CN109693747A - A kind of swing type balanced robot and balanced robot's control method - Google Patents
A kind of swing type balanced robot and balanced robot's control method Download PDFInfo
- Publication number
- CN109693747A CN109693747A CN201710984133.0A CN201710984133A CN109693747A CN 109693747 A CN109693747 A CN 109693747A CN 201710984133 A CN201710984133 A CN 201710984133A CN 109693747 A CN109693747 A CN 109693747A
- Authority
- CN
- China
- Prior art keywords
- swing
- pendulous device
- driving
- electric control
- base station
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K11/00—Motorcycles, engine-assisted cycles or motor scooters with one or two wheels
- B62K11/007—Automatic balancing machines with single main ground engaging wheel or coaxial wheels supporting a rider
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of swing type balanced robot and balanced robot's control method, is related to balance car field, swing type balanced robot includes at least one mechanical arm and load bearing equipment.Mechanical arm includes pendulous device and electric control gear, and electric control gear is connect with pendulous device, and pendulous device is connected to dismounting base station, pendulous device can electric control gear control lower swing and drive load bearing equipment mobile.Compared to the prior art, a kind of swing type balanced robot provided by the invention avoids user and contacts with the direct of load bearing equipment, has ensured the safety of user while having made the operation of load bearing equipment more convenient.
Description
Technical field
The present invention relates to balance car fields, in particular to a kind of swing type balanced robot and balanced robot
Control method.
Background technique
With the development of the society, balance car gradually enters into daily life.Balance car is called body-sensing vehicle, thinking
Vehicle, operation principles are mainly built upon in the basic principle of a kind of " dynamic stability ", utilize the gyroscope of carrying body interior
And acceleration transducer, to detect the variation of carrying ontology posture, and accurately driving motor carries out using servo-control system
Corresponding adjustment, to guarantee the balance of carrying ontology.
Currently, there are two types of the control modes of balance car: first, an operating stick is equipped on carrying ontology, user station exists
It carries and operating stick is operated on the foot platform of ontology, to realize the advance of carrying ontology in a manner of " manual control ", retreat
And stop, still, operating stick increases the weight of whole machine balancing vehicle, is unfavorable for carrying；Second, in the foot-operated area of carrying ontology
Domain is equipped with control pedal, and user is different by exerting a force to control pedal front and back end, i.e., carrying ontology is realized in a manner of " foot control "
Advance, retrogressing, turning and stopping.No matter which kind of implementation, be required to user and directly contact with balance car to control
Balance car.It investigates and finds through inventor, under certain special screnes, need balance car to execute some special duties, such as need
It wants balance car to enter some narrow regions or balance car to be placed into some specific regions, it is straight not to need people at this time
It connects and is in contact with balance car, and existing balance car often can not be moved automatically departing from the direct contact of people.
In view of this, designing and manufacturing a kind of direct contact that can be detached from user, and come real by way of remote control
The balance car now controlled is just particularly important.
Summary of the invention
The purpose of the present invention is to provide a kind of pendular robots, and load bearing equipment is enabled to be detached from the direct of user
It contacts and realizes and operate normally.
Another object of the present invention is to provide a kind of balanced robot's control methods, are controlled by control pendulous device
The traveling of load bearing equipment avoids user and contacts with the direct of load bearing equipment, easy to operate, safer.
The present invention is that it is realized by adopting the following technical scheme.
A kind of swing type balanced robot, including at least one mechanical arm and load bearing equipment, mechanical arm include pendulous device
With electric control gear, pendulous device is connect with load bearing equipment, and electric control gear is connect with pendulous device, and pendulous device can be in electric control gear
Control lower swing and drive load bearing equipment mobile.
Further, mechanical arm further includes dismounting base station, and dismounting base station is removably attachable to load bearing equipment, electric control gear
On dismounting base station, pendulous device is connected to dismounting base station for setting；Pendulous device includes master pendulum arm, swings section and Quality Initiative, main
One end of swing arm is articulated with dismounting base station, swings section and is articulated with the one end of master pendulum arm far from dismounting base station, one end of Quality Initiative with
Electric control gear connection, the other end are fixedly connected with swing section and swing section respectively, and master pendulum arm under the control of Quality Initiative for selecting
It is rotated relative to dismounting base station to selecting property, swing is saved selectively to be rotated relative to master pendulum arm under the control of Quality Initiative.
Further, swinging section includes multiple successively hinged joints, and two joints of arbitrary neighborhood can relatively rotate.
Further, pendulous device further includes mass block, and mass block is removably attachable to swing and save far from master pendulum arm
One end.
Further, electric control gear includes automatically controlled chip, driving motor and signal receiving module, automatically controlled chip, driving electricity
Machine and signal receiving module are fixed on dismounting base station, and automatically controlled chip and driving motor are electrically connected.Signal receives
Module and automatically controlled chip are electrically connected, and driving motor is connect with pendulous device, for driving pendulous device to swing.
Further, load bearing equipment includes carrying ontology, the pedal that can be rotated relative to load bearing equipment and being articulated in carrying
The roll wheel assembly of ontology two sides, pedal include the first driving plate and the second driving plate, and the first driving plate and the second driving plate are distinguished
It is set to the both ends of carrying ontology and is connect with driving assembly, the first driving plate can control independently of each other with the second driving plate
It is articulated in the roll wheel assembly of carrying ontology two sides；Mechanical arm is two, and two mechanical arms are connected to the first driving plate and the
Two driving plates, to drive the first driving plate and the second driving plate to rotate respectively.
