CN210589256U - Miniature humanoid two-wheeled self-balancing robot - Google Patents
Miniature humanoid two-wheeled self-balancing robot Download PDFInfo
- Publication number
- CN210589256U CN210589256U CN201921484909.3U CN201921484909U CN210589256U CN 210589256 U CN210589256 U CN 210589256U CN 201921484909 U CN201921484909 U CN 201921484909U CN 210589256 U CN210589256 U CN 210589256U
- Authority
- CN
- China
- Prior art keywords
- module
- driving
- fuselage
- manipulator
- head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
- Toys (AREA)
Abstract
The utility model relates to the technical field of robots, in particular to a micro humanoid two-wheeled self-balancing robot, which comprises a power supply, a robot body, a head holder, two manipulators arranged at two sides of the robot body, an ultrasonic sensor, two infrared sensors and a head steering engine, wherein a bottom plate, a middle layer plate and a top plate are sequentially arranged in parallel inside the robot body from bottom to top, two motor supports are fixedly arranged at the lower end surface of the bottom plate, driving motors are respectively arranged on the two motor supports, the output shaft of each driving motor is respectively sleeved with a driving wheel, a posture detection module for self-balancing is arranged on the bottom plate, a control module is arranged on the middle layer plate, manipulator steering engines for driving the rotation of the manipulators are respectively arranged at two sides of the robot body, each manipulator is respectively connected on the robot body through the manipulator steering engine at the corresponding side, can be applied to various use occasions.
Description
The technical field is as follows:
the utility model relates to the technical field of robot, especially, relate to a miniature imitative people two-wheeled self-balancing robot.
Background art:
the two-wheeled self-balancing robot is similar to an inverted pendulum in structure and is an unstable system in a non-electric state. In order to work normally, the robot needs to interact with a mechanical mechanism and an internal electric control system to perform actions such as standing, advancing and retreating, steering, climbing and the like. The two-wheeled self-balancing robot has flexible movement and high energy utilization rate, is suitable for working in narrow space, and has wide application prospect. The robot can complete complex motion and operation which cannot be completed by a multi-wheel robot, is particularly suitable for occasions with large working environment change and complex tasks, such as space exploration, terrain reconnaissance, dangerous goods transportation and the like, and can also be used in the fields of toys, education, service robots and the like.
When the self-balancing robot is applied to a service robot, particularly a humanoid design, the self-balancing robot has the advantages of complex structure, large volume, high manufacturing cost, poor stability, difficult control, popularization among people and single function.
The utility model has the following contents:
the utility model aims at providing a need not extra counter weight, the light and handy miniature imitative people two-wheeled self-balancing robot of structure to the not enough of prior art existence exactly.
In order to realize the purpose, the utility model discloses a technical scheme is: a miniature humanoid two-wheeled self-balancing robot comprises a power supply, a robot body, a head cradle head, two manipulators, ultrasonic sensors, two infrared sensors and a head steering engine, wherein the two manipulators are positioned on two sides of the robot body, the head steering engine is fixedly arranged on the top of the robot body, an output shaft of the head steering engine is vertically upward, the head cradle head is sleeved on the output shaft of the head steering engine, two detection holes are formed in the front end of the head cradle head, the ultrasonic sensors are arranged in the head cradle head, a transmitting end and a receiving end of the ultrasonic sensors are respectively arranged corresponding to the two detection holes, the two infrared sensors are respectively arranged on two sides of the top of the robot body, a bottom plate, a middle plate and a top plate are sequentially arranged in parallel from bottom to top in the robot body, the bottom plate, the middle plate and the top plate are fixedly, the two motor supports are respectively provided with a driving motor, the output shaft of each driving motor is respectively sleeved with a driving wheel, the bottom plate is provided with a posture detection module for self balancing, the middle plate is provided with a control module, the two sides of the machine body are respectively provided with a manipulator steering engine for driving the manipulator to rotate, each manipulator is respectively connected to the machine body through the manipulator steering engine on one corresponding side, the rear end of the machine body is provided with two power supply supports, and the power supply is fixed to the rear end of the machine body through the two power supply supports.
