CN207510524U - A kind of Double-wheel self-balancing robot - Google Patents
A kind of Double-wheel self-balancing robot Download PDFInfo
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- CN207510524U CN207510524U CN201720973149.7U CN201720973149U CN207510524U CN 207510524 U CN207510524 U CN 207510524U CN 201720973149 U CN201720973149 U CN 201720973149U CN 207510524 U CN207510524 U CN 207510524U
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- flywheel
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Abstract
The utility model discloses a kind of Double-wheel self-balancing robots, and by the improvement in mechanical structure, limited technical problem can only be travelled in gentle ground handling by solving robot in the prior art.The Double-wheel self-balancing robot includes car body, the car body both sides are equipped with wheel, the car body includes parallelogram frame body, tiltable deforms, objective table is installed, the objective table is hinged with parallelogram frame body, and the first motor is equipped in the parallelogram frame body on the car body, first motor drives the parallelogram frame body to do inclination and distortion according to surface conditions, and the objective table remains horizontal.Double-wheel self-balancing robot provided by the utility model is adapted to complex road condition, and objective table remains horizontal, and the object of carrying is not easily to fall off.
Description
Technical field
The utility model is related to a kind of robots, and in particular to a kind of Double-wheel self-balancing robot.
Background technology
Two-wheel robot is structurally characterized in that two-wheeled is coaxial, independently driving, vehicle body center of gravity are located above axletree, it passes through vehicle
Wheel movement keeps car body balance.The robot turning radius is 0, can be run in narrow space, no brake system, controlling party
Just.
Two-wheel robot is mainly improved control algolithm in the prior art, and current two-wheel device people lacks there are following
It falls into：Robot needs artificial auxiliary to keep initial dynamic equilibrium, and operation is more complicated；When robot passes through slope, robot carrying
Object and ground have inclination angle, easily come off；Robot can only be in gentle ground handling, and travelling has limitation.
Utility model content
For the above-mentioned problems in the prior art, the utility model provides a kind of Double-wheel self-balancing robot, vehicle
Body is made of parallelogram frame body, is deformed under motor driving according to surface conditions tiltable, objective table is equipped on car body,
Objective table can remain horizontal so that Double-wheel self-balancing robot is adapted to complex road condition, and the object carried is not
It is easy to fall off.
In order to achieve the above object, the technical solution of the utility model is realized in：
The utility model provides a kind of Double-wheel self-balancing robot, and the robot includes car body, the car body both sides peace
Equipped with wheel, the car body includes parallelogram frame body, for the inclination and distortion of the car body；Load is installed on the car body
Object platform, the objective table are hinged with parallelogram frame body, are equipped with the first motor in the parallelogram frame body, and described
One motor drives the parallelogram frame body to do inclination and distortion according to surface conditions so that the objective table remains water
It is flat.By above-mentioned technological means, Double-wheel self-balancing robot can be caused to adapt to different road conditions, it is certainly flat so as to improve two-wheel
The adaptability of weighing apparatus robot, and the object of robot carrying is not easy to fall off, so as to improve Double-wheel self-balancing robot
Transport capacity.
Preferably, angular transducer or gyroscope are provided on the objective table, detect the objective table relative to level
The angle in face, when Uneven road where the robot, according to the detection angles value of the angular transducer or gyroscope, institute
Stating the first motor drives the parallelogram frame body to do inclination and distortion, makes the objective table holding horizontal.Pass through above-mentioned technology
Means, can cause Double-wheel self-balancing robot to have intelligent regulatory function, and parallelogram frame body can do appropriateness and incline automatically
It tiltedly deforms to adapt to different surface conditions.
Preferably, the parallelogram frame body is including plate and middle panel above being arranged in parallel and positioned at both sides
Left plate and right plate；The top panel, middle panel are hinged with left plate, right plate respectively, and the left plate lower end is equipped with
One left wheel, there are one right wheels for the right plate lower end installation.It is Double-wheel self-balancing robot by above-mentioned technological means
Construct a car body that can control flexible inclination and distortion.
