Self-balancing gyroscopic unicycle robot system

Abstract

The invention discloses a gyro-type unicycle robot system capable of realizing self-balancing. The gyro mechanism includes a gyro rotor, an inner ring frame and an outer ring frame. The gyro rotor is horizontally installed in the inner ring gear and driven to rotate by a rotor motor. The inner ring gear is installed in the inner ring frame and driven by the inner ring gear motor, the inner ring frame is installed in the outer ring ring gear, and the outer ring ring gear is installed in the outer ring frame and driven by the outer ring gear motor , the position of the gyro rotor is orthogonal to the ring gear of the inner ring, and the position of the ring gear of the inner ring is orthogonal to the ring gear of the outer ring; the balance wheel mechanism is set on the gyro mechanism, including the balance wheel bracket and the balance wheel, and the balance wheel is installed vertically It is mounted on the balance wheel bracket and driven to rotate by the balance wheel motor; its single wheel mechanism is arranged under the gyro mechanism, including the single wheel and the fork, and the single wheel is driven to rotate by the pancake motor on the fork. The invention utilizes the gyro mechanism as the stability control device, and can realize the double-stable balance control of the vehicle body laterally and front and rear.

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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