CN207417002U - A kind of motor cycle type robot - Google Patents
A kind of motor cycle type robot Download PDFInfo
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- CN207417002U CN207417002U CN201721507001.0U CN201721507001U CN207417002U CN 207417002 U CN207417002 U CN 207417002U CN 201721507001 U CN201721507001 U CN 201721507001U CN 207417002 U CN207417002 U CN 207417002U
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- vehicle frame
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- cycle type
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Abstract
The utility model discloses a kind of motor cycle type robots, including vehicle frame, front-wheel mechanism, steering-engine, trailing wheel mechanism, rear wheel drive mechanism and balanced controls, the front-wheel mechanism and the trailing wheel mechanism are separately positioned on the front-end and back-end of the vehicle frame, and the front-wheel mechanism and the trailing wheel mechanism are rotatablely connected with the vehicle frame, the front-wheel mechanism is sequentially connected with the steering-engine, the rear wheel drive mechanism is connected with the trailing wheel mechanism driving, and the balanced controls are arranged on the vehicle frame.The utility model is by the way that motorcycle and balanced controls are integrated, balanced controls, which are based on inverted pendulum principle and momentum-exchange principle, can make entire motor cycle type robot be kept upright state, so as to reduce the width of front wheels and rear wheels, its performance by narrow environment is improved.
Description
Technical field
The utility model is related to robotic technology field, more particularly to a kind of motor cycle type robot.
Background technology
Robot can be divided into two major classes, i.e. industrial robot and specialized robot by robot from application environment.Institute
Meaning industrial robot is exactly the multi-joint manipulator or multi-freedom robot towards industrial circle.And specialized robot then removes
It is outside industrial robot, for nonmanufacturing industry and serve the various sophisticated machine people of the mankind, including：Service robot, water
Lower robot, amusement robot, military robot, agricultural robot, robotization machine etc..
Need mobile robot generally use wheeled construction, and Conventional drum robot at least possess a driving wheel and
Two support wheels with driving wheel not point-blank, in practical applications there are volume it is excessive the problem of.For two-wheeled certainly
Balanced type robot, for two-wheeled on the same axis, at least one width is larger in two-wheeled, overall width side for arrangement form
It is inevitably bigger to size, greatly reduce performance of the double-wheel self-balancing formula robot by narrow environment.
Utility model content
The purpose of this utility model is to provide a kind of motor cycle type robot, to solve above-mentioned existing in the prior art ask
Topic, makes motor cycle type robot that can keep self-balancing, to improve its performance by narrow environment.
To achieve the above object, the utility model provides following scheme：
The utility model provides a kind of motor cycle type robot, including vehicle frame, front-wheel mechanism, steering-engine, rear turbine
Structure, rear wheel drive mechanism and balanced controls, the front-wheel mechanism and the trailing wheel mechanism are separately positioned on the front end of the vehicle frame
And rear end, and the front-wheel mechanism and the trailing wheel mechanism with the vehicle frame be rotatablely connected, the front-wheel mechanism with described turn
It is sequentially connected to steering engine, the rear wheel drive mechanism is connected with the trailing wheel mechanism driving, and the balanced controls are arranged on described
On vehicle frame.
Preferably, the front-wheel mechanism includes front-wheel, front-wheel yoke, turns to hand handle and steering column jacket, the steering column jacket
Both sides be connected respectively with a vehicle frame, it is described steering hand handle be connected by bearing with the steering column jacket, the front axle
Fork is connected with the steering hand handle, and the front-wheel is connected by front axle and bearing with the front-wheel yoke；The steering-engine leads to
A supporting rack is crossed to be connected with the vehicle frame, the turntable of the steering-engine is hinged with steering link, the steering link with it is described
It turns to hand handle to be hinged, the turntable rotation of the steering-engine can drive the steering handle rotation.
Preferably, the trailing wheel mechanism includes trailing wheel and rear axle, and the trailing wheel is set in by bearing on the rear axle, institute
The both ends for stating rear axle are connected respectively with a vehicle frame；The rear wheel drive mechanism includes driving motor and master gear and secondary tooth
Wheel, the driving motor are connected with the vehicle frame, and the master gear is set on the output shaft of the driving motor, the pair tooth
Wheel is connected with the trailing wheel, and the master gear and pinion engagement, the driving motor rotation can drive the trailing wheel
It is rotated around the rear axle.
