A dual-wheel omnidirectional balancing robot with variable drive wheel pose relative to the chassis

Abstract

A dual-wheel omnidirectional balancing robot with variable drive wheel pose relative to the chassis includes a body, a chassis, first and second drive wheels, first and second wheel pose adjustment drive components, and wheel position adjustment guide components. The wheel position adjustment guide components are mounted on the chassis, and both the first and second wheel pose adjustment drive components are mounted on the wheel position adjustment guide components. The first / second drive wheels are mounted on the first / second wheel pose adjustment drive components. This invention achieves adjustable pose between the wheels and the chassis. With the vehicle's orientation unchanged, the robot can move forward, backward, diagonally, and laterally simply by adjusting the relative pose of the wheels on the chassis. During lateral movement, the robot can accelerate and decelerate while maintaining a vertical body. When turning in place, only the relative pose of the wheels needs to be adjusted without changing the vehicle's orientation, thus significantly improving its adaptability in confined spaces.

Description

Technical Field

[0001] This invention belongs to the field of two-wheeled robot technology, and in particular relates to a two-wheeled omnidirectional balancing robot with variable drive wheel position relative to the chassis. Background Technology

[0002] With the rapid development of robotics technology, the demand for robots capable of moving flexibly in confined spaces is constantly increasing. Among them, two-wheeled robots have received extensive research due to their advantages of small size and stable movement. Currently, research on two-wheeled robots mainly focuses on chassis structure. Based on different types, they can be further divided into ordinary two-wheeled inverted pendulum chassis and two-wheeled inverted pendulum chassis with counterweight sliders.

[0003] For a typical two-wheeled inverted pendulum chassis, two hub motors drive both wheels, maintaining balance by adjusting the acceleration and deceleration of the wheels, with the wheels and chassis in a fixed position. Specifically, when the chassis tilts forward, meaning the center of gravity is in front of the support point, the wheels accelerate forward to maintain balance. Similarly, when the chassis tilts backward, meaning the center of gravity is behind the support point, the wheels accelerate backward. In other words, during the movement of the two-wheeled robot, the pitch angle of the chassis is adjusted to change the position of the center of gravity, thereby enabling the robot to move forward or backward.

[0004] However, when using this working mechanism on a conventional two-wheeled inverted pendulum chassis, the two-wheeled robot inevitably needs to tilt its body forward or backward to move forward or backward, making it impossible to maintain a consistently vertical posture. Furthermore, this working mechanism of a conventional two-wheeled inverted pendulum chassis limits the steering ability of the two-wheeled robot. Specifically, without changing the robot's orientation, it cannot move diagonally or laterally when moving forward or backward, and rotating in place requires a synchronous change in orientation, resulting in poor adaptability to confined spaces.

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

[0006] However, because the counterweight slider has a smaller mass compared to the overall weight of the two-wheeled robot, the range of center of gravity adjustment via the counterweight slider is also very limited, resulting in poor acceleration capability for the two-wheeled robot. Furthermore, also limited by the working mechanism of the two-wheeled inverted pendulum chassis with counterweight slider, the steering capability of the two-wheeled robot suffers from the same limitation: when the robot's orientation remains unchanged, it can only move forward or backward, unable to move diagonally or laterally, and turning in place requires a simultaneous change in orientation, thus its ability to adapt to confined spaces is also poor. Summary of the Invention

[0007] To address the problems existing in the prior art, this invention provides a two-wheeled omnidirectional balancing robot with variable drive wheel posture relative to the chassis. The posture between the wheels and the chassis is adjustable. With the vehicle body orientation unchanged, forward, backward, diagonal, and lateral movements of the two-wheeled robot can be achieved simply by adjusting the relative posture of the wheels on the chassis. During lateral movement, the robot can accelerate and decelerate while maintaining a vertical body. Furthermore, when turning in place, only the relative posture of the wheels needs to be adjusted without changing the vehicle body orientation, thereby significantly improving its adaptability to narrow spaces.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: a dual-wheel omnidirectional balancing robot with variable drive wheel posture relative to the chassis, comprising a body, 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 body is located on top of the chassis; the wheel position adjustment guide assembly is disposed on the chassis; both the first and second wheel posture adjustment drive assemblies are disposed on the wheel position adjustment guide assembly; the first drive wheel is mounted on the first wheel posture adjustment drive assembly; and the second drive wheel is mounted on the second wheel posture adjustment drive assembly.

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

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

[0011] The first drive wheel and the second drive wheel have the same structure, both including a wheel, a hub motor and a wheel frame; the hub motor is horizontally fixed on the wheel frame; the wheel is coaxially mounted on the outside of the hub motor.

[0012] The first wheel position adjustment drive assembly and the second wheel position adjustment drive assembly have the same structure, both including a wheel position adjustment drive motor, a gear, and a guide roller; the wheel position adjustment drive motor is vertically fixed on the wheel frame, the gear is coaxially connected to the motor shaft of the wheel position adjustment drive motor, and the gear meshes with the internal gear ring; the guide roller is vertically mounted on the wheel frame, the guide roller is located in the guide rail groove, and the guide roller and the guide rail groove are engaged in rolling support and guidance.

