CN108515508B

CN108515508B - Two-wheeled robot

Info

Publication number: CN108515508B
Application number: CN201810139433.3A
Authority: CN
Inventors: 贺智威; 李亚明; 杨猛; 张玉明; 汪才辉; 刘利
Original assignee: Candela Shenzhen Technology Innovations Co Ltd
Current assignee: Kandra (Shenzhen) Intelligent Technology Co.,Ltd.
Priority date: 2018-02-11
Filing date: 2018-02-11
Publication date: 2020-09-04
Anticipated expiration: 2038-02-11
Also published as: CN108515508A

Abstract

The invention relates to a two-wheeled robot, including the body and wheel connected with body, the said body is equipped with the gyro assembly and driving motor used for driving the wheel inside, the gyro assembly includes at least a pair of gyros, controls the swing motor that the gyro deflects actively and controls a pair of gyros and deflects the speed is the same but the opposite reverse synchro mechanism of the direction of deflection; the main body is provided with a wheel shaft, and the main body can rotate around the wheel shaft; when the driving motor is driven, the driving motor drives wheels to rotate around the wheel shafts, or drives the main body to rotate around the wheel shafts; and controlling the motion of the two-wheeled robot or keeping balance in the motion process by using the gyro moment generated by the natural deflection of the gyro by using the gravity moment generated by the rotation of the main body around the wheel shaft and/or the gyro moment generated by driving the gyro by using the deflection motor to make the gyro actively deflect.

Description

Two-wheeled robot

Technical Field

The invention relates to the technical field of robots, in particular to a two-wheeled robot structure.

Background

At present, the demand of the two-wheeled robot is more and more, but the following problems still exist in the products: the posture control of the product is unstable and easy to fall; the emergency braking distance is too long to reach the national specified safe braking distance; the obstacle crossing height is insufficient; the requirements of going up and down stairs on a smooth control algorithm and part machining precision are very high, and the like.

Disclosure of Invention

The invention aims to provide a two-wheeled robot which can generate the movement of a gyro moment controller by utilizing the natural deflection of a gyro or controlling the active deflection of the gyro through a deflection motor and keep balance in various movement processes.

The technical scheme adopted by the invention for solving the technical problems is as follows:

design a two-wheeled robot, include the main part and the wheel of being connected with the main part, its characterized in that: a gyro assembly and a driving motor for driving wheels are arranged in the main body, and the gyro assembly comprises at least one pair of gyros, a yaw motor for controlling the gyros to actively deflect and a reverse synchronization mechanism for controlling the pair of gyros to have the same yaw speed but opposite yaw directions; the main body is provided with a wheel shaft, and the main body can rotate around the wheel shaft; when the driving motor is driven, the driving motor drives wheels to rotate around the wheel shafts, or drives the main body to rotate around the wheel shafts; and controlling the motion of the two-wheeled robot or keeping balance in the motion process by using the gyro moment generated by the natural deflection of the gyro by using the gravity moment generated by the rotation of the main body around the wheel shaft and/or the gyro moment generated by driving the gyro by using the deflection motor to make the gyro actively deflect.

Further:

the wheel shafts are arranged on two sides of the main body.

The main body comprises a main body frame, the main body frame comprises wheel bearing mounting plates positioned at two ends, bottom plate fixing frames positioned at two ends, a bottom plate and frame side plates, two sides of the bottom plate are respectively fixed with the vertically arranged bottom plate fixing frames, the bottom plate fixing frames are fixed with the wheel bearing mounting plates, the frame side plates are connected with the wheel bearing mounting plates at two ends, and the wheel shaft is arranged on the wheel bearing mounting plates; the driving motor is installed on the bottom plate.

The two frame side plates are vertically arranged in parallel, and the two frame side plates arranged in parallel are fixedly connected with the two wheel bearing mounting plates to form a square frame.

The reverse synchronizing mechanism is fixed on the frame side plate and positioned above the square frame.

The pair of gyros are vertically arranged in parallel, the upper gyros shaft is connected with the reverse synchronizing mechanism, and the lower gyros shaft is arranged in the gyros shaft hole on the bottom plate.

