Double-wheel omni-directional balance robot with driving wheel poses variable relative to chassis

Abstract

A double-wheel omni-directional balance robot with driving wheel poses variable relative to a chassis comprises a robot body, the chassis, a first driving wheel, a second driving wheel, a first wheel pose adjusting driving assembly, a second wheel pose adjusting driving assembly and a wheel position adjusting guiding assembly. The wheel position adjusting and guiding assembly is arranged on the chassis, and the first wheel pose adjusting and driving assembly and the second wheel pose adjusting and driving assembly are both arranged on the wheel position adjusting and guiding assembly. And the first / second driving wheel is mounted on the first / second wheel pose adjustment driving assembly. The poses between the wheels and the chassis are adjustable, the robot can advance, retreat, obliquely move and transversely move only by adjusting the relative poses of the wheels on the chassis under the condition that the orientation of a vehicle body is not changed, acceleration and deceleration can be achieved under the condition that a machine body is kept vertical in the transverse moving process of the robot, and the robot can be driven to move forwards and backwards when steering in situ. Only the relative poses of the wheels need to be adjusted, the orientation of the vehicle body does not need to be changed, and therefore the adaptability to the narrow space is greatly improved.

Description

Technical Field

[0001] The invention belongs to the technical field of two-wheel robots, and in particular relates to a two-wheel omnidirectional balancing robot with a drive wheel whose position relative to a chassis is changeable. Background Art

[0002] With the rapid development of robot technology, the demand for robots that can move flexibly in narrow spaces is also increasing. Among them, two-wheeled robots have been widely studied due to their small size and smooth movement. At present, the research on two-wheeled robots mainly focuses on the chassis structure. According to the difference in type, they can be further divided into ordinary two-wheeled inverted pendulum chassis and two-wheeled inverted pendulum chassis with counterweight slider.

[0003] For an ordinary two-wheel inverted pendulum chassis, it uses two hub motors for dual-wheel drive, and maintains balance by adjusting the acceleration and deceleration of the wheels, and the position between the wheels and the chassis is fixed. Specifically, when the body tilts forward, that is, the center of gravity is located in front of the support point, the wheels will accelerate forward to maintain balance. Similarly, when the body tilts backward, that is, the center of gravity is located behind the support point, the wheels will accelerate backward. In other words, during the movement of the two-wheeled robot, the center of gravity position is changed by adjusting the pitch angle of the body, thereby realizing the forward or backward movement of the two-wheeled robot.

[0004] However, when the ordinary two-wheeled inverted pendulum chassis adopts this working mechanism, the two-wheeled robot must control the body to tilt forward or backward, so that the two-wheeled robot can move forward or backward, and the body cannot be kept in a vertical posture during this process. In addition, due to the working mechanism of the ordinary two-wheeled inverted pendulum chassis, the steering ability of the two-wheeled robot has certain limitations, that is, when the body direction remains unchanged, the two-wheeled robot cannot move diagonally or horizontally when moving forward or backward, and when rotating in place, the body needs to change direction synchronously, so the ability to adapt to narrow spaces is poor.

[0005] For the two-wheel inverted pendulum chassis with a counterweight slider, based on the ordinary two-wheel inverted pendulum chassis, it changes the center of gravity by adjusting the position of the counterweight slider, thereby realizing the forward, backward and acceleration and deceleration of the two-wheeled robot. The position between its wheels and the chassis is still fixed. Compared with the working mechanism of the ordinary two-wheel inverted pendulum chassis, it only achieves the effect of keeping the body vertical during movement.

