CN216883984U

CN216883984U - Self-balancing wheel type robot

Info

Publication number: CN216883984U
Application number: CN202123078271.3U
Authority: CN
Inventors: 邓文拔; 许登科
Original assignee: Zhuhai Amicro Semiconductor Co Ltd
Current assignee: Zhuhai Amicro Semiconductor Co Ltd
Priority date: 2021-12-09
Filing date: 2021-12-09
Publication date: 2022-07-05
Anticipated expiration: 2031-12-09

Abstract

The utility model discloses a self-balancing wheel type robot, which comprises a robot main body, a bearing part and a walking mechanism, wherein the walking mechanism comprises two driving wheels which are respectively arranged on two sides of the bearing part; the robot comprises a bearing part, a robot main body, a first screw rod transmission mechanism, a second screw rod transmission mechanism and a counterweight, wherein the bearing part is internally provided with the first screw rod transmission mechanism, the second screw rod transmission mechanism and the counterweight; the first screw rod transmission mechanism is used for maintaining the robot main body in a vertical arrangement when the robot main body is touched by a counterweight; or the second screw rod transmission mechanism is used for maintaining the robot main body in a vertical arrangement when the robot main body is touched by the balance weight.

Description

Self-balancing wheel type robot

Technical Field

The utility model relates to the technical field of autonomous mobile intelligent robots, in particular to a self-balancing wheel type robot.

Background

The tumbler is a structure with a low center of gravity and a circular arc-shaped bottom. When the tumbler is at rest, the gravity action line just coincides with the supporting point. When the tumbler is swung to one side, the gravity center is deflected to the other side along with the change of the supporting point (understood as the landing point of the tumbler and the ground surface), so that a moment towards the other side is generated, and the tumbler is promoted to swing towards the other side, so that the tumbler is always not swung no matter how the tumbler swings.

Most of the existing autonomous mobile intelligent robots adopt wheel type structures, all the robots are designed to be planar chassis, and cannot stand autonomously after being pushed down by external force or stumbled by obstacles or easily toppled over when climbing a slope, so that the robots need to be held up by people. This limits the application of such mobile robots.

SUMMERY OF THE UTILITY MODEL

The utility model provides a self-balancing wheeled robot, which is a two-wheeled self-balancing robot and also belongs to a spherical walking robot, the main part of the robot body can be kept balanced by utilizing a self-transmission mechanical structure, and the self-balancing wheeled robot can be particularly applied to a moving scene that the body of the robot is pushed down by external force, or is stumbled by an obstacle, or is toppled in climbing, and can automatically recover the body to be in an upright stable state. The specific technical scheme is as follows:

a self-balancing wheeled robot comprises a robot main body, a bearing part and a traveling mechanism, wherein the traveling mechanism comprises two driving wheels which are respectively arranged on two sides of the bearing part; the robot comprises a bearing part, a robot main body and a robot main body, wherein a first screw rod transmission mechanism, a second screw rod transmission mechanism and a balance weight are arranged in the bearing part; the first screw rod transmission mechanism is used for maintaining the robot main body in a vertical arrangement when the robot main body is touched by a balance weight; or the second screw rod transmission mechanism is used for maintaining the robot main body in a vertical arrangement when touched by the balance weight.

Further, the first screw rod transmission mechanism and the second screw rod transmission mechanism are installed on two sides of the balance weight along the advancing direction of the self-balancing wheeled robot; when the robot main body is vertically arranged, the counterweight does not touch the first screw rod transmission mechanism, and the counterweight does not touch the second screw rod transmission mechanism.

Further, when the self-balancing wheeled robot is vertically arranged, a tangent plane of a contact point of the counterweight and the bearing part is kept parallel to a traveling plane where the self-balancing wheeled robot is located; the counterweight is a hemisphere, the bearing part is an ellipsoidal shell, and the counterweight is rotatably arranged in a sliding groove formed in the bottom wall of the bearing part; the first lead screw transmission mechanism is arranged in a first fixed mounting groove position arranged in the bearing part, the second lead screw transmission mechanism is arranged in a second fixed mounting groove position arranged in the bearing part, and the sliding groove is arranged between the first fixed mounting groove position and the second fixed mounting groove position.

Further, the first lead screw transmission mechanism comprises a first touch element, a first stepping motor, a first lead screw, a first coupler, a first lead screw nut and a first bearing plate; the first touch element is arranged on the bottom wall of the bearing part and positioned on one side face of the balance weight, and the first touch element is connected with the first stepping motor through an electric wire; an output shaft of the first stepping motor is connected with one end of a first screw rod through a first coupler, the other end of the first screw rod is connected to a first bearing plate but does not penetrate through the first bearing plate, one end of the first stepping motor is fixedly connected with the first fixed mounting groove position, the first screw rod is in clearance fit with a first screw rod nut, and the first screw rod nut is connected with the first bearing plate through a bolt; the first bearing plate is used for abutting against or placing the robot main body; the first through hole is formed above the bearing part and used for accommodating the first screw rod and the first screw rod nut to move.

Furthermore, the second lead screw transmission mechanism comprises a second touch element, a second stepping motor, a second lead screw, a second coupler, a second lead screw nut and a second bearing plate; the second touch sensing element is arranged on the bottom wall of the bearing part and is connected with the second stepping motor through an electric wire, wherein the first touch sensing element is arranged on one side surface of the counterweight, and the second touch sensing element is arranged on the other side surface of the counterweight; an output shaft of a second stepping motor is connected with one end of a second screw rod through a second coupler, the other end of the second screw rod is connected to a second bearing plate but does not penetrate through the second bearing plate, one end of the second stepping motor is fixedly connected with the second fixed mounting groove position, the second screw rod is in clearance fit with a second screw rod nut, and the second screw rod nut is connected with the second bearing plate through a bolt; the second bearing plate is used for being matched with the first bearing plate to place the robot main body and plays a role in limiting the position of the robot main body above the bearing part; and a second through hole is formed above the bearing part and is used for accommodating the movement of a second screw rod and a second screw rod nut.

