Self-balancing robot capable of climbing slope and climbing method

Abstract

The invention discloses a self-balancing robot capable of climbing a slope and a climbing method, and relates to the technical field of self-balancing robots, the self-balancing robot comprises a main shell, an acceleration sensor is mounted at the front end of the bottom of a partition plate, and an angular velocity sensor is mounted in the middle of the bottom end of the partition plate; a main driving wheel is movably connected to the outer side face of the small arm, and a first driving motor is installed on the inner side face of the small arm. According to the self-balancing robot capable of climbing the slope and the climbing method, the fixing frame, the second driving motor and the auxiliary climbing wheels are arranged, when the self-balancing robot is used, a servo torque motor drives a large arm to swing backwards, an electric cylinder extends to enable the large arm and a small arm to be straight, a robot body inclines forwards to enable the auxiliary climbing wheels to make contact with the ground, and the second driving motor drives the auxiliary climbing wheels to continuously rotate; and four-wheel driving is formed by matching with the main driving wheel, so that the climbing ability is enhanced, the function of conveniently climbing a slope is realized, and the problem that the device does not have the function of conveniently climbing the slope is solved.

Description

Technical Field

[0001] The invention relates to the technical field of self-balancing robots, in particular to a self-balancing robot capable of climbing a slope and a climbing method. Background Art

[0002] A self-balancing robot is a robot that can automatically maintain balance through sensors and control systems. It usually uses sensors such as gyroscopes and accelerometers to detect its own tilt angle and makes real-time adjustments through motors or servo systems to keep it upright.

[0003] When climbing slopes, the common self-balancing robots on the market currently have a shortcoming in their climbing ability due to the increased slope of the road, which puts a greater load on the motor. In addition, due to the weight of the robot itself, they are not suitable for climbing steep slopes.

[0004] Now, a novel self-balancing robot capable of climbing slopes and a climbing method are proposed to solve the above problems. Summary of the Invention

[0005] The object of the present invention is to provide a self-balancing robot capable of climbing a slope and a climbing method thereof, so as to solve the problem in the above-mentioned background art that the robot does not have the function of facilitating climbing a slope.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a self-balancing robot that can climb slopes, comprising a main shell, the top of the main shell is fixedly connected to the upper shell, the bottom of the upper shell is fixedly connected to the lower shell, a partition plate is fixedly connected laterally between the two sides of the interior of the upper shell, the top of the partition plate is fixedly connected to the control circuit board, the two sides of the bottom end of the upper shell are respectively fixedly connected to lithium batteries, an acceleration sensor is installed at the front end of the bottom of the partition plate, an angular velocity sensor is installed at the middle position of the bottom end of the partition plate, a servo torque motor is fixedly connected on both sides of the interior of the main shell, the left and right sides of the main shell are respectively movably connected to the big arm, the bottom end of the big arm is hinged with a small arm, the outer side surface of the small arm is movably connected to the main driving wheel, the inner side surface of the small arm is installed with a first driving motor, and the front end of the main shell is provided with a climbing component that is convenient for dumping and climbing slopes.

[0007] The climbing assembly includes two sets of fixing frames, which are respectively fixedly connected to the front end of the main shell, the outer side surfaces of the fixing frames are movably connected to the auxiliary climbing wheels, and the inner side surfaces of the fixing frames are fixedly connected to the second driving motor.

[0008] As a further technical solution of the present invention, the output end of the servo torque motor is connected to the upper arm, and the servo torque motor can drive the upper arm to swing back and forth.

[0009] As a further technical solution of the present invention, the fixing frame is symmetrically distributed about the vertical center line of the main housing, and the output end of the second driving motor is connected to the auxiliary climbing wheel.

[0010] As a further technical solution of the present invention, the output end of the first drive motor is connected to the main drive wheel, and the control circuit board, the servo torque motor, the first drive motor, and the second drive motor are electrically connected.

[0011] As a further technical solution of the present invention, an electric cylinder is arranged between the rear ends of the upper arm and the lower arm, a first pan-tilt camera module is installed at the bottom end of the lower shell, and a second pan-tilt camera module is installed at the top end of the upper shell. The top end of the electric cylinder is movably connected to the upper arm, and the output end of the electric cylinder is movably connected to the lower arm. The control circuit board, the electric cylinder, the first pan-tilt camera module, and the second pan-tilt camera module are electrically connected.

