CN206185856U - Self -balancing robot that can stand automatically again after empting - Google Patents
Self -balancing robot that can stand automatically again after empting Download PDFInfo
- Publication number
- CN206185856U CN206185856U CN201621261340.0U CN201621261340U CN206185856U CN 206185856 U CN206185856 U CN 206185856U CN 201621261340 U CN201621261340 U CN 201621261340U CN 206185856 U CN206185856 U CN 206185856U
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- support arm
- switch
- axle bed
- self
- robot
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Abstract
Self -balancing robot that can stand automatically again after empting belongs to can topple over the special robots field that stand again by oneself the back, and this robot includes that two sets of balances walk road wheel mechanism, door shape control box, two support arms, support arm axle bed, two support arm returns to the bit switch with walk road wheel mechanism bedplate, door shape control box includes that two control boxs, upper end connecting plate and two topple over the contact switch. The utility model discloses a robot is equipped with two support arm limit switch of reversion each other respectively on the base plate, when support arm limit switch is triggered by the support arm, explain that the door shape control box and the inclination of horizontal plane have got into the state that is enough to start the self -balancing system to can resume and start the self -balancing robot from balancing capability, make it erect by oneself and continue the keep balance state.
Description
Technical field
The utility model belongs to the field of special robots that voluntarily can be again stood after toppling over, and in particular to one kind can be
Again the self-balance robot of Autoamtic standing after toppling over.
Background technology
At present, the robot control method with Self-balancing has achieved rapid progress, a kind of Double-wheel self-balancing machine
As shown in Figure 1 to Figure 2, it includes control casing 7 and two sets of balance travelling wheel mechanisms 6, every suit balance traveling to the structure of device people
Wheel mechanism 6 includes that travelling wheel 6-1 and traveling stepper motor 6-2, travelling wheel 6-1 are driven by traveling stepper motor 6-2, and two are walked
Row stepper motor 6-2 is arranged on the lower section of control casing 7 and by the self-balancing based on gyroscope in control casing 7 symmetrically to each other
The independent control that system is distinguished.The Double-wheel self-balancing robot has global symmetry, and its center of gravity is located at control casing 7
On vertical center line.It is in ± 20 with vertical direction that the Double-wheel self-balancing robot can control the vertical center line of casing 7 at it
Automatic adjustable balance attitude in the range of degree inclination angle, is accelerated, Ke Yichong by making travelling wheel 6-1 to the direction of run-off the straight
The new overall center of gravity of adjustment, realizes standing erect for balanced robot.
However, during practical application, above-mentioned Double-wheel self-balancing robot be often used in it is extremely complex and
In dangerous working environment, go to complete detection, search and rescue or transmit the work such as goods and materials to substitute people.The operating mode of these complicated or danger
Ground and uneven, there is uneven in the course of robot, rock and the situation of road conditions such as wave and happen occasionally, and this can
Robot can be caused to topple because failing holding balance.For example, the machine advanced in ruins factory building after earthquake
People, it is likely that the disequilibrium when aftershock occurs and topple over.
But, the robot of existing Double-wheel self-balancing function do not possess typically each topple over after the energy voluntarily stood again
Power, therefore also just cannot continue to complete task after its own is toppled over.
Utility model content
In order to the robot for solving existing Double-wheel self-balancing function do not possess typically each topple over after the energy voluntarily stood again
Power, thus cannot adapt to be caused by earthquake course uneven, rock the technical problem for the complex road condition such as waving, this reality
With new offer it is a kind of can after toppling over the self-balance robot of Autoamtic standing again.
