Gyroscopic wheelbarrow robot system capable of realizing self-balancing

Abstract

The invention discloses a gyroscopic wheelbarrow robot system capable of realizing self-balancing. A gyroscopic mechanism of the gyroscopic wheelbarrow robot system comprises a gyroscopic rotor, an inner ring frame and an outer ring frame. The gyroscopic rotor is horizontally installed in an inner tooth ring and is driven by a rotor motor to rotate. The inner tooth ring is installed in the inner ring frame and is driven by an inner tooth ring motor to rotate. The inner ring frame is installed in an outer tooth ring. The outer tooth ring is installed in the outer ring frame and is driven by an outer tooth ring motor to rotate. The gyroscopic rotor is orthogonal with the inner tooth ring in position, and the inner tooth ring is orthogonal with the outer tooth ring in position. A balance wheel mechanism of the gyroscopic wheelbarrow robot system is arranged on the gyroscopic mechanism and comprises a balance wheel support and a balance wheel. The balance wheel is vertically installed on the balance wheel support and is driven by a balance wheel motor to rotate. A single wheel mechanism of the gyroscopic wheelbarrow robot system is arranged below the gyroscopic mechanism and comprises a single wheel and a vehicle fork. The single wheel is driven by a pancake motor on the vehicle fork to rotate. According to the invention, the gyroscopic mechanism is used as a stabilization control device, and lateral and front-and-back bistable balance control of the vehicle body is realized.

Description

technical field [0001] The invention relates to a two-wheel or unicycle bicycle robot, in particular to a gyro type unicycle robot system capable of realizing self-balancing. Background technique [0002] The unicycle robot has attracted the attention of robotics researchers because of its small size and high energy efficiency. Using its dynamic balance characteristics, it can be introduced into complex terrain environments for transportation and rescue functions; using its slender shape and flexible steering characteristics, it can realize monitoring and detection of narrow environments. [0003] Domestic research on unicycle robots is still in the research stage, and most of the designed unicycle robots are based on flywheel inverted pendulum or balance bar control. Ruan Xiaogang's team of Beijing University of Technology has done more domestic research on wheeled robots. The vertically placed wobble plate that rotates left and right is used to realize the lateral balanc...

AI Technical Summary

Problems solved by technology

The utility model patent (Patent Authorization No. CN202362474U) proposed by Southeast University is a robot controlled by a balance bar, which can maintain lateral balance and front-to-back balance, but lacks Course control mechanism, it is difficult to realize complex movements such as turning

[0004] Gyroscopes are widely used in aviation, navigation, aerospace and defense industries because of their self-stabilizing characteristics and no interference from magnetic fields. Most of them are used as gyroscopes or sensors, and gyroscopes are not directly used as stabilizing devices.

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