[0006] However, since the weight slider is smaller than the two-wheeled robot as a whole, the range of center of gravity adjustment through the weight slider is also very limited, resulting in the two-wheeled robot's poor ability to obtain acceleration. In addition, the two-wheeled robot's steering ability also has the same limitations due to the working mechanism of the two-wheeled inverted pendulum chassis with a weight slider, that is, when the body direction remains unchanged, the two-wheeled robot moves forward or backward, and cannot achieve oblique and lateral movement. In addition, when turning in place, the body direction needs to change synchronously, so the ability to adapt to narrow spaces is also poor. Summary of the invention

[0007] In view of the problems existing in the prior art, the present invention provides a two-wheeled omnidirectional balancing robot with a drive wheel posture changeable relative to a chassis, and the posture between the wheels and the chassis is adjustable. When the orientation of the vehicle body remains unchanged, the forward, backward, oblique and lateral movements of the two-wheeled robot can be satisfied only by adjusting the relative posture of the wheels on the chassis. During the lateral movement of the two-wheeled robot, acceleration and deceleration can be achieved while keeping the body vertical. When turning on the spot, only the relative posture of the wheels needs to be adjusted without changing the orientation of the vehicle body, thereby greatly improving the adaptability to narrow spaces.

[0008] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a two-wheeled omnidirectional balancing robot with a drive wheel posture that is variable relative to a chassis, comprising a fuselage, a chassis, a first drive wheel, a second drive wheel, a first wheel posture adjustment drive assembly, a second wheel posture adjustment drive assembly and a wheel position adjustment guide assembly; the fuselage is located on the top of the chassis; the wheel position adjustment guide assembly is arranged on the chassis; the first wheel posture adjustment drive assembly and the second wheel posture adjustment drive assembly are both arranged on the wheel position adjustment guide assembly; the first drive wheel is installed on the first wheel posture adjustment drive assembly; the second drive wheel is installed on the second wheel posture adjustment drive assembly.

[0009] The chassis adopts an O-shaped structure, which is composed of two straight line segments and two arc segments.

[0010] The wheel position adjustment guide assembly comprises a guide rail groove and an inner gear ring; the guide rail groove is arranged on the outer edge of the O-ring of the chassis; the inner gear ring is arranged on the inner edge of the O-ring of the chassis.

[0011] The first driving wheel and the second driving wheel have the same structure, and both include a wheel, a hub motor and a wheel frame; the hub motor is horizontally fixedly installed on the wheel frame; and the wheel is coaxially sleeved on the outside of the hub motor.

[0012] The first wheel posture adjustment drive assembly and the second wheel posture adjustment drive assembly have the same structure, and both include a wheel posture adjustment drive motor, a gear and a guide roller; the wheel posture adjustment drive motor is vertically fixed on the wheel frame, the gear is coaxially connected to the motor shaft of the wheel posture adjustment drive motor, and the gear is meshed with the inner gear ring; the guide roller is vertically installed on the wheel frame, the guide roller is located in the guide rail groove, and the guide roller and the guide rail groove are matched for rolling support and guiding.

[0013] When the robot needs to move forward or backward, the first driving wheel and the second driving wheel are respectively located in the middle of two arc segments of the chassis, and the first driving wheel is in a parallel state with the second driving wheel.

[0014] When the robot needs to move obliquely, the first driving wheel and the second driving wheel are respectively located at non-middle positions of the two arc segments of the chassis, and the first driving wheel and the second driving wheel are in a parallel state.

[0015] When the robot needs to move laterally, the first driving wheel and the second driving wheel are respectively located in the middle of two straight segments of the chassis, and the first driving wheel is in a parallel state with the second driving wheel.

[0016] When the robot needs to turn in situ, the first driving wheel and the second driving wheel perform posture conversion between two arc segments and two straight line segments of the chassis.

[0017] During the lateral movement of the robot, when the body gravity center is located directly above the first drive wheel and the second drive wheel, the robot moves at a constant speed; when the body gravity center is located to the lower left or lower right of the first drive wheel and the second drive wheel, the robot moves with acceleration and deceleration.