The utility model technical solution adopted for solving the technical problem is as follows：
Can after toppling over the self-balance robot of Autoamtic standing again, it includes two sets of balance travelling wheel mechanisms, door shape controls
Casing processed, two support arms, support arm axle bed, two support arm return location switches and travelling wheel mechanism seat boards；The door shape
Control casing topples over contact switch including two control cabinets, upper end connecting plate and two, is provided with the stage casing side wall of control cabinet
Support arm motor mounting hole, the support arm motor mounting hole of two control cabinets is arranged symmetrically coaxially to each other；On described
The lower end of connecting plate is held respectively to be connected with the upper surface of two control cabinets, its three is collectively forming an overall knot for door type
Structure, two respective control circuits of control cabinet are connected to each other by upper end connecting plate；It is described two to topple over contact switch difference
It is connected on a side wall for correspondence control cabinet, two described contacts of toppling over for toppling over contact switch detect termination towards each other
Conversely, and toppling over contact detection termination and being respectively positioned on the integrally-built outside of door type；Support arm include support arm, support arm roller and
Support arm stepper motor, the front end of support arm is provided with roller shaft bearing, and the rear end of support arm is provided with support arm bearing installing blind, the support arm
The rotor shaft of stepper motor is coaxially fixed on the back side of support arm bearing installing blind；The rotating shaft of support arm roller passes through roller bearing
Axis hole on seat, rotation connection both it；Support arm axle bed includes axle bed plate, two ball bearings and connecting rod, axle bed plate
The side wall of bottom is provided with connecting rod mounting hole, and stage casing and the connecting rod mounting hole of the connecting rod are coaxially connected, and two
Individual ball bearing is symmetrically dispersed in the both sides of axle bed plate, and the two ends of connecting rod are respectively in ball bearing corresponding with
Ring is coaxially connected；Described two support arms are symmetrically arranged at the both sides of axle bed plate, and each support arm stepper motor is respectively embedding
Enter and be fixed in a corresponding support arm motor mounting hole, the outer shroud of each ball bearing is embedded and is fixed on
In one corresponding support arm bearing installing blind；Described two support arm return location switches are symmetrically arranged at the two of axle bed plate
Side, the upper end of support arm return location switch is connected with the bottom surface of upper end connecting plate, and two support arm return location switches are each
The midpoint of return contact detection termination roller shaft bearing corresponding with respectively align；Return contact detection termination is inserted into rolling
The distance of wheel bearing seat turning circumference external diameter is 5mm；Travelling wheel mechanism seat board includes that base plate and two support arms are spacing
Switch, is respectively equipped with a breach on two sides long of the base plate, the width of breach is more than the width of support arm, and each lacks
Mouth is corresponding with a support arm；The pedestal at the lower surface of each support arm limit switch breach rear corresponding with
The upper end of plate is connected；Described two respective spacing contact detection terminations of support arm limit switch are facing opposite to each other；It is described walk
Road wheel is connected in the lower section of travelling wheel mechanism seat board by traveling axle block, and two sets of balance travelling wheel mechanisms are symmetrically arranged at axle
The both sides of seat board.
It is described to topple over contact switch, support arm stepper motor, support arm return location switch, branch positioned at axle bed plate the same side
Brace limit switch and balance travelling wheel mechanism are electrically connected with the control cabinet of its corresponding side.
Described two support arm synchronous backwards motion.
The beneficial effects of the utility model are：This can after toppling over again the self-balance robot of Autoamtic standing it is intrinsic from
On the basis of equilibrium function, two control cabinet threes that door shape control casing is set to be connected to each other by upper end connecting plate are total to
With the overall structure of composition door type.So as on the premise of overall structure symmetry is kept, be provided to set up two support arms
Space.The support arm stepper motor being separately positioned on two control cabinets can drive two symmetrically arranged support arms to do synchronization
Reversely rotate, after the outer rim of support arm roller is contacted with ground, it collectively forms supported at three point with the travelling wheel of two lockings simultaneously
Stable state, so as in the follow-up further rotation process of support arm, obtain so that door shape controls casing around two travelling wheels
Common axis line rotation lifting.
