Dynamic balancing single-wheel remotion robot body

A technology of mobile robots and single wheels, which is applied in the fields of motor vehicles, transportation and packaging, etc., can solve problems such as complex structures, and achieve the effects of small size, wide application range and simple structure

Inactive Publication Date: 2008-10-15
BEIJING UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The robot can walk more stably and turn freely when moving, but driven by three motors, the structure is complicated

Method used

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  • Dynamic balancing single-wheel remotion robot body
  • Dynamic balancing single-wheel remotion robot body
  • Dynamic balancing single-wheel remotion robot body

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Experimental program
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Embodiment Construction

[0020] Referring to Figures 1 to 5, the most important basic structure of the body of the dynamic balancing single-wheel mobile robot of the present invention includes a single rotating wheel 1, a support mechanism, and a counterweight 8 that travels with the rotating wheel. It is provided with a control unit for controlling it to realize the front and rear direction and a control unit for realizing the left and right direction. The body of the dynamic balancing single-wheel mobile robot in the present invention refers to a mechanical structure of the robot, excluding the intelligent control part. The intelligent control part of the control unit can be developed separately for various functions, which will not be the subject of this application.

[0021] Fig. 1a and Fig. 1b show a main structure of the dynamic balancing single-wheel mobile robot of the present invention, including: a central shaft 2 is fixedly connected to the central hub of the rotating wheel 1, and the centr...

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Abstract

The invention discloses a dynamic-balancing one-wheel moving robot body, which comprises a single rotary wheel, a counterweight article for carrying weight, a support mechanism and at least a motor that can drive the central shaft to rotate; a central shaft is fixedly connected with the central hub of the rotary wheel; the counterweight article is on the same plane with the rotary wheel; the support mechanism comprises a first connecting rod fixedly sleeved on the central shaft and a second connecting rod connected with the counterweight article; the first connecting rod and the second connecting rod are connected through a central shaft. When the total length of the support mechanism connecting the counterweight article is bigger than the semi-diameter of the rotary wheel, the support mechanism and the counterweight article are above the rotary wheel; the motor that can drive the central shaft to rotate is also provided. When the total length of the support mechanism connecting the counterweight article is smaller than the semi-diameter of the rotary wheel, the support mechanism and the counterweight article are embedded in the rotary wheel with plumb-upward or downward directions. Corresponding matched control units can be utilized to realize the function of loaded traveling; and the balance issue of one-wheeler can be solved.

Description

technical field [0001] The invention belongs to the technical field of robot application, and in particular relates to a mobile robot body with one wheel. Background technique [0002] The research on single-wheeled robots has broad application prospects: using its amphibious characteristics, it can be introduced into environments such as beaches and swamps for transportation, rescue and mineral detection; it can be used as a monitoring robot by using its slender appearance, Realize the monitoring of narrow places; in the field of aerospace, a lunar vehicle that is not affected by terrain and can move freely can be developed based on the principle of a single-wheeled robot. [0003] The single-wheel stable robot prototypes Gyrover_1 and Gyrover_2 developed by the Chinese University of Hong Kong have only one wheel in appearance, and they move like a top. This single-wheel robot uses a gyroscope to stabilize its movement. There are three motors in its structure. The motor dr...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D61/00
Inventor 孙汉旭贾庆轩刘大亮李红义赵艳玲
Owner BEIJING UNIV OF POSTS & TELECOMM
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