Preferably, the balanced controls include balance bracket, balance motor, momenttum wheel and shaft, the balance bracket
Top of the both sides respectively with a vehicle frame is connected, and the balance motor is connected with the balance bracket, the balance motor
Output shaft is connected with the shaft, and the shaft is rotatablely connected by bearing and the balance bracket, and the momenttum wheel is set in
In the shaft, the balance motor rotation can drive the momenttum wheel and the shaft to be rotated around the axis of the shaft.
Preferably, the balanced controls further include control system, and control system includes motor driver, momenttum wheel controller
With Posture acquisition device, Posture acquisition device is arranged on the vehicle frame, for detecting the attitude data that the vehicle frame tilts；It is described
Control system is electrically connected respectively with the Posture acquisition device and the momenttum wheel controller, the momenttum wheel controller, the electricity
Machine driver and the balance motor are sequentially connected electrically, and the control system obtains the attitude data of the Posture acquisition device acquisition
And the rotation data of the momenttum wheel, control the output of the balance motor and attitude data and rotation number using control algolithm
According to corresponding motor rotation data, so as to control the balance motor that the momenttum wheel is driven to rotate, the motorcycle is realized
The upright self-balancing of humanoid robot.
Preferably, the Posture acquisition device includes two groups of three axis accelerometers and two groups of three-axis gyroscopes, three described in two groups
Axis accelerometer is used to detect six groups of acceleration when the vehicle frame tilts, and three-axis gyroscope described in two groups inclines for detecting vehicle frame
Six groups of angular acceleration when tiltedly.
Preferably, the control system obtains the inclined attitude data of vehicle frame, and root by the Posture acquisition device
The inclined angle of vehicle frame is calculated using attitude measurement model and vehicle frame tilts angular speed according to the attitude data；
The control system obtains the current angular velocity of the momenttum wheel；
The control system tilts angular speed and current angular velocity profit according to the vehicle frame angle of inclination, the vehicle frame
The target torque of the balance motor is determined with control algolithm；
The control system is by controlling balance motor to be rotated according to the target torque, while by the balance motor band
The dynamic momenttum wheel rotates, and obtains the amendment attitude data after the vehicle frame adjustment；
The control system judges whether the amendment attitude data is equal to the upright self-balancing attitude data of the vehicle frame,
Obtain judging result；
When judging result expression is, determine that the vehicle frame is in upright self-balancing state；
When the judging result represents no, " control system obtains institute by the Posture acquisition device described in return
The inclined attitude data of vehicle frame is stated, and the inclined angle of vehicle frame and vehicle are calculated using attitude measurement model according to the attitude data
Frame tilts angular speed " the step of.
Preferably, battery is further included, the battery is arranged on the lower part of the vehicle frame.
Preferably, support leg mechanism is further included, the support leg mechanism is arranged on the lower part of the vehicle frame, the support leg mechanism energy
It is enough to coordinate motor cycle type machine described in the front-wheel mechanism and the trailing wheel mechanism supports when the motor cycle type robot stops
Device people；The support leg mechanism includes leg steering engine and leg, and the leg steering engine is installed on the vehicle frame, the leg and institute
State the output axis connection of leg steering engine.
Preferably, the camera for being arranged on vehicle frame and being sequentially connected electrically, control system and wireless data transceiving are further included
Module, the steering-engine, the rear wheel drive mechanism and the balanced controls are electrically connected with the control system.
The utility model achieves following technique effect compared with the prior art：
For the utility model by the way that motorcycle and balanced controls are integrated, balanced controls are based on inverted pendulum principle and momentum
Exchange principle can make entire motor cycle type robot be kept upright state, so as to reduce the width of front wheels and rear wheels, improve it
Pass through the performance of narrow environment.