Preferably, flywheel is provided in the parallelogram frame body, the flywheel is located at two wheel centers and connects
On the center plummet face of line, the flywheel rotation causes the car body to keep standing state using gyroscopic effect.Pass through above-mentioned skill
Art means can cause Double-wheel self-balancing robot Autoamtic standing, and station is kept in the case where not needing to external force booster action
It is vertical, the operation that artificial righting robot is needed when self-balance robot brings into operation is eliminated, saves artificial auxiliary operation.
Preferably, the middle lower panels are provided with parallel flywheel support plate, the flywheel support plate both sides respectively and
The side plate is hinged, and free wheel base is provided in the flywheel support plate, and the free wheel base is arranged in the flywheel support plate
Between position, the flywheel be mounted on the free wheel base in, the free wheel base below or above is equipped with the second motor, for driving
The flywheel rotation.By above-mentioned technological means, providing one for Double-wheel self-balancing robot can follow tilting of car body to become
The flywheel of shape and Sloped rotating, so as to improve the riding stability of Double-wheel self-balancing robot.
Preferably, the flywheel is provided with central shaft, and the shaft of second motor connects the central shaft of the flywheel, institute
State the central shaft that upper and lower bearing is provided in free wheel base to support the fixed flywheel.By above-mentioned technological means, can cause
The frictional force being subject in flywheel rotary course is minimum.
Preferably, the objective table is T-shaped, the supporting leg including horizontal support platform and the vertical support platform, institute
It states branch midleg and the top panel is hinged, the supporting leg lower end and the middle panel are hinged.It is double by above-mentioned technological means
Wheel self-balance robot provides an objective table that can adapt to car body deformation, in car body tilts deformation process, carries
The supporting leg of object platform can keep vertical always, and the support platform of objective table can keep horizontal always, so as to improve two-wheel certainly
The transport capacity of balanced robot.
Preferably, first motor is mounted on the middle panel, and the shaft of first motor connects the middle face
The hinged shaft of plate and the supporting leg, the hinged shaft are fixedly connected with the supporting leg, and the supporting leg of the objective table is protected always
Hold vertical state.By above-mentioned technological means, it is substantially to link that can cause the middle panel and objective table, the first motor
Stator be fixedly connected respectively with middle panel with objective table with rotor because the effect of power is mutual, driving force can be same
When be applied on middle panel and objective table, the two occur relative tilt.
Preferably, open-work is provided in the middle part of the top panel, the supporting leg of the objective table passes through the open-work, the loading
The supporting leg of platform and the top panel are hinged in the through-hole position.By above-mentioned technological means, it can cause objective table and car body
Connection structure is more secured.
Preferably, the top panel, middle panel and the hinged position of the side plate, the flywheel support plate and the side plate
Hinged position is both provided with hinge or hinged shaft, and the hinge or hinged shaft cause the top panel, middle panel, flywheel
Support plate can relatively rotate between the side plate respectively.Hinge is set, the bonding strength between rotatable parts can be improved, if
Hinged shaft is put, then can simplify the connection structure between rotatable parts.
Preferably, the left wheel is provided with third motor, and the right wheel is provided with the 4th motor, the third electricity
Machine, the 4th motor are installed in the side plate interior sides.By above-mentioned technological means, vehicle body space can be rationally utilized, is subtracted as possible
The car body volume of small Double-wheel self-balancing robot, third motor, the 4th motor, which play, keeps Double-wheel self-balancing Robotic Dynamic to put down
The effect of weighing apparatus.
Preferably, accumulator is installed, the accumulator is first motor, the second motor, third in the car body
Lithium battery may be used in motor, the power supply of the 4th motor, the accumulator.It is Double-wheel self-balancing machine by above-mentioned technological means
The traveling of people provides basic power source.
The Double-wheel self-balancing robot set using the above structure has the following advantages：
The robot car body of the utility model uses parallelogram mechanism, when robot is on slope or ground uneven
When being run under road conditions, driving motor rotates parallelogram mechanism, and objective table remains horizontal at this time, and the object of carrying is not
It is easy to fall off.