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

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

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

[0016] When the robot needs to turn in place, the first and second drive wheels perform pose transitions between two circular arc segments and two straight line segments on the chassis.

[0017] During the robot's lateral movement, when the robot's center of gravity is directly above the first and second drive wheels, the robot moves at a constant speed; when the robot's center of gravity is to the lower left or right of the first and second drive wheels, the robot accelerates or decelerates.

[0018] The beneficial effects of this invention are:

[0019] The present invention relates to a dual-wheel omnidirectional balancing robot with a variable drive wheel posture relative to the chassis. The posture between the wheels and the chassis is adjustable. With the vehicle body orientation unchanged, the robot can move forward, backward, diagonally, and laterally simply by adjusting the relative posture of the wheels on the chassis. During the lateral movement of the dual-wheel robot, acceleration and deceleration can be achieved while maintaining the verticality of the body. When turning on the spot, only the relative posture of the wheels needs to be adjusted without changing the vehicle body orientation, thereby greatly improving the adaptability to narrow spaces. Attached Figure Description

[0020] Figure 1 This is a structural schematic diagram of a dual-wheel omnidirectional balancing robot with variable drive wheel posture relative to the chassis according to the present invention;

[0021] Figure 2This is a structural schematic diagram of a dual-wheel omnidirectional balancing robot (body not shown) with variable drive wheel posture relative to the chassis according to the present invention;

[0022] Figure 3 A diagram illustrating the pose of the robot's drive wheels as it moves forward or backward.

[0023] Figure 4 This is a diagram illustrating the pose of the drive wheels of a robot during diagonal movement.

[0024] Figure 5 This is a diagram illustrating the pose of the drive wheels of the robot during lateral movement.

[0025] Figure 6 This is a rendering of the robot moving laterally at a constant speed.

[0026] Figure 7 An illustration showing the robot accelerating laterally to the left.

[0027] Figure 8 An illustration showing the robot accelerating laterally to the right.

[0028] Figure 9 This is a rendering of a robot turning 90° while moving forward and then moving laterally into a narrow passage.

[0029] In the diagram, 1—body, 2—chassis, 3—first drive wheel, 4—second drive wheel, 5—wheel, 6—hub motor, 7—wheel frame, 8—wheel position and posture adjustment drive motor, 9—gear, 10—guide roller, 11—guide rail groove, 12—internal gear ring. Detailed Implementation

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

[0031] like Figure 1 , 2 As shown, a dual-wheel omnidirectional balancing robot with variable drive wheel pose relative to the chassis includes a body 1, a chassis 2, a first drive wheel 3, a second drive wheel 4, a first wheel pose adjustment drive assembly, a second wheel pose adjustment drive assembly, and a wheel position adjustment guide assembly. The body 1 is located on top of the chassis 2. The wheel position adjustment guide assembly is mounted on the chassis 2. Both the first and second wheel pose adjustment drive assemblies are mounted on the wheel position adjustment guide assembly. The first drive wheel 3 is mounted on the first wheel pose adjustment drive assembly, and the second drive wheel 4 is mounted on the second wheel pose adjustment drive assembly.

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

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

[0034] The first drive wheel 3 and the second drive wheel 4 have the same structure, both including 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; the wheel 5 is coaxially mounted on the outside of the hub motor 6.

[0035] The first wheel position adjustment drive assembly and the second wheel position adjustment drive assembly have the same structure, both including a wheel position adjustment drive motor 8, a gear 9, and a guide roller 10; the wheel position 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 position adjustment drive motor 8, and the gear 9 meshes with the internal gear ring 12; the guide roller 10 is vertically mounted 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 engaged in rolling support and guidance.

[0036] like Figure 3 As shown, when the robot needs to move forward or backward, the first drive wheel 3 and the second drive wheel 4 are located at 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.

[0037] like Figure 4 As shown, when the robot needs to move diagonally, the first drive wheel 3 and the second drive wheel 4 are located at the non-middle points 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.

[0038] like Figure 5 As shown, when the robot needs to move laterally, the first drive wheel 3 and the second drive wheel 4 are located at 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.

[0039] When the robot needs to turn in place, the first drive wheel 3 and the second drive wheel 4 perform pose transformation between the two arc segments and the two straight segments of the chassis 2.

[0040] During the robot's lateral movement, when the center of gravity of the robot body 1 is directly above the first drive wheel 3 and the second drive wheel 4, the robot moves at a constant speed; when the center of gravity of the robot body 1 is to the lower left or lower right of the first drive wheel 3 and the second drive wheel 4, the robot accelerates or decelerates.

[0041] The following describes a single use of the present invention with reference to the accompanying drawings:

[0042] When the robot needs to move forward or backward, the first drive wheel 3 and the second drive wheel 4 are positioned at 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. Then, the hub motors 6 of the first drive wheel 3 and the second drive wheel 4 are started synchronously, driving the wheels 5 to rotate at the same speed and in the same direction. Thus, the robot moves forward or backward through the rotating wheels 5.