Balanced controls are arranged on the middle and upper part of vehicle frame, between front-wheel mechanism and trailing wheel mechanism, have effectively saved sky
Between and achieve good upright performance.Battery is arranged on the lower part of vehicle frame, reduces center of gravity, reduces the negative of balanced controls
It carries.Steering-engine and balanced controls cooperation can realize the turning function of motor cycle type robot.By integrated camera and
Wireless data transceiver module realizes motor cycle type robot while walking upright, by image Real-time Feedback, possesses it
Exploration function of searching.
Description of the drawings
It in order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 is the entirety perspective view of the utility model motor cycle type robot；
Fig. 2 is the dimensional structure diagram of the utility model balanced controls；
Wherein：1- front-wheels, 2- front-wheel yokes, 3- turn to hand handle, 4- steering column jackets, 5- steering links, 6- steering-engines, 7-
Balanced controls, 8- trailing wheels, 9- rear axles, 10- vehicle frames, 11- driving motors, 12- leg steering engines, 13- batteries, 14- balance motors,
15- momenttum wheels, 16- shafts, 17- supporting racks, 18- legs, 19- balance brackets.
Specific embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out
It clearly and completely describes, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work
All other embodiments obtained shall fall within the protection scope of the present invention.
The purpose of this utility model is to provide a kind of motor cycle type robot, to solve above-mentioned existing in the prior art ask
Topic, makes motor cycle type robot that can keep self-balancing, to improve its performance by narrow environment.
To enable the above-mentioned purpose of the utility model, feature and advantage more obvious understandable, below in conjunction with the accompanying drawings and have
Body embodiment is described in further detail the utility model.
As shown in Figs. 1-2：A kind of motor cycle type robot is present embodiments provided, including vehicle frame 10, front-wheel mechanism, steering
Steering engine 6, trailing wheel mechanism, rear wheel drive mechanism, balanced controls 7, battery 13 and support leg mechanism, vehicle frame 10 are two pieces parallel to each other
Plate, front-wheel mechanism and trailing wheel mechanism are separately positioned on the front-end and back-end of vehicle frame 10, and front-wheel mechanism connects with the transmission of steering-engine 6
It connects, rear wheel drive mechanism is connected with trailing wheel mechanism driving, and balanced controls 7 are arranged on the top of vehicle frame 10, and battery 13 is arranged on vehicle
The lower part of frame 10, balanced controls 7 and battery 13 are respectively positioned between front-wheel mechanism and trailing wheel mechanism, rationally to utilize space, are reduced
Overall volume, and lower the center of gravity.
Front-wheel mechanism includes front-wheel 1, front-wheel yoke 2, turns to hand handle 3 and steering column jacket 4, the both sides difference of steering column jacket 4
It is connected with a vehicle frame 10, turns to hand handle 3 and be connected by bearing with steering column jacket 4, make steering hand handle 3 can be compared with steering column jacket 4
It rotates.The upper end of front-wheel yoke 2 is connected with turning to hand handle 3, and front-wheel 1 passes through front axle and two fork walls of bearing and front-wheel yoke 2
Connection, makes front-wheel 1 that can be rotated compared with front axle.Steering-engine 6 is connected by a supporting rack 17 with vehicle frame 10, steering-engine 6
One end of turntable and two steering links 5 be hinged, the other ends of two steering links 5 with to turn to hand handle 3 hinged, two turn
To connecting rod 5 with turning to the hinge joint of hand handle 3 compared with the center of rotation point symmetry for turning to hand handle 3.Steering-engine 6 and control system
Electrical connection, the turntable of steering-engine 6 rotate under control of the control system, steering hand handle 3 can be driven to rotate, to realize motor
The turning function of car-like robots.
Trailing wheel mechanism includes trailing wheel 8 and rear axle 9, and trailing wheel 8 is set in by bearing on rear axle 9, the both ends of rear axle 9 respectively with
One vehicle frame 10 connects.Rear wheel drive mechanism includes driving motor 11 and master gear and pinion, and driving motor 11 is solid with vehicle frame 10
Even, master gear is set on the output shaft of driving motor 11, and pinion is connected with trailing wheel 8, master gear and pinion engagement, trailing wheel
Driving mechanism is electrically connected with control system, and driving motor 11 rotates under control of the control system can drive trailing wheel 8 around rear axle 9
It rotates, to realize the function that moves forward and backward of motor cycle type robot.