The manipulator is characterized by comprising a shoulder joint connecting piece, an arm, an elbow joint connecting piece and a palm, wherein the shoulder joint connecting piece is fixedly installed on an output shaft of a manipulator steering engine, the arm is internally provided with a shoulder joint steering engine used for driving the arm to rotate and an elbow joint steering engine used for driving the elbow joint connecting piece to rotate, one end of the arm, which is provided with the shoulder joint steering engine, is rotatably connected onto the shoulder joint connecting piece through the shoulder joint steering engine, the elbow joint connecting piece is rotatably connected onto the other end of the arm through the elbow joint steering engine, and the palm is fixedly installed on the elbow joint connecting piece through screws.
The further improvement of the scheme is that a Hall encoder is arranged on the driving motor.
The utility model is further improved by comprising a WIFI communication module, a Bluetooth communication module, a direct current motor driving module, a steering engine driving module, a control module, a direct current motor driving module, a steering engine driving module, an attitude detection module and an infrared sensor, ultrasonic sensor, WIFI communication module, bluetooth communication module's power end all with power electric connection, WIFI communication module, bluetooth communication module all with control module's communication end electric connection, gesture detection module, infrared sensor, ultrasonic sensor, hall encoder all with control module's signal input part electric connection, direct current motor drive module, steering wheel drive module's signal end all with control module's signal output part electric connection, direct current motor drive module's output respectively with each driving motor electric connection, steering wheel drive module's output respectively with each steering wheel electric connection.
The further improvement of the scheme is that the machine body is of a rectangular structure and comprises a front machine body shell and a rear machine body shell.
In a further improvement of the above solution, the control module is ARDUINO UNO R3.
The further improvement of the scheme is that the attitude detection module is an MPU6050 sensor.
The technical proposal is further improved in that the ultrasonic sensor is replaced by a camera.
The utility model has the advantages that: the utility model provides a miniature humanoid two-wheeled self-balancing robot, including the power, the fuselage, the head cloud platform, two manipulators that are located the fuselage both sides, ultrasonic sensor, two infrared sensor, the head steering wheel, fixed setting is at the fuselage top and the output shaft is vertical upwards, the head cloud platform cup joints on the output shaft of head steering wheel, head cloud platform front end has seted up two exploration holes, ultrasonic sensor sets up in the head cloud platform inside and its transmitting terminal, the receiving terminal corresponds the setting with two exploration holes respectively, two infrared sensor set up respectively in fuselage top both sides, parallel arrangement has bottom plate, well plywood, roof in proper order from bottom to top in the fuselage, carry out fixed connection through the metal post between bottom plate, well plywood and the roof, bottom plate lower extreme face fixed mounting has two motor supports, two motor supports are located bottom plate lower extreme face both sides and symmetry setting, the two motor supports are respectively provided with a driving motor, an output shaft of each driving motor is respectively sleeved with a driving wheel, the bottom plate is provided with a posture detection module for self balancing, the middle plate is provided with a control module, two sides of the machine body are respectively provided with a manipulator steering engine for driving the manipulator to rotate, each manipulator is respectively connected to the machine body in a rotating manner through the manipulator steering engine on one corresponding side, the rear end of the machine body is provided with two power supply supports, and a power supply is fixed on the rear end of the machine body through the two power supply supports; the utility model arranges various modules on the bottom plate and the middle layer plate in the body and arranges the power supply below the rear end of the body, thereby the overall gravity center of the robot can be positioned on the center of the driving shaft of the robot, extra balance weight can be saved, the weight of the robot is reduced, and the structure of the robot is lighter; the two driving motors of the utility model are fixedly arranged on the same bottom plate through two symmetrically arranged motor supports, which can greatly improve the coaxiality of the output shafts of the two driving motors, thereby realizing the self-balance of the robot more optimally; the utility model discloses a multi-angle free rotation can be realized through the combination of manipulator steering wheel, shoulder joint steering wheel, elbow joint steering wheel to the manipulator, possesses and snatchs the article function, and the manipulator can be used for adjusting the focus, and when the robot is too big because of the focus is not on the robot drive axle center and beat, can make the general focus of robot be located the robot drive axle center and resume balanced state in the short time through the regulation of manipulator.
Description of the drawings:
fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic diagram of the internal structure of the present invention.
Fig. 3 is a rear view of the present invention.
Fig. 4 is a hardware composition diagram of the present invention.