Flywheel mechanism is devised on the robot car body of the utility model, using the gyroscopic effect of flywheel, robot can be with
Autoamtic standing gets up, and keeps standing in the case where not needing to external force booster action, when eliminating self-balance robot and bringing into operation
The operation of artificial righting robot is needed, saves artificial auxiliary operation；Then robot realizes dynamic equilibrium by two-wheel drive
Movement.
Symmetrical, reasonable design before and after the robot architecture of the utility model, center of gravity is in robotically-driven wheel axis plummet face
On, the offset that lowers the center of gravity influences robot motion.
Description of the drawings
Fig. 1 is the stereogram of the utility model Double-wheel self-balancing robot.
Fig. 2 is the front view of the utility model Double-wheel self-balancing robot.
Fig. 3 is the sectional view of the utility model Double-wheel self-balancing robot.
Fig. 4 is the exploded view of the utility model Double-wheel self-balancing robot.
Fig. 5 is the walking schematic diagram of the utility model Double-wheel self-balancing robot.
In figure：1. objective table；1-1. support platform；1-2. supporting leg；2. top panel；3. right plate；4. right wheel；5. the 4th
Motor；6. flywheel support plate；7. the second motor；8. flywheel；9. the first motor；Panel in 10.；11. third motor；12. left vehicle
Wheel；13. left plate.
Specific embodiment
The design concept of the utility model is：
Double-wheel self-balancing robot usually requires artificially to assist keeping initial dynamic equilibrium in the prior art, and operation is more multiple
It is miscellaneous；When passing through slope, there is inclination angle on the object of robot carrying and ground, easily come off；It can only be travelled in gentle ground handling
There is limitation.
For this purpose, the utility model provides a kind of Double-wheel self-balancing robot, improvement is mainly made in mechanical structure, if
Parallelogram car body has been counted, has been deformed under motor driving according to surface conditions tiltable, objective table, loading is installed on car body
Platform can remain horizontal so that Double-wheel self-balancing robot is adapted to complex road condition, and the object carried is not easy to take off
It falls.
High-speed rotating flywheel is installed in car body, using the gyroscopic effect of flywheel, robot can be got up with Autoamtic standing,
And it keeps standing in the case where not needing to external force booster action, saves artificial auxiliary and keep initial dynamic equilibrium operation.
It is new to this practicality below in conjunction with attached drawing to make the purpose of this utility model, technical solution and advantage clearer
Type embodiment is described in further detail.
Embodiment 1
It is as shown in Figure 1, Figure 2, Figure 3 shows the utility model embodiment 1, in this embodiment, the utility model provides a kind of
Double-wheel self-balancing robot, including car body, car body both sides are equipped with wheel, and car body includes parallelogram frame body, for car body
Inclination and distortion, objective table 1 is installed on car body, objective table 1 is hinged with parallelogram frame body, is pacified in parallelogram frame body
Equipped with the first motor 9, the first motor 9 driving parallelogram frame body does inclination and distortion according to surface conditions so that objective table 1 begins
It keeps eventually horizontal.
In accordance with an embodiment of the present disclosure, parallelogram frame body can do leftward or rightward inclination according to road surface height and become
Shape as shown in figure 5, road surface is with left lower than right, is elevated, parallelogram frame body will be tilted to the right on the right side of parallelogram frame body
Deformation is elevated if driven on the road surface of right low left high, on the left of parallelogram frame body, and parallelogram frame body will be to
Left bank deforms.On the road surface of out-of-flatness, parallelogram frame body persistently makes inclination and distortion to the left or to the right.Together
Sample when the road surface of robot traveling is rugged and rough or it needs to climb, can be all adjusted so that objective table 1 can accordingly
To remain horizontal.
Car body shown in Fig. 1, Fig. 2, Fig. 3 is in rectangular shape, this can regard the initial of Double-wheel self-balancing robot as
State.
Parallelogram frame body includes plate 2 and middle panel 10 and the left plate 13 positioned at both sides above being arranged in parallel
With right plate 3；Top panel 2, middle panel 10 are hinged with left plate 13, right plate 3 respectively, and there are one left for the installation of 13 lower end of left plate
Wheel 12, there are one right wheels 4 for the installation of 3 lower end of right plate.