Further, swing type balanced robot further includes remote control device, and remote control device and electric control gear communicate to connect, with
Pendulous device is controlled by electric control gear.
A kind of balanced robot's control method, is applied to swing type balanced robot, and swing type balanced robot includes extremely
A few mechanical arm and load bearing equipment, load bearing equipment include carry ontology, can opposite carrying ontology rotate pedal, driving group
Part and the roll wheel assembly for being articulated in carrying ontology two sides, pedal setting connect on carrying ontology and with driving assembly, drive
Component is placed in carrying ontology and connect with roll wheel assembly, and driving assembly is used to drive roll wheel assembly to turn under the drive of pedal
It is dynamic.Mechanical arm includes dismounting base station, pendulous device and electric control gear, and dismounting base station is removably attachable to pedal, electric control gear
Setting is connect on dismounting base station and with pendulous device, and pendulous device is connected to dismounting base station, and pendulous device can be in electric control gear
Control under swing around dismounting base station and pedal driven to rotate, balanced robot's control method includes:
Receiving step: it is received by electric control gear and swings command information；
Swing step: electric control gear is swung according to command information driving pendulous device is swung；
Rotate step: pendulous device drives pedal rotation, and roll wheel assembly rotates under the drive of pedal.
Further, balanced robot's control method further include:
Sending step: operational order is identified by remote control device and generates swing command information, remote control device refers to swing
Information is enabled to be sent to electric control gear.
Further, remote control device includes signal transmitting module, electric control gear include signal receiving module, automatically controlled chip and
Driving motor, signal transmitting module send to signal receiving module and swing command information, and signal receiving module receives swing and refers to
Command information will be swung after information by, which enabling, is transferred to automatically controlled chip, automatically controlled chip receives swing command information after generate swing information
And it is transferred to driving motor, driving motor receives swing information rear-guard and moves pendulous device swing.
The invention has the following advantages:
Dismounting base station is removably mounted on carrying ontology by a kind of swing type balanced robot provided by the invention,
Pendulous device is connect with dismounting base station.In actual use, electric control gear driving pendulous device is swung, so that tearing open
Dress base station can be rotated, and the load bearing equipment connecting with dismounting base station bottom is moved with the rotation of dismounting base station.Compared to
The prior art, a kind of swing type balanced robot provided by the invention control pendulous device by electric control gear and swing, and then control
The movement of load bearing equipment processed avoids user and contacts with the direct of load bearing equipment, has ensured the safety of user while having made
The operation of load bearing equipment is more convenient.
The present invention also provides a kind of balanced robot's control methods, applied to above-mentioned swing type balanced robot, benefit
It is received with electric control gear and swings command information and pendulous device is driven to swing, the swing of pendulous device drives pedal rotation, makes
Roll wheel assembly is obtained to rotate under the drive of pedal.Compared to the prior art, a kind of balanced robot's controlling party provided by the invention
Method, it is easy to operate, it avoids user and is contacted with the direct of balance car.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the overall structure diagram for the swing type balanced robot that first embodiment of the invention provides；
Fig. 2 is the attachment structure schematic diagram of pendulous device in Fig. 1；
Fig. 3 is the connection block diagram of electric control gear in Fig. 1；
Fig. 4 is the step schematic diagram for balanced robot's control method that second embodiment of the invention provides.
Icon: 10- swing type balanced robot；100- mechanical arm；110- dismounts base station；130- pendulous device；131- master
Swing arm；133- swings section；135- Quality Initiative；137- mass block；150- electric control gear；151- signal receiving module；153- is automatically controlled
Chip；155- driving motor；200- load bearing equipment；210- carries ontology；230- pedal；250- roll wheel assembly；300- remote control dress
It sets.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " center ", "upper", "vertical", "horizontal", "inner", "outside"
The orientation or positional relationship of equal instructions is to be based on the orientation or positional relationship shown in the drawings or when invention product uses is used
The orientation or positional relationship often put, is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion is signified
Device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to the present invention
Limitation.In addition, term " first ", " second " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively important
Property.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" connected ", " installation ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, be also possible to be electrically connected；It can be directly connected, it can also be indirect by intermediary
It is connected, can be the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
With reference to the accompanying drawing, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment can be combined with each other.
First embodiment
Referring to Fig. 1, the present embodiment provides a kind of swing type balanced robots 10, including at least one mechanical arm 100, carrying
Equipment 200 and remote control device 300, mechanical arm 100 is removably mounted on load bearing equipment 200, for controlling load bearing equipment
200 movements.Remote control device 300 is separately provided and communicates to connect with mechanical arm 100, is swung for controlling mechanical arm 100, from
And control the movement of load bearing equipment 200.Specifically, load bearing equipment 200 is a balance car.
In the present embodiment, remote control device 300 be a mobile phone be not restricted to this certainly, be also possible to bracelet or
Other remote control devices 300 such as remote control panel, are not specifically limited herein.
It should be noted that in the present embodiment, controlling mechanical arm 100 by remote control device 300 and being swung, changed
The position of centre of gravity of mechanical arm 100, and mechanical arm 100 is removably mounted on load bearing equipment 200,100 position of centre of gravity of mechanical arm
The i.e. changeable load bearing equipment 200 of change motion state.