Two support arm limit switches reversely with each other are respectively equipped with base plate, when support arm limit switch is propped up
When arm is triggered, illustrate that door shape control casing has had been enter into being sufficiently great to initiate the state of self-balancing system with the inclination angle of horizontal plane, so that
Can recover and start the self-balancing ability of self-balance robot, make its self uprights and continue to keep poised state.Support arm
Also there is return function, remain symmetrical during the rotation of synchronous backward returns and lifting of two support arms, both it,
So as to contribute to automatic-balancing system to continue to the whole machine balancing state of robot.When the lateral wall of roller shaft bearing is right with it
When the return contact detection termination answered contacts, two support arm stopping actions under vertical attitude, and rest on a shape control cabinet
Inside the overall structure of the door type of body, so as to be protected.
In addition this can the self-balance robot of Autoamtic standing also has simple and practical, automated intelligent again after toppling over
The advantages of.
Brief description of the drawings
Fig. 1 is the stereogram of existing Double-wheel self-balancing robot；
Fig. 2 is the self-balancing principle schematic of existing Double-wheel self-balancing robot；
Fig. 3 be the utility model can after toppling over the stereogram of the self-balance robot of Autoamtic standing again；
Fig. 4 is the front view of Fig. 3；
Fig. 5 be it is of the present utility model can the self-balance robot of Autoamtic standing be same in two support arm again after toppling over
Shi Huiwei and level stretch the application schematic diagram under attitude；
Fig. 6 is the configuration schematic diagram of Fig. 5；
Fig. 7 is the configuration schematic diagram that the utility model door shape controls casing；
Fig. 8 is the dimensional structure diagram of the utility model support arm；
Fig. 9 is the configuration schematic diagram of the utility model support arm axle bed；
Figure 10 be the utility model support arm return location switch respectively with the assembling of upper end connecting plate and axle bed plate position
The schematic diagram put；
Figure 11 is the dimensional structure diagram of the utility model travelling wheel mechanism seat board；
Figure 12 be it is of the present utility model can be the self-balance robot of Autoamtic standing be stood again after toppling over again after toppling over
Application schematic diagram immediately；
Figure 13 be it is of the present utility model can after toppling over again the self-balance robot of Autoamtic standing in axle bed plate side wall
Generalized section under the plane of place；
Figure 14 be it is of the present utility model can be the self-balance robot of Autoamtic standing be stood completely after toppling over again after toppling over
Application schematic diagram immediately；
Figure 15 be support arm in the vertical direction return of the present utility model in place when generalized section.
Specific embodiment
The utility model is described in further details below in conjunction with the accompanying drawings.
As shown in Fig. 3 to Figure 11, it is of the present utility model can the self-balance robot of Autoamtic standing includes again after toppling over
1, two support arms 2 of two sets of balance travelling wheel mechanisms 6 and door shape control casing, 3, two support arms of support arm axle bed are returned to
Bit switch 4 and travelling wheel mechanism seat board 5.Door shape control casing 1 inclines including two control cabinet 1-1, upper end connecting plate 1-2 and two
The 1-3 of falling contact switch, is provided with support arm motor mounting hole 1-1-1, two control cabinets on the stage casing side wall of control cabinet 1-1
The support arm motor mounting hole 1-1-1 of 1-1 is arranged symmetrically coaxially to each other.The lower end of upper end connecting plate 1-2 and two controls
The upper surface of case 1-1 is respectively connected, and its three is collectively forming an overall structure for door type, and two control cabinet 1-1 are each
Control circuit be connected to each other by upper end connecting plate 1-2.Topple over contact switch 1-3 for two to be respectively fixedly connected with a correspondence control
On the side wall of case 1-1 processed, two topple over contact switch 1-3 to topple over contact detection termination 1-3-1 facing opposite to each other, and incline
The detection of falling contact termination 1-3-1 is respectively positioned on the integrally-built outside of door type.
Support arm 2 includes support arm 2-1, support arm roller 2-2 and support arm stepper motor 2-3, and the front end of support arm 2-1 is provided with roller
The rear end of bearing block 2-1-2, support arm 2-1 is provided with support arm bearing installing blind 2-1-1, the rotor shaft of support arm stepper motor 2-3
The coaxial back side for being fixed on support arm bearing installing blind 2-1-1.The rotating shaft of support arm roller 2-2 is passed through on roller shaft bearing 2-1-2
Axis hole, connection is rotated both it.
