Wheel-legged mobile self-balancing robot

Abstract

The utility model provides a wheel-legged mobile self-balancing robot. The wheel-legged mobile self-balancing robot comprises a mounting platform, a balance control system and wheel-legged mobile mechanisms, wherein the balance control system is arranged in the mounting platform; and the wheel-legged mobile mechanisms are oppositely arranged on two sides of the mounting platform. According to the wheel-leg type mobile self-balancing robot, on the basis of a wheel type mobile robot, left and right wheel legs are separately designed, the left and right wheel legs of the robot are independently controlled, a motor drives wheels to achieve forward and reverse rotation, sudden stop and the like, and the functions of in-situ turning, independent driving and the like are achieved. The gyroscope sensor collects inclination angle information of the installation platform in real time and feeds back the inclination angle information to the control module, and the control module issues a rotating speed instruction to the motor according to the inclination angle information so as to achieve self-balancing control of the robot. Hydraulic buffer rods are installed on the leg supporting assemblies so that the stable posture of the robot can be maintained when the robot works on the rugged road surface. In conclusion, the wheel-legged mobile self-balancing robot provided by the utility model is small and exquisite in structure, flexible in movement and capable of solving the operation problem in a rugged and narrow scene.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a wheel-leg type mobile self-balancing robot. Background Art

[0002] With the development of automatic control, mobile robots have received extensive attention from all walks of life and have been widely applied in social production and industrial fields. According to the moving mode, mobile robots can be divided into wheeled, tracked and legged types; according to the number of wheels, mobile robots can be divided into two-wheel, four-wheel and multi-wheel types. Although tracked and legged robots have better obstacle passing ability, their structures are complex and energy consumption is high. Wheeled robots have a simple structure, flexible movement, excellent passing performance and better practicability. At the same time, compared with four-wheel or multi-wheel robots, two-wheel robots can turn in place and are suitable for operating in narrow environments. Therefore, a wheel-leg type self-balancing robot that combines the movement flexibility of wheeled robots and the obstacle crossing ability of legged robots has emerged, which has very important research significance and industrial application capabilities. Content of the Utility Model

[0003] The purpose of the utility model is to provide a wheel-leg type mobile self-balancing robot to solve the problems that most current mobile robots are bulky, have complex mechanical structures and are difficult to execute tasks flexibly and quickly.

[0004] To achieve the above purpose, the utility model provides a wheel-leg type mobile self-balancing robot, which includes an installation platform, a balance control system located in the installation platform, and wheel-leg type mobile mechanisms oppositely arranged on both sides of the installation platform;

[0005] The wheel-leg type mobile mechanism includes a leg support assembly and a wheeled mobile assembly arranged on the leg support assembly;

[0006] The leg support assembly includes a connecting rod, an upper support arm, a lower support arm and a hydraulic buffer rod. One end of the upper support arm is fixedly provided with a U-shaped first connecting seat, the top end of the lower support arm is fixedly provided with a U-shaped second connecting seat, one end of the connecting rod is fixedly provided with a U-shaped third connecting seat, the first connecting seat and the second connecting seat are hinged through a first pin shaft, and the first pin shaft is horizontally arranged between the two ends of the first connecting seat and between the two ends of the second connecting seat; both ends of the third connecting seat are hinged to the first pin shaft through two connecting plates, both ends of the first pin shaft pass through the connecting plates, and the other ends of the connecting plates and both ends of the third connecting seat are hinged through a second pin shaft;

[0007] The other end of the connecting rod is connected to the side wall of the mounting platform through a first fixed shaft. One end of the first fixed shaft is fixedly arranged on the side wall of the mounting platform. The connecting rod is perpendicular to the first fixed shaft and is rotatably connected to the first fixed shaft.

[0008] The other end of the upper support arm is connected to the side wall of the mounting platform through a second fixed shaft. One end of the second fixed shaft is fixedly arranged on the side wall of the mounting platform. The upper support arm is perpendicular to the second fixed shaft and is rotatably connected to the first fixed shaft.