The transmission mechanism is a synchronous belt transmission mechanism.

The synchronous belt transmission mechanism comprises a small synchronous belt wheel, a large synchronous belt wheel and a synchronous belt, the synchronous belt is sleeved on the small synchronous belt wheel and the large synchronous belt wheel, and the power output by the driving motor is transmitted to the wheel shaft through the small synchronous belt wheel, the synchronous belt and the large synchronous belt wheel in sequence.

The main part top is equipped with the head, is equipped with the first motor that can drive its rotation in the horizontal plane in this head, be equipped with the second motor that is used for driving the head and crouches and pitch back in the main part, the speed reduction output of second motor is connected with the head with the help of longitudinal tie rod, drives the head and crouches and pitch back before the relative robot main part.

The main part includes main body frame, and this main body frame includes wheel bearing mounting panel, frame curb plate, bottom plate mount and bottom plate, the bottom plate both sides are fixed with the bottom plate mount of vertical setting respectively, and two parallel arrangement's frame curb plate and two wheel bearing mounting panels fixed connection become a square frame, the second motor sets up on this square frame.

The two-wheeled robot of the invention keeps balance in various motion processes of attitude control, emergency braking, acceleration, obstacle crossing, stair climbing and the like by controlling the gyro moment generated by natural deflection of the gyro by the gravity moment generated by forward tilting or backward tilting of the main body and/or controlling the gyro moment generated by driving the gyro by the deflection motor to actively deflect the gyro.

Drawings

FIG. 1 is a schematic external shape view of an embodiment of the two-wheeled robot of the present invention;

FIG. 2 is a schematic perspective view of the two-wheeled robot with the housing removed;

FIG. 3 is a schematic longitudinal cross-sectional view of an embodiment of the two-wheeled robot with the housing removed;

FIG. 4 is a schematic perspective view of an embodiment of the two-wheeled robot with the housing and one wheel removed;

FIG. 5 is a first perspective view of an embodiment of the main body of the two-wheeled robot, wherein a driving motor and a transmission mechanism are mounted on a frame of the main body;

FIG. 6 is a second schematic perspective view of the main body of the two-wheeled robot, in which a driving motor, a transmission mechanism, a top and a reverse synchronization mechanism are mounted on the main body frame;

FIG. 7 is a schematic view of the transmission mechanism of the two-wheeled robot;

FIG. 8 is a schematic sectional view of a head movement control structure of the two-wheeled robot;

fig. 9 is a schematic view of a head movement control structure of the two-wheeled robot.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1 to 4, a two-wheeled robot includes a main body 10, wheels 20 positioned at both sides of the main body 10, and a head 30 positioned above the main body. A driving motor 12 and a gyro assembly 14 for driving wheels 20 are arranged in the main body 10, and the gyro assembly 14 comprises at least a pair of gyros 141, a yaw motor (not shown) for controlling the gyros to actively deflect and a reverse synchronization mechanism 143 for controlling the pair of gyros to have the same yaw speed but opposite yaw directions; the two sides of the main body 10 are provided with wheel shafts 21, the driving motor 12 is connected with the wheel shafts 21 by a transmission mechanism 13, and the main body 10 can rotate around the wheel shafts 21 at the two ends; when the driving motor 12 is driven, the driving mechanism 13 drives the wheels to rotate around the wheel shafts; or the main body is driven by the transmission mechanism 13 to rotate around the wheel axle so as to drive all the components arranged in the main body to tilt forwards or backwards, namely the whole main body is driven to tilt forwards or backwards relative to the wheel axle.