Further, the first and second tactile elements are both pressure sensors or contact switches; when the bearing part tilts clockwise, the first touch element receives the touch action of the balance weight, the first stepping motor is started to drive the first lead screw nut to descend through the first lead screw until the robot main body is tilted towards one side and returns to be vertically arranged; when the bearing part inclines anticlockwise, the second touch element receives the touch effect of the balance weight, the second stepping motor is started to drive the second lead screw nut to descend through the second lead screw, and the robot main body is restored to be vertical by inclining towards one side.

Further, when the self-balancing wheeled robot is in a static balance state or a walking balance state, the support point of the bottom wall of the bearing part of the counterweight is located on a gravity action line of the robot main body, the gravity center of the self-balancing wheeled robot is located right below a geometric center of a curved surface where the bottom wall of the bearing part is located, and the weight of the counterweight is matched with the weight of the robot main body, so that when the bearing part is lifted, the counterweight pulls the bearing part back to the original position, wherein the robot main body is kept vertically arranged in the process.

Furthermore, a support rod is hinged between the robot main body and the bearing part, one end of the support rod is hinged to the bottom of the robot main body, and the other end of the support rod is hinged to the top of the bearing part, so that the robot main body is rotatably connected with the bearing part; and the supporting rod is limited to be coincident with the gravity action line of the robot main body in the process that the first lead screw drives the first lead screw nut to move up and down or in the process that the second lead screw drives the second lead screw nut to move up and down, and the bearing part and the robot main body are allowed to shake.

Further, the distance from the center of the rotating shaft of the two driving wheels to the bottom wall of the bearing part is smaller than the diameter of the two driving wheels, so that the robot main body does not contact the ground and supports the bearing part to rotate freely around the rotating shafts of the two driving wheels; wherein a diameter of one of the two drive wheels is equal to a diameter of the other drive wheel.

Furthermore, a display screen is detachably mounted in the robot main body, when the bearing part inclines, or the first screw nut moves linearly, or the second screw nut moves linearly, the robot main body is kept vertically arranged, and an external display visual angle of the display screen is kept unchanged; wherein the robot main body is detachably mounted in the self-balancing wheeled robot.

Furthermore, the robot main body is detachably provided with a vision sensor, when the bearing part inclines or the first screw nut moves linearly or the second screw nut moves linearly, the robot main body is kept vertically arranged, and the detection direction of the vision sensor is kept unchanged; wherein the robot main body is detachably mounted in the self-balancing wheeled robot.

Compared with the prior art, the self-balancing wheel type robot has the advantages that the first screw rod transmission mechanism, the second screw rod transmission mechanism and the balance weight form a self-balancing structure, when the balance weight at the bottom of the self-balancing wheel type robot is inclined to one side of the self-balancing wheel type robot, the two screw rod transmission structures are utilized to adjust the robot main body to maintain the vertical arrangement, so that the self-balancing wheel type robot keeps a vertically stable state when being subjected to external force, blocked or lifted due to the change of a traveling ground surface, the center of gravity of the whole robot is maintained to be stable by means of the contact action of the balance weight and the mechanical cooperation adjustment action of the screw rod transmission structures at the two sides of the balance weight, the self-balancing wheel type robot can automatically recover to a standing upright state in any inclined state, and a self-balancing technical effect can be generated; when installing display screen or sensor on the organism of robot, display screen or sensor rocking by a relatively large margin appears when aforementioned mechanical structure can avoid the robot to remove, guarantees the normal work of sensor or display screen.

Drawings

Fig. 1 is a schematic structural diagram of a self-balancing wheeled robot disclosed by the utility model.

Fig. 2 is a schematic block diagram of the internal structure of the self-balancing wheeled robot disclosed by the utility model.

Fig. 3 is a schematic diagram illustrating that the self-balancing wheeled robot autonomously returns to the upright state in the direction of arrow B in a state of toppling in the direction of arrow a.

Fig. 4 is a schematic diagram of the self-balancing wheeled robot of the present disclosure, which is automatically directed to arrow a1 to return to the upright state in the dumping state directed to arrow B1.

Detailed Description

The technical solutions in the embodiments of the present invention will be described in detail below with reference to the accompanying drawings in the embodiments of the present invention. In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features.

A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The robot is a machine device which can automatically execute the work, not only can receive the command of human beings, but also can run a pre-arranged program, and also can perform a scheduled action according to the principle established by artificial intelligence technology, and the task of the robot is to assist or replace the work of human beings, such as the production industry, the construction industry or the dangerous work.

When the robot walks on the ground with a certain gradient, the robot cannot keep balance, and when the robot walks on the horizontal ground, the robot is easy to trip over by small obstacles (such as small toys, steps and doorsills) and then is easy to topple over, so that the main body part of the robot cannot maintain balance, and the robot is influenced to play a normal function depending on the main body part; therefore, the utility model maintains the balance effect of the whole robot main body and the normal running of the robot in the walking process of various planes by means of the internal self-balancing structure without adjusting the height change of the front wheels and the rear wheels.