[0012] As a further technical solution of the present invention, concave grooves are fixedly connected on both sides of the bottom end of the lower shell body, two groups of ball screws are laterally movably connected between the two sides of the concave groove, and screw sliders are sleeved between the outsides of the two groups of ball screws. Two groups of servo motors are installed on both sides of the concave groove, and the output end of the servo motor is fixedly connected to the ball screw. The shape and size of the inside of the screw slider are compatible with the shape and size of the outside of the ball screw.

[0013] A climbing method for a self-balancing robot comprises the following steps: S1: The main drive wheel on the forearm is driven forward and backward by the first drive motor. Combined with the data fed back by the angular velocity sensor and acceleration sensor, the forward and backward adjustment can achieve self-balancing of the body. S2: When climbing a slope, the servo torque motor drives the boom to swing backward, the electric cylinder extends to straighten the boom and forearm, the machine body tilts forward to make the auxiliary climbing wheel touch the ground, and the second drive motor drives the auxiliary climbing wheel to rotate continuously, cooperating with the main drive wheel to form a four-wheel drive, enhancing the climbing ability; S3: While the device is moving, the second pan-tilt camera module collects real-time images of the front, while the first pan-tilt camera module collects real-time images of the ground. Based on the feedback of the ground information and the direction of travel of the main drive wheels, the electric cylinder on the corresponding side actively retracts and extends to drive the forearm to swing in areas with potholes or bumps to adapt to the road conditions, making the robot more stable during movement. S4: When the robot encounters an uneven road surface or shaking ground during its movement, the servo motor drives the screw slider through the ball screw based on the data feedback from the angular velocity sensor and acceleration sensor. The displacement of the two sets of solid screw sliders can adjust the center of gravity of the robot to keep it as balanced as possible.

[0014] Compared with the prior art, the present invention has the following beneficial effects: the self-balancing robot capable of climbing a slope not only realizes the function of facilitating climbing the slope, but also realizes the function of automatically adjusting the wheel position and the function of automatically adjusting the center of gravity; (1) The servo torque motor, the boom, the arm, the main drive wheel, the first drive motor, the fixing frame, the second drive motor and the auxiliary climbing wheel are provided. When in use, the main drive wheel on the arm is driven forward and backward by the first drive motor. Combined with the data fed back by the angular velocity sensor and the acceleration sensor, the self-balancing of the machine body can be achieved by adjusting the front and back. When climbing a slope, the servo torque motor drives the boom to swing backward, the electric cylinder extends to make the boom and the arm straight, the machine body tilts forward to make the auxiliary climbing wheel touch the ground, and the second drive motor drives the auxiliary climbing wheel to rotate continuously, which cooperates with the main drive wheel to form a four-wheel drive, thereby enhancing the climbing ability and realizing the function of facilitating climbing slopes. (2) By setting up an electric cylinder, a first pan-tilt camera module and a second pan-tilt camera module, when the device is in use, the second pan-tilt camera module collects image information in front in real time, and the first pan-tilt camera module collects image information of the ground in real time. According to the feedback of ground information and the direction of travel of the main driving wheel, in places with potholes or bumps, the electric cylinder on the corresponding side actively retracts and drives the small arm to swing to adapt to the road conditions, so that the robot is more stable during the travel process, and the function of self-adjusting the wheel position is realized; (3) By setting up a concave groove, a ball screw, a screw slider and a servo motor, when the robot encounters an uneven road surface or shaking ground during movement, the servo motor drives the screw slider to move through the ball screw according to the data fed back by the angular velocity sensor and the acceleration sensor. The displacement of the two sets of solid screw sliders can adjust the center of gravity of the robot to keep it as balanced as possible, thus realizing the function of self-adjustment of the center of gravity. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of a partial cross-sectional structure of the present invention; Figure 2 It is a side structural schematic diagram of the present invention; Figure 3 For the present invention Figure 1 A schematic diagram of the enlarged structure of the local section at point A in the middle; Figure 4 Schematic diagram of the cross-sectional structure of the upper shell of the present invention from a top view; Figure 5 This is a schematic diagram of the structure of the partition plate of the present invention when viewed from above; Figure 6 It is a schematic diagram of the cross-sectional structure of the lower shell of the present invention when viewed from above.

[0016] In the figure: 1. Main shell; 2. Upper shell; 3. Lower shell; 4. Partition plate; 5. Control circuit board; 6. Lithium battery; 7. Angular velocity sensor; 8. Acceleration sensor; 9. Servo torque motor; 10. Upper arm; 11. Lower arm; 12. Main drive wheel; 13. First drive motor; 14. Fixed bracket; 15. Second drive motor; 16. Auxiliary climbing wheel; 17. Electric cylinder; 18. First pan-tilt camera module; 19. Second pan-tilt camera module; 20. Concave groove; 21. Ball screw; 22. Screw slider; 23. Servo motor. DETAILED DESCRIPTION

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0018] See also Figure 1-6 , a self-balancing robot that can climb a slope, includes a main shell 1, the top of the main shell 1 is fixedly connected to an upper shell 2, the bottom end of the upper shell 2 is fixedly connected to a lower shell 3, a partition plate 4 is fixedly connected laterally between the two sides of the interior of the upper shell 2, the top of the partition plate 4 is fixedly connected to a control circuit board 5, the two sides of the bottom end of the upper shell 2 are respectively fixedly connected to a lithium battery 6, an acceleration sensor 8 is installed at the front end of the bottom of the partition plate 4, an angular velocity sensor 7 is installed at the middle position of the bottom end of the partition plate 4, a servo torque motor 9 is fixedly connected to the two sides of the main shell 1, the left and right sides of the main shell 1 are respectively movably connected to a large arm 10, the bottom end of the large arm 10 is hinged with a small arm 11, the outer side of the small arm 11 is movably connected to a main drive wheel 12, and the inner side of the small arm 11 is installed with a first drive motor 13, and the front end of the main shell 1 is provided with a climbing component for facilitating dumping and climbing the slope; See also Figure 1-6 A self-balancing robot capable of climbing a slope further includes a climbing assembly, which includes two sets of fixing frames 14, which are respectively fixedly connected to the front end of the main housing 1, and the outer side surfaces of the fixing frames 14 are movably connected to auxiliary climbing wheels 16, and the inner side surfaces of the fixing frames 14 are fixedly connected to a second drive motor 15; The output end of the servo torque motor 9 is connected to the boom 10, and the servo torque motor 9 can drive the boom 10 to swing back and forth. The fixing frame 14 is symmetrically distributed about the vertical center line of the main housing 1. The output end of the second drive motor 15 is connected to the auxiliary climbing wheel 16, and the output end of the first drive motor 13 is connected to the main drive wheel 12. The control circuit board 5, the servo torque motor 9, the first drive motor 13, and the second drive motor 15 are electrically connected; Specifically, if Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 and Figure 5 As shown, when climbing a slope, the servo torque motor 9 drives the upper arm 10 to swing backward, the electric cylinder 17 extends to make the upper arm 10 and the lower arm 11 straight, the body tilts forward to make the auxiliary climbing wheel 16 touch the ground, and the second drive motor 15 drives the auxiliary climbing wheel 16 to rotate continuously, cooperating with the main drive wheel 12 to form a four-wheel drive, thereby enhancing the climbing ability. The control circuit board 5, the servo torque motor 9, the first drive motor 13, and the second drive motor 15 are electrically connected. This technology is existing technology and will not be described in detail.

[0019] An electric cylinder 17 is provided between the rear ends of the boom 10 and the forearm 11. A first pan-tilt camera module 18 is mounted on the bottom end of the lower housing 3, and a second pan-tilt camera module 19 is mounted on the top end of the upper housing 2. The top end of the electric cylinder 17 is movably connected to the boom 10, and the output end of the electric cylinder 17 is movably connected to the forearm 11. The control circuit board 5, the electric cylinder 17, the first pan-tilt camera module 18, and the second pan-tilt camera module 19 are electrically connected, allowing them to actively adapt to the road surface. Specifically, if Figure 1 and Figure 2 As shown, the second pan-tilt camera module 19 collects image information of the front in real time, and the first pan-tilt camera module 18 collects image information of the ground in real time. According to the feedback of ground information and the direction of travel of the main drive wheel 12, in places with potholes or bumps, the electric cylinder 17 on the corresponding side actively retracts and contracts to drive the forearm 11 to swing to adapt to the road conditions, so that the robot is more stable during the movement. The control circuit board 5, the electric cylinder 17, the first pan-tilt camera module 18, and the second pan-tilt camera module 19 are electrically connected. This technology is existing technology, so it will not be repeated.

[0020] Concave grooves 20 are fixedly connected to both sides of the bottom end of the lower shell 3. Two sets of ball screws 21 are movably connected laterally between the two sides of the concave groove 20. A screw slider 22 is sleeved between the outsides of the two sets of ball screws 21. Two sets of servo motors 23 are installed on both sides of the concave groove 20. The output end of the servo motor 23 is fixedly connected to the ball screw 21. The shape and size of the inner part of the screw slider 22 are adapted to the shape and size of the outer part of the ball screw 21, so as to facilitate the adjustment of the center of gravity. Specifically, if Figure 1 and Figure 6 As shown, according to the data fed back by the angular velocity sensor 7 and the acceleration sensor 8, the servo motor 23 drives the screw slider 22 to move through the ball screw 21. The displacement of the two sets of solid screw sliders 22 can adjust the center of gravity of the robot to keep it as balanced as possible.

[0021] A climbing method for a self-balancing robot comprises the following steps: S1: The main driving wheel 12 on the forearm 11 is driven forward and backward by the first driving motor 13. Combined with the data fed back by the angular velocity sensor 7 and the acceleration sensor 8, the machine body can achieve self-balancing by adjusting forward and backward; S2: When climbing a slope, the servo torque motor 9 drives the boom 10 to swing backward, the electric cylinder 17 extends to straighten the boom 10 and the arm 11, and the machine body tilts forward to make the auxiliary climbing wheel 16 touch the ground. The second drive motor 15 drives the auxiliary climbing wheel 16 to rotate continuously, cooperating with the main drive wheel 12 to form a four-wheel drive, thereby enhancing the climbing ability; S3: While the device is moving, the second pan-tilt camera module 19 collects real-time image information of the front, and the first pan-tilt camera module 18 collects real-time image information of the ground. Based on the feedback of the ground information and the direction of travel of the main drive wheel 12, the electric cylinder 17 on the corresponding side actively retracts and extends to drive the small arm 11 to swing in places with potholes or bumps to adapt to the road conditions, making the robot more stable during movement; S4: When the robot encounters an uneven road surface or shaking ground during its movement, the servo motor 23 drives the screw slider 22 to move through the ball screw 21 according to the data fed back by the angular velocity sensor 7 and the acceleration sensor 8. The displacement of the two sets of solid screw sliders 22 can adjust the center of gravity of the robot to keep it as balanced as possible.

[0022] Working principle: When the present invention is in use, first, the main drive wheel 12 on the arm 11 is driven forward and backward by the first drive motor 13. Combined with the data fed back by the angular velocity sensor 7 and the acceleration sensor 8, the body can achieve self-balancing by adjusting forward and backward. When climbing a slope, the servo torque motor 9 drives the upper arm 10 to swing backward, the electric cylinder 17 extends to straighten the upper arm 10 and the arm 11, and the body tilts forward to make the auxiliary climbing wheel 16 touch the ground. The second drive motor 15 drives the auxiliary climbing wheel 16 to rotate continuously, cooperating with the main drive wheel 12 to form a four-wheel drive and enhance the climbing ability. During the movement of the equipment, the second pan-tilt camera module 19 collects image information in front in real time, and the first pan-tilt camera module 18 collects image information of the ground in real time. According to the feedback of the ground information and the direction of travel of the main drive wheel 12, in places with potholes or bumps, the electric cylinder 17 on the corresponding side actively retracts and retracts to drive the arm 11 to swing to adapt to the road conditions, making the robot more stable during movement. When the robot encounters an uneven road surface or shaking ground during its movement, the servo motor 23 drives the screw slider 22 to move through the ball screw 21 according to the data feedback from the angular velocity sensor 7 and the acceleration sensor 8. The displacement of the two sets of solid screw sliders 22 can adjust the center of gravity of the robot to keep it as balanced as possible.

[0023] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A self-balancing robot capable of climbing a slope, comprising a main housing (1), characterized in that: The top of the main shell (1) is fixedly connected to the upper shell (2), the bottom of the upper shell (2) is fixedly connected to the lower shell (3), a partition plate (4) is fixedly connected between the two sides of the interior of the upper shell (2), the top of the partition plate (4) is fixedly connected to the control circuit board (5), the two sides of the interior bottom of the upper shell (2) are respectively fixedly connected to lithium batteries (6), the front end of the bottom of the partition plate (4) is installed with an acceleration sensor (8), the middle position of the bottom of the partition plate (4) is installed with an angular velocity sensor (7), the two sides of the interior of the main shell (1) are respectively fixedly connected to a servo torque motor (9), the left and right sides of the main shell (1) are respectively movably connected to a large arm (10), the bottom end of the large arm (10) is hinged with a small arm (11), the outer side of the small arm (11) is movably connected to a main drive wheel (12), the inner side of the small arm (11) is installed with a first drive motor (13), and the front end of the main shell (1) is provided with a climbing component for facilitating tilting and climbing the slope; The climbing assembly comprises two sets of fixing frames (14), the two sets of fixing frames (14) being fixedly connected to the front ends of the main housing (1), respectively; the outer side surfaces of the fixing frames (14) are movably connected to auxiliary climbing wheels (16), and the inner side surfaces of the fixing frames (14) are fixedly connected to a second drive motor (15).

2. The self-balancing robot capable of climbing a slope according to claim 1, characterized in that: The output end of the servo torque motor (9) is connected to the upper arm (10), and the servo torque motor (9) can drive the upper arm (10) to swing back and forth.

3. The slope-climbing self-balancing robot according to claim 1, characterized in that: The fixing frame (14) is symmetrically distributed about the vertical center line of the main housing (1), and the output end of the second driving motor (15) is connected to the auxiliary climbing wheel (16).

4. The self-balancing robot capable of climbing a slope according to claim 1, wherein: The output end of the first drive motor (13) is connected to the main drive wheel (12), and the control circuit board (5), the servo torque motor (9), the first drive motor (13), and the second drive motor (15) are electrically connected.

5. The self-balancing robot capable of climbing a slope according to claim 1, characterized in that: An electric cylinder (17) is provided between the rear ends of the upper arm (10) and the lower arm (11); a first pan-tilt camera module (18) is installed at the bottom end of the lower shell (3); a second pan-tilt camera module (19) is installed at the top end of the upper shell (2); the top end of the electric cylinder (17) is movably connected to the upper arm (10); the output end of the electric cylinder (17) is movably connected to the lower arm (11); and the control circuit board (5), the electric cylinder (17), the first pan-tilt camera module (18), and the second pan-tilt camera module (19) are electrically connected.

6. The slope-climbing self-balancing robot according to claim 1, characterized in that: Concave grooves (20) are fixedly connected to both sides of the bottom end of the lower shell (3), and two groups of ball screws (21) are movably connected between the two sides of the inside of the concave groove (20). A screw slider (22) is sleeved between the outsides of the two groups of ball screws (21). Two groups of servo motors (23) are installed on both sides of the concave groove (20), and the output end of the servo motor (23) is fixedly connected to the ball screw (21). The shape and size of the inside of the screw slider (22) are adapted to the shape and size of the outside of the ball screw (21).

7. A climbing method for a self-balancing robot, using a slope-climbing self-balancing robot according to any one of claims 1 to 6, comprising the following steps: S1: The main driving wheel (12) on the forearm (11) is driven forward and backward by the first driving motor (13). Combined with the data fed back by the angular velocity sensor (7) and the acceleration sensor (8), the self-balancing of the machine body can be achieved by adjusting the forward and backward movement. S2: When climbing a slope, the servo torque motor (9) drives the upper arm (10) to swing backward, the electric cylinder (17) extends to make the upper arm (10) and the lower arm (11) straight, the machine body tilts forward to make the auxiliary climbing wheel (16) touch the ground, and the second drive motor (15) drives the auxiliary climbing wheel (16) to rotate continuously, cooperating with the main drive wheel (12) to form a four-wheel drive, thereby enhancing the climbing ability; S3: When the device is moving, the second pan-tilt camera module (19) collects image information in front in real time, and the first pan-tilt camera module (18) collects image information of the ground in real time. Based on the feedback of the ground information and the direction of travel of the main driving wheel (12), the electric cylinder (17) on the corresponding side actively retracts and drives the small arm (11) to swing in places with potholes or bumps to adapt to the road conditions, so that the robot is more stable during the movement; S4: When the robot encounters an uneven road surface or a shaking ground during its movement, the servo motor (23) drives the lead screw slider (22) to move via the ball screw (21) according to the data fed back by the angular velocity sensor (7) and the acceleration sensor (8). The displacement of the two sets of solid lead screw sliders (22) can adjust the center of gravity of the robot to keep it as balanced as possible.

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