In the normal walking state of the robot, the driving motor 12 drives the wheels 20 to rotate, the main body 10 is also driven by the driving force, but because the gyro assembly 14 is arranged in the main body, when the main body has a swinging trend in a forward direction and a backward direction, the gyro also has a swinging trend in the same direction. According to the self-stability of the spinning top, the spinning top will automatically generate a deflection to counteract the swinging tendency, so the main body 10 will be kept vertical. If the wheels of the robot are blocked by the obstacle and cannot rotate when the robot encounters the obstacle, the driving torque is increased, the driving main body 10 swings, and the gyroscope automatically swings to generate a gyroscope torque with the same magnitude and the opposite direction of the driving torque. However, when the gyro is deflected to the maximum deflection angle, the gyro moment cannot be output any more, and the driving moment swings the driving body 10 forward or backward. At this time, the main body is swung to a maximum swing angle with a small gyro moment resistance. The swing motor arranged on the reverse synchronous mechanism 143 can be started to lock the gyro or control the gyro to slowly swing back.

The gravity moment generated by controlling the main body to tilt forwards or backwards enables the gyro to naturally deflect to generate a gyro moment, and/or the gravity moment generated by controlling the deflection motor to drive the gyro to actively deflect to generate a gyro moment, so that the two-wheeled robot keeps balance in various motion processes of attitude control, emergency braking, acceleration, obstacle crossing, stair climbing and the like.

The main body 10 includes a main body frame 11, as shown in fig. 5 to 7, the main body frame 11 of the main body 10 further includes a wheel bearing mounting plate 111, a frame side plate 112, a bottom plate fixing bracket 113, and a bottom plate 114. Two frame side plates 112 arranged in parallel are fixedly connected with two wheel bearing mounting plates 111 to form a square frame 110, two sides of the bottom plate 114 are respectively fixed with a bottom plate fixing frame 113 arranged vertically, and the bottom plate fixing frame 113 is fixed with the wheel bearing mounting plates 111. As shown in fig. 7, the wheel bearing mounting plate 111 is provided with a wheel bearing, and the wheel shaft 21 is installed in the wheel bearing. The two driving motors 12 are mounted on the bottom plate 114 of the main body frame 11 and are respectively coupled to the wheel shaft 21 by a transmission mechanism. The main body frame 11 provides support for each component, has high strength and rigidity, and is strong in stability, and can prevent the robot from generating resonance when working to cause vibration and noise.

In some embodiments, the drive mechanism 13 may be a synchronous belt drive mechanism. As shown in fig. 7, the synchronous belt transmission mechanism includes a small synchronous pulley 131, a large synchronous pulley 132 and a synchronous belt 133, the synchronous belt 133 is sleeved on the small synchronous pulley 131 and the large synchronous pulley 132, and the power output by the driving motor 12 is transmitted to the wheel shaft 21 through the small synchronous pulley 131, the synchronous belt 133 and the large synchronous pulley 132 in sequence.

As shown in fig. 7, the reverse synchronizing mechanism 143 is fixed to the frame side plate 112 and positioned above the square frame 110. The pair of gyros 141 are vertically arranged in parallel, the upper gyroscopic shaft is connected with the reverse synchronizing mechanism 143, and the lower gyroscopic shaft is arranged in a gyroscopic shaft hole on the bottom plate.

As shown in fig. 3, 8 to 9, a first motor 31 capable of driving the head 30 to rotate in a horizontal plane is arranged in the head 30, a second motor 32 for driving the head 30 to pitch forward and backward is arranged in the main body 10, and a deceleration output end of the second motor 32 is connected with the head 30 through a longitudinal connecting rod 33 to drive the head 30 to pitch forward and backward relative to the main body of the robot. The second motor 32 is provided on the square frame 110 of the main body frame 11. The second motor 32 is disposed inside the main body frame 11, which is advantageous for lowering the center of gravity of the robot, and the range of the pitch angle of the head 30 is large.

As shown in fig. 3, 8 and 9, the front and rear sides of the square frame 110 of the robot main body near the longitudinal connecting rod are provided with limit sensors 34 for limiting the range of the pitch angle of the longitudinal connecting rod 33. As shown in fig. 3, a transverse link 16 is fixed across the longitudinal links 33 for connecting the robot housing. The longitudinal connecting rods and the transverse connecting rods can adopt carbon fiber tubes with high strength and light weight.

