CN201000695Y

CN201000695Y - A flexible two-wheel upright robot body

Info

Publication number: CN201000695Y
Application number: CNU2007201032791U
Authority: CN
Inventors: 阮晓钢; 李欣源; 龚道雄; 李明爱; 孙亮; 赵岗金
Original assignee: Beijing University of Technology
Current assignee: Beijing University of Technology
Priority date: 2007-01-19
Filing date: 2007-01-19
Publication date: 2008-01-02
Anticipated expiration: 2017-01-19

Abstract

The utility model discloses a flexible two-wheel vertical type robot body. A variety of electronic device can be loaded in the body to study the control problems of the two wheels vertical type robot. The utility model provides an experiment study stage for the control theory courses and the robot design courses of engineering colleges. The utility model comprises a head (1), a main body (3) and a foundation support (5), wherein the head (1) is connected with the main body (3) through a first spring (2), the main body (3) is connected with the foundation support (5) through a second spring (4), and the left and right side of the bottom of the foundation support (5) is separately connected with a left wheel foot (7) and a right wheel foot (6) to drive the whole robot body to move. The utility model introduces a flexible connecting piece for the two wheels robot body, which can better simulate the characteristics of flexible motion of the human body, meanwhile, the structure of the flexible connecting piece is simple and firm, the cost is low, and the utility model can provides an appropriate experimental study object for the motion control, in particular the intelligent control and the bionic control research of the humanoid robot.

Description

A kind of flexible double-wheel vertical type robot body

Technical field

The utility model relates to a kind of two-wheeled vertical type robot body, can load various electron devices in this body interior and study two-wheeled vertical type ROBOT CONTROL problem, for the control theory course and the robot project curriculum of engineering and polytechnic universities provides a kind of experimental study platform.

Background technology

The travel mechanism of two wheel robots is relative, the parallel wheel that is connected in the body both sides in axle center, because the robot center of gravity is positioned on the wheel shaft, body can freely rotate and can't be kept upright around wheel shaft, keeps the fuselage balance so need suitable wheels to rotate when static or motion.This kind robot running gear is succinct, and maneuverability is strong, and this robot is often used as the research object of balance control method because of approaching with the Balance Control problem of human emulated robot simultaneously.

Existing two-wheeled vertical type robot mainly includes parts such as head, fuselage and pedestal, all is rigidly connected between head and fuselage, fuselage and the pedestal, each other can not relative motion.From the angle that the imitation human body comes design robot, the rigidity body can not embody human body, the left and right sides lateroflexion that especially waist, neck structure had, the flexibility (elasticity) in the luffing of front and back.Human trunk is big displacement elastic body, obviously only is not enough to reach the purpose that realizes apery control with rigid body robot research Balance Control and motion control method.Yet, fully truly copy human body, utilize artificial-muscle and joint prosthesis soft tissue design robot difficulty is big, cost is high, control is complicated, easy care not, as only at the Balance Control of flexible body robot and the research and the teaching equipment and impracticable of motion control problem.

The utility model content

The purpose of this utility model is to construct a kind of health of simulating human better compliant motion characteristics, the simple relatively robot body of while structure, this body provides experimental study object preferably for research anthropomorphic robot control problem, for the teaching of control theory course and robot project curriculum provides the experimental study object.

In order to achieve the above object, the utility model has been taked following technical scheme.This body mainly includes head 1, fuselage 3, pedestal 5, be respectively arranged with revolver foot 6 in the left and right sides, bottom of pedestal 5, right wheel foot 7, it is characterized in that: fuselage 3 is by two housings that can dock mutually 16,17 form,

housing

16,17 surround a cavity, in this cavity, be provided with metal framework 18, metal framework 18 mainly includes top board 19 and base plate 21, support by support bar 22 between top board 19 and the base plate 21, be fixed with second supporting base 23 in the center, upper surface of top board 19, be fixed with the 3rd supporting base 24 in the center, lower surface of base plate 21, be fixed with first supporting base 10 in the center, lower surface of head 1, be fixed with the 4th supporting base 26 in the center, upper surface of pedestal 5, second supporting base 23 is fixedlyed connected by first spring 2 with first supporting base 10, and the 3rd supporting base 24 is fixedlyed connected by second spring 4 with the 4th supporting base 26.

