CN107902004B - Two-wheeled self-balancing deformable robot - Google Patents
Two-wheeled self-balancing deformable robot Download PDFInfo
- Publication number
- CN107902004B CN107902004B CN201711160035.1A CN201711160035A CN107902004B CN 107902004 B CN107902004 B CN 107902004B CN 201711160035 A CN201711160035 A CN 201711160035A CN 107902004 B CN107902004 B CN 107902004B
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- driving
- motor
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- wheels
- central control
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- 210000000078 claw Anatomy 0.000 claims abstract description 29
- 239000003921 oil Substances 0.000 claims description 12
- 230000001681 protective effect Effects 0.000 claims description 9
- 239000010720 hydraulic oil Substances 0.000 claims description 4
- 238000011835 investigation Methods 0.000 description 6
- 108010066057 cabin-1 Proteins 0.000 description 5
- 239000006096 absorbing agent Substances 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035939 shock Effects 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 two-wheeled self-balancing deformable robot which comprises a central control cabin, two driving cabins, two driving wheels, two deformation claw wheels and two screw motors, wherein the two driving cabins are symmetrically arranged on two sides of the central control cabin and fixedly connected with the central control cabin, each driving cabin comprises a driving motor, a motor seat and a driving cabin shell, the driving motor is fixed in the driving cabin shell through the motor seat, an output shaft of the driving motor is fixedly connected with the driving wheels, the two deformation claw wheels are respectively arranged on the outer sides of the two driving wheels, and the deformation claw wheels are connected with hubs of the driving wheels. The lead screw motor is positioned between the driving wheel and the driving cabin. The invention has compact structure, small volume, good concealment, portability and air drop operation.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a two-wheeled self-balancing deformable robot.
Background
With the continuous expansion of the field of human activities, the robot has increasingly obvious functions in the fields of exploration, rescue, battle and the like. The main features of these fields are the complexity and uncertainty of the working environment, in which the execution of the investigation tasks is often accompanied by extremely high risks, which are at times threatening the life security of the investigation personnel.
At present, more investigation robots are cited as crawler-type or wheel-type robots, and the wheel-type robots are mainly four-wheel robots. Crawler-type obstacle crossing capability is strong, but the speed is low; the wheel type speed is faster, but the obstacle crossing capability is insufficient.
2015, lin Qunxu, et al, discloses a self-balancing two-wheeled robot, which is a longitudinally arranged two-wheeled self-balancing robot and can pass through a narrow space, but has poor flexibility and passing performance.
Shen Ke in the "design of a throwable wheel type investigation robot" (mechanical design and manufacturing engineering) a two-wheel type investigation robot is proposed, a spiral type moving wheel is adopted, and balance bars are arranged in the middle of the two wheels, so that the two wheels have certain obstacle crossing capability, but the obstacle crossing capability is obviously insufficient when facing step ravines. Meanwhile, the spiral wheel has larger vibration noise and insufficient flexibility.
Disclosure of Invention
The invention aims to provide a two-wheeled self-balancing deformable robot, which solves the problem of inconvenient investigation of dangerous complex terrains.
The technical solution for realizing the purpose of the invention is as follows: the utility model provides a two-wheeled self-balancing deformable robot, including well accuse cabin, two drive cabins, two drive wheels, two deformation claw wheels and two lead screw motors, two drive cabins symmetry sets up in well accuse cabin both sides, link firmly with well accuse cabin, the drive cabin includes driving motor, motor cabinet and drive cabin shell, driving motor passes through the motor cabinet to be fixed in the drive cabin shell, driving motor output shaft links firmly with the drive wheel, two deformation claw wheels set up in the outside of two drive wheels respectively, deformation claw wheels are connected with the wheel hub of drive wheel. The lead screw motor is positioned between the driving wheel and the driving cabin.
Compared with the prior art, the invention has the remarkable advantages that: (1) An expandable deformation claw wheel is designed according to the principle of a hydraulic shock absorber, and when facing complex terrains and obstacles, the expandable deformation claw wheel can replace a driving wheel to improve the trafficability; (2) The deformation claw wheel and the driving wheel are integrated into a whole, the structure is light and convenient, and the control is simple; (3) The device is provided with an eccentric self-balancing mechanism for counteracting the torque of the motor and keeping the posture of the body balanced and stable; (4) Compact structure, small volume, good concealment, portability and air drop operation.