As an embodiment, a self-balancing wheeled robot is disclosed, as can be seen from fig. 1 and 2, the self-balancing wheeled robot includes a robot main body 1, a carrying part 2, and a traveling mechanism, wherein, the walking mechanism comprises two driving wheels respectively arranged at two sides of the bearing part 2, the driving wheel 3 is the driving wheel at the left side of the bearing part 2 in figure 1, corresponding to the drive wheel 3 of fig. 2 and fig. 3, which is only partially shown at the bottom of the carrier 2, it is noted that, compared to the tumbler robot of the prior art, the robot body 1 of the self-balancing wheeled robot disclosed in this embodiment is not in contact with the ground point, even if the body part except the driving wheel is not contacted with the ground surface during walking, the friction problem between the body shell and the ground surface is not considered, especially the relation between the specific shape, hardness and smoothness of the surface of the body shell and the friction of the ground surface. The inside of bearing part 2 is provided with first lead screw drive mechanism, second lead screw drive mechanism and counter weight 4, and this embodiment constitutes a self-balancing structure with first lead screw drive mechanism, second lead screw drive mechanism and counter weight 4. In this embodiment, the robot main body 1 is connected to the bearing part through a first screw transmission mechanism and a second screw transmission mechanism, respectively, the first screw transmission mechanism and the second screw transmission mechanism are installed on two sides of the counterweight, and in some embodiments, the first screw transmission mechanism is installed on the left side of the counterweight 4 and is also equivalent to the rear side surface of the bearing part 2; the second screw rod transmission mechanism is arranged on the right side of the counterweight 4 and is also equivalent to the front side surface of the bearing part 2; in the present embodiment, the counterweight 4 is rotatably disposed at the bottom of the bearing part 2, so that the center of gravity of the self-balancing wheeled robot is below the central axes of the two driving wheels, wherein the bottom of the counterweight 4 is in contact with the bottom of the bearing part 2 to support the movement in the bearing part 2 and can touch the first screw transmission mechanism or the second screw transmission mechanism, but the center of gravity of the counterweight 4 is relatively stable and is not easy to topple unless the external stress of the bearing part 2 or the robot main body 1 is obvious or the resistance degree on a specific terrain surface is large.

In one embodiment, the second lead screw transmission mechanism is used for maintaining the robot main body 1 in a vertical arrangement when touched by the counterweight 4, specifically, when the self-balancing wheeled robot climbs a slope or goes up a step, corresponding to fig. 3, the self-balancing wheeled robot is configured to advance toward the right side and climb the slope, the bearing part 2 inclines toward the left side, that is, the bearing part 2 or the self-balancing wheeled robot as a whole starts to incline counterclockwise and drives the robot main body 1 to incline counterclockwise, the second lead screw transmission mechanism restores the robot main body 1 to the original position by means of descending height, that is, the robot main body 1 is adjusted to be in a vertical arrangement, at this time, the first lead screw transmission mechanism remains unchanged, that is, the height inside the robot main body is not changed because the robot main body is not touched by the same counterweight 4, the second lead screw transmission mechanism does not play a role in adjustment by itself but only plays a role in cooperation with the second lead screw transmission mechanism, to maintain the robot main body 1 in the vertical arrangement or to restore the robot main body 1 from being tilted to the vertical arrangement to the left side.

In another embodiment, the first lead screw transmission mechanism is used for maintaining the robot main body 1 in a vertical arrangement when touched by the counterweight 4, specifically, when the self-balancing wheeled robot descends a slope or steps, corresponding to fig. 4, the self-balancing wheeled robot is configured to descend a step or slope towards its right side, the carrying part 2 tilts towards the right side, that is, the carrying part 2 or the self-balancing wheeled robot as a whole starts to tilt clockwise and drives the robot main body 1 to tilt clockwise, the first lead screw transmission mechanism restores the robot main body 1 to its original position by way of lowering the height, that is, the robot main body 1 is adjusted to be in a vertical arrangement, at this time, the second lead screw transmission mechanism remains unchanged, that is, the height inside the robot main body is not changed because not touched by the same counterweight 4, the first lead screw transmission mechanism does not play an adjusting role by itself but only plays an adjusting role in cooperation with the first lead screw transmission mechanism, to maintain the robot main body 1 in a vertical arrangement or to restore the robot main body 1 from being tilted to the right to a vertical arrangement.

In the foregoing embodiment, two through holes are opened above the bearing portion 2, and each through hole includes a first through hole and a second through hole, where the first through hole is used for accommodating the first lead screw transmission mechanism to move linearly so that the first lead screw transmission mechanism penetrates through the bearing portion 2, and the second through hole is used for accommodating the second lead screw transmission mechanism to move linearly so that the second lead screw transmission mechanism penetrates through the bearing portion 2.

It should be noted that, in the above embodiment, the first lead screw transmission mechanism and the second lead screw transmission mechanism are installed on both sides of the counterweight 4 along the advancing direction of the self-balancing wheeled robot, corresponding to fig. 2 to 4, where the second lead screw transmission mechanism is installed on the right side of the counterweight 4, that is, the installation direction of the second lead screw transmission mechanism relative to the counterweight 4 is the advancing direction of the self-balancing wheeled robot; the first screw transmission mechanism is installed on the left side of the balance weight 4, that is, the installation direction of the first screw transmission mechanism relative to the balance weight 4 is the reverse direction of the advancing direction of the self-balancing wheeled robot. In fig. 1, when the self-balancing wheeled robot is in a vertical setting, the counterweight does not touch the first lead screw transmission mechanism, and the counterweight does not touch the second lead screw transmission mechanism, at this time, the robot main body 1 is in a balanced state, and the carrying part 2 is also in a balanced state, so that the whole self-balancing wheeled robot is in a balanced state. Specifically, the vertical arrangement of the self-balancing wheeled robot refers to a posture when the self-balancing wheeled robot is standing, including a posture when the robot main body 1 is standing and a posture when the carrying part 2 is also standing, and the self-balancing wheeled robot can maintain a stable stationary state and also can maintain a state of walking movement. The self-balancing wheeled robot is pushed down by external force or lifted up by a step or stumbled by an obstacle, relative to the self-balancing wheeled robot in a self-standing stable state (in a vertical arrangement). When the carrying part 2 or the robot main body 1 deviates from the original vertical setting, it may be regarded as deviating from the self-standing stable state of the self-balancing wheeled robot, in this embodiment, under the adjusting action of the second screw transmission mechanism and/or the first screw transmission mechanism, the robot main body 1 is restored to the state of the self-standing stable state from any deviating vertical setting, and the carrying part 2 is restored to the state of the self-standing stable state from any deviating vertical setting, so that the self-balancing wheeled robot is restored to the state of the self-standing stable state (in the vertical setting).