[0009] The height of the first fixed shaft is set higher than the height of the second fixed shaft.

[0010] One end of the hydraulic buffer rod is hinged to the bottom end of the lower support arm, and the other end of the hydraulic buffer rod is hinged to one end of the upper support arm close to the second fixed shaft.

[0011] The wheeled moving assembly includes a motor and wheels. The wheels are rotatably mounted at the end of the bottom end of the lower support arm through a wheel shaft, and the motor drives the wheel shaft to rotate.

[0012] The balance control system is signal-connected to the motor.

[0013] Further, the mounting platform includes an upper flat plate and a lower flat plate arranged opposite to each other up and down. The upper flat plate and the lower flat plate are fixedly connected by four support columns.

[0014] Two fixing plates are respectively arranged on both sides between the upper flat plate and the lower flat plate. The first fixed shaft and the second fixed shaft are respectively fixedly connected to the corresponding fixing plates.

[0015] Further, the balance control system includes a control module and a gyroscope sensor. The gyroscope sensor is connected to the control module, the control module is connected to the motor, and both the control module and the gyroscope sensor are arranged inside the mounting platform.

[0016] Further, a power battery is also arranged inside the mounting platform.

[0017] Further, a U-shaped first connecting frame is fixedly installed at the other end of the connecting rod. Both ends of the first connecting frame are rotatably connected to the first fixed shaft through bearings, and the first fixed shaft passes through between both ends of the first connecting frame.

[0018] Further, a U-shaped second connecting frame is fixedly installed at the other end of the upper support arm. Both ends of the second connecting frame are rotatably connected to the second fixed shaft through bearings, and the second fixed shaft passes through between both ends of the second connecting frame.

[0019] Furthermore, rotating seats are hinged to both ends of the hydraulic buffer rod, one of the rotating seats is fixedly connected to the lower support arm, and the other rotating seat is fixedly connected to the upper support arm.

[0020] Furthermore, an end cover and a clamping groove are fixedly arranged at the bottom end of the lower support arm. The wheel shaft is rotatably installed in the end cover and the clamping groove through a bearing, and the motor is fixedly connected to the end face of the end cover through bolts.

[0021] Furthermore, the motor is a servo motor.

[0022] The beneficial effects of the present utility model are as follows:

[0023] Based on the wheeled mobile robot, the wheeled-leg mobile self-balancing robot of the present application separates the left and right wheel legs, controls the left and right wheel legs of the robot separately, and the motor drives the wheels to achieve forward and reverse rotation and emergency stop, etc., realizing functions such as turning in place and single driving.

[0024] The gyroscope sensor collects and feeds back the inclination information of the installation platform to the control module in real time. The control module issues a rotational speed command to the motor according to the inclination information to achieve the self-balancing control of the robot. A hydraulic buffer rod is installed on the leg support assembly to maintain the stable posture of the robot when working on rough roads.

[0025] In summary, the wheeled-leg mobile self-balancing robot provided by the present application is small in structure and flexible in movement, and can solve the operation problems in rough and narrow scenarios. Description of the Drawings

[0026] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0027] The drawings herein are incorporated into the specification and constitute a part of this specification, showing the embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0028] Figure 1 It is a schematic structural diagram of a wheeled-leg mobile self-balancing robot provided by an embodiment of the present utility model;

[0029] Figure 2 It is a schematic structural diagram of the installation platform provided by an embodiment of the present utility model;

[0030] Figure 3 Schematic structural diagram of the leg support assembly provided by an embodiment of the present utility model;

[0031] Figure 4 Schematic structural diagram of the wheeled moving assembly provided by an embodiment of the present utility model.

[0032] The realization of the purpose of this application, functional features and advantages will be further described in conjunction with embodiments with reference to the accompanying drawings. Through the above-mentioned accompanying drawings, specific embodiments of this application have been shown, and there will be more detailed descriptions hereinafter. These drawings and textual descriptions are not intended to limit the scope of the concept of this application in any way, but to illustrate the concept of this application to those skilled in the art by referring to specific embodiments. Detailed implementation manners

[0033] Hereinafter, embodiments of the technical solution of the present utility model will be described in detail with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solution of the present utility model more clearly, and thus are only examples and cannot be used to limit the protection scope of the present utility model.

[0034] It should be noted that unless otherwise specified, the technical terms or scientific terms used in this application should have the ordinary meanings understood by those skilled in the art to which the present utility model belongs.

[0035] In the description of this application, it should be understood that the orientation or positional relationships indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present utility model.

[0036] In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. In the description of the present utility model, "a plurality" means two or more unless otherwise specifically defined.

[0037] In this application, unless otherwise clearly defined or limited, terms such as "installed", "connected", "linked", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0038] In this application, unless otherwise clearly defined or limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is less than that of the second feature.

[0039] As Figure 1 shown, a wheel-leg type mobile self-balancing robot provided by an embodiment of the present utility model includes an installation platform 1, a balance control system located inside the installation platform 1, and wheel-leg type mobile mechanisms 2 oppositely arranged on both sides of the installation platform 1. The wheel-leg type mobile mechanism 2 includes a leg support assembly and a wheel type mobile assembly arranged on the leg support assembly.

[0040] As Figure 3 shown, the leg support assembly includes a connecting rod 3, an upper support arm 4, a lower support arm 5, and a hydraulic buffer rod 6. One end of the upper support arm 4 is fixedly provided with a U-shaped first connection seat 7, the top end of the lower support arm 5 is fixedly provided with a U-shaped second connection seat 8, one end of the connecting rod 3 is fixedly provided with a U-shaped third connection seat 9. The first connection seat 7 and the second connection seat 8 are hinged through a first pin shaft 10, and the first pin shaft 10 is horizontally arranged across between the two ends of the first connection seat 7 and between the two ends of the second connection seat 8; both ends of the third connection seat 9 and the first pin shaft 10 are hinged through two connecting plates 11, both ends of the first pin shaft 10 pass through the connecting plates 11, and the other ends of the connecting plates 11 and both ends of the third connection seat 9 are hinged through a second pin shaft 12.

[0041] The other end of the connecting rod 3 is connected to the side wall of the installation platform 1 through a first fixed shaft 13. One end of the first fixed shaft 13 is fixedly arranged on the side wall of the installation platform 1, the connecting rod 3 is perpendicular to the first fixed shaft 13, and the connecting rod 3 is rotatably connected to the first fixed shaft 13.

[0042] The other end of the upper support arm 4 is connected to the side wall of the mounting platform 1 through the second fixed shaft 14. One end of the second fixed shaft 14 is fixedly arranged on the side wall of the mounting platform 1. The upper support arm 4 is perpendicular to the second fixed shaft 14, and the upper support arm 4 is rotatably connected to the first fixed shaft 13. The height of the first fixed shaft 13 is set higher than that of the second fixed shaft 14.

[0043] One end of the hydraulic buffer rod 6 is hinged to the bottom end of the lower support arm 5, and the other end of the hydraulic buffer rod 6 is hinged to one end of the upper support arm 4 close to the second fixed shaft 14. Specifically, rotating seats 28 are hinged to both ends of the hydraulic buffer rod 6. One of the rotating seats 28 is fixedly connected to the lower support arm 5, and the other rotating seat 28 is fixedly connected to the upper support arm 4.

[0044] Specifically, a U-shaped first connection frame 25 is fixedly installed at the other end of the connecting rod 3. Both ends of the first connection frame 25 are rotatably connected to the first fixed shaft 13 through bearings 26, and the first fixed shaft 13 passes through between both ends of the first connection frame 25.