Support arm axle bed 3 includes axle bed plate 3-1, two ball bearing 3-3 and connecting rod 3-2, axle bed plate 3-1 bottoms
Side wall is provided with the stage casing of connecting rod mounting hole 3-1-1, connecting rod 3-2 and connecting rod mounting hole 3-1-1 is coaxially connected,
Two ball bearing 3-3 are symmetrically dispersed in the both sides of axle bed plate 3-1, and the two ends of connecting rod 3-2 are respectively corresponding with one
The inner ring of ball bearing 3-3 is coaxially connected.
Two support arms 2 are symmetrically arranged at the both sides of axle bed plate 3-1, and 2-3 is respectively embedding for each support arm stepper motor
Enter and be fixed in a corresponding support arm motor mounting hole 1-1-1, the outer shroud of each ball bearing 3-3 is embedded in
And be fixed in a corresponding support arm bearing installing blind 2-1-1.
Two support arm return location switches 4 are symmetrically arranged at the both sides of axle bed plate 3-1, support arm return location switch
4 upper end is connected with the bottom surface of upper end connecting plate 1-2, two respective return contact end of probe of support arm return location switch 4
Align at the midpoint of head 4-1 roller shaft bearing 2-1-2 corresponding with respectively.Return contact detection termination is inserted into roller shaft bearing
The distance of 2-1-2 turning circumference external diameters is 5mm, therefore, when roller shaft bearing 2-1-2 is located at vertical peak, return contact
Detection termination 4-1 can be contacted with roller shaft bearing 2-1-2.Travelling wheel mechanism seat board 5 includes base plate 5-1 and two support arm limits
A breach 5-1-1 is respectively equipped with two sides long of bit switch 5-2, base plate 5-1, the width of breach 5-1-1 is more than support arm
The width of 2-1, each breach 5-1-1 is corresponding with a support arm 2.The lower end of each support arm limit switch 5-2
The upper end of the base plate 5-1 at face breach 5-1-1 rears corresponding with is connected.Two support arm limit switch 5-2 are respective
Spacing contact detection termination 5-2-1 is facing opposite to each other.
Travelling wheel 6-1 is connected in the lower section of travelling wheel mechanism seat board 5, two sets of balance travelling wheel mechanisms by traveling axle block
6 both sides for being symmetrically arranged at axle bed plate 3-1.
Topple over contact switch 1-3, support arm stepper motor 2-3, support arm return positioned at axle bed plate 3-1 the same sides are opened in place
4, support arm limit switch 5-2 and balance travelling wheel mechanism 6 is closed to be electrically connected with the control cabinet 1-1 of its corresponding side.Two
Individual support arm 2 can be moved with synchronous backward.Topple over contact switch 1-3, support arm return location switch 4 and support arm limit switch
5-2 uses Omron board SS-5GL2 type microswitches.The hundred million stars science and technology board that support arm stepper motor 2-3 is sold using Taobao
42BYG48-71 type stepper motors, running motor 52 is subtracted from the triumphant scientific and technological board SK3530 type high-performance direct currents of poem that Taobao sells
Speed motor.
Concrete application it is of the present utility model can in the self-balance robot of Autoamtic standing again after toppling over, when the two-wheel from
After balanced robot topples over, it to be toppled over and topple over contact detection termination 1-3-1 and collision on the ground on contact switch 1-3, and promotes
Topple over contact switch 1-3 and sent to control cabinet 1-1 and topple over trigger command in place, control cabinet 1-1 is according to toppling over received by it
Trigger command is simultaneously emitted by support arm startup order to two support arm stepper motor 2-3 in place, and simultaneously to two traveling steppings electricity
Machine 6-2 sends locking order.Two support arm stepper motor 2-3 synchronous backwards rotate and drive two support arms 2 from such as Figure 15 institutes
The vertical peak for showing starts synchronous backward motion.