In the above embodiment, the circumscribed surface of the contact point of the counterweight 4 and the bearing part 2 is kept parallel to the traveling plane on which the self-balancing wheeled robot is located when the self-balancing wheeled robot is in the vertical arrangement; as shown in fig. 2 to 4, the counterweight 4 is a hemisphere, and the bearing part 2 is an ellipsoidal shell, belongs to a hollow cavity, and is connected with the robot main body 1 and the driving wheel; due to the gravity action of the balance weight 4, the balance weight 4 is rotatably installed in a sliding groove formed in the bottom wall of the bearing part 2, and due to the fact that the bottom wall of the bearing part 2 is an arc-shaped curved surface, friction is low, force application and returning to an original position of the balance weight 4 in the sliding groove are facilitated, wherein a distance between one point of the balance weight 4 limited by the sliding groove can adapt to a maximum slope surface which can be spanned by the self-balancing wheeled robot; the gravity center of the bearing part 2 is pulled down to be close to the ground by the balance weight 4, when the self-balancing wheeled robot is pushed down by external force or is lifted by a step or is stumbled by an obstacle or self-tilts around a rotating shaft, the bearing part 2 tilts firstly to cause the internal balance weight 4 to rotate so as to lift the gravity center of the self-balancing wheeled robot, moment is generated between the gravity center of the balance weight 4 and a contact point (the contact point of the balance weight 4 and the bottom wall of the bearing part 2), and the gravity center of the self-balancing wheeled robot is lifted, and the bearing part 2 is enabled to recover the original position state under the action of the moment, so that the balance in the state can ensure that the bearing part 2 cannot tilt to the traveling ground in one direction.

It should be noted that the first lead screw transmission mechanism is disposed in a first fixed mounting slot disposed in the carrying portion 2, the second lead screw transmission mechanism is disposed in a second fixed mounting slot disposed in the carrying portion 2, and the sliding slot is disposed between the first fixed mounting slot and the second fixed mounting slot. The first fixed mounting slot is a fixed slot arranged inside the bearing part 2, so that the relative mounting position of the first lead screw transmission mechanism in the bearing part 2 cannot be changed due to the inclination of the bearing part 2 or the self-balancing wheeled robot towards a certain direction; the second fixed mounting slot is a fixed slot arranged inside the bearing part 2, and the relative mounting position of the second lead screw transmission mechanism in the bearing part 2 cannot be changed due to the inclination of the bearing part 2 or the self-balancing wheeled robot towards a certain direction. The precision and accuracy of the structure are ensured.

As an example, as shown in fig. 2, the first lead screw transmission mechanism includes a first touch element 21, a first stepping motor 23, a first lead screw 25, a first lead screw nut 27, and a first receiving plate 29; the first touch sensing element 21 is disposed on the bottom wall of the carrying part 2 and located on one side surface of the counterweight 4, and corresponding to fig. 2, the first touch sensing element 21 is disposed on the left side surface of the counterweight 4, the first touch sensing element 21 is connected with the first stepping motor 23 through an electric wire, and both the first touch sensing element 21 and the first stepping motor 23 are also connected with a power supply through electric wires. An output shaft of the first stepping motor 23 is connected with one end of a first screw rod 25 through a first coupling, wherein the first coupling is used for connecting the output shaft (regarded as a driving shaft) of the first stepping motor 23 and one end (regarded as a driven shaft) of the first screw rod 25 to rotate together and transmitting motion and torque; the other end of the first screw 25 is connected to the first bearing plate 29 but does not penetrate through the first bearing plate 29, one end of the first stepping motor 23 is fixedly connected with the first fixed mounting slot, wherein the first stepping motor 23 is provided with two ends, one end is an output shaft of the first stepping motor, and one end of the first stepping motor 23 except the output shaft is fixedly connected with the first fixed mounting slot; in this embodiment, a motor support frame is disposed in the first fixing installation slot, and the motor support frame is fixedly connected to the first stepping motor 23 and the first touch sensing element 21 through bolts. The first screw rod 25 is in clearance fit with a first screw rod nut 27, the first screw rod nut 27 is in bolt connection with a first bearing plate 29, and the first bearing plate 29 is used for abutting against or placing the robot main body 1; after the first stepping motor 23 is started, an output shaft of the first stepping motor 23 drives the first screw rod 25 to rotate or do rotary motion, according to the screw rod transmission principle, the first screw rod 25 drives the first screw rod nut 27 to do vertical linear movement, the first screw rod nut 27 drives the first bearing plate 29 to do movement in the corresponding direction, and the robot main body 1 is vertically arranged when the first bearing plate 29 reaches the required height; when the carrying part 2 is in an upright posture (in a vertical arrangement), the robot main body 1 is in an upright posture (in a vertical arrangement), and the first bearing plate 29 completely places part of the end face of the robot main body 1; when the carrying part 2 is not in the upright posture (not in the vertical arrangement), the first bearing plate 29 abuts against a part of the end point of the robot main body 1 to maintain the robot main body 1 in the upright posture (in the vertical arrangement).