Load bearing equipment 200 includes carrying ontology 210, (can scheme relative to pedal 230, the driving assembly of the carrying rotation of ontology 210
Do not show) and be articulated in carrying 210 two sides of ontology roll wheel assembly 250, pedal 230 setting carrying ontology 210 on and with drive
Dynamic component connection, driving assembly are placed in carrying ontology 210 and connect with roll wheel assembly 250, and driving assembly is used in pedal
Roll wheel assembly 250 is driven to rotate under 230 drive.
Particularly, mechanical arm 100 can be for can also be with integral structure, and structure is similar to human limb, is moved by bionical
Make, such as human body leg and arm sequence, the rotation of Lai Shixian pedal 230.And roll wheel assembly 250 can be according to pedal
The angles of 230 rotations adjust itself velocity of rotation.
Pedal 230 includes the first driving plate (unlabeled in figure) and the second driving plate (unlabeled in figure), the first driving plate
The both ends of carrying ontology 210 are respectively arranged at the second driving plate and are connect with driving assembly, and driving assembly can drive first
Control is articulated in the roll wheel assembly 250 of carrying 210 two sides of ontology independently of each other under the drive of movable plate and the second driving plate.Simultaneously
Mechanical arm 100 is two, and two mechanical arms 100 are connected to the first driving plate and the second driving plate, to drive first respectively
Driving plate and the second driving plate rotate.
It is worth noting that, pedal 230 is also possible to one piece of whole driving plate herein, the number of mechanical arm 100 at this time
It can be one, mechanical arm 100 is connect with the pedal 230, drives the pedal 230 rotation by mechanical arm 100, can also be with
Realize the movement of load bearing equipment 200.
In the present embodiment, roll wheel assembly 250 is two, is articulated in the two sides of carrying ontology 210, driving assembly respectively
It is two, respectively correspondingly controls two roll wheel assemblies 250.Each roll wheel assembly 250 includes the fixed fixing axle of stator and mover
Driving disorderly, one end of stator fixing axle protrude into carrying ontology 210 in and with carrying ontology 210 connect, stator fixing axle it is another
End is pivotally connected with mover driving wheel, so that mover driving wheel can the rotation of relative stator fixing axle.Two driving assemblies respectively with two
Mover driving wheel is electrically connected, and each driving assembly can be to corresponding mover driving wheel output driving under the drive of pedal 230
Signal.In actual use, mechanical arm 100, which is equivalent to, is mounted on roll wheel assembly 250, to eliminate carrying ontology
The whole driving method of interference of 210 equilibrium state to driving assembly output signal, i.e. load bearing equipment 200 only receives driving assembly
The adjustment signal source of relative level plane stimulates.Therefore, mechanical arm 100 only needs that pedal 230 is driven to rotate, and makes its relative level
Plane generates slanted angle and driving assembly is driven to issue driving signal to corresponding mover driving wheel, obtains corresponding traveling
State.
Specifically, driving assembly includes that level board, two elastic components and control system, level board are set to carrying ontology
In 210 and it is rotatably connected at stator fixing axle, two elastic components are respectively arranged at both ends of level board and optionally
It is connected to the inner wall of carrying ontology 210, control system is electrically connected to mover driving wheel, when level board relative stator fixing axle rotates
And when generating rotation inclination angle output drive signal to mover driving wheel.The elasticity when level board and horizontal plane generate rotation inclination angle
Part is just connected to the inner wall of carrying ontology 210, and when level board and horizontal plane generate when rotating inclination angle, control system is with level board
It moves together, so that output drive signal realizes the rotation acceleration of mover driving wheel, so that water to corresponding mover driving wheel
Plate, which has, obtains the trend parallel with horizontal plane, and the elastic component limit levels plate set on level board front-end and back-end is opposite to be held
The rotational angle of ontology 210 is carried, so that it will not relative level planes to generate high inclination-angle angle.
Preferably, in the present embodiment, elastic component is a spring, carries this using the elastic restriction level plate of spring is opposite
The rotation of body 210.
Preferably, control system is set to below level board, and is rotated therewith, and is not restricted to this certainly, can also
To be set to level board other positions, as long as being able to detect that the position of the inclination angle angle of level board relative level plane in this hair
Within bright protection scope.There is a sensor, the angle for sensation level plate relative level plane in control system.
In the present embodiment, due to carrying ontology 210 and the relatively turnable connection type of driving assembly, so that driving group
The angle of part and horizontal plane can be substantially eliminated when reducing because rotation bring user loses center of gravity to carrying ontology 210 suddenly
Effect has ensured the safety of driving so that it is more steady to slow down.
The specific implementation process is as follows: when two mechanical arms 100 turn forward, trigger corresponding in carrying ontology 210
Level board, so that two level boards generate the angle to turn forward with horizontal plane, two level boards then drive corresponding control system phase
Forward inclination angle is occurred to carrying ontology 210, two level boards is detected positioned at the sensor of control system and leans forward motor message, this
When, driving signal to the respective mover driving wheel that the output of two control systems rotates forward synchronizes previous rotating forward, integrated carrying equipment 200 to
Preceding movement.It is understood that integrated carrying equipment 200 moves backward when two mechanical arms 100 retreat.When left side water
When plate relative level plane slanted angle is greater than right side level board relative level plane slanted angle, the output of left side control system
Quick rotation signal is to left side mover driving wheel, so that the mover driving wheel rotation in left side is faster, control system output in right side is slow
Fast turn signal is to right side mover driving wheel, so that the mover driving wheel rotation on right side is slower, i.e. the mover driving wheel in left side
Speed is greater than the speed of the mover driving wheel on right side, to realize that entire load bearing equipment 200 bends to right.Similarly, work as right side
When level board is greater than rotation inclination angle of the left side level board relative to carrying ontology 210 relative to the rotation inclination angle of carrying ontology 210, entirely
Load bearing equipment 200 is turned to the left.The load bearing equipment 200 is realized by controlling the mover driving wheel of two sides independently of each other to be turned
The functions such as curved, advance and retrogressing.