Flywheel 8 is provided in parallelogram frame body, when parallelogram frame body is rectangular, flywheel 8 is located at left wheel
12 and 4 line of centres of right wheel center plummet face on, if parallelogram frame body tilt parallelogram, flywheel 8
It can be changed with the above-mentioned position relationship of two wheels, but the axis of flywheel 8 still can vertically left wheel 12 and right wheel 4
The line of centres (geometrical relationship of each component can obtain from Fig. 5), in the inclination of parallelogram frame body to the left or to the right
In deformation process, the position relationship of flywheel 8 and two wheels is also toward complex transformation, as long as parallelogram frame body restores to square
Shape, flywheel 8 will be located on the center plummet face of two wheel center lines.The rotation of flywheel 8 causes car body using gyroscopic effect
Autoamtic standing gets up, and keeps standing state, does not need to stand under external force booster action.
Middle 10 lower part of panel is provided with parallel flywheel support plate 6, and 6 both sides of flywheel support plate are hinged respectively with side plate, flies
Free wheel base is provided in wheel support plate 6, free wheel base is arranged on the centre position of flywheel support plate 6, and flywheel 8 is mounted on free wheel base
In, free wheel base below or above is equipped with the second motor 7, for flywheel 8 to be driven to rotate.The stator (shell) of second motor 7 needs
It is fixed on free wheel base, shaft (rotor) the connection flywheel shaft of the second motor 7.
As shown in Figure 3, Figure 4, the rectangular framework of free wheel base, flywheel 8 is installed therein, is rotated in free wheel base.Flywheel 8 is set
Central shaft is equipped with, the shaft of the second motor 7 connects the central shaft of flywheel 8, upper and lower bearing is provided with to support fixation in free wheel base
The central shaft of flywheel 8 so that the frictional force being subject in 8 rotary course of flywheel is minimum.
The vertical flywheel support plate 6 of axis of flywheel 8, when flywheel support plate 6 is horizontality, the axis of flywheel 8 is perpendicular
Straight state, when flywheel support plate 6 is heeling condition, the axis of flywheel 8 can also become inclination.
In the present embodiment, objective table 1 is T-shaped, includes the branch of horizontal support platform 1-1 and vertical support platform 1-1
In the middle part of leg 1-2, supporting leg 1-2 and top panel 2 is hinged, and supporting leg 1-2 lower ends and middle panel 10 are hinged, and the stator of the first motor 9 is (outer
Shell) on middle panel 10, the hinged shaft of panel 10 and supporting leg 1-2 in shaft (rotor) connection of the first motor 9, the hinge
Switch through axis to be fixedly connected with supporting leg 1-2.
Because determine a straight line, articulated position at two is provided on the supporting leg 1-2 of objective table 1 at 2 points, it is possible to determine
The vertical direction of supporting leg 1-2.Again because of the interaction of power, in 9 rotation process of the first motor, supporting leg 1-2 is vertical direction,
Relative tilt all has occurred in top panel 2 and middle panel 10, and flywheel support plate 6, left plate 13, right plate 3 are also accordingly inclined
Tiltedly.
The supporting leg 1-2 of objective table 1 is parallel always with side plate, and remains vertical state.
The support platform 1-1 of objective table 1 can keep the horizontal principle to be：Be provided on objective table 1 angular transducer or
Gyroscope can detect the angle of objective table 1 with respect to the horizontal plane, when Uneven road where robot, according to angle sensor
The detection angles value of device or gyroscope, the first motor 9 driving parallelogram frame body do inclination and distortion, make the support of objective table 1
Platform 1-1 keeps horizontal.Stepper motor may be used in first motor 9, can detect the angle value of itself rotor rotation.
Auxiliary fixture on platform 1-1 can also be set, for fixing contained object, but fixture is assisted to need foundation
The gravity balance of robot designs.
