Double-wheel self-balance robot

Abstract

The invention relates to a double-wheel self-balance robot. The double-wheel self-balance robot comprises the following components: (a) motor brackets (3) are arranged at two ends of an axle (5); andthe motor brackets are connected with speed reducing motors (2) and walking wheels (1); (b) spring brackets (18) are arranged at two ends of the axle, and two ends thereof are connected with spring dampers (4); a box body (17) is arranged under the axle; and four corners of the box body are connected with the spring dampers; and (c) a mechanical arm (16) is connected in front of the box body, anda mechanical tail achieving balancing and obstacle crossing effects is connected behind the box body; the mechanical tail comprises a tail wheel bracket (11) and a tail wheel (12); the middle part ofthe tail wheel bracket (11) is connected with a tail wheel steering engine (13); and a steering engine output shaft is fixed on a tail wheel U-shaped frame (10), and is connected behind the box body (17) through a driving unit formed by a driving steering engine (8) of an U-shaped frame (9). As the gravity center is lower than the plane of a wheel shaft, the balance is automatically approached, and a balance control sensor and other control elements are saved; and the double-wheel self-balance robot achieves the climbing assisting and obstacle crossing functions, and improves the pavement adaptability.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a two-wheel drive deformable robot based on the principle of minimum potential energy. Background technique [0002] The working principle of the current mainstream two-wheel scooter or two-wheel balancing robot is mainly to use the built-in precision electronic gyroscope to judge the posture of the body, and the central processing unit sends instructions to drive the motor to achieve the balance effect. Most of the existing two-wheel drive robots have a high center of gravity and rely on complex control circuits and algorithms to achieve balance effects. Balance stability depends entirely on component performance and algorithm reliability. First of all, the cost is higher and the maintenance is more inconvenient. Secondly, the requirements for the road surface are relatively high, and it is mostly suitable for flat hard roads, and it is difficult to work on narrow and uneven roa...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to overcome the defects of the existing two-wheel drive robot that the function is relatively single and the climbing performance is poor, and a kind of two-wheel robot is provided.

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