Mechanical arm 100 includes dismounting base station 110, pendulous device 130 and electric control gear 150, and dismounting base station 110 is removably
It is connected to pedal 230, the setting of electric control gear 150 is connect on dismounting base station 110 and with pendulous device 130, and pendulous device 130 connects
It is connected to dismounting base station 110, pendulous device 130 can swing around dismounting base station 110 under the control of electric control gear 150 and drive pedal
230 rotations.
Referring to fig. 2, pendulous device 130 includes master pendulum arm 131, swings section 133, Quality Initiative 135 and mass block 137, main pendulum
One end of arm 131 is articulated with dismounting base station 110, swings section 133 and is articulated with the one end of master pendulum arm 131 far from dismounting base station 110.Control
One end of chain 135 processed is connect with electric control gear 150, and the other end is fixedly connected with swing section 133 and swing section 133 respectively.Main pendulum
Arm 131 is used under the control of Quality Initiative 135 selectively rotate relative to dismounting base station 110, swings section 133 in Quality Initiative
It is selectively rotated relative to master pendulum arm 131 under 135 control.Mass block 137 is removably attachable to swing section 133 far from main pendulum
One end of arm 131.
It should be noted that 137 shape of mass block herein is not construed as limiting, and mass block 137 and swing section 133 can herein
Dismantling connection, weight can select according to actual needs, and the presence of mass block 137 makes the adjustment speed of pendulous device 130
Faster, and controllability is higher.
Swinging section 133 includes multiple successively hinged joints, and two joints of arbitrary neighborhood can relatively rotate.In this implementation
In example, the number in joint is two, and two joints can relatively rotate, and one of joint is hinged on master pendulum arm 131 far from tearing open
One end of base station 110 is filled, another is detachably connected with mass block 137.
It is worth noting that, the number in joint is not restricted to two herein, it is also possible to three, four or five
Deng when the number when joint is more, then illustrating that the control precision of the pendulous device 130 is higher.It can be according to practical demand for control
It selects the number in joint, is not specifically limited herein.
Referring to Fig. 3, electric control gear 150 includes automatically controlled chip 153, driving motor 155 and signal receiving module 151, automatically controlled
Chip 153, driving motor 155 and signal receiving module 151 be fixed at dismounting base station 110 on, and automatically controlled chip 153 with
Driving motor 155 is electrically connected.Signal receiving module 151 and automatically controlled chip 153 are electrically connected, and driving motor 155 and swing fill
130 connections are set, for driving pendulous device 130 to swing.Remote control device 300 and electric control gear 150 communicate to connect, by automatically controlled
Device 150 controls pendulous device 130.
In actual use, signal receiving module 151 receives the command signal from remote control device 300, and should
Command signal is sent to automatically controlled chip 153, and automatically controlled chip 153 receives the control driving pendulum of driving motor 155 after the command signal
Dynamic device 130 is swung, and realizes the change of swing arm entirety position of centre of gravity, so that pedal 230 be driven to rotate, driving assembly is in pedal
Roll wheel assembly 250 is driven to rotate under 230 drive.
In conclusion present embodiments providing a kind of swing type balanced robot 10, two mechanical arms 100 are separately connected
In the first driving plate and the second driving plate, by individually controlling two mechanical arms 100, it can be achieved that load bearing equipment 200
The move modes such as advance, retrogressing and turning, while the change of 100 position of centre of gravity of mechanical arm is controlled by electric control gear 150
Pendulous device 130 processed is swung to realize.In actual use, electric control gear 150 is controlled by remote control device 300
Driving pendulous device 130 is swung, and the function of control load bearing equipment 200 is realized.Compared to the prior art, the present invention provides
A kind of swing type balanced robot 10, by remote control device 300 control electric control gear 150 drive pendulous device 130 put
It moves to realize the control to load bearing equipment 200, avoids user and contacted with the direct of load bearing equipment 200, so that load bearing equipment
200 can execute some special duties.Swing arm can also be disassembled from load bearing equipment 200 simultaneously, so that user can be with
It rides as normal load bearing equipment 200.
Second embodiment
Referring to fig. 4, the present embodiment provides a kind of balanced robot's control methods, are applied to swing type balanced robot 10,
Wherein the basic structure with principle of swing type balanced robot 10 and the technical effect of generation are identical with first embodiment, are brief
Description, the present embodiment part do not refer to place, can refer to corresponding contents in first embodiment.