The middle part of top panel 2 is provided with open-work, and the supporting leg 1-2 of objective table 1 passes through the open-work, the supporting leg 1-2 of objective table 1 and upper
Panel 2 is hinged in the through-hole position.The width of the open-work needs the supporting leg 1-2 thickness more than objective table 1, so as to reserve between activity
Top panel 2 and supporting leg 1-2 can be relatively rotated for gap.
Top panel 2, middle panel 10 and the hinged position of side plate, flywheel support plate 6 and the hinged position of side plate are both provided with
Hinge, the two panels blade of hinge are separately fixed on top panel 2 and side plate, on middle panel 10 and side plate, flywheel support plate 6 and side
On plate.Hinge is set, the bonding strength between rotatable parts can be improved.
Such designing scheme can also be used：Hinged shaft is provided only in hinged place, is correspondingly set on side plate
Have an open-work, the both ends of top panel 2, the both ends of middle panel 10, flywheel support plate 6 both ends be inserted into these open-works, by hinged
Shaft forms hinged relationship.The hinged shaft of setting, then can simplify the connection structure between rotatable parts.
As shown in Fig. 2, left wheel 12 is provided with third motor 11, right wheel 4 is provided with the 4th motor 5, third motor 11,
4th motor 5 is installed in side plate interior sides.Third motor 11, the 4th motor 5 stator (shell) need to be fixed on side plate
On, third motor 11, the 4th motor 5 shaft (rotor) connection axletree.
In the present embodiment, it needs that accumulator is installed in car body, lithium battery may be used in accumulator.Accumulator is the first electricity
Machine 9, the second motor 7, third motor 11, the 4th motor 5 are powered.Accumulator may be mounted at top panel 2, middle panel 10 or flywheel
In support plate 6, equally, accumulator and its installation site need the gravity balance according to robot to design.
When Double-wheel self-balancing robot does not work and when putting on the ground, car body tilts on the ground and in nature
State starts flywheel 8 and rotates, using gyroscopic effect so that car body Autoamtic standing gets up and keeps standing state, in standing shape
State lower body keeps rectangular shape, and 11 and the 4th motor 5 of third motor respectively drives the wheel of both sides, Double-wheel self-balancing robot
It can keep dynamic equilibrium.
The walking states of Double-wheel self-balancing robot on inclined-plane as shown in figure 5, when walking, and only tilting of car body deforms, vehicle
Body is adjusted to inclined parallelogram by rectangle, but objective table 1 remains horizontal.
When Double-wheel self-balancing robot ambulation to level road, car body restores again to rectangular shape.
Embodiment 2
In this embodiment, with embodiment 1 the difference is that top panel 2, middle panel 10, left plate 13, right plate 3, fly
Wheel support plate 6 may be used the plate body of Openworks shape or using bar structure, be conducive to mitigate the weight of robot in this way.
The other structures of Double-wheel self-balancing robot are same as Example 1 in the embodiment, are not repeated to describe herein.
The above is only the specific embodiments of the utility model, under the above-mentioned introduction of the utility model, art technology
Personnel can carry out other improvement or deformation on the basis of above-described embodiment.It is it will be understood by those skilled in the art that above-mentioned
Specific descriptions only preferably explain the purpose of this utility model, the scope of protection of the utility model should be with the guarantor of claim
It protects subject to range.
Claims (10)
1. a kind of Double-wheel self-balancing robot, the robot includes car body, and the car body both sides are equipped with wheel, and feature exists
In the car body includes parallelogram frame body, for the inclination and distortion of the car body；Objective table is installed on the car body,
The objective table is hinged with parallelogram frame body, and the first motor, first electricity are equipped in the parallelogram frame body
Machine drives the parallelogram frame body to do inclination and distortion according to surface conditions so that the objective table remains horizontal.
2. Double-wheel self-balancing robot as described in claim 1, which is characterized in that be provided with angle sensor on the objective table
Device or gyroscope detect the angle of the objective table with respect to the horizontal plane, when Uneven road where the robot, according to institute
The detection angles value of angular transducer or gyroscope is stated, first motor drives the parallelogram frame body to do inclination change
Shape makes the objective table holding horizontal.