As shown in Figure 2：Balanced controls 7 include balance bracket 19, balance motor 14, momenttum wheel 15 and shaft 16, balance branch
Top of the both sides of frame 19 respectively with a vehicle frame 10 is connected, and balance motor 14 and balance bracket 19 are connected, balance motor 14 it is defeated
Shaft is connected with shaft 16, and shaft 16 is rotatablely connected by bearing and balance bracket 19, and the axis of shaft 16 is parallel to trailing wheel 8
Direction of advance, momenttum wheel 15 are set in shaft 16, and preferably by key connection, balanced controls 7 are electrically connected with control system, balance
Motor 14 rotate under control of the control system can drive momenttum wheel 15 and shaft 16 around the shaft 16 axis rotation.Balancing machine
The control method of structure 7 is based on inverted pendulum principle and momentum-exchange principle, can by changing the rotating speed and angular acceleration of momenttum wheel 15
Leftward or rightward power and acceleration, the state so that it is kept upright are provided to motor cycle type robot.
Balanced controls 7 further include control system, and control system is adopted including motor driver, 15 controller of momenttum wheel and posture
Storage, Posture acquisition device is arranged on vehicle frame, for detecting the attitude data that vehicle frame tilts；Posture acquisition device preferably includes two
Group three axis accelerometer and two groups of three-axis gyroscopes, two groups of three axis accelerometers are used to detect six groups of acceleration when vehicle frame tilts
Degree, two groups of three-axis gyroscopes are used to detect six groups of angular acceleration when vehicle frame tilts.Control system respectively with Posture acquisition device and
15 controller of momenttum wheel is electrically connected, and 15 controller of momenttum wheel, motor driver and balance motor 14 are sequentially connected electrically, control system
The attitude data of Posture acquisition device acquisition and the rotation data of momenttum wheel 15 are obtained, balance motor 14 is controlled using control algolithm
Output and attitude data and the corresponding motor rotation data of rotation data, so as to which balance motor 14 be controlled to drive momenttum wheel 15
It rotates, realizes the upright self-balancing of motor cycle type robot.Control algolithm is pid control algorithm, FUZZY ALGORITHMS FOR CONTROL, adaptive
Any one in control algolithm, Robust Control Algorithm, Active Disturbance Rejection Control algorithm.
Control system obtains the inclined attitude data of vehicle frame by Posture acquisition device, and is surveyed according to attitude data using posture
It measures model and calculates the inclined angle of vehicle frame and vehicle frame inclination angular speed；
Control system obtains the current angular velocity of momenttum wheel 15；
Control system tilts angular speed according to vehicle frame angle of inclination, vehicle frame and current angular velocity determines to put down using control algolithm
The target torque of weighing apparatus motor 14；
Control system drives momenttum wheel by the way that balance motor 14 is controlled to be rotated according to target torque, while by balance motor 14
15 rotate, and obtain the amendment attitude data after vehicle frame adjustment；
Control system judges to correct the upright self-balancing attitude data whether attitude data is equal to vehicle frame, obtains judging knot
Fruit；
When judging result represents "Yes", determine that vehicle frame is in upright self-balancing state；
When judging result represents "No", " control system passes through Posture acquisition device and obtains the inclined posture number of vehicle frame for return
According to, and the inclined angle of vehicle frame and vehicle frame inclination angular speed are calculated using attitude measurement model according to attitude data " the step of.
Support leg mechanism is arranged on the lower part of vehicle frame 10, and support leg mechanism includes leg steering engine 12 and leg 18, leg steering engine 12
It is installed on vehicle frame 10, the output axis connection of leg 18 and leg steering engine 12.Support leg mechanism can stop in motor cycle type robot
Coordinate front-wheel mechanism and trailing wheel mechanism supports motor cycle type robot when only, movement is transformed by static in motor cycle type robot
After state, the rotation control leg 18 of leg steering engine 12 is packed up, to improve the road clearance of motor cycle type robot.