Drawings
Fig. 1 is an overall outline view of a two-wheeled self-balancing deformable robot of the present invention.
Fig. 2 is an overall outline view of the two-wheeled self-balancing deformable robot of the present invention after deformation.
Fig. 3 is a cross-sectional view of the retractable pawl of the present invention.
Fig. 4 is a schematic structural view of the deformed claw wheel of the present invention.
Fig. 5 is a schematic view of the eccentric self-balancing mechanism of the present invention.
Fig. 6 is a diagram of module connection relationship of the control cabin in the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
Referring to fig. 1 and 2, the two-wheeled self-balancing deformable robot of the invention comprises a central control cabin 1, two driving cabins 2, two driving wheels 3, two deformed claw wheels 5 and two screw motors, wherein the two driving cabins 2 are symmetrically arranged on two sides of the central control cabin 1 and fixedly connected with the central control cabin 1 through bolts, the driving cabins 2 comprise driving motors, motor bases and driving cabin shells, the driving motors are fixedly arranged in the driving cabin shells through the motor bases, output shafts of the driving motors are fixedly connected with the driving wheels 3, the two deformed claw wheels 5 are respectively arranged on the outer sides of the two driving wheels 3, and the deformed claw wheels 5 are connected with hubs of the driving wheels 3. The lead screw motor is located between the drive wheel 3 and the drive pod 2.
Referring to fig. 6, the central control cabin 1 includes a sensor, a main control board, a gyroscope, and an eccentric self-balancing mechanism, and the central control cabin shell, the sensor, the main control board, and the eccentric self-balancing mechanism are all disposed in the central control cabin shell. The main control board is respectively connected with the sensor, the gyroscope and the eccentric self-balancing mechanism, and is connected with the driving motor. When the robot works, surrounding environment signals are collected through the sensor, the signals are sent to the main control board, and meanwhile, the gyroscope is used for collecting the posture position information of the robot, and the signals are transmitted to the main control board. The driving motor and the eccentric self-balancing mechanism are controlled by the main control board, so that the motion of the machine and the control of the self-posture are realized.
Referring to fig. 4, the deformed claw wheel 5 includes an annular base 22, a limit protection cover 27, a screw 24, N retractable claws 23 and M connecting rods 25, where m=n, N is greater than or equal to 3; the outer wall of the annular base 22 is uniformly distributed with P connecting bayonets, one end of each of N telescopic claws 23 is hinged with the connecting bayonets of the base 22 respectively, P=N, a lead screw 24 is arranged in a limiting protective cover 27, one end of each of the N telescopic claws extends out of the limiting protective cover 27 and penetrates through the annular base 22 to be fixedly connected with a lead screw motor, one end of each of the limiting protective covers 27 is fixed at the center of the annular base 22, a plurality of sliding grooves are uniformly distributed on the outer side wall of each of the limiting protective covers 27, one end of each of M connecting rods 25 penetrates through each of the sliding grooves to be connected with the lead screw 24 through a lead screw nut 26, and the other end of each of M connecting rods is hinged with the outer wall of each of the telescopic claws 23. The annular base 22 is connected to the hub of the driving wheel 3, and the screw motor drives the screw 24 to convert the rotation of the screw 24 into linear motion of the screw nut 26, thereby completing the deformation operation.