Description of reference numerals: detection hole 1, head cloud platform 2, fuselage 3, manipulator 4, drive wheel 5, driving motor 6, motor support 7, power supply 8, fuselage front shell 31, fuselage rear shell 32, head steering wheel 33, roof 34, middle layer board 35, bottom plate 36, metal column 37, shoulder joint connecting piece 41, arm 42, elbow joint connecting piece 43, palm 44, manipulator steering wheel 45, shoulder joint steering wheel 46, elbow joint steering wheel 47, power supply support 81, ultrasonic sensor 91, infrared sensor 92, gesture detection module 93, hall encoder 94, WIFI communication module 95, bluetooth communication module 96, control module 97, direct current motor drive module 98, steering wheel drive module 99.
The specific implementation mode is as follows:
the present invention is further described with reference to the accompanying drawings, as shown in fig. 1-4, the present invention comprises a power supply 8, a body 3, a head cradle head 2, two manipulators 4 located at both sides of the body 3, an ultrasonic sensor 91, two infrared sensors 92, and a head steering gear 33, wherein the head steering gear 33 is fixedly arranged at the top of the body 3, an output shaft is vertically upward, the head cradle head 2 is sleeved on the output shaft of the head steering gear 33, two detection holes 1 are arranged at the front end of the head cradle head 2, the ultrasonic sensor 91 is arranged inside the head cradle head 2, and a transmitting end and a receiving end thereof are respectively arranged corresponding to the two detection holes 1, the two infrared sensors 92 are respectively arranged at both sides of the top of the body 3, when the ultrasonic sensor 91 detects that the distance of an object is within a set value, the two infrared sensors 92 on the body start to detect, when, the robot deflects to one side of the infrared sensor 92 which detects an object, when the infrared sensors 92 at two sides detect the object, the robot approaches to the object, the bottom plate 36, the middle plate 35 and the top plate 34 are sequentially arranged in parallel from bottom to top in the machine body 3, the bottom plate 36, the middle plate 35 and the top plate 34 are fixedly connected through the metal column 37, the two motor supports 7 are fixedly arranged on the lower end face of the bottom plate 36, the two motor supports 7 are positioned on two sides of the lower end face of the bottom plate 36 and are symmetrically arranged, the coaxiality of output shafts of the two driving motors can be greatly improved, so that the self-balancing of the robot can be better realized, the driving motors 6 are respectively arranged on the two motor supports 7, the output shaft of each driving motor 6 is respectively sleeved with the driving wheel 5, the attitude detection module 93 for self-balancing is arranged on the bottom plate, 3 both sides of fuselage are equipped with respectively and are used for driving 4 pivoted manipulator steering wheels 45 of manipulator, every manipulator 4 rotates through the manipulator steering wheel 45 of corresponding one side respectively and connects on fuselage 3, 3 rear ends of fuselage are equipped with two power support 81, power 8 is fixed on 3 rear ends of fuselage through two power support 81, thereby can make the general focus of robot be located the robot drive axle in the heart, can save extra counter weight, reduce the weight of robot, thereby make the robot structure lighter and more handy.
The manipulator 4 comprises a shoulder joint connecting piece 41, an arm 42, an elbow joint connecting piece 43 and a palm 44, wherein the shoulder joint connecting piece 41 is fixedly arranged on an output shaft of a manipulator steering gear 45, a shoulder joint steering gear 46 for driving the arm 42 to rotate and an elbow joint steering gear 47 for driving the elbow joint connecting piece 43 to rotate are arranged in the arm 42, one end of the arm 42, which is provided with the shoulder joint steering gear 46, is rotatably connected to the shoulder joint connecting piece 41 through the shoulder joint steering gear 46, the elbow joint connecting piece 43 is rotatably connected to the other end of the arm 42 through the elbow joint steering gear 47, the palm 44 is fixedly arranged on the elbow joint connecting piece 43 through screws, can realize multi-angle free rotation, has the function of grabbing objects, and the manipulator can be used for adjusting the gravity center, when the robot deflects too much because the center of gravity is not on the driving axle center of the robot, the overall center of gravity of the robot can be positioned on the driving axle center of the robot through the adjustment of the manipulator, and the balance state can be recovered in a short time.