Swing type balanced robot 10 includes at least one mechanical arm 100 and load bearing equipment 200, and load bearing equipment 200 wraps
Include carrying ontology 210, can opposite carrying ontology 210 rotate pedal 230, driving assembly and be articulated in and carry 210 liang of ontology
The roll wheel assembly 250 of side, the setting of pedal 230 are connect on carrying ontology 210 and with driving assembly, and driving assembly is placed in carrying
It is connect in ontology 210 and with roll wheel assembly 250, driving assembly is used to drive 250 turns of roll wheel assembly under the drive of pedal 230
It is dynamic.Mechanical arm 100 includes dismounting base station 110, pendulous device 130 and electric control gear 150, and dismounting base station 110 is detachably connected
In pedal 230, the setting of electric control gear 150 is connect on dismounting base station 110 and with pendulous device 130, and pendulous device 130 is connected to
Base station 110 is dismounted, pendulous device 130 can swing around dismounting base station 110 under the control of electric control gear 150 and drive pedal 230
Rotation, balanced robot's control method include:
Sending step S501: operational order is identified by remote control device 300 and generates swing command information, remote control device
300 are sent to electric control gear 150 for command information is swung.
In the present embodiment, remote control device 300 includes signal transmitting module, and electric control gear 150 includes signal receiving module
151, automatically controlled chip 153 and driving motor 155, the fixation of automatically controlled chip 153, driving motor 155 and signal receiving module 151 are set
It sets on dismounting base station 110, and automatically controlled chip 153 and driving motor 155 are electrically connected.
In the present embodiment, user inputs to remote control device 300 and swings command information, and signal transmitting module connects to signal
It receives module 151 and sends swing command information.
Receiving step S503: it is received by electric control gear 150 and swings command information.
In the present embodiment, swing command information is transferred to by signal receiving module 151 after receiving swing command information
Automatically controlled chip 153.
Swing step S505: electric control gear 150 is swung according to command information driving pendulous device 130 is swung.
Automatically controlled chip 153 generates swing information after receiving swing command information and is transferred to driving motor 155, driving electricity
Machine 155 receives swing information rear-guard and moves the swing of pendulous device 130.
Rotate step S507: pendulous device 130 drives pedal 230 to rotate, and roll wheel assembly 250 is under the drive of pedal 230
Rotation.
Specifically, the rotation of pedal 230 drives driving assembly way roller component 250 to send driving signal, so that roller group
Part 250 can also rotate under the drive of pedal 230.
In conclusion a kind of balanced robot's control method is present embodiments provided, for controlling described in first embodiment
Swing type balanced robot 10, operating method is simple, avoids user and directly contacts load bearing equipment 200.In practical operation
In the process, user only need handheld remote control device 300 and be manually entered swing command information can operate load bearing equipment 200 progress
Movement, the operational order of user can be transferred to last roll wheel assembly 250 well, very convenient.Compared to the prior art,
A kind of balanced robot's control method provided in this embodiment realizes control load bearing equipment 200 by the swing of pendulous device 130
Effect, avoid user and directly contact load bearing equipment 200, while is easy to operate, very convenient.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of swing type balanced robot, which is characterized in that including at least one mechanical arm and load bearing equipment, the mechanical arm
Including pendulous device and electric control gear, the pendulous device is connect with the load bearing equipment, the electric control gear and the swing
Device connection, the pendulous device can the electric control gear control lower swing and drive the load bearing equipment mobile.
2. swing type balanced robot according to claim 1, which is characterized in that the mechanical arm further includes dismounting base
Platform, the dismounting base station are removably attachable to the load bearing equipment, and the electric control gear is arranged on the dismounting base station, institute
It states pendulous device and is connected to the dismounting base station；The pendulous device includes master pendulum arm, swings section and Quality Initiative, the master pendulum arm
One end be articulated with the dismounting base station, the section that swings is articulated with the one end of the master pendulum arm far from the dismounting base station, institute
The one end for stating Quality Initiative is connect with the electric control gear, and the other end is fixedly connected with swing section and swing section respectively,
The master pendulum arm be used under the control of the Quality Initiative selectively relative to the dismounting base station rotate, it is described swing save in
It is selectively rotated relative to the master pendulum arm under the control of the Quality Initiative.
3. swing type balanced robot according to claim 2, which is characterized in that the swing section is successively cut with scissors including multiple
The joint connect, two joints of arbitrary neighborhood can relatively rotate.
4. swing type balanced robot according to claim 2 or 3, which is characterized in that the pendulous device further includes matter
Gauge block, the mass block are removably attachable to described swing and save one end far from the master pendulum arm.
5. swing type balanced robot according to claim 2, which is characterized in that the electric control gear includes automatically controlled core
Piece, driving motor and signal receiving module, the fixation of the automatically controlled chip, the driving motor and the signal receiving module are set
It sets on the dismounting base station, and the automatically controlled chip and the driving motor are electrically connected, the signal receiving module and institute
It states automatically controlled chip to be electrically connected, the driving motor is connect with the pendulous device, for driving the pendulous device to swing.
6. swing type balanced robot according to claim 1, which is characterized in that the load bearing equipment includes carrying this
Body, the pedal that can be rotated relative to the load bearing equipment and the roll wheel assembly for being articulated in the carrying ontology two sides, the pedal
Including the first driving plate and the second driving plate, first driving plate and second driving plate are respectively arranged at the carrying originally
The both ends of body are simultaneously connect with the driving component, and first driving plate can control independently of each other with second driving plate
It is articulated in the roll wheel assembly of the carrying ontology two sides；The mechanical arm is two, and two mechanical arms are separately connected
In first driving plate and second driving plate, to drive first driving plate and second driving plate to turn respectively
It is dynamic.