Described first supporting base 10, second supporting base 23, the 3rd supporting base 24, the 4th supporting base 26 are made up of a base and a boss body, the two is as a whole, the supporting base section shape is inverse-T-shaped, is provided with a through hole along the right cylinder central axis, is convenient to data line 11 and passes through.

Metal clamper

12,13 circumferencial directions along the supporting base boss of two semi-annular shapes are held on the outside of projection section, the two ends that

metal clamper

12,13 is in contact with one another are by bolt, and the base 14 of clamper is fixing by the base 15 of bolt and supporting base; If when wanting fixing spring, spring is placed between projection section and the clamper, be fixedly clamped by tightening between the boss that the bolt that is arranged on

clamper

12,13 two ends makes spring and supporting base.

The utility model is introduced flexible connecting member for the two-wheeled robot body, simulating human health compliant motion characteristics better, simultaneously this simple in structure, firm and cost is lower, suitable experimental study object can be provided for the research of the motion control of anthropomorphic robot, particularly Based Intelligent Control and bionical control.

Description of drawings

Fig. 1 is a front view of the present utility model

Fig. 2 is a right view of the present utility model

Fig. 3 is a head A-A cut-open view of the present utility model

Fig. 4 is the vertical view of supporting base of the present utility model

Fig. 5 is the B-B cut-open view of supporting base of the present utility model

Fig. 6 is the vertical view of clamper of the present utility model

Fig. 7 is the front view of clamper of the present utility model

Fig. 8 is the assembling synoptic diagram of spring of the present utility model

Fig. 9 is the exploded view of fuselage of the present utility model

Figure 10 is the cut-away view of fuselage of the present utility model

Figure 11 is the shape assumption diagram of base part of the present utility model

Figure 12 is the cut-away view of base part of the present utility model

Figure 13 is the structural drawing of motivation transfer motion part of the present utility model

Figure 14 is a protective cradle of the present utility model

Embodiment

Describe present embodiment in detail below in conjunction with Fig. 1～Figure 14.

Structure of the present utility model mainly includes head 1, fuselage 3, pedestal 5, left and

right foot

6,7 and the falling-proof bracket 8 of taking turns as shown in Figure 1, 2.Adopt first spring 2 to connect between head 1 and the fuselage 3, adopt second spring 4 to connect between fuselage 3 and the pedestal 5.The head 1 of robot, fuselage 3 and pedestal 5 are the case structure of hollow, and hollow space is used to load various electronic electric equipments.

A wheel foot

6,7 each side is housed in the bottom of robot base 5, is the running gear of robot.

The structure of robot head 1 adopts metal material or rigid plastic to make as shown in Figure 3.Top cover 9 is detachable so that mount and dismount various device in head.There is metal support seat 10 lower surface at head 1 by bolt, and the supporting seat 10 shown in Fig. 4,5 is a projective table type structure, and its projection section is downward, has through hole along the center line of this boss structure and is convenient to cable 11 and passes through.The

metal clamper

12,13 of a semi-annular shape shown in Fig. 6,7 is respectively installed in the boss body both sides of supporting base 10, and the two ends that

metal clamper

12,13 is in contact with one another are by bolt, and the base 14 of clamper is fixing by the base 15 of bolt and supporting base.During fixing spring, as shown in Figure 8, spring is placed between boss and the clamper, be fixedly clamped by tightening between the boss that the bolt that is arranged on

clamper

12,13 two ends makes the upper end of first spring 2 and first supporting base 10.Also be to adopt this kind fixed form between the lower end of first spring 2 and second supporting base 23 and second spring 4 and the supporting base 24,26.

The concrete structure of fuselage 3 as shown in Figure 9, its outside surface is dismountable

plastic casing

16 and 17,

housing

16,17 butt joint mutually surrounds a cavity, is provided with three-layer metal framework 18 as shown in figure 10 in the cavity, is used to install various devices and equipment.Metal framework 18 mainly includes top board 19, middle plate 20 and base plate 21, support by support bar 22 between top board 19, middle plate 20 and the base plate 21, be fixed with supporting base 23 in the upper surface of top board 19, be fixed with supporting base 24 in the lower surface of base plate 21, supporting base 23 and 24 also has through hole along its center line.Supporting base 10 is connected by first spring 2 with supporting base 23, and first spring 2 is enclosed within the outside of supporting base boss, and fixes by clamper.First spring 2 make head 1 with respect to fuselage 3 have left and right sides lateroflexion, about reverse and the front and back pitch orientation on compliant motion.