The hall encoder 94 is arranged on the driving motor 6, so that the self-balancing function of the robot can be preferably realized.
The utility model also comprises a WIFI communication module 95, a Bluetooth communication module 96, a DC motor driving module 98, a steering engine driving module 99, a control module 97, a DC motor driving module 98, a steering engine driving module 99, a posture detection module 93, an infrared sensor 92, an ultrasonic sensor 91, a WIFI communication module 95, a power supply 8 end of the Bluetooth communication module 96 are all electrically connected with the power supply 8, the WIFI communication module 95 and the Bluetooth communication module 96 are all electrically connected with a communication end of the control module 97, the posture detection module 93, the infrared sensor 92, the ultrasonic sensor 91 and a Hall encoder 94 are all electrically connected with a signal input end of the control module 97, signal ends of the DC motor driving module 98 and the steering engine driving module 99 are all electrically connected with a signal output end of the control module 97, an output end of the DC motor driving module 98 is respectively electrically connected with each driving motor 6, the output end of the steering engine driving module 99 is electrically connected with each steering engine respectively.
The control module 97 is ARDUINO UNO R3, the attitude detection module 93 is an MPU6050 sensor, and the ultrasonic sensor 91 is replaced with a camera.
Of course, the above description is only the preferred embodiment of the present invention, so all the equivalent changes or modifications made by the structure, features and principles in accordance with the claims of the present invention are included in the claims of the present invention.
Claims (8)
1. The utility model provides a miniature imitative people two-wheeled self-balancing robot, including power (8), fuselage (3), head cloud platform (2), two manipulators (4) that are located fuselage (3) both sides, its characterized in that: the device is characterized by further comprising an ultrasonic sensor (91), two infrared sensors (92) and a head steering engine (33), wherein the head steering engine (33) is fixedly arranged at the top of the machine body (3), an output shaft of the head pan-tilt (2) is vertically upward, the head pan-tilt (2) is sleeved on the output shaft of the head steering engine (33), two detection holes (1) are formed in the front end of the head pan-tilt (2), the ultrasonic sensor (91) is arranged inside the head pan-tilt (2), a transmitting end and a receiving end of the ultrasonic sensor respectively correspond to the two detection holes (1), the two infrared sensors (92) are respectively arranged on two sides of the top of the machine body (3), a bottom plate (36), a middle plate (35) and a top plate (34) are sequentially arranged inside the machine body (3) from bottom to top in parallel, the bottom plate (36), the middle plate (35) and the top plate (34) are fixedly connected through metal, two motor support (7) are located terminal surface both sides and symmetry setting under bottom plate (36), be equipped with driving motor (6) on two motor support (7) respectively, drive wheel (5) have been cup jointed respectively to the output shaft of every driving motor (6), be equipped with gesture detection module (93) that are used for the self-balancing on bottom plate (36), be equipped with control module (97) on well plywood (35), fuselage (3) both sides are equipped with respectively and are used for driving manipulator (4) pivoted manipulator steering wheel (45), every manipulator (4) rotate through manipulator steering wheel (45) of corresponding one side respectively and connect on fuselage (3), fuselage (3) rear end is equipped with two power support (81), power (8) are fixed on fuselage (3) rear end through two power support (81).
2. The micro humanoid two-wheel self-balancing robot of claim 1, characterized in that: manipulator (4) are including shoulder joint connecting piece (41), arm (42), elbow joint connecting piece (43), palm (44), shoulder joint connecting piece (41) fixed mounting is on the output shaft of manipulator steering wheel (45), arm (42) inside is equipped with and is used for driving arm (42) pivoted shoulder joint steering wheel (46) and is used for driving elbow joint connecting piece (43) pivoted elbow joint steering wheel (47), the one end that shoulder joint steering wheel (46) were equipped with in arm (42) is passed through shoulder joint steering wheel (46) and is rotated and connect on shoulder joint connecting piece (41), elbow joint connecting piece (43) are rotated through elbow joint steering wheel (47) and are connected on the other end of arm (42), palm (44) are through screw fixed mounting on elbow joint connecting piece (43).
3. The micro humanoid two-wheel self-balancing robot of claim 1, characterized in that: and a Hall encoder (94) is arranged on the driving motor (6).