In some embodiments, an inner thread matching with the outer thread of the first lead screw nut 27 is disposed at one end of the first lead screw nut 27 connected to the output shaft of the first stepping motor 23, then a ball thread track is disposed at the inner side of the first coupling and the rest of the inner side of the first lead screw nut 27, the first lead screw 25 penetrates through the central hole of the output shaft of the first stepping motor 23 through the first coupling, the first lead screw nut 27 is screwed to the output shaft of the first stepping motor 23 and can be optionally fixed by a jackscrew, the output shaft of the first stepping motor 23 drives the first lead screw nut 27 to rotate through the first coupling, the first lead screw nut 27 slides in the ball thread track through a ball, so that the first lead screw 25 drives the first lead screw nut 27 to move linearly, and then the first bearing plate 29 is driven by the first lead screw 25 to move, so that the first bearing plate 29 is abutted against a machine by a part of the bearing surface when the bearing part 2 inclines towards one direction The human body 1 becomes a complete receiving surface to receive the bottom of the robot body 1, or the complete receiving surface to receive the bottom of the robot body 1 becomes a partial receiving surface to abut against the robot body 1. As shown in fig. 2 to 4, a trapezoidal receiving surface is provided on the side of the first receiving plate 29 facing the robot main body 1.

On the basis of the above embodiment, as shown in fig. 2, the second lead screw transmission mechanism includes a second touch element 22, a second stepping motor 24, a second lead screw 26, a second coupling, a second lead screw nut 28, and a second receiving plate 30; the second touch sensing element 22 is disposed on the bottom wall of the carrying part 2, the second touch sensing element 22 is connected with the second stepping motor 24 through an electric wire, and both the second touch sensing element 22 and the second stepping motor 24 are connected with a power supply through electric wires. Wherein, the first touch sensing element 21 is arranged on one side surface of the counterweight 4, the second touch sensing element 22 is arranged on the other side surface of the counterweight 4, and corresponding to fig. 2, the first touch sensing element 21 is arranged on the left side surface of the counterweight 4, and the second touch sensing element 22 is arranged on the right side surface of the counterweight 4; an output shaft of the second stepping motor 24 is connected with one end of a second screw rod 26 through a second coupling, wherein the second coupling is used for connecting the output shaft (regarded as a driving shaft) of the second stepping motor 24 and one end (regarded as a driven shaft) of the second screw rod 26 to rotate together and transmitting motion and torque; the other end of the second lead screw 26 is connected to the second bearing plate 30 but does not penetrate through the second bearing plate 30, one end of the second stepping motor 24 is fixedly connected with the second fixed mounting slot, wherein two ends of the second stepping motor 24 are arranged, one end is an output shaft of the second stepping motor 24, and one end of the second stepping motor 24 except the output shaft is fixedly connected with the first fixed mounting slot; in this embodiment, a motor support frame is disposed in the second fixing installation slot, and the motor support frame is fixedly connected to the second stepping motor 24 and the second touch sensing element 22 through bolts; the second screw rod 26 is in clearance fit with a second screw rod nut 28, and the second screw rod nut 28 is in bolt connection with a second bearing plate 30 so as to fixedly connect the second bearing plate 30 together and stably bear the robot main body 1; after the second stepping motor 24 is started, the output shaft of the first stepping motor 24 drives the second lead screw 26 to do rotary motion, according to the lead screw transmission principle, the second lead screw 26 drives the second lead screw nut 28 to do linear motion (up-and-down linear motion), and the second lead screw nut 28 drives the second bearing plate 30 to do motion in the corresponding direction, so that the robot main body 1 is vertically arranged when the second bearing plate 30 reaches the required height; wherein the robot main body 1 is in an upright attitude (set upright) when the carrying section 2 is in the upright attitude (set upright), and the second socket plate 30 is used to place the robot main body 1 in cooperation with the first socket plate 29; when the carrying part 2 is not in the upright posture (not in the vertical arrangement), the first receiving plate 29 and the second receiving plate 30 respectively abut against both end points of the robot main body 1 to maintain the robot main body 1 in the upright posture (in the vertical arrangement), thereby functioning to define the position of the robot main body 1 above the carrying part 2.

In some embodiments, an end of the second lead screw nut 28 connected to the output shaft of the second stepping motor 24 is provided with an internal thread matching with the external thread of the second lead screw nut 28, then the inner side of the second coupling and the rest of the inner side of the second lead screw nut 28 are provided with ball screw tracks, the second lead screw 26 penetrates into a central hole of the output shaft of the second stepping motor 24, the second lead screw nut 28 is screwed onto the output shaft of the second stepping motor 24 and is selectively fixed by using a jackscrew, the rotation of the output shaft of the second stepping motor 24 drives the second lead screw nut 28 to rotate through the second coupling, the second lead screw nut 28 drives the second lead screw 26 to move through the sliding of the balls in the ball screw tracks, so as to realize the linear downward movement of the second lead screw 26, and further drive the second bearing plate 30 to move downward along the axial direction of the second lead screw 26 through the second lead screw 26, when the carrying part 2 is tilted in one direction, the second carrying plate 30 and the first carrying plate 29 are configured such that the partial receiving surface of the carrying part abuts against the bottom of the robot main body 1, and the bottom of the robot main body 1 is configured such that the partial receiving surface abuts against the bottom of the robot main body 1. As shown in fig. 2 to 4, a trapezoidal receiving surface is provided on a side of the second receiving plate 30 facing the robot main body 1.

In the above embodiment, two through holes are formed above the bearing part 2, including a first through hole and a second through hole; the first through hole is used for accommodating a first lead screw nut 27 to move up and down along the first lead screw 25, so that the first lead screw 25 and the first lead screw nut 27 penetrate through the bearing part 2; the second through hole is used for accommodating a second lead screw nut 28 to move up and down along the second lead screw 26, so that the second lead screw 26 and the second lead screw nut 28 penetrate through the bearing part 2. Wherein the lower surface of the second spindle nut 28 supports full insertion into the second through hole and the lower surface of the first spindle nut 27 supports full insertion into the first through hole.

Preferably, the first touch sensing element 21 and the second touch sensing element 22 are both pressure sensors or contact switches, and optionally, the first touch sensing element 21 and the second touch sensing element 22 are installed in a sliding groove formed in a bottom wall of the carrying part 2, wherein, when the robot body is in a vertical setting, the counterweight 4 does not touch the first touch sensing element 21, and the counterweight 4 does not touch the second touch sensing element 22.