The concrete structure of pedestal 5 such as Figure 11, shown in Figure 12, wherein rear panel 25 is detachable, so that the device in the casing is mounted and dismounted operation, the inside of pedestal 5 is divided into two-layer up and down, can load various electron devices.There is supporting base 26 center in the upper surface of pedestal 5 by bolt.Supporting base 26 is connected by second spring 4 with supporting base 24, second spring 4 is enclosed within the outside surface of supporting base boss, and fix by clamper, second spring 4 make fuselage 3 with respect to pedestal 5 have, left and right sides lateroflexion, about reverse and the front and back pitch orientation on compliant motion.

The left and right sides is the left and

right foot

6 and 7 of taking turns of robot under pedestal 5 base plates, and entire machine people's housing can move left and right the wheel under the sufficient drive.These two wheel foots are driven by the direct

current generator

27 and 28 of band speed reduction unit and photoelectricity incremental encoder respectively.As shown in figure 13, motor 27 is fixing by support 29, and an end of axle 30 is connected with the output shaft 31 of motor 27, the other end then pass the bearing 33 that is fixed on the support 32 and be fixed on the wheel foot 6 axle sleeve 34 with take turns sufficient 6 and be connected, use nut 35 fastening.Motor 28 is identical with motor 27 with the installation and the kind of drive of wheel foot 7.

Middle part under pedestal 5 base plates is provided with anti-down protective cradle 8 (Figure 14), and anti-down protective cradle 8 is fixedlyed connected with pedestal 5 bottom centre positions by screw 36, and

roller

37 and 38 are equipped with in anti-down protective cradle 8 two ends.In the operational process of robot, when the vertical dip angle of robot base reaches 45 when spending, the roller kiss the earth of support supports fuselage and prevents to topple over damage.

Claims

1. A flexible two-wheeled upright robot body, the body mainly includes a head (1), a body (3), and a base (5), and the left and right sides of the base (5) are respectively provided with The left wheel foot (6) and the right wheel foot (7) are characterized in that: the fuselage (3) is composed of two shells (16, 17) that can be docked with each other, and the shells (16, 17) form a cavity , a metal frame (18) is arranged in the cavity, the metal frame (18) mainly includes a top plate (19) and a bottom plate (21), and the top plate (19) and the bottom plate (21) are supported by a support rod (22) , the second support seat (23) is fixed at the center position of the upper end surface of the top plate (19), the third support seat (24) is fixed at the center position of the lower end surface of the bottom plate (21), and the lower end surface of the head (1) The center position is fixed with the first supporting seat (10), and the fourth supporting seat (26) is fixed at the center position of the upper end surface of the base (5), and the second supporting seat (23) and the first supporting seat (10) pass through the first supporting seat (10). A spring (2) is fixedly connected, and the third support seat (24) is fixedly connected with the fourth support seat (26) through the second spring (4).

2. A flexible two-wheeled upright robot body according to claim 1, characterized in that: the first support seat (10), the second support seat (21), the third support seat (22), The fourth support seat (26) is composed of a base and a cylindrical boss arranged on the base, the two are integrated, the cross-sectional shape of the support seat is an inverted "T" shape, and it is arranged along the central axis of the boss part There is a through hole.

3. A flexible two-wheeled upright robot body according to claim 2, characterized in that: two semicircular metal clamps (12, 13) are clamped on the boss along the circumferential direction of the boss of the supporting seat. Outside the table part, the two ends of the metal holders (12, 13) in contact with each other are fixed by bolts, and the base (14) of the holder is fixed by the base of the bolt and the support seat (15); The spring is placed between the boss portion and the holder, and the spring and the boss of the support seat are clamped and fixed by tightening the bolts arranged at both ends of the holder (12, 13).