3. Double-wheel self-balancing robot as described in claim 1, which is characterized in that the parallelogram frame body includes parallel
Plate and middle panel and the left plate and right plate positioned at both sides above setting；The top panel, middle panel are respectively and left side
Plate, right plate are hinged, and there are one left wheels for the left plate lower end installation, and there are one right wheels for the right plate lower end installation.
4. Double-wheel self-balancing robot as claimed in claim 3, which is characterized in that be provided in the parallelogram frame body
Flywheel, the flywheel are located on the center plummet face of two wheel center lines, and the flywheel rotation utilizes gyroscopic effect
So that the car body keeps standing state.
5. Double-wheel self-balancing robot as claimed in claim 4, which is characterized in that the middle lower panels are provided with parallel
Flywheel support plate, the flywheel support plate both sides are hinged respectively with the side plate, and free wheel base is provided in the flywheel support plate,
The free wheel base is arranged on the centre position of the flywheel support plate, and the flywheel is mounted in the free wheel base, the flywheel
Seat below or above is equipped with the second motor, for the flywheel to be driven to rotate.
6. Double-wheel self-balancing robot as claimed in claim 5, which is characterized in that the flywheel is provided with central shaft, described
The shaft of second motor connects the central shaft of the flywheel, is provided with upper and lower bearing in the free wheel base to support described in fixation
The central shaft of flywheel.
7. Double-wheel self-balancing robot as claimed in claim 3, which is characterized in that the objective table is T-shaped, including level
The supporting leg of support platform and the vertical support platform, the branch midleg and the top panel are hinged, the supporting leg lower end and
The middle panel is hinged.
8. Double-wheel self-balancing robot as claimed in claim 7, which is characterized in that first motor is mounted on the middle face
On plate, the shaft of first motor connects the hinged shaft of the middle panel and the supporting leg, the hinged shaft and described
Supporting leg is fixedly connected, and the supporting leg of the objective table remains vertical state.
9. Double-wheel self-balancing robot as claimed in claim 7, which is characterized in that open-work is provided in the middle part of the top panel,
The supporting leg of the objective table passes through the open-work, and the supporting leg of the objective table and the top panel are hinged in the through-hole position.
10. Double-wheel self-balancing robot as claimed in claim 5, which is characterized in that the top panel, middle panel and the side
The hinged position of plate, the flywheel support plate and the hinged position of the side plate are both provided with hinge or hinged shaft, the conjunction
Page or hinged shaft cause the top panel, middle panel, flywheel support plate that can be relatively rotated between the side plate respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720973149.7U CN207510524U (en) | 2017-08-04 | 2017-08-04 | A kind of Double-wheel self-balancing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720973149.7U CN207510524U (en) | 2017-08-04 | 2017-08-04 | A kind of Double-wheel self-balancing robot |
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| CN207510524U true CN207510524U (en) | 2018-06-19 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107499393A (en) * | 2017-08-04 | 2017-12-22 | 歌尔科技有限公司 | A kind of Double-wheel self-balancing robot |
| CN111633688A (en) * | 2020-05-27 | 2020-09-08 | 行星算力(深圳)科技有限公司 | Robot goods shelf height adjusting mechanism |
| CN113043258A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Self-balancing robot and control method thereof |
-
2017
- 2017-08-04 CN CN201720973149.7U patent/CN207510524U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107499393A (en) * | 2017-08-04 | 2017-12-22 | 歌尔科技有限公司 | A kind of Double-wheel self-balancing robot |
| CN107499393B (en) * | 2017-08-04 | 2020-11-13 | 歌尔科技有限公司 | Double round self-balancing robot |
| US11027416B2 (en) | 2017-08-04 | 2021-06-08 | Goertek Technology Co., Ltd. | Two-wheeled self-balancing robot |
| CN113043258A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Self-balancing robot and control method thereof |
| CN111633688A (en) * | 2020-05-27 | 2020-09-08 | 行星算力(深圳)科技有限公司 | Robot goods shelf height adjusting mechanism |
| CN111633688B (en) * | 2020-05-27 | 2023-08-18 | 行星算力(深圳)科技有限公司 | Robot shelf height adjusting mechanism |
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