7. swing type balanced robot according to claim 1, which is characterized in that the swing type balanced robot also wraps
Remote control device is included, the remote control device and the electric control gear communicate to connect, to control the swing by the electric control gear
Device.
8. a kind of balanced robot's control method, which is characterized in that be applied to swing type balanced robot, the swing type balance
Robot includes at least one mechanical arm and load bearing equipment, and the load bearing equipment includes carrying ontology, can the relatively described carrying
Pedal, driving assembly and the roll wheel assembly for being articulated in the carrying ontology two sides of ontology rotation, the pedal are arranged in institute
State on carrying ontology and connect with the driving component, the driving component be placed in the carrying ontology it is interior and with the idler wheel
Component connection, the driving component under the drive of the pedal for driving the roll wheel assembly to rotate；The mechanical arm packet
It includes dismounting base station, pendulous device and electric control gear, the dismounting base station and is removably attachable to the pedal, the electric control gear
It is arranged on the dismounting base station and is connect with the pendulous device, the pendulous device is connected to the dismounting base station, described
Pendulous device can swing around the dismounting base station under the control of the electric control gear and the pedal is driven to rotate, the balance
Robot control method includes:
Receiving step: it is received by the electric control gear and swings command information；
Swing step: the electric control gear drives pendulous device to swing according to the swing command information；
Rotate step: the pendulous device drives the pedal rotation, and the roll wheel assembly rotates under the drive of the pedal.
9. balanced robot's control method according to claim 8, which is characterized in that balanced robot's control method
Further include:
Sending step: identifying operational order by remote control device and generate the swing command information, and the remote control device is by institute
It states swing command information and is sent to the electric control gear.
10. balanced robot's control method according to claim 9, which is characterized in that the remote control device includes signal
Sending module, the electric control gear include signal receiving module, automatically controlled chip and driving motor, and the signal transmitting module is to institute
It states signal receiving module and sends swing command information, the signal receiving module will be described after receiving the swing command information
It swings command information and is transferred to the automatically controlled chip, the automatically controlled chip generates the pendulum after receiving the swing command information
Dynamic information is simultaneously transferred to the driving motor, and the driving motor drives the pendulous device to put after receiving the swing information
It is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710984133.0A CN109693747B (en) | 2017-10-20 | 2017-10-20 | Swing type balance robot and balance robot control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710984133.0A CN109693747B (en) | 2017-10-20 | 2017-10-20 | Swing type balance robot and balance robot control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109693747A true CN109693747A (en) | 2019-04-30 |
| CN109693747B CN109693747B (en) | 2022-04-26 |
Family
ID=66226396
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710984133.0A Active CN109693747B (en) | 2017-10-20 | 2017-10-20 | Swing type balance robot and balance robot control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109693747B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111716354A (en) * | 2020-06-03 | 2020-09-29 | 中国人民解放军空军工程大学 | a mobile robot |
Citations (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3043448A (en) * | 1958-09-19 | 1962-07-10 | Gen Mills Inc | Vehicle-mounted manipulator |
| GB2038377A (en) * | 1978-12-11 | 1980-07-23 | Elitex Zavody Textilniho | Circular Knitting Machines |
| US5248008A (en) * | 1989-08-31 | 1993-09-28 | Framatome | Self-traveling robotic vehicle with inclinable propulsion units |
| US20020082612A1 (en) * | 1998-11-20 | 2002-06-27 | Intuitive Surgical, Inc. | Arm cart for telerobotic surgical system |
| US20060097683A1 (en) * | 2004-11-11 | 2006-05-11 | Yuji Hosoda | Mobile robot |
| CN101554726A (en) * | 2009-05-15 | 2009-10-14 | 北京工业大学 | Flexible two-wheel self-balance robot system and motion control method thereof |
| CN102160008A (en) * | 2008-09-17 | 2011-08-17 | 株式会社村田制作所 | Fall prevention controller and computer program |
| WO2011107674A1 (en) * | 2010-03-02 | 2011-09-09 | Synergethic | Electric vehicle having at least three wheels |