[0018] Beneficial effects of the present invention:

[0019] The two-wheeled omnidirectional balancing robot of the present invention has a variable driving wheel posture relative to the chassis, and the posture between the wheels and the chassis is adjustable. When the orientation of the vehicle body remains unchanged, the forward, backward, oblique and lateral movements of the two-wheeled robot can be satisfied only by adjusting the relative posture of the wheels on the chassis. During the lateral movement of the two-wheeled robot, acceleration and deceleration can be achieved while keeping the body vertical. When turning on the spot, only the relative posture of the wheels needs to be adjusted without changing the orientation of the vehicle body, thereby greatly improving the adaptability to narrow spaces. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic structural diagram of a two-wheeled omnidirectional balancing robot with a variable driving wheel position relative to a chassis according to the present invention;

[0021] Figure 2It is a schematic structural diagram of a two-wheeled omnidirectional balancing robot (the body is not shown) with a drive wheel position relative to a chassis that can be changed according to the present invention;

[0022] Figure 3 This is the rendering of the driving wheel posture of the robot when moving forward or backward;

[0023] Figure 4 This is the rendering of the driving wheel posture of the robot when it moves obliquely;

[0024] Figure 5 This is the rendering of the driving wheel posture of the robot when it moves laterally;

[0025] Figure 6 This is the effect diagram of the robot moving horizontally at a constant speed;

[0026] Figure 7 This is the effect diagram when the robot accelerates and moves horizontally to the left;

[0027] Figure 8 This is the effect diagram when the robot accelerates and moves horizontally to the right;

[0028] Fig. 9 This is the effect diagram of the robot turning 90 degrees and moving sideways into a narrow channel during its forward movement;

[0029] In the figure, 1 is the fuselage, 2 is the chassis, 3 is the first driving wheel, 4 is the second driving wheel, 5 is the wheel, 6 is the hub motor, 7 is the wheel frame, 8 is the wheel posture adjustment driving motor, 9 is the gear, 10 is the guide roller, 11 is the guide rail groove, and 12 is the inner gear ring. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] like Figure 1 , 2 As shown, a two-wheeled omnidirectional balancing robot with a drive wheel posture that is variable relative to a chassis comprises a body 1, a chassis 2, a first drive wheel 3, a second drive wheel 4, a first wheel posture adjustment drive assembly, a second wheel posture adjustment drive assembly and a wheel position adjustment guide assembly; the body 1 is located on the top of the chassis 2; the wheel position adjustment guide assembly is arranged on the chassis 2; the first wheel posture adjustment drive assembly and the second wheel posture adjustment drive assembly are both arranged on the wheel position adjustment guide assembly; the first drive wheel 3 is mounted on the first wheel posture adjustment drive assembly; the second drive wheel 4 is mounted on the second wheel posture adjustment drive assembly.

[0032] The chassis 2 adopts an O-shaped structure, which is composed of two straight line segments and two arc segments.

[0033] The wheel position adjustment guide assembly includes a guide groove 11 and an inner gear ring 12 ; the guide groove 11 is arranged on the outer edge of the O-ring of the chassis 2 ; the inner gear ring 12 is arranged on the inner edge of the O-ring of the chassis 2 .

[0034] The first driving wheel 3 and the second driving wheel 4 have the same structure, and both include a wheel 5, a hub motor 6 and a wheel frame 7; the hub motor 6 is horizontally fixedly mounted on the wheel frame 7; and the wheel 5 is coaxially sleeved on the outside of the hub motor 6.

[0035] The first wheel posture adjustment drive assembly and the second wheel posture adjustment drive assembly have the same structure, and both include a wheel posture adjustment drive motor 8, a gear 9 and a guide roller 10; the wheel posture adjustment drive motor 8 is vertically fixed on the wheel frame 7, the gear 9 is coaxially connected to the motor shaft of the wheel posture adjustment drive motor 8, and the gear 9 is meshed with the inner gear ring 12; the guide roller 10 is vertically installed on the wheel frame 7, the guide roller 10 is located in the guide rail groove 11, and the guide roller 10 and the guide rail groove 11 are cooperated for rolling support and guiding.

[0036] like Figure 3 As shown, when the robot needs to move forward or backward, the first driving wheel 3 and the second driving wheel 4 are respectively located in the middle of two arc segments of the chassis 2, and the first driving wheel 3 and the second driving wheel 4 are in a parallel state.

[0037] like Figure 4 As shown, when the robot needs to move obliquely, the first driving wheel 3 and the second driving wheel 4 are respectively located at non-middle positions of the two arc segments of the chassis 2, and the first driving wheel 3 and the second driving wheel 4 are in a parallel state.