4. The micro humanoid two-wheel self-balancing robot of claim 1, characterized in that: the device also comprises a WIFI communication module (95), a Bluetooth communication module (96), a direct current motor driving module (98) and a steering engine driving module (99), wherein the control module (97), the direct current motor driving module (98), the steering engine driving module (99), an attitude detection module (93), an infrared sensor (92), an ultrasonic sensor (91), the WIFI communication module (95) and a power supply (8) end of the Bluetooth communication module (96) are electrically connected with a power supply (8), the WIFI communication module (95) and the Bluetooth communication module (96) are electrically connected with a communication end of the control module (97), the attitude detection module (93), the infrared sensor (92), the ultrasonic sensor (91) and a Hall encoder (94) are electrically connected with a signal input end of the control module (97), the direct current motor driving module (98) and a signal end of the steering engine driving module (99) are electrically connected with a signal output end of the control module (97), the output end of the direct current motor driving module (98) is electrically connected with each driving motor (6) respectively, and the output end of the steering engine driving module (99) is electrically connected with each steering engine respectively.
5. The micro humanoid two-wheel self-balancing robot of claim 1, characterized in that: the fuselage (3) is of a rectangular structure, and the fuselage (3) comprises a front fuselage shell (31) and a rear fuselage shell (32).
6. The micro humanoid two-wheel self-balancing robot of claim 1, characterized in that: the control module (97) is ARDUINO UNO 3.
7. The micro humanoid two-wheel self-balancing robot of claim 1, characterized in that: the attitude detection module (93) is an MPU6050 sensor.
8. The micro humanoid two-wheel self-balancing robot of claim 1, characterized in that: the ultrasonic sensor (91) is replaced by a camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921484909.3U CN210589256U (en) | 2019-09-06 | 2019-09-06 | Miniature humanoid two-wheeled self-balancing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921484909.3U CN210589256U (en) | 2019-09-06 | 2019-09-06 | Miniature humanoid two-wheeled self-balancing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210589256U true CN210589256U (en) | 2020-05-22 |
Family
ID=70683988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921484909.3U Active CN210589256U (en) | 2019-09-06 | 2019-09-06 | Miniature humanoid two-wheeled self-balancing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210589256U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2019
- 2019-09-06 CN CN201921484909.3U patent/CN210589256U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204819537U (en) | Teach robot multi -functional morning | |
| CN108638019A (en) | The deformable bionical wheel robot leg of one kind and its control method | |
| CN211029972U (en) | Intelligent logistics robot | |
| CN102520720B (en) | Single-wheel robot capable of realizing self balance | |
| CN106828643B (en) | A kind of omni-directional movement ball shape robot | |
| CN105291086A (en) | Indoor mobile robot for delivering meals | |
| CN108818493A (en) | A kind of compound mobile robot and compound Mobile Robot Control System | |
| CN104859770A (en) | Transformable self-balancing two-wheeled electric vehicle | |
| CN202180886U (en) | Self-balanced intelligent traffic robot | |
| CN106882300B (en) | Double-wheel self-balancing vehicle adjusted by spherical gyroscope | |
| CN206012963U (en) | It is provided with the unmanned vehicle of double mechanical arms | |
| CN202879697U (en) | Intelligent self-balancing traffic robot | |
| CN102416626A (en) | Unit module for modular self-reconstruction robot | |
| CN205087089U (en) | Double round is from balancing trolley based on wireless control | |
| CN210589256U (en) | Miniature humanoid two-wheeled self-balancing robot | |
| CN111137464A (en) | Environment-friendly robot | |
| CN205644272U (en) | Mail steamer self stabilization serving trolley | |
| CN107856762B (en) | Motorcycle type robot | |
| CN113459072B (en) | Switchable series-parallel multi-arm grabbing unmanned aerial vehicle design | |
| CN103832532A (en) | Self-balancing single-wheel electric bicycle | |
| CN211167161U (en) | Pendulum-type spherical robot and control system thereof | |
| CN212401410U (en) | Reversible balancing cube device | |
| CN108415429A (en) | Self-balancing mobile robot on one bulb | |
| CN207417002U (en) | A kind of motor cycle type robot | |
| CN103770873A (en) | Intelligent self-balancing traffic robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |