Two-wheel balancing robot based on simple pendulum structure
A technology of robots and robot bodies, applied in manipulators, motor vehicles, transportation and packaging, etc., can solve problems such as complex structures, and achieve the effect of small size, simple structure, and reduced space volume
Pending Publication Date: 2017-05-31
陕西同和创梦智能科技有限公司
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Problems solved by technology
Although the technology of the two-wheel balancing robot with inverted pendulum structure is relatively mature, the structure is relatively complicated. Therefore, in some occasions, a two-wheel balancing robot with a simple structure is required.
Method used
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Embodiment Construction
[0029] The content of the present invention will be described in detail below in conjunction with specific embodiments.
[0030] Figure 1-Figure 3 A specific embodiment of the invention is given, which includes a frame, a counterweight unit, a drive unit and wheels. The bracket is formed by buckling the front bracket 21 and the rear bracket 22. Two bracket shafts 23 protruding to the left and right are arranged on the bracket. Two drive unit seats 24 located below the bracket shaft are arranged in the bracket, and the drive unit is located at the drive unit seat. 24, the drive unit includes a motor 41, a drive gearbox 42 and an output gear shaft 43 that are sequentially transmitted. The bracket shaft 23 is sleeved in the bracket seat that is fixedly connected with the inner ring of the bearing 33 in the center of the wheel, and the bracket is connected to the wheel by the bracket seat. The connections, the counterweight unit and the drive unit are located at the bottom of th...
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The invention provides a two-wheel balancing robot based on a simple pendulum structure. The two-wheel balancing robot comprises two wheels and a robot body located between the two wheels; the robot body comprises a shell, a support, two driving units and two balance weight units, wherein the support, the two driving units and the two balance weight units are arranged in the shell, and the driving units and the balance weight units are arranged below wheel shafts; two support shafts extending left and the right are arranged on the support, and two driving unit bases located below the support shafts are arranged in the support; the support shafts of the support are fixedly connected with inner rings of wheel center bearings, and the wheels are fixedly connected with outer rings of the bearings; motors and driving gearboxes of the driving units are embedded into driving unit bases; output gear shafts of the driving units are engaged with inner gear rings of the wheels; the balance units comprise at least one balance weight, and the balance weights are arranged on the front side and the back side of the support. According to the two-wheel balancing robot based on the simple pendulum structure, the driving units and the balance weights are arranged below the wheel shafts, and therefore it is guaranteed that the mass center is located below the form center, and the structure is simple.
Description
technical field [0001] The invention relates to a two-wheel balancing robot, in particular to a two-wheel balancing robot based on a single pendulum structure. Background technique [0002] The two-wheeled balance robot that is common on the market at present, in order to control simply, its center of mass is located above the centroid, that is, the inverted pendulum structure. Although the technology of the two-wheeled balancing robot with inverted pendulum structure is relatively mature, the structure is relatively complicated. Therefore, in some occasions, a two-wheeled balancing robot with a simple structure is needed. Contents of the invention [0003] The object of the present invention is to provide a two-wheel balancing robot based on a single pendulum structure, which adopts a single pendulum structure and has a simple structure. The simple pendulum structure means that the center of mass is located below its centroid. [0004] Technical scheme of the present in...
Claims
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Login to View More IPC IPC(8): B62D61/00B25J11/00
CPCB62D61/00B25J11/00
Inventor 崔珉马中杰赵勇
Owner 陕西同和创梦智能科技有限公司