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Single-wheel self-balancing robot system

A robot system and self-balancing technology, applied in the field of intelligent robots, can solve the problems of complex caster components without debugging, and achieve the effect of avoiding breakage, high practical value, and close connection.

Active Publication Date: 2014-05-21
河北环宇电力通信工程有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, Unibot does not have a steering mechanism, and the transmission mode is chain transmission, which is relatively complicated, and there is no flexible and expandable debugging caster assembly, etc.

Method used

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Experimental program
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Effect test

Embodiment Construction

[0034] Combine below Figure 1 to Figure 7 The present invention is described in detail:

[0035] A specific system embodiment is introduced below.

[0036] 1. Electrical system selection

[0037] The single-wheel motor 13 of the robot and the motor 3 of the vertical flywheel use Maxon’s DC brushless motor kit, 24V power supply, 90W power, 14:1 planetary gear reducer GP32C, and the motor is equipped with an incremental photoelectric encoder RE35. The accuracy is 500 lines. Horizontal flywheel motor 7 adopts Maxon's disc-type DC brushless motor kit EC90, 3.5:1 planetary gear reducer GP52C, and the motor is equipped with an incremental photoelectric encoder with an accuracy of 500 lines. ACJ-55-18 is selected for the 3 servo drivers, and INNALABS AHRS is selected for the inertial navigation sensor.

[0038] The motion controller selects MSK2812 system board 10 from Hurricane Digital Systems (Beijing) Co., Ltd. The processor of this system adopts TMS320F2812DSP of TI Company...

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Abstract

The invention relates to a single-wheel self-balancing robot system belonging to the category of intelligent robots, in particular to a static unbalanced robot which is capable of autonomously controlling motion balance and then autonomously riding a wheelbarrow. The single-wheel self-balancing robot system provided by the invention comprises a mechanical body and an electrical control system and is characterized in that: a vertically-arranged flywheel capable of rotating from side to side is contained in the upper part of the body and used for realizing the horizontal balance controlling of the robot; a rotatable horizontally-arranged flywheel is contained in the middle of the body and used for realizing the turning of the robot; a single wheel capable of rotating forward and backward is contained in the lower part of the body and used for realizing the forward and backward balance walking of the robot; and the electrical control system is composed of a drive motor, a motion controller and an attitude sensor and a servo drive controller which are connected with the electrical control system. The system provided by the invention provides a control platform, relates to the fields of control technology and intelligent control besides robotics and is capable of satisfying the requirements of multidisciplinary research and teaching.

Description

technical field [0001] The invention belongs to the category of intelligent robots, in particular to a dynamic balance robot system capable of autonomously performing motion balance control and autonomously riding a unicycle to realize multiple functions. Background technique [0002] As a very important technology in the 21st century, robot technology is a high-tech just like network technology, communication technology, gene technology, virtual reality technology, etc. In the development of robot technology, the problem of motion balance control is a common problem in robot systems. At the same time, people's requirements for intelligent robots are getting higher and higher. Intelligent robots can perform human-computer interaction, have a small appearance, and can move flexibly in a narrow space. These requirements are difficult to achieve for statically balanced robots, so to some extent, dynamically balanced robots are the inevitable direction and trend of intelligent ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
Inventor 龚道雄邓文波潘琦阮晓钢刘湘李星辉
Owner 河北环宇电力通信工程有限公司
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