The camera being sequentially connected electrically, control system and wireless data transceiver module, camera are additionally provided on vehicle frame 10
Can be one or more combinations in video camera, infrared camera and CCD camera, to include in the range of 360 °
Various information, wireless data transceiver module can be WiFi module or network communication module, to transmit information to rear
Monitor.
There are four working conditions altogether for the motor cycle type robot of the present embodiment.
Rest heeling condition：Motor cycle type robot is landed by leg 18, forms at 3 points with front-wheel 1 and trailing wheel 8
Support, can realize static heeling condition；
Static heeling condition is to vertical balanced state：Motor cycle type robot makes car body upright, together by self-balancing algorithm
When pack up leg 18, reach vertical balanced state；
Walk upright state：When motor cycle type robot is in vertical balanced state, by rear wheel drive, mechanism drives
Trailing wheel 8 rotates, and can be moved back and forth under self-balancing state；
Balancing steering state：When motor cycle type robot needs go to action, the turntable rotation of steering-engine 6 passes through
Steering link 5 drives steering hand handle 3 to rotate, and the back-and-forth motion of cooperation motor cycle type robot realizes it under self-balancing state
Steering.
It should be noted that：The quantity of balanced controls 7 is not limited to one, or multiple.Steering-engine 6 is with turning to hand
3 driving form and rear wheel drive mechanism and the driving form of trailing wheel mechanism are not limited to this, chain drive, skin can also be used
V belt translation, toothed belt transmission etc..Motor not only may be employed in rear wheel drive mechanism, can also use internal combustion engine.
Specific case is applied in this specification to be set forth the principle and embodiment of the utility model, more than it is real
The explanation for applying example is only intended to help the method and its core concept for understanding the utility model；Meanwhile for the general of this field
Technical staff, according to the thought of the utility model, in specific embodiments and applications there will be changes.To sum up institute
It states, this specification content should not be construed as the limitation to the utility model.
Claims (9)
1. a kind of motor cycle type robot, it is characterised in that：Including vehicle frame, front-wheel mechanism, steering-engine, trailing wheel mechanism, trailing wheel
Driving mechanism and balanced controls, the front-wheel mechanism and the trailing wheel mechanism are separately positioned on the front-end and back-end of the vehicle frame,
And the front-wheel mechanism and the trailing wheel mechanism are rotatablely connected with the vehicle frame, the front-wheel mechanism is passed with the steering-engine
Dynamic connection, the rear wheel drive mechanism are connected with the trailing wheel mechanism driving, and the balanced controls are arranged on the vehicle frame.
2. motor cycle type robot according to claim 1, it is characterised in that：The front-wheel mechanism includes front-wheel, front-wheel
Yoke, steering hand handle and steering column jacket, the both sides of the steering column jacket are connected respectively with a vehicle frame, and the steering hand handle is led to
It crosses bearing to be connected with the steering column jacket, the front-wheel yoke is connected with the steering hand handle, and the front-wheel passes through front axle and axis
It holds and is connected with the front-wheel yoke；The steering-engine is connected by a supporting rack and the vehicle frame, and the steering-engine turns
Disk is hinged with steering link, and the steering link is hinged with the steering hand handle, and the turntable of the steering-engine rotates energy
Enough drive the steering handle rotation.
3. motor cycle type robot according to claim 1, it is characterised in that：The trailing wheel mechanism includes trailing wheel with after
Axis, the trailing wheel are set in by bearing on the rear axle, and the both ends of the rear axle are connected respectively with a vehicle frame；After described
Actuation includes driving motor and master gear and pinion, the driving motor are connected with the vehicle frame, the master gear
It is set on the output shaft of the driving motor, the pinion is connected with the trailing wheel, the master gear and the pinion
Engagement, the driving motor rotation can drive the trailing wheel to be rotated around the rear axle.