Referring to fig. 3, the retractable claw 23 comprises a rubber pad 6, a crashed head 7, a retractable shaft 8, an end cover 9, an outer tube 10, an oil seal 11, a bearing 12, an accumulation sponge 13, a piston head 15, an inner tube 17, a spring 19, a check valve 20, an oil filling plug 21 and a connecting piece 4, wherein the inner tube 17 is nested in the outer tube 10, the length of the inner tube 17 is smaller than that of the outer tube 10, the check valve 20 extends from the bottom of the outer tube 10 and is embedded in the bottom of the inner tube 17, a through hole is arranged in the center of the end cover 9, the end cover 9 is fixed at the top of the outer tube 10, the spring 19 is arranged in the inner tube 17, one end of the spring 19 is fixedly connected with the check valve 20, the other end is nested on the piston head 15, the bottom of the telescopic shaft 8 is fixedly connected with the piston head 15 through a key, the top of the telescopic shaft penetrates through a through hole of the end cover 9 to extend out of the outer tube 10 and is connected with the crashed head 7 through a pin, the rubber pad 6 is nested on the crashed head 7, the shaft sleeve 22 is sleeved on the telescopic shaft 8 and is positioned in the outer tube 10, concentricity of the telescopic shaft 8 is guaranteed, the bearing 12 is fixed on the shaft sleeve 22, the pressure accumulating sponge 13 is arranged between the shaft sleeve 22 and the outer tube 10, the oil seal 11 is arranged between the shaft sleeve 22 and the telescopic shaft 8, the hydraulic oil 18 is filled in the inner tube 17, and the oil filling plug 21 is arranged in the check valve 20 and used for adding and replacing the hydraulic oil 18. The side wall of the inner pipe 17 is provided with an oil return hole 14 and three oil drain holes 16. The bottom of the non-return valve 20 is bayonet-jointed with the base 22 by a connection 4.
Referring to fig. 5, the eccentric self-balancing mechanism includes an outer stator 27, a hub motor 29, a motor end cover 30, a rod 31, an eccentric mass block 32 and a roller 33, wherein the outer stator 27 is nested at the central axis of the central control cabin 1, the outer stator 27 is a non-cover cylindrical box body, a circle of roller groove 28 is formed in the inner wall of the outer stator, the hub motor 29 is fixed at the center of the outer stator 27 through bolts, the motor end cover 30 is sleeved on the hub motor 29, the eccentric mass block 32 is mounted on the rod 31 through bolts, one end of the rod 31 is fixedly connected with the motor end cover 30, the roller 33 is mounted at the other end of the rod 31, and the roller 33 rolls in the roller groove 28 on the outer stator 27.
When the vehicle runs on a flat road, the deformed claw wheel 5 is in a contracted state and is driven by the driving wheel 3, and the hub motor 29 drives the motor end cover 30, the rod 31, the eccentric mass block 32 and the rotor 33 to reversely rotate so as to counteract the torque of the driving motor. When the obstacle surmounting is performed, the screw rod 24 is driven by the screw rod motor to rotate, the rotation of the screw rod 24 is converted into linear motion of the screw rod nut 26, the connecting rod 25 is opened, meanwhile, the screw rod nut 26 moves to a dead point position, the robot is automatically locked, and the robot is converted into claw wheel driving. When the telescopic shaft 8 encounters obstacles such as bulges and ravines, the telescopic shaft can be compressed and deformed, and the trafficability is improved.
Claims (3)
1. A two-wheeled self-balancing deformable robot, characterized by: the device comprises a central control cabin (1), two driving cabins (2), two driving wheels (3), two deformation claw wheels (5) and two screw motors, wherein the two driving cabins (2) are symmetrically arranged on two sides of the central control cabin (1) and fixedly connected with the central control cabin (1), each driving cabin (2) comprises a driving motor, a motor seat and a driving cabin shell, the driving motor is fixed in the driving cabin shell through the motor seat, an output shaft of the driving motor is fixedly connected with the driving wheels (3), the two deformation claw wheels (5) are respectively arranged on the outer sides of the two driving wheels (3), and the deformation claw wheels (5) are connected with hubs of the driving wheels (3); the screw motor is positioned between the driving wheel (3) and the driving cabin (2);
the central control cabin (1) comprises a sensor, a main control board, a gyroscope and an eccentric self-balancing mechanism, and a central control cabin shell, the sensor, the main control board and the eccentric self-balancing mechanism are all arranged in the central control cabin shell; the main control board is respectively connected with the sensor, the gyroscope and the eccentric self-balancing mechanism, and is connected with the driving motor; when the robot works, the sensor collects surrounding environment signals, the signals are sent to the main control board, and meanwhile, the gyroscope collects posture and position information of the robot, and the signals are transmitted to the main control board; the main control board is used for controlling the driving motor and the eccentric self-balancing mechanism, so that the motion of the machine and the control of the self-posture are realized;