As an example, as shown in fig. 3, when the carrying part 2 tilts counterclockwise, that is, when the carrying part 2 tilts in the direction indicated by arrow a, the self-balancing wheeled robot is moving forward and climbing up the right side of the self-balancing wheeled robot or tilts counterclockwise (due to gravity) around the rotating shaft of the driving wheel 3, the robot main body 1 placed above the second receiving plate 30 and the first receiving plate 29 will also tilt counterclockwise, when the tilt angle increases to a certain extent, the counterweight 4 will contact the second sensing element 22 first due to gravity in order to maintain the balance state of the gravity center position of the counterweight 4, and then the second sensing element 22 receives the touch action of the counterweight 4, the second stepping motor 24 is started to drive the second lead screw nut 28 to descend through the second lead screw 26, that is, the second lead screw nut 28 descends linearly along the second lead screw 26, the second receiving plate 30 also descends, the height of the end of the robot main body 1 against which the second receiving plate 30 abuts is also reduced relative to the bottom wall of the bearing part 2 (or relative to the geometric center of the bearing part 2), until the robot main body 1 is adjusted to be tilted from one side and restored to be vertically arranged, at this time, the robot main body 1 maintains the vertically arranged position at the adapted height, wherein the adapted height can change along with the change of the climbing height and the gradient of the self-balancing wheeled robot, so as to avoid the situation that the gravity center of the robot main body 1 is unstable and directly rolls down from the slope or the step to damage the body of the robot, it should be noted that, in the adjusting process shown in fig. 3, the first sensing element 21 is not touched by the same counterweight 4, so that the first lead screw nut 27 is not driven by the first lead screw 25 to make a linear motion, the height of the end of the robot body 1 against which the first receiving plate 29 abuts is constant with respect to the bottom wall of the carrying part 2, while the height of the end of the robot body 1 against which the second receiving plate 30 abuts with respect to the bottom wall of the carrying part 2 (or with respect to the geometric center of the carrying part 2) is reduced, so that the robot body 1 is driven to return to the vertical arrangement along the direction indicated by the arrow B.

As an example, as shown in fig. 4, when the carrying part 2 tilts clockwise, that is, when the carrying part 2 tilts in the direction indicated by arrow B1, the self-balancing wheeled robot is moving forward to its right side and moving down a slope or tilting clockwise (due to gravity) around the rotating shaft of the driving wheel 3, the robot main body 1 placed above the first receiving plate 29 and the first receiving plate 29 will also tilt clockwise, when the tilting angle increases to a certain extent, the counterweight 4 will contact the first sensing element 21 to maintain the balance state of its gravity center position due to gravity, and then the first sensing element 21 receives the contact action of the counterweight 4, the first stepping motor 23 is started to drive the first lead screw nut 27 to descend through the first lead screw 25, that is, the first lead screw nut 27 descends linearly along the first lead screw 25, the first bearing plate 29 also descends linearly along the first screw rod 25 until the robot main body 1 is inclined towards the direction indicated by the arrow B1 and returns to the vertical arrangement, so that the robot main body 1 is adjusted to be inclined towards one side and return to the vertical arrangement in the process of descending a slope or descending a step of the self-balancing wheeled robot; at this time, the robot main body 1 is maintained to be vertically arranged at an adaptive height, wherein the adaptive height can change along with the change of the height and the gradient of the downhill slope or the lower step of the self-balancing wheeled robot, so as to avoid that the center of gravity of the robot main body 1 is unstable and directly rolls down from the slope or the step to damage the body of the robot, it should be noted that, in the adjusting process shown in fig. 4, since the second sensing element 22 is not touched by the same counterweight 4, the second lead screw 26 does not drive the second lead screw nut 28 to make a linear motion, the height of the end of the robot main body 1 against which the second receiving plate 30 abuts is unchanged relative to the bottom wall of the bearing part 2, and the height of the end of the robot main body 1 against which the first receiving plate 29 abuts is reduced relative to the bottom wall of the bearing part 2 (or relative to the geometric center of the bearing part 2), therefore, the robot main body 1 is brought back to the vertical arrangement in the direction indicated by the arrow a 1.

As an example, when the self-balancing wheeled robot is in a static balance state or a walking balance state, as shown in fig. 2, the supporting point of the counterweight 4 on the bottom wall of the carrying part 2 is located on the gravity action line of the robot main body 1, the center of gravity of the self-balancing wheeled robot is located directly below the geometric center of the curved surface where the bottom wall of the carrying part 2 is located, and the weight of the counterweight 4 matches the weight of the robot main body 1, wherein the weight of the counterweight 4 is heavy, so that when the carrying part 2 is lifted, the counterweight 4 pulls the carrying part 2 back to the original position, the counterweight 4 naturally does not touch the first touch element 21, and does not touch the second touch element 22, and the robot main body 1 keeps the vertical arrangement in the process. As can be seen from fig. 3, when the self-balancing wheeled robot climbs a slope or goes up a step or is obstructed by an obstacle, the right side of the bearing part 2 is raised, and when the self-balancing wheeled robot crosses the slope or the step and returns to the horizontal ground, the counterweight 4 pulls the bearing part 2 back to the vertical arrangement, and the robot main body 1 keeps the vertical arrangement in the process according to the adjustment manner of the second screw transmission mechanism of the foregoing embodiment; as can be seen from fig. 4, when the self-balancing wheeled robot goes down a slope or steps, the left side of the carrier 2 is raised, and when the self-balancing wheeled robot crosses the slope or steps and returns to the horizontal ground, the counterweight 4 pulls the carrier 2 back to the vertical arrangement, and the robot body 1 remains in the vertical arrangement in the process according to the adjustment manner of the first lead screw transmission mechanism of the foregoing embodiment.