4. motor cycle type robot according to claim 1, it is characterised in that：The balanced controls include balance bracket,
Balance motor, momenttum wheel and shaft, the top of the both sides of the balance bracket respectively with a vehicle frame are connected, the balance electricity
Machine is connected with the balance bracket, and the output shaft of the balance motor is connected with the shaft, and the shaft passes through bearing and institute
Balance bracket rotation connection is stated, the momenttum wheel is set in the shaft, and the balance motor rotation can drive described dynamic
Amount wheel and the shaft are rotated around the axis of the shaft.
5. motor cycle type robot according to claim 4, it is characterised in that：The balanced controls further include control system
System, control system include motor driver, momenttum wheel controller and Posture acquisition device, and Posture acquisition device is arranged on the vehicle frame,
For detecting the attitude data that the vehicle frame tilts；The control system respectively with the Posture acquisition device and the momentum
Controller electrical connection is taken turns, the momenttum wheel controller, the motor driver and the balance motor are sequentially connected electrically, the control
System processed obtains the attitude data of the Posture acquisition device acquisition and the rotation data of the momenttum wheel, utilizes control algolithm control
The output of the balance motor and attitude data and the corresponding motor rotation data of rotation data are made, so as to control the balance
Motor drives the momenttum wheel to rotate, and realizes the upright self-balancing of the motor cycle type robot.
6. motor cycle type robot according to claim 5, it is characterised in that：The Posture acquisition device includes two group of three axis
Accelerometer and two groups of three-axis gyroscopes, three axis accelerometer described in two groups are used to detect six groups of acceleration when the vehicle frame tilts
Degree, three-axis gyroscope described in two groups are used to detect six groups of angular acceleration when vehicle frame tilts.
7. motor cycle type robot according to claim 1, it is characterised in that：Battery is further included, the battery is arranged on
The lower part of the vehicle frame.
8. motor cycle type robot according to claim 1, it is characterised in that：Further include support leg mechanism, the leg machine
Structure is arranged on the lower part of the vehicle frame, and the support leg mechanism can coordinate the front-wheel when the motor cycle type robot stops
Motor cycle type robot described in mechanism and the trailing wheel mechanism supports；The support leg mechanism includes leg steering engine and leg, described
Leg steering engine is installed on the vehicle frame, the output axis connection of the leg and the leg steering engine.
9. motor cycle type robot according to claim 1, it is characterised in that：It further includes and is arranged on vehicle frame and electric successively
Camera, control system and the wireless data transceiver module of connection, the steering-engine, the rear wheel drive mechanism and described flat
Weighing apparatus mechanism is electrically connected with the control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721507001.0U CN207417002U (en) | 2017-11-13 | 2017-11-13 | A kind of motor cycle type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721507001.0U CN207417002U (en) | 2017-11-13 | 2017-11-13 | A kind of motor cycle type robot |
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| Publication Number | Publication Date |
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| CN207417002U true CN207417002U (en) | 2018-05-29 |
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ID=62306046
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201721507001.0U Active CN207417002U (en) | 2017-11-13 | 2017-11-13 | A kind of motor cycle type robot |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856762A (en) * | 2017-11-13 | 2018-03-30 | 北京赛曙科技有限公司 | A kind of motor cycle type robot |
| CN110733592A (en) * | 2019-11-01 | 2020-01-31 | 腾讯科技（深圳）有限公司 | Two-wheel traveling system, momentum wheel assembly, momentum wheel balance adjustment method, and medium |
-
2017
- 2017-11-13 CN CN201721507001.0U patent/CN207417002U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107856762A (en) * | 2017-11-13 | 2018-03-30 | 北京赛曙科技有限公司 | A kind of motor cycle type robot |
| CN107856762B (en) * | 2017-11-13 | 2024-03-05 | 北京赛曙科技有限公司 | Motorcycle type robot |
| CN110733592A (en) * | 2019-11-01 | 2020-01-31 | 腾讯科技（深圳）有限公司 | Two-wheel traveling system, momentum wheel assembly, momentum wheel balance adjustment method, and medium |
| CN110733592B (en) * | 2019-11-01 | 2021-01-12 | 腾讯科技（深圳）有限公司 | Two-wheel traveling system, momentum wheel assembly, momentum wheel balance adjustment method, and medium |
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