the deformation claw wheel (5) comprises an annular base (22), a limiting protective cover (27), a screw rod (24), N telescopic claws (23) and M connecting rods (25), wherein M=N, and N is more than or equal to 3; p connecting bayonets are uniformly distributed on the outer wall of the annular base (22), one end of each of N telescopic claws (23) is hinged with the connecting bayonets of the base (22), P=N, a lead screw (24) is arranged in a limiting protective cover (27), one end of each lead screw extends out of the limiting protective cover (27) and penetrates through the annular base (22) to be fixedly connected with a lead screw motor, one end of each limiting protective cover (27) is fixed at the center of the annular base (22), a plurality of sliding grooves are uniformly distributed on the outer side wall of each limiting protective cover (27), one end of each M connecting rod (25) penetrates through each sliding groove through a lead screw nut (26) to be connected with the corresponding lead screw (24), and the other end of each M connecting rod is hinged with the outer wall of each telescopic claw (23); the annular base (22) is connected with a hub of the driving wheel (3), the screw (24) is driven by the screw motor, the rotation of the screw (24) is converted into linear motion of the screw nut (26), and the deformation action is completed;
the telescopic claw (23) comprises a rubber pad (6), a crashed head (7), a telescopic shaft (8), an end cover (9), an outer tube (10), an oil seal (11), a bearing (12), an accumulated sponge (13), a piston head (15), an inner tube (17), a spring (19), a check valve (20), an oil filling plug (21) and a connecting piece (4), wherein the inner tube (17) is nested in the outer tube (10), the check valve (20) stretches in from the bottom of the outer tube (10) and is embedded in the bottom of the inner tube (17), a through hole is arranged in the center of the end cover (9), the end cover (9) is fixed at the top of the outer tube (10), the spring (19) is arranged in the inner tube (17), one end of the spring is fixedly connected with the check valve (20), the other end of the spring is nested on the piston head (15), the bottom of the telescopic shaft (8) is fixedly connected with the piston head (15) through a key, the top of the spring (6) is nested in the crashed head (7) through the through hole of the end cover (9), the sleeve is sleeved on the telescopic shaft (8) and is positioned in the inner tube (10) through a pin, the telescopic shaft is positioned between the telescopic shaft (12) and the outer tube (10) and the telescopic shaft (12) is fixedly arranged between the inner tube (13) and the piston head (13), an oil seal (11) is arranged between the shaft sleeve and the telescopic shaft (8), hydraulic oil (18) is filled in the inner pipe (17), and an oil filling plug (21) is arranged in the check valve (20) and used for adding and replacing the hydraulic oil (18); an oil return hole (14) and three oil drain holes (16) are formed in the side wall of the inner pipe (17); the bottom of the check valve (20) is hinged with a connecting bayonet of the base (22) through a connecting piece (4).
2. The two-wheeled self-balancing deformable robot of claim 1, wherein: the length of the inner tube (17) is smaller than that of the outer tube (10).
3. The two-wheeled self-balancing deformable robot of claim 1, wherein: the eccentric self-balancing mechanism comprises an outer stator (27-1), a hub motor (29), a motor end cover (30), a rod (31), an eccentric mass block (32) and rollers (33), wherein the outer stator (27-1) is nested at the central axis of the central control cabin (1), the outer stator (27-1) is a capless cylindrical box body, a circle of roller grooves (28) are formed in the inner wall of the outer stator, the hub motor (29) is fixed at the center of the outer stator (27-1), the motor end cover (30) is sleeved on the hub motor (29), the eccentric mass block (32) is arranged on the rod (31), one end of the rod (31) is fixedly connected with the motor end cover (30), the other end of the rod is provided with rollers (33), and the rollers (33) roll in the roller grooves (28) in the outer stator (27-1).
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 CN107902004A (en) | 2018-04-13 |
| CN107902004B true CN107902004B (en) | 2024-04-05 |
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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 |
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| Country | Link |
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| CN (1) | CN107902004B (en) |
Families Citing this family (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 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6860346B2 (en) * | 2002-04-19 | 2005-03-01 | Regents Of The University Of Minnesota | Adjustable diameter wheel assembly, and methods and vehicles using same |
| US8496077B2 (en) * | 2011-04-28 | 2013-07-30 | California Institute Of Technology | Robotic two-wheeled vehicle |
-
2017
- 2017-11-20 CN CN201711160035.1A patent/CN107902004B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| CN107902004A (en) | 2018-04-13 |
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