Preferably, a support rod is hinged between the robot main body 1 and the bearing part 2, one end of the support rod is hinged to the bottom of the robot main body 1, and the other end of the support rod is hinged to the top of the bearing part 2, so that the robot main body 1 and the bearing part 2 are rotatably connected; and the supporting rod is used for being defined as being coincident with the gravity action line of the robot main body 1 in the process that the first lead screw 25 drives the first lead screw nut 27 to move up and down (equivalent to up-down linear motion) or in the process that the second lead screw 26 drives the second lead screw nut 28 to move up and down (equivalent to up-down linear motion), and allowing the bearing part 2 and the robot main body 1 to shake, including relative shaking between the bearing part 2 and the robot main body 1. The support rod plays the supplementary in first screw nut 27 rectilinear movement or second screw nut 28 rectilinear movement process the focus that robot body 1 was maintained to counter weight 4 is stable, also can inject robot body 1 with the relative mounted position of load-bearing part 2 makes robot body 1 stably installs the top of load-bearing part 2 also lets second accept board 30 and first accept board 29 support steadily and block robot body 1, and robot body 1 is then difficult to fall to ground from second accept board 30 and first accept board 29 fall, avoids robot body 1 to appear damaging, also makes the whole vertical setting that resumes easily of self-balancing wheeled robot.

The walking mechanism comprises two driving wheels arranged on two sides of the bearing part and a driving motor for controlling the driving wheels, wherein the driving motor is divided into a driving motor arranged on one side of the bearing part and a driving motor arranged on the other side of the bearing part; each driving wheel is controlled to rotate by a corresponding driving motor, wherein the diameter of one driving wheel of the two driving wheels is equal to that of the other driving wheel. The two driving wheels are driven by the driving motors to roll, when the two driving motors rotate forwards at the same speed, the self-balancing wheeled robot moves forwards, when the two driving motors rotate backwards at the same speed, the self-balancing wheeled robot moves backwards, when the driving motor on the first side rotates forwards at the same speed, the self-balancing wheeled robot rotates in the original position towards the direction indicated by the first side, and when the driving motor on the second side rotates backwards at the same speed, the self-balancing wheeled robot rotates in the original position towards the direction indicated by the second side, wherein the directions indicated by the first side and the second side are a pair of directions which are symmetrical relative to the geometric center of the curved surface where the bottom wall of the bearing part is located. Preferably, the distance from the center of the rotating shaft of the two driving wheels to the bottom wall of the bearing part is smaller than the diameter of the two driving wheels, so that the robot body 1 does not contact the ground and supports the bearing part 2 to rotate freely around the rotating shafts of the two driving wheels, the landing point of the self-balancing wheeled robot is transferred to the driving wheels, and the risk that the robot body 1 contacts the ground is reduced.

As an example, a display screen is detachably mounted in the robot main body 1; the robot body 1 is detachably installed in the self-balancing wheeled robot and forms a self-balancing structure with the bearing part 2, so that the display screen is not easy to incline in a certain direction, and an open self-balancing robot development platform is formed. As shown in fig. 1, the display screen is provided on the front side of the housing of the robot main body 1, and the planar shape of the display screen is preferably set to a rounded rectangle; when the bearing part 2 falls down or the first screw nut 27 moves linearly or the second screw nut 28 moves linearly, the robot main body 1 is kept in a vertical arrangement, and the visual angle displayed by the display screen to the outside is kept unchanged, preferably, when the robot main body 1 is in the vertical arrangement, the display screen is also in the vertical arrangement, and the interface of the display screen is perpendicular to the ground; therefore, the display screen can display the content of the information at a fixed visual angle (or a visual angle regarded as uniform shaking) under the condition that the self-balancing wheeled robot goes up and down a slope or is stumbled by an obstacle, the visual experience degree of a user is not reduced, and the good feeling of the user experience is increased.

As another embodiment, the robot main body 1 is detachably mounted with a vision sensor, wherein the robot main body 1 is detachably mounted in the self-balancing wheeled robot and forms a self-balancing structure with the carrying part 2, so that the detection direction of the vision sensor is not easily inclined in a certain direction. When the bearing part 2 inclines, or the first screw nut 27 moves linearly, or the second screw nut 28 moves linearly, the robot main body 1 is not affected and keeps vertical arrangement or allows the phenomenon of uniform left-right shaking, and the detection direction of the vision sensor is kept unchanged in the detection error range, so that the self-balancing wheeled robot cannot only detect a wall body due to climbing or only detect a ground surface due to descending. The method is beneficial to maintaining normal navigation of the self-balancing wheeled robot in real time, and the vision sensor of the self-balancing wheeled robot keeps detecting the environmental information in the horizontal front of the self-balancing wheeled robot to obtain an actual working area for subsequent path planning.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the utility model.

Claims

1. A self-balancing wheeled robot is characterized by comprising a robot main body, a bearing part and a traveling mechanism, wherein the traveling mechanism comprises two driving wheels respectively arranged on two sides of the bearing part;

the robot comprises a bearing part, a robot main body and a robot main body, wherein a first screw rod transmission mechanism, a second screw rod transmission mechanism and a balance weight are arranged in the bearing part;

the first screw rod transmission mechanism is used for maintaining the robot main body in a vertical arrangement when the robot main body is touched by a balance weight; or the second screw rod transmission mechanism is used for maintaining the robot main body in a vertical arrangement when touched by the balance weight.

2. The self-balancing wheeled robot of claim 1, wherein the first lead screw transmission mechanism and the second lead screw transmission mechanism are installed on both sides of the counterweight along a forward direction of the self-balancing wheeled robot;

wherein, when the robot main body remains vertically disposed, the counterweight does not touch the first screw drive mechanism, and the counterweight does not touch the second screw drive mechanism.