[0038] like Figure 5 As shown, when the robot needs to move laterally, the first driving wheel 3 and the second driving wheel 4 are respectively located in the middle of two straight segments of the chassis 2, and the first driving wheel 3 and the second driving wheel 4 are in a parallel state.

[0039] When the robot needs to turn in situ, the first driving wheel 3 and the second driving wheel 4 perform posture conversion between the two arc segments and the two straight line segments of the chassis 2 .

[0040] During the lateral movement of the robot, when the center of gravity of the body 1 is located directly above the first driving wheel 3 and the second driving wheel 4, the robot moves at a constant speed; when the center of gravity of the body 1 is located at the lower left or lower right of the first driving wheel 3 and the second driving wheel 4, the robot moves with acceleration and deceleration.

[0041] The following describes a one-time use process of the present invention in conjunction with the accompanying drawings:

[0042] When the robot needs to move forward or backward, first, the first drive wheel 3 and the second drive wheel 4 are respectively located in the middle of the two arc segments of the chassis 2, and the first drive wheel 3 and the second drive wheel 4 are in a parallel state, and then the hub motors 6 of the first drive wheel 3 and the second drive wheel 4 are synchronously started to drive the wheels 5 to rotate at the same speed and in the same direction, and then the robot is moved forward or backward by the rotating wheels 5.

[0043] When the robot moves to a certain position and needs to change to oblique movement, the wheel posture adjustment drive motor 8 of the first drive wheel 3 and the second drive wheel 4 is started synchronously to drive the gear 9 to rotate. Since the gear 9 is meshed with the inner ring 12, the rotational movement of the gear 9 will be converted into a linear movement of the gear 9 along the inner ring 12 until the first drive wheel 3 and the second drive wheel 4 are respectively located at non-middle positions of the two arc segments of the chassis 2, and the first drive wheel 3 and the second drive wheel 4 are in a parallel state, and the guide roller 10 will synchronously follow along the guide rail groove 11, and then the wheel 5 is driven by the hub motor 6 to rotate at the same speed and in the same direction, and finally the oblique movement of the robot is realized by the rotating wheel 5, and the direction of the robot body 1 can remain unchanged at this time.

[0044] When the robot moves to a certain position and needs to change to lateral movement, the wheel posture adjustment drive motor 8 of the first drive wheel 3 and the second drive wheel 4 is started synchronously to drive the gear 9 to rotate. Since the gear 9 is meshed with the inner ring 12, the rotational movement of the gear 9 will be converted into the linear movement of the gear 9 along the inner ring 12 until the first drive wheel 3 and the second drive wheel 4 are respectively located in the middle of the two straight segments of the chassis 2, and the first drive wheel 3 and the second drive wheel 4 are in a parallel state, and the guide roller 10 will synchronously follow along the guide rail groove 11, and then the wheel 5 is driven by the hub motor 6 to rotate at the same speed and in the same direction, and finally the lateral movement of the robot is realized by the rotating wheel 5, and the direction of the robot body 1 can remain unchanged at this time.

[0045] When the robot is moving laterally, when the center of gravity of the body 1 is located directly above the first driving wheel 3 and the second driving wheel 4, the robot is in a state of uniform lateral movement. Figure 6 When the first driving wheel 3 and the second driving wheel 4 move synchronously to the lower right of the center of gravity of the body 1, the robot can accelerate to move to the left, as shown in FIG. Figure 7 Similarly, when the first driving wheel 3 and the second driving wheel 4 move synchronously to the lower left of the center of gravity of the body 1, the robot can accelerate to move to the right, as shown in FIG. Figure 8 shown.

[0046] like Fig. 9As shown, when the robot needs to turn 90 degrees to enter a narrow passage and move laterally during the forward movement, the robot first moves to the corner, and then adjusts the positions of the first drive wheel 3 and the second drive wheel 4 on the chassis 2 until the first drive wheel 3 and the second drive wheel 4 are respectively located in the middle of two straight segments of the chassis 2, and the first drive wheel 3 and the second drive wheel 4 are in a parallel state. Then, the robot can enter the narrow passage in a lateral movement mode, which improves the robot's adaptability in narrow spaces.