As shown in figure 12, after the outer rim of a support arm roller 2-2 is contacted with ground, its simultaneously with two travelings of locking
Wheel 6-1 collectively forms the stable state of supported at three point, so as in the follow-up further rotation processes of support arm 2-1, obtain so that door
Shape controls casing 1 to rotate lifting around two common axis lines of travelling wheel 6-1.As shown in figure 13, when a support arm 2-1 close to its
In corresponding breach 5-1-1 and when oppressing the corresponding spacing contact detection termination 5-2-1 of triggering, support arm limit switch 5-2
Send upright trigger command in place to control cabinet 1-1, control cabinet 1-1 according to the upright trigger command in place received by it simultaneously
Unblock is sent to two traveling stepper motor 6-2 and balance starts order, while control cabinet 1-1 is also to two support arm stepper motors
2-3 is simultaneously emitted by reversion return and starts order.Traveling stepper motor 6-2 after unblock is automatic old based on gyroscope at its
Under the control of self-balancing system, accelerate to advance to inclined direction, and make whole self-balancing machine by readjusting position of centre of gravity
Device people replys setting and self-balancing state again.
As shown in Figure 14 to Figure 15, two support arm stepper motor 2-3 start after reversion return startup order is received
Synchronous backward return rotates, and drives the return of support arm 2 and the lifting corresponding to it respectively, when outside roller shaft bearing 2-1-2
When wall corresponding return contact detection termination 4-1 in side is contacted, support arm return location switch 4 sends back to control cabinet 1-1
Position is ceased and desisted order in place, and control cabinet 1-1 ceases and desist order simultaneously to two support arm stepping electricity in place according to the return received by it
Machine 2-3 sends return and ceases and desist order, and promotes the stopping under vertical attitude of two support arms 2 to act, and rest on a shape control cabinet
Inside the overall structure of the door type of body 1, so as to be protected.
Claims (3)
1. can after toppling over the self-balance robot of Autoamtic standing again, including two sets of balances travelling wheel mechanism (6), its feature exists
In：The robot also includes that door shape controls casing (1), two support arms (2), support arm axle bed (3), two support arms to be returned to
Bit switch (4) and travelling wheel mechanism seat board (5)；The door shape controls casing (1) to be connected including two control cabinets (1-1), upper end
Plate (1-2) and two topple over contact switch (1-3), and support arm motor peace is provided with the stage casing side wall of control cabinet (1-1)
Dress hole (1-1-1), support arm motor mounting hole (1-1-1) of two control cabinets (1-1) is arranged symmetrically coaxially to each other；It is described
The lower end of upper end connecting plate (1-2) is respectively connected with the upper surface of two control cabinets (1-1), and its three is collectively forming a door
The overall structure of font, two respective control circuits of control cabinet (1-1) are connected to each other by upper end connecting plate (1-2)；Institute
State two topple over contact switch (1-3) be respectively fixedly connected with one correspondence control cabinet (1-1) side wall on, described two topple over tactile
Point switch (1-3) topple over contact detection termination (1-3-1) it is facing opposite to each other, and topple over contact detection termination (1-3-1)
Positioned at the integrally-built outside of door type；
Support arm (2) includes support arm (2-1), support arm roller (2-2) and support arm stepper motor (2-3), and the front end of support arm (2-1) sets
The rear end for having roller shaft bearing (2-1-2), support arm (2-1) is provided with support arm bearing installing blind (2-1-1), the support arm stepping electricity
The rotor shaft of machine (2-3) is coaxially fixed on the back side of support arm bearing installing blind (2-1-1)；The rotating shaft of support arm roller (2-2)
Axis hole through in roller shaft bearing (2-1-2), rotation connection both it；
Support arm axle bed (3) includes axle bed plate (3-1), two ball bearings (3-3) and connecting rod (3-2), axle bed plate (3-1)
The side wall of bottom is provided with connecting rod mounting hole (3-1-1), stage casing and the connecting rod mounting hole of the connecting rod (3-2)