3. The self-balancing wheeled robot of claim 1 or 2, wherein a tangent plane of a contact point of the counterweight and the bearing part is kept parallel to a traveling plane in which the self-balancing wheeled robot is located when the self-balancing wheeled robot is in a vertical setting;

the counterweight is a hemisphere, the bearing part is an ellipsoidal shell, and the counterweight is rotatably arranged in a sliding groove formed in the bottom wall of the bearing part;

the first lead screw transmission mechanism is arranged in a first fixed mounting groove position arranged in the bearing part, the second lead screw transmission mechanism is arranged in a second fixed mounting groove position arranged in the bearing part, and the sliding groove is arranged between the first fixed mounting groove position and the second fixed mounting groove position.

4. The self-balancing wheeled robot according to claim 3, wherein the first lead screw transmission mechanism includes a first tactile element (21), a first stepping motor (23), a first lead screw (25), a first coupling, a first lead screw nut (27), and a first receiving plate (29);

the first touch sensing element (21) is arranged on the bottom wall of the bearing part (2) and positioned on one side face of the counterweight (4), and the first touch sensing element (21) is connected with the first stepping motor (23) through an electric wire;

an output shaft of the first stepping motor (23) is connected with one end of a first screw rod (25) through a first coupler, the other end of the first screw rod (25) is connected to a first bearing plate (29) but does not penetrate through the first bearing plate (29), one end of the first stepping motor (23) is fixedly connected with the first fixed mounting groove, the first screw rod (25) is in clearance fit with a first screw rod nut (27), and the first screw rod nut (27) is in bolted connection with the first bearing plate (29);

the first bearing plate (29) is used for bearing or placing the robot main body (1);

a first through hole is formed above the bearing part (2) and used for accommodating the movement of a first screw rod (25) and a first screw rod nut (27).

5. The self-balancing wheeled robot according to claim 4, wherein the second lead screw transmission mechanism includes a second tactile element (22), a second stepping motor (24), a second lead screw (26), a second coupling, a second lead screw nut (28), and a second receiving plate (30);

a second touch element (22) is arranged on the bottom wall of the bearing part (2), and the second touch element (22) is connected with a second stepping motor (24) through an electric wire, wherein the first touch element (21) is arranged on one side surface of the counterweight (4), and the second touch element (22) is arranged on the other side surface of the counterweight (4);

an output shaft of a second stepping motor (24) is connected with one end of a second screw rod (26) through a second coupler, the other end of the second screw rod (26) is connected to a second bearing plate (30) but does not penetrate through the second bearing plate (30), one end of the second stepping motor (24) is fixedly connected with the second fixed mounting groove, the second screw rod (26) is in clearance fit with a second screw rod nut (28), and the second screw rod nut (28) is connected with the second bearing plate (30) through a bolt;

the second bearing plate (30) is used for matching with the first bearing plate (29) to place the robot main body (1);

and a second through hole is formed above the bearing part (2) and is used for accommodating the movement of a second screw rod (26) and a second screw rod nut (28).

6. Self-balancing wheeled robot according to claim 5, characterized in that said first tactile element (21) and said second tactile element (22) are both pressure sensors or contact switches;

when the bearing part (2) inclines clockwise, the first touch element (21) receives the touch effect of the balance weight (4), and the first stepping motor (23) is started to drive the first lead screw nut (27) to descend through the first lead screw (25) until the robot main body (1) is inclined towards one side and returns to be vertically arranged;

when the bearing part (2) inclines anticlockwise, the second touch element (22) receives the touch effect of the balance weight (4), the second stepping motor (24) is started to drive the second lead screw nut (28) to descend through the second lead screw (26), and the robot main body (1) is restored to be vertically arranged by inclining towards one side.

7. The self-balancing wheeled robot according to claim 5, wherein when the self-balancing wheeled robot is in a static balance state or a walking balance state, the supporting point of the counterweight (4) on the bottom wall of the carrying part (2) is on the gravity action line of the robot body, the gravity center of the self-balancing wheeled robot is located right below the geometric center of the curved surface where the bottom wall of the carrying part (2) is located, the weight of the counterweight (4) is matched with the weight of the robot body (1), so that when the carrying part (2) is lifted, the counterweight (4) pulls the carrying part (2) back to the original position, wherein the robot body (1) is kept in a vertical arrangement in the process.

8. The self-balancing wheeled robot according to claim 7, characterized in that a support rod is hinged between the robot body (1) and the carrying part (2), one end of the support rod is hinged to the bottom of the robot body (1), and the other end of the support rod is hinged to the top of the carrying part (2), so that the robot body (1) and the carrying part (2) are rotatably connected;

and the supporting rod is limited to be coincident with the gravity action line of the robot main body in the process that the first lead screw (25) drives the first lead screw nut (27) to move up and down or in the process that the second lead screw (26) drives the second lead screw nut (28) to move up and down, and the bearing part (2) and the robot main body (1) are allowed to shake.

9. The self-balancing wheeled robot according to claim 8, characterized in that the distance from the centre of the rotation axis of the two driving wheels to the bottom wall of the carrying part (2) is smaller than the diameter of the two driving wheels, so that the robot body (1) does not contact the ground and supports the carrying part (2) to rotate freely around the rotation axis of the two driving wheels;

wherein a diameter of one of the two drive wheels is equal to a diameter of the other drive wheel.

10. The self-balancing wheeled robot according to claim 6, wherein a display screen is detachably mounted in the robot main body (1), when the bearing part (2) tilts, or the first lead screw nut (27) moves linearly, or the second lead screw nut (28) moves linearly, the robot main body (1) keeps vertical, and the visual angle displayed by the display screen to the outside is kept unchanged;

wherein the robot body (1) is detachably mounted in the self-balancing wheeled robot.

11. The self-balancing wheeled robot according to claim 6, wherein the robot main body (1) is detachably mounted with a vision sensor, when the bearing part (2) is inclined, or the first lead screw nut (27) moves linearly, or the second lead screw nut (28) moves linearly, the robot main body (1) keeps vertical, and the detection direction of the vision sensor is kept unchanged;