[0047] The solutions in the embodiments are not intended to limit the protection scope of the present invention. All equivalent implementations or changes that do not deviate from the present invention are included in the protection scope of the present invention.

Claims

1. A two-wheeled omnidirectional balancing robot with variable driving wheel position relative to the chassis, characterized in that: It includes a fuselage, a chassis, a first driving wheel, a second driving wheel, a first wheel posture adjustment drive assembly, a second wheel posture adjustment drive assembly and a wheel position adjustment guide assembly; the fuselage is located on the top of the chassis; the wheel position adjustment guide assembly is arranged on the chassis; the first wheel posture adjustment drive assembly and the second wheel posture adjustment drive assembly are both arranged on the wheel position adjustment guide assembly; the first driving wheel is installed on the first wheel posture adjustment drive assembly; the second driving wheel is installed on the second wheel posture adjustment drive assembly.

2. A two-wheeled omnidirectional balancing robot with a variable driving wheel position relative to the chassis according to claim 1, characterized in that: The chassis adopts an O-shaped structure, which is composed of two straight line segments and two arc segments.

3. A two-wheeled omnidirectional balancing robot with a variable driving wheel position relative to the chassis according to claim 2, characterized in that: The wheel position adjustment guide assembly comprises a guide rail groove and an inner gear ring; the guide rail groove is arranged on the outer edge of the O-ring of the chassis; the inner gear ring is arranged on the inner edge of the O-ring of the chassis.

4. A two-wheeled omnidirectional balancing robot with a variable driving wheel position relative to the chassis according to claim 3, characterized in that: The first driving wheel and the second driving wheel have the same structure, and both include a wheel, a hub motor and a wheel frame; the hub motor is horizontally fixedly installed on the wheel frame; and the wheel is coaxially sleeved on the outside of the hub motor.

5. A two-wheeled omnidirectional balancing robot with a variable driving wheel position relative to the chassis according to claim 4, characterized in that: The first wheel posture adjustment drive assembly and the second wheel posture adjustment drive assembly have the same structure, and both include a wheel posture adjustment drive motor, a gear and a guide roller; the wheel posture adjustment drive motor is vertically fixed on the wheel frame, the gear is coaxially connected to the motor shaft of the wheel posture adjustment drive motor, and the gear is meshed with the inner gear ring; the guide roller is vertically installed on the wheel frame, the guide roller is located in the guide rail groove, and the guide roller and the guide rail groove are matched for rolling support and guiding.

6. A two-wheeled omnidirectional balancing robot with a variable driving wheel position relative to the chassis according to claim 5, characterized in that: When the robot needs to move forward or backward, the first driving wheel and the second driving wheel are respectively located in the middle of two arc segments of the chassis, and the first driving wheel is in a parallel state with the second driving wheel.

7. A two-wheeled omnidirectional balancing robot with a variable driving wheel position relative to the chassis according to claim 5, characterized in that: When the robot needs to move obliquely, the first driving wheel and the second driving wheel are respectively located at non-middle positions of the two arc segments of the chassis, and the first driving wheel and the second driving wheel are in a parallel state.

8. A two-wheeled omnidirectional balancing robot with a variable driving wheel position relative to the chassis according to claim 5, characterized in that: When the robot needs to move laterally, the first driving wheel and the second driving wheel are respectively located in the middle of two straight segments of the chassis, and the first driving wheel is in a parallel state with the second driving wheel.

9. A two-wheeled omnidirectional balancing robot with variable driving wheel position relative to the chassis according to claim 5, characterized in that: When the robot needs to turn in situ, the first driving wheel and the second driving wheel perform posture conversion between the two arc segments and the two straight line segments of the chassis.

10. A two-wheeled omnidirectional balancing robot with a variable driving wheel position relative to the chassis according to claim 8, characterized in that: During the lateral movement of the robot, when the body gravity center is located directly above the first drive wheel and the second drive wheel, the robot moves at a constant speed; when the body gravity center is located to the lower left or lower right of the first drive wheel and the second drive wheel, the robot moves with acceleration and deceleration.

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