(3-1-1) is coaxially connected, and two ball bearings (3-3) are symmetrically dispersed in the both sides of axle bed plate (3-1), connecting rod (3-2)
The inner ring of two ends respectively ball bearing (3-3) corresponding be coaxially connected；
Described two support arms (2) are symmetrically arranged at the both sides of axle bed plate (3-1), and each support arm stepper motor (2-3) is
It is respectively embedded into and is fixed in a corresponding support arm motor mounting hole (1-1-1), each ball bearing (3-3)
Outer shroud is embedded and is fixed in a corresponding support arm bearing installing blind (2-1-1)；
Described two support arm return location switches (4) are symmetrically arranged at the both sides of axle bed plate (3-1), and support arm return is in place
The bottom surface of the upper end and upper end connecting plate (1-2) that switch (4) is connected, two respective returns of support arm return location switch (4)
Align at the midpoint of contact detection termination (4-1) roller shaft bearing (2-1-2) corresponding with respectively；Return contact detects termination
The distance that (4-1) is inserted into roller shaft bearing (2-1-2) turning circumference external diameter is 5mm；
Travelling wheel mechanism seat board (5) includes base plate (5-1) and two support arm limit switches (5-2), the base plate
A breach (5-1-1), the width of the width more than support arm (2-1) of breach (5-1-1) are respectively equipped with two sides long of (5-1)
Degree, each breach (5-1-1) is corresponding with a support arm (2)；The lower surface of each support arm limit switch (5-2)
The upper end of the base plate (5-1) at breach (5-1-1) rear corresponding with is connected；Described two support arm limit switch (5-
2) respective spacing contact detection termination (5-2-1) is facing opposite to each other；
The travelling wheel (6-1) is connected in the lower section of travelling wheel mechanism seat board (5), two sets of balance travelling wheels by traveling axle block
Mechanism (6) is symmetrically arranged at the both sides of axle bed plate (3-1).
2. as claimed in claim 1 can after toppling over the self-balance robot of Autoamtic standing again, it is characterised in that：Institute's rheme
Topple over contact switch (1-3), support arm stepper motor (2-3), support arm return location switch in axle bed plate (3-1) the same side
(4), support arm limit switch (5-2) and balance travelling wheel mechanism (6) electrically connect with the control cabinet (1-1) of its corresponding side
Connect.
3. as claimed in claim 1 can after toppling over the self-balance robot of Autoamtic standing again, it is characterised in that：Described
Two support arm (2) synchronous backward motions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621261340.0U CN206185856U (en) | 2016-11-23 | 2016-11-23 | Self -balancing robot that can stand automatically again after empting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621261340.0U CN206185856U (en) | 2016-11-23 | 2016-11-23 | Self -balancing robot that can stand automatically again after empting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206185856U true CN206185856U (en) | 2017-05-24 |
Family
ID=58724338
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621261340.0U Expired - Fee Related CN206185856U (en) | 2016-11-23 | 2016-11-23 | Self -balancing robot that can stand automatically again after empting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206185856U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139180A (en) * | 2017-05-27 | 2017-09-08 | 芜湖星途机器人科技有限公司 | The robot trunk of Autoamtic standing |
| CN110653811A (en) * | 2018-06-29 | 2020-01-07 | 深圳市优必选科技有限公司 | Control method, robot and computer storage medium |
| CN111452061A (en) * | 2020-04-27 | 2020-07-28 | 行星算力(深圳)科技有限公司 | Single-wheel robot |
-
2016
- 2016-11-23 CN CN201621261340.0U patent/CN206185856U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139180A (en) * | 2017-05-27 | 2017-09-08 | 芜湖星途机器人科技有限公司 | The robot trunk of Autoamtic standing |
| CN110653811A (en) * | 2018-06-29 | 2020-01-07 | 深圳市优必选科技有限公司 | Control method, robot and computer storage medium |
| CN111452061A (en) * | 2020-04-27 | 2020-07-28 | 行星算力(深圳)科技有限公司 | Single-wheel robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170524 Termination date: 20171123 |
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| CF01 | Termination of patent right due to non-payment of annual fee |