It should be understood that the above embodiments are only intended to illustrate the technical solutions of the present invention, and not to limit the same, and some details thereof may be implemented in other forms by corresponding design changes. It will be apparent to those skilled in the art that modifications may be made to the above-described embodiments, or that equivalents may be substituted for elements thereof; and such modifications and substitutions are intended to be included within the scope of the appended claims.

Claims

1. The utility model provides a two-wheeled robot, includes the main part and the wheel of being connected with the main part, its characterized in that: a gyro assembly and a driving motor for driving wheels are arranged in the main body, and the gyro assembly comprises at least one pair of gyros, a yaw motor for controlling the gyros to actively deflect and a reverse synchronization mechanism for controlling the pair of gyros to have the same yaw speed but opposite yaw directions;

the main body is provided with a wheel shaft, and the main body can rotate around the wheel shaft; when the driving motor is driven, the driving motor drives wheels to rotate around the wheel shafts, or drives the main body to rotate around the wheel shafts;

under different road conditions, selecting a gyro moment generated by natural deflection of the gyro by utilizing the gravity moment generated by the rotation of the main body around the wheel shaft or a gyro moment generated by driving the gyro to actively deflect by utilizing the deflection motor, or simultaneously controlling the movement of the two-wheeled robot or keeping balance in the movement process by utilizing the gyro moment generated by natural deflection of the gyro by utilizing the gravity moment generated by the rotation of the main body around the wheel shaft and the gyro moment generated by driving the gyro to actively deflect by utilizing the deflection motor.

2. The two-wheeled robot of claim 1, wherein: the wheel shafts are arranged on two sides of the main body.

3. The two-wheeled robot of claim 1, wherein: the main body comprises a main body frame, the main body frame comprises wheel bearing mounting plates positioned at two ends, bottom plate fixing frames positioned at two ends, a bottom plate and frame side plates, two sides of the bottom plate are respectively fixed with the vertically arranged bottom plate fixing frames, the bottom plate fixing frames are fixed with the wheel bearing mounting plates, the frame side plates are connected with the wheel bearing mounting plates at two ends, and the wheel shaft is arranged on the wheel bearing mounting plates; the driving motor is installed on the bottom plate.

4. The two-wheeled robot of claim 3, wherein: the two frame side plates are vertically arranged in parallel, and the two frame side plates arranged in parallel are fixedly connected with the two wheel bearing mounting plates to form a square frame.

5. The two-wheeled robot of claim 4, wherein: the reverse synchronizing mechanism is fixed on the frame side plate and positioned above the square frame.

6. The two-wheeled robot of claim 5, wherein: the pair of gyros are vertically arranged in parallel, the upper gyros shaft is connected with the reverse synchronizing mechanism, and the lower gyros shaft is arranged in the gyros shaft hole on the bottom plate.

7. The two-wheeled robot of claim 1, wherein: the driving motor is connected with the wheel shaft by a transmission mechanism, and the transmission mechanism is a synchronous belt transmission mechanism.

8. The two-wheeled robot of claim 7, wherein: the synchronous belt transmission mechanism comprises a small synchronous belt wheel, a large synchronous belt wheel and a synchronous belt, the synchronous belt is sleeved on the small synchronous belt wheel and the large synchronous belt wheel, and the power output by the driving motor is transmitted to the wheel shaft through the small synchronous belt wheel, the synchronous belt and the large synchronous belt wheel in sequence.

9. The two-wheeled robot of claim 1, wherein: the main part top is equipped with the head, is equipped with the first motor that can drive its rotation in the horizontal plane in this head, be equipped with the second motor that is used for driving the head and crouches and pitch back in the main part, the speed reduction output of second motor is connected with the head with the help of longitudinal tie rod, drives the head and crouches and pitch back before the relative robot main part.

10. The two-wheeled robot of claim 9, wherein: the main part includes main body frame, and this main body frame includes wheel bearing mounting panel, frame curb plate, bottom plate mount and bottom plate, the bottom plate both sides are fixed with the bottom plate mount of vertical setting respectively, and two parallel arrangement's frame curb plate and two wheel bearing mounting panels fixed connection become a square frame, the second motor sets up on this square frame.