[0045] A U-shaped second connection frame 27 is fixedly installed at the other end of the upper support arm 4. Both ends of the second connection frame 27 are rotatably connected to the second fixed shaft 14 through bearings 26, and the second fixed shaft 14 passes through between both ends of the second connection frame 27.

[0046] As Figure 4 shown, the wheeled mobile component includes a motor 15 and wheels 16. The wheels 16 are rotatably installed at the bottom end of the lower support arm 5 through a wheel shaft 17, and the motor 15 drives the wheel shaft 17 to rotate.

[0047] Specifically, an end cover 29 and a card slot 30 are fixedly arranged at the bottom end of the lower support arm 5. The wheel shaft 17 is rotatably installed in the end cover 29 and the card slot 30 through bearings 26, and the motor 15 is fixedly connected to the end face of the end cover 29 through bolts. The output shaft of the motor 15 can be fixedly connected to the wheel shaft 17 through a key connection.

[0048] Specifically, as Figure 2 shown, the mounting platform 1 includes an upper flat plate 18 and a lower flat plate 19 arranged opposite to each other up and down. The upper flat plate 18 and the lower flat plate 19 are fixedly connected by four support columns 20. Two fixing plates 21 are respectively arranged on both sides between the upper flat plate 18 and the lower flat plate 19. The first fixed shaft 13 and the second fixed shaft 14 are respectively fixedly connected to the corresponding fixing plates 21.

[0049] Furthermore, a power battery 24 is also arranged inside the mounting platform 1. The power battery 24 can adopt a lithium battery and is used to supply power to the entire robot system.

[0050] The balance control system includes a control module 22 and a gyroscope sensor 23. The gyroscope sensor 23 is connected to the control module 22, and the control module 22 is connected to the motor 15. Both the control module 22 and the gyroscope sensor 23 are arranged within the mounting platform 1.

[0051] The control module 22 can adopt a single-chip microcomputer or an ARM microprocessor. The gyroscope sensor 23 is used to collect the tilt angle of the mounting platform 1 in real time and feedback it to the control module 22. The control module 22 solves it through a control algorithm based on the tilt angle information, and then issues a rotation speed command to the motor 15 to achieve the self-balancing control of the robot. To accurately control the rotation speed of the motor 15, the motor 15 can adopt a servo motor, and the driver of the servo motor can be connected to the control module 22 through a signal line.

[0052] Based on the wheeled mobile robot, the wheel-leg type mobile self-balancing robot of the present application separates the left and right wheel-legs and controls them separately. The motor drives the wheels to achieve forward and reverse rotation and emergency stop, etc., to realize functions such as turning in place and independent driving.

[0053] The wheel-leg type mobile self-balancing robot provided by the present application has a small and compact structure and flexible movement, and can solve the operation problems in rugged and narrow scenarios.

[0054] Finally, it should be noted that the technical features of the technical solutions of the present application can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in the present application.

[0055] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and the description of the present invention.

