | Robotic two-wheeled vehicle |
| CN103863433A (en) * | 2014-02-19 | 2014-06-18 | 上海工程技术大学 | Automatic switch type wheel claw structure of mobile robot |
| CN104875804A (en) * | 2015-04-23 | 2015-09-02 | 上海大学 | Wind-driven steering spherical robot with magnetic-control air valves |
| CN204852157U (en) * | 2015-07-21 | 2015-12-09 | 济宁市技师学院 | Shock absorber |
| CN105905747A (en) * | 2016-06-20 | 2016-08-31 | 爱默生电梯有限公司 | Elevator buffer |
| CN107161232A (en) * | 2017-06-07 | 2017-09-15 | 宋天钰 | It is a kind of that there is the mobile barrier-surpassing robot for taking turns leg converting means |
| CN207773294U (en) * | 2017-11-20 | 2018-08-28 | 南京理工大学 | Two-wheeled self-balancing transformable robot |
-
2017
- 2017-11-20 CN CN201711160035.1A patent/CN107902004B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040000439A1 (en) * | 2002-04-19 | 2004-01-01 | Burt Ian T. | Adjustable diameter wheel assembly, and methods and vehicles using same |
| US20120273284A1 (en) * | 2011-04-28 | 2012-11-01 | Nesnas Issa A D | Robotic two-wheeled vehicle |
| CN103863433A (en) * | 2014-02-19 | 2014-06-18 | 上海工程技术大学 | Automatic switch type wheel claw structure of mobile robot |
| CN104875804A (en) * | 2015-04-23 | 2015-09-02 | 上海大学 | Wind-driven steering spherical robot with magnetic-control air valves |
| CN204852157U (en) * | 2015-07-21 | 2015-12-09 | 济宁市技师学院 | Shock absorber |
| CN105905747A (en) * | 2016-06-20 | 2016-08-31 | 爱默生电梯有限公司 | Elevator buffer |
| CN107161232A (en) * | 2017-06-07 | 2017-09-15 | 宋天钰 | It is a kind of that there is the mobile barrier-surpassing robot for taking turns leg converting means |
| CN207773294U (en) * | 2017-11-20 | 2018-08-28 | 南京理工大学 | Two-wheeled self-balancing transformable robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111055947A (en) * | 2019-12-03 | 2020-04-24 | 上海交通大学 | Foldable wheel type deformation robot device |
| CN112934872A (en) * | 2021-03-31 | 2021-06-11 | 通威太阳能(眉山)有限公司 | Cleaning robot in pipe |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107902004B (en) | 2024-04-05 |
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