| CN102581836A (en) * | 2012-02-29 | 2012-07-18 | 哈尔滨工程大学 | Mobile robot coordinately driven by multifunctional mechanical arms and wheels |
| FR2992939A1 (en) * | 2012-07-09 | 2014-01-10 | Mobilite Service | Personal electric vehicle for transporting e.g. disabled people in upright position from point to another point in e.g. industrial site, has front and rear axles and utilization element mounted on frame, which is flat elements assembly |
| CN103770873A (en) * | 2012-10-20 | 2014-05-07 | 仙居县威隆能动力科技有限公司 | Intelligent self-balancing traffic robot |
| CN103796806A (en) * | 2011-09-13 | 2014-05-14 | 株式会社安川电机 | Self-propelled robot and self-propelled truck |
| CN104047107A (en) * | 2014-06-30 | 2014-09-17 | 常州市第八纺织机械有限公司 | Crochet hook drive mechanism for warp knitting machine |
| CN203888925U (en) * | 2014-06-24 | 2014-10-22 | 纳恩博（天津）科技有限公司 | Remote virtual robot based on dynamic balance car |
| CN204010508U (en) * | 2014-08-06 | 2014-12-10 | 满勇孝 | A kind of reversible pendulum system |
| CN104309740A (en) * | 2014-09-26 | 2015-01-28 | 柳州市新锐科技有限公司 | Swinging type electric balance monocycle |
| WO2015092913A1 (en) * | 2013-12-20 | 2015-06-25 | 株式会社日立製作所 | Two-wheeled mobile object, and method of controlling same |
| CN105033990A (en) * | 2015-08-13 | 2015-11-11 | 宁波宫铁精机有限公司 | Simple mechanical arm |
| CN105109594A (en) * | 2015-09-10 | 2015-12-02 | 吉林大学 | Two-wheeled balance car with bionic tail structure |
| CN105752246A (en) * | 2015-01-06 | 2016-07-13 | 刘岗 | Novel inverted pendulum self-balancing locomotive |
| US20160325803A1 (en) * | 2015-05-06 | 2016-11-10 | Matthew Waxman | Handless transport vehicle |
| CN205707040U (en) * | 2016-04-26 | 2016-11-23 | 杭州速控软件有限公司 | There is the electrodynamic balance car of mechanical arm |
| CN106240714A (en) * | 2016-08-31 | 2016-12-21 | 杭州速控软件有限公司 | Electrodynamic balance car |
| CN106249741A (en) * | 2016-09-18 | 2016-12-21 | 广东工业大学 | A kind of dynamic equilibrium two-wheel robot automatically controlled and control method |
| CN106275170A (en) * | 2016-08-29 | 2017-01-04 | 李丽芳 | Attitude car |
| CN106379466A (en) * | 2015-07-31 | 2017-02-08 | 深圳智安途科技有限公司 | Electric balance bike, control rod component thereof and control method |
| CN106394760A (en) * | 2016-10-27 | 2017-02-15 | 深圳乐行天下科技有限公司 | Foot-controlled balance vehicle |
| CN206029901U (en) * | 2015-08-21 | 2017-03-22 | 苏州华兴致远电子科技有限公司 | Train overhaul machine people |
| CN106515946A (en) * | 2016-12-23 | 2017-03-22 | 纳恩博（北京）科技有限公司 | Robot |
| WO2017054764A1 (en) * | 2015-10-01 | 2017-04-06 | 杭州骑客智能科技有限公司 | Human-machine interaction body-sensing vehicle |
| CN206155612U (en) * | 2016-10-31 | 2017-05-10 | 榆林学院 | Wheel adjusting device |
| CN106826755A (en) * | 2017-04-20 | 2017-06-13 | 歌尔科技有限公司 | A kind of small scale robot balance car |
| CN106965886A (en) * | 2016-12-14 | 2017-07-21 | 托普瑞德（无锡）设计顾问有限公司 | A kind of new detachable express delivery car |
| CN107097881A (en) * | 2017-04-28 | 2017-08-29 | 深圳市亮点智控科技有限公司 | A kind of control method of posture car and posture car |
| CN107176248A (en) * | 2017-06-21 | 2017-09-19 | 深圳市佳安机电有限公司 | A kind of multifunctional movement type electric car |
| CN107186736A (en) * | 2017-05-10 | 2017-09-22 | 华中科技大学 | A kind of double-wheel self-balancing service robot of automatic swing arm |
-
2017
- 2017-10-20 CN CN201710984133.0A patent/CN109693747B/en active Active
Patent Citations (36)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3043448A (en) * | 1958-09-19 | 1962-07-10 | Gen Mills Inc | Vehicle-mounted manipulator |
| GB2038377A (en) * | 1978-12-11 | 1980-07-23 | Elitex Zavody Textilniho | Circular Knitting Machines |
| US5248008A (en) * | 1989-08-31 | 1993-09-28 | Framatome | Self-traveling robotic vehicle with inclinable propulsion units |
| US20020082612A1 (en) * | 1998-11-20 | 2002-06-27 | Intuitive Surgical, Inc. | Arm cart for telerobotic surgical system |
| US20060097683A1 (en) * | 2004-11-11 | 2006-05-11 | Yuji Hosoda | Mobile robot |
| CN102160008A (en) * | 2008-09-17 | 2011-08-17 | 株式会社村田制作所 | Fall prevention controller and computer program |
| CN101554726A (en) * | 2009-05-15 | 2009-10-14 | 北京工业大学 | Flexible two-wheel self-balance robot system and motion control method thereof |
| WO2011107674A1 (en) * | 2010-03-02 | 2011-09-09 | Synergethic | Electric vehicle having at least three wheels |
| CN103796806A (en) * | 2011-09-13 | 2014-05-14 | 株式会社安川电机 | Self-propelled robot and self-propelled truck |
| CN102581836A (en) * | 2012-02-29 | 2012-07-18 | 哈尔滨工程大学 | Mobile robot coordinately driven by multifunctional mechanical arms and wheels |
| FR2992939A1 (en) * | 2012-07-09 | 2014-01-10 | Mobilite Service | Personal electric vehicle for transporting e.g. disabled people in upright position from point to another point in e.g. industrial site, has front and rear axles and utilization element mounted on frame, which is flat elements assembly |