Claims

1. A wheel-leg type mobile self-balancing robot, characterized in that, It includes an installation platform (1), a balance control system located within the installation platform (1), and wheel-leg type mobile mechanisms (2) oppositely arranged on both sides of the installation platform (1); The wheel-leg type mobile mechanism (2) includes a leg support assembly and a wheel type mobile assembly arranged on the leg support assembly; The leg support assembly includes a connecting rod (3), an upper support arm (4), a lower support arm (5), and a hydraulic buffer rod (6). One end of the upper support arm (4) is fixedly provided with a U-shaped first connection seat (7), the top end of the lower support arm (5) is fixedly provided with a U-shaped second connection seat (8), one end of the connecting rod (3) is fixedly provided with a U-shaped third connection seat (9). The first connection seat (7) and the second connection seat (8) are hinged through a first pin shaft (10), and the first pin shaft (10) is horizontally arranged between the two ends of the first connection seat (7) and between the two ends of the second connection seat (8); Both ends of the third connection seat (9) and the first pin shaft (10) are hinged through two connecting plates (11), both ends of the first pin shaft (10) pass through the connecting plates (11), and the other ends of the connecting plates (11) and both ends of the third connection seat (9) are hinged through a second pin shaft (12); The other end of the connecting rod (3) is connected to the side wall of the installation platform (1) through a first fixed shaft (13). One end of the first fixed shaft (13) is fixedly provided on the side wall of the installation platform (1), the connecting rod (3) is perpendicular to the first fixed shaft (13), and the connecting rod (3) is rotatably connected to the first fixed shaft (13); The other end of the upper support arm (4) is connected to the side wall of the installation platform (1) through a second fixed shaft (14). One end of the second fixed shaft (14) is fixedly provided on the side wall of the installation platform (1), the upper support arm (4) is perpendicular to the second fixed shaft (14), and the upper support arm (4) is rotatably connected to the first fixed shaft (13); The height of the first fixed shaft (13) is set higher than the height of the second fixed shaft (14); One end of the hydraulic buffer rod (6) is hinged to the bottom end of the lower support arm (5), and the other end of the hydraulic buffer rod (6) is hinged to one end of the upper support arm (4) close to the second fixed shaft (14); The wheel type mobile assembly includes a motor (15) and a wheel (16). The wheel (16) is rotatably installed at the end of the bottom end of the lower support arm (5) through a wheel shaft (17), and the motor (15) drives the wheel shaft (17) to rotate; The balance control system is in signal connection with the motor (15).

2. The wheel-legged mobile self-balancing robot according to claim 1, characterized in that, The installation platform (1) includes an upper flat plate (18) and a lower flat plate (19) arranged oppositely up and down. The upper flat plate (18) and the lower flat plate (19) are supported and fixedly connected through four support columns (20); On both sides between the upper flat plate (18) and the lower flat plate (19), two fixing plates (21) are respectively provided, and the first fixing shaft (13) and the second fixing shaft (14) are respectively fixedly connected to the corresponding fixing plates (21).

3. The wheel-leg type mobile self-balancing robot according to claim 1, wherein The balance control system includes a control module (22) and a gyroscope sensor (23). The gyroscope sensor (23) is connected to the control module (22), the control module (22) is connected to the motor (15), and both the control module (22) and the gyroscope sensor (23) are arranged in the mounting platform (1).

4. The wheel-leg type mobile self-balancing robot according to claim 1, characterized in that, A power battery (24) is also arranged in the mounting platform (1).

5. A wheel-leg type mobile self-balancing robot according to claim 1, characterized in that, At the other end of the connecting rod (3), a U-shaped first connecting frame (25) is fixedly installed. Both ends of the first connecting frame (25) are rotatably connected to the first fixing shaft (13) through bearings (26), and the first fixing shaft (13) passes through between both ends of the first connecting frame (25).

6. The wheel-leg type mobile self-balancing robot according to claim 1, characterized in that, At the other end of the upper support arm (4), a U-shaped second connecting frame (27) is fixedly installed. Both ends of the second connecting frame (27) are rotatably connected to the second fixing shaft (14) through bearings (26), and the second fixing shaft (14) passes through between both ends of the second connecting frame (27).

7. The wheel-leg type mobile self-balancing robot according to claim 1, wherein Both ends of the hydraulic buffer rod (6) are hinged with rotating seats (28). One of the rotating seats (28) is fixedly connected to the lower support arm (5), and the other rotating seat (28) is fixedly connected to the upper support arm (4).

8. A wheel-leg type mobile self-balancing robot according to claim 1, characterized in that, At the bottom end of the lower support arm (5), an end cover (29) and a card slot (30) are fixedly arranged. The wheel shaft (17) is rotatably installed in the end cover (29) and the card slot (30) through a bearing (26), and the motor (15) is fixedly connected to the end face of the end cover (29) through bolts.

9. The wheel-leg type mobile self-balancing robot according to claim 1, wherein The motor (15) is a servo motor.

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