[0043] When the robot moves to a certain position and needs to change to diagonal movement, the wheel position adjustment drive motor 8 of the first drive wheel 3 and the second drive wheel 4 is activated simultaneously, driving the gear 9 to rotate. Since the gear 9 meshes with the internal gear ring 12, the rotational motion of the gear 9 will be converted into the linear movement of the gear 9 along the internal gear ring 12 until the first drive wheel 3 and the second drive wheel 4 are respectively located at the non-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. The guide roller 10 will move synchronously along the guide rail groove 11. Then, the hub motor 6 drives the wheel 5 to rotate at the same speed and in the same direction. Finally, the diagonal movement of the robot is achieved by the rotating wheel 5. At this time, the orientation of the robot body 1 can remain unchanged.

[0044] When the robot moves to a certain position and needs to change to lateral movement, the wheel position adjustment drive motor 8 of the first drive wheel 3 and the second drive wheel 4 is activated simultaneously, driving the gear 9 to rotate. Since the gear 9 meshes with the internal gear ring 12, the rotational motion of the gear 9 will be converted into the linear movement of the gear 9 along the internal gear ring 12 until the first drive wheel 3 and the second drive wheel 4 are respectively located at 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. The guide roller 10 will move synchronously along the guide rail groove 11. Then, the hub motor 6 drives the wheel 5 to rotate at the same speed and in the same direction. Finally, the lateral movement of the robot is achieved by the rotating wheel 5. At this time, the orientation of the robot body 1 can remain unchanged.

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

[0046] like Figure 9As shown, when the robot needs to turn 90° to enter a narrow passage for lateral movement during its forward movement, the robot first moves to the corner, then adjusts the position 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 at the midpoint 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. The robot can then enter the narrow passage in a lateral movement mode, improving the robot's adaptability in narrow spaces.

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

Claims

1. A dual-wheel omnidirectional balancing robot with variable drive wheel orientation relative to the chassis, characterized in that: The system includes a fuselage, a chassis, a first drive wheel, a second drive wheel, a first wheel position adjustment drive assembly, a second wheel position adjustment drive assembly, and a wheel position adjustment guide assembly. The fuselage is located on top of the chassis. The wheel position adjustment guide assembly is mounted on the chassis. Both the first and second wheel position adjustment drive assemblies are mounted on the wheel position adjustment guide assembly. The first drive wheel is mounted on the first wheel position adjustment drive assembly. The second drive wheel is mounted on the second wheel position adjustment drive assembly. The chassis has an O-shaped structure, consisting of two straight segments and two circular arc segments. The wheel position adjustment guide assembly... The guide assembly includes a guide rail groove and an internal gear ring; the guide rail groove is located on the outer edge of the O-ring of the chassis; the internal gear ring is located on the inner edge of the O-ring of the chassis; the first wheel posture adjustment drive assembly and the second wheel posture adjustment drive assembly have the same structure, both including 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 meshes with the internal gear ring; the guide roller is vertically mounted on the wheel frame, the guide roller is located in the guide rail groove, and the guide roller and the guide rail groove are engaged in a rolling support and guidance engagement.

2. The dual-wheel omnidirectional balancing robot with variable drive wheel posture relative to the chassis according to claim 1, characterized in that: The first drive wheel and the second drive wheel have the same structure, both including a wheel, a hub motor and a wheel frame; the hub motor is horizontally fixed on the wheel frame; the wheel is coaxially mounted on the outside of the hub motor.

3. The dual-wheel omnidirectional balancing robot with variable drive wheel posture relative to the chassis according to claim 1, characterized in that: When the robot needs to move forward or backward, the first drive wheel and the second drive wheel are located at the middle of the two arc segments of the chassis, and the first drive wheel and the second drive wheel are in a parallel state.

4. A dual-wheel omnidirectional balancing robot with variable drive wheel orientation relative to the chassis according to claim 1, characterized in that: When the robot needs to move diagonally, the first drive wheel and the second drive wheel are located at the non-middle points of the two arc segments of the chassis, and the first drive wheel and the second drive wheel are in a parallel state.

5. A dual-wheel omnidirectional balancing robot with variable drive wheel orientation relative to the chassis according to claim 1, characterized in that: When the robot needs to move laterally, the first drive wheel and the second drive wheel are located at the middle of the two straight segments of the chassis, and the first drive wheel and the second drive wheel are in a parallel state.

6. A dual-wheel omnidirectional balancing robot with variable drive wheel orientation relative to the chassis according to claim 1, characterized in that: When the robot needs to turn in place, the first and second drive wheels perform pose transitions between two circular arc segments and two straight line segments on the chassis.

7. A dual-wheel omnidirectional balancing robot with variable drive wheel orientation relative to the chassis according to claim 5, characterized in that: During the robot's lateral movement, when the robot's center of gravity is directly above the first and second drive wheels, the robot moves at a constant speed; when the robot's center of gravity is to the lower left or right of the first and second drive wheels, the robot accelerates or decelerates.

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