| CN103770873A (en) * | 2012-10-20 | 2014-05-07 | 仙居县威隆能动力科技有限公司 | Intelligent self-balancing traffic robot |
| WO2015092913A1 (en) * | 2013-12-20 | 2015-06-25 | 株式会社日立製作所 | Two-wheeled mobile object, and method of controlling same |
| CN203888925U (en) * | 2014-06-24 | 2014-10-22 | 纳恩博（天津）科技有限公司 | Remote virtual robot based on dynamic balance car |
| CN104047107A (en) * | 2014-06-30 | 2014-09-17 | 常州市第八纺织机械有限公司 | Crochet hook drive mechanism for warp knitting machine |
| CN204010508U (en) * | 2014-08-06 | 2014-12-10 | 满勇孝 | A kind of reversible pendulum system |
| CN104309740A (en) * | 2014-09-26 | 2015-01-28 | 柳州市新锐科技有限公司 | Swinging type electric balance monocycle |
| CN105752246A (en) * | 2015-01-06 | 2016-07-13 | 刘岗 | Novel inverted pendulum self-balancing locomotive |
| US20160325803A1 (en) * | 2015-05-06 | 2016-11-10 | Matthew Waxman | Handless transport vehicle |
| CN106379466A (en) * | 2015-07-31 | 2017-02-08 | 深圳智安途科技有限公司 | Electric balance bike, control rod component thereof and control method |
| CN105033990A (en) * | 2015-08-13 | 2015-11-11 | 宁波宫铁精机有限公司 | Simple mechanical arm |
| CN206029901U (en) * | 2015-08-21 | 2017-03-22 | 苏州华兴致远电子科技有限公司 | Train overhaul machine people |
| CN105109594A (en) * | 2015-09-10 | 2015-12-02 | 吉林大学 | Two-wheeled balance car with bionic tail structure |
| WO2017054764A1 (en) * | 2015-10-01 | 2017-04-06 | 杭州骑客智能科技有限公司 | Human-machine interaction body-sensing vehicle |
| CN205707040U (en) * | 2016-04-26 | 2016-11-23 | 杭州速控软件有限公司 | There is the electrodynamic balance car of mechanical arm |
| CN106275170A (en) * | 2016-08-29 | 2017-01-04 | 李丽芳 | Attitude car |
| CN106240714A (en) * | 2016-08-31 | 2016-12-21 | 杭州速控软件有限公司 | Electrodynamic balance car |
| CN106249741A (en) * | 2016-09-18 | 2016-12-21 | 广东工业大学 | A kind of dynamic equilibrium two-wheel robot automatically controlled and control method |
| CN106394760A (en) * | 2016-10-27 | 2017-02-15 | 深圳乐行天下科技有限公司 | Foot-controlled balance vehicle |
| CN206155612U (en) * | 2016-10-31 | 2017-05-10 | 榆林学院 | Wheel adjusting device |
| CN106965886A (en) * | 2016-12-14 | 2017-07-21 | 托普瑞德（无锡）设计顾问有限公司 | A kind of new detachable express delivery car |
| CN106515946A (en) * | 2016-12-23 | 2017-03-22 | 纳恩博（北京）科技有限公司 | Robot |
| CN106826755A (en) * | 2017-04-20 | 2017-06-13 | 歌尔科技有限公司 | A kind of small scale robot balance car |
| CN107097881A (en) * | 2017-04-28 | 2017-08-29 | 深圳市亮点智控科技有限公司 | A kind of control method of posture car and posture car |
| CN107186736A (en) * | 2017-05-10 | 2017-09-22 | 华中科技大学 | A kind of double-wheel self-balancing service robot of automatic swing arm |
| CN107176248A (en) * | 2017-06-21 | 2017-09-19 | 深圳市佳安机电有限公司 | A kind of multifunctional movement type electric car |
Non-Patent Citations (1)
| Title |
|---|
| 张力，韩力群，何晨光，张欣欣，王戈: "《陆地机器人》", 30 June 2016, 中国民主法制出版社 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111716354A (en) * | 2020-06-03 | 2020-09-29 | 中国人民解放军空军工程大学 | a mobile robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109693747B (en) | 2022-04-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4434709B2 (en) | How to check the motor power line | |
| CN101590323B (en) | One-wheel robot system and its control method | |
| CN104908042B (en) | Extensible-connection six-freedom-degree force feedback mechanical arm | |
| CN109178285A (en) | A kind of propulsion device and underwater robot for underwater robot | |
| WO2010130179A1 (en) | Flexible two-wheel self-balance robot system and motion control method thereof | |
| CN102445944B (en) | A self-balancing robot system with one wheel | |
| CN107430407B (en) | Schema control system and method, and hand-held holder, moveable platform using it | |
| CN111446661B (en) | Automatic posture adjustment power transmission line robot and automatic posture adjustment method | |
| CN105751217A (en) | A follower robot equipped with Bluetooth positioning automatic follower technology | |
| CN102424075A (en) | Rigid flexible coupled wirewalking robot based on balance beam | |
| CN106625611B (en) | Power assisting device of fire-fighting hand-held tool and working method thereof | |
| KR20110119901A (en) | Variable tension joystick | |
| CN109693747A (en) | A kind of swing type balanced robot and balanced robot's control method | |
| CN105857431A (en) | Robot with reasonable structural design | |
| CN101978363A (en) | Motorized mouse | |
| CN105292333A (en) | Novel steering system and balancing car | |
| CN206066440U (en) | A kind of robot arm | |
| CN208861182U (en) | wheelchair robot | |
| CN201501531U (en) | Spacecraft ground simulation test device | |
| CN208005679U (en) | Transmission mechanism and robot | |
| CN209044281U (en) | One kind removable detection projection robot | |
| CN108635182A (en) | walking training device and walking training system | |
| CN105751204A (en) | Wearing robot | |
| CN106493719B (en) | Mechanical arm and robot | |
| CN209023162U (en) | Three axis test tables |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |