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Dragon scooter type sliding robot with gravity adjusted based on inverted pendulum

An inverted pendulum and dragon driving technology, applied in the field of robotics, can solve the problems of increased weight of the robot's legs and unfavorable robot leg movement, etc., and achieve the effect of simple control, less control freedom, and strong fun

Inactive Publication Date: 2015-03-25
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, for some wheel-leg hybrid robots, the weight of the legs of the robot is greatly increased due to the installation of motors and some supporting devices, which is not conducive to the movement of the legs driven by the robot.

Method used

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  • Dragon scooter type sliding robot with gravity adjusted based on inverted pendulum
  • Dragon scooter type sliding robot with gravity adjusted based on inverted pendulum
  • Dragon scooter type sliding robot with gravity adjusted based on inverted pendulum

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0017] Such as figure 1 As shown, a dragon driving type sliding robot based on an inverted pendulum to adjust the center of gravity includes a rear wheel 1, a rear wheel frame 2, a tilting shaft 3, a right leg arm 4, a mass block 5, a swing rod 6, an inverted pendulum control device 7, Fixed plate 8, left leg arm 9, platform 10, front wheel frame 11, front wheel 12; Described rear wheel 1 is installed on the rear wheel frame 2, and described rear wheel frame 2 and right leg arm 4 and left leg arm 9 The wedge block at the end is connected, and there is a certain angle between the inclined shaft 3 that the rear wheel frame 2 rotates around the two leg arms and the vertical line on the ground; the other end of the right leg arm 4 is fixedly connected with the platform 10, and the left The leg arm 9 and the right leg arm 4 are symmetrically installed on the platform 10, and the two leg arms are fixedly connected by a fixed plate 8; the inverted pendulum control device 7 is install...

Embodiment 2

[0019] Such as figure 2 As shown, this embodiment is basically the same as Embodiment 1, the difference is that the end connection of the right leg arm 4 and the left leg arm 9 adopts a U-shaped structure, and the rear wheel frame 2 is connected and installed on the U-shaped structure. Make the joint form a rotating pair; the upper and lower holes of the U-shaped structure are equal in size, and there is a certain angle between the connection line of the centers of the two holes and the vertical line of the ground, so the rotation axis of the rear wheel frame 2 and the vertical line of the ground There is a certain angle between the lines.

Embodiment 3

[0021] Such as image 3 As shown, this embodiment is basically the same as Embodiment 1, the difference is that a gantry 22 is fixedly installed between the right leg arm 4 and the left leg arm 9, and the pendulum control box 21 is installed on the gantry 22 At the center of the crossbeam, one end of the pendulum 6 is installed on the pendulum control box 21 , and the other end is fixedly connected with the mass block 5 .

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Abstract

The invention relates to a dragon scooter type sliding robot with the gravity adjusted based on an inverted pendulum. The sliding robot comprises rear wheels, rear wheel carriers, inclined rotating shafts, a right leg arm, a mass block, a swing rod, an inverted pendulum control device, a fixed plate, a left leg arm, a platform, a front wheel and a front wheel carrier. The rear wheel carriers of the robot can rotate freely around the connecting positions of the tail ends of the leg arms, and included angle of certain degrees is formed between each rotating axis and the vertical line of the ground; the inverted pendulum device and the inverted pendulum control device are installed on the fixed plate, the inverted pendulum can swing around the rotating axis back and forth, and therefore the gravity position of a swing mechanism is adjusted fast; the front wheel carrier is controlled to rotate through a control device on the platform to achieve steering of the robot; when the inverted pendulum swings transversely, the platform and the leg arms are prompted to swing transversely around the rotating axis of the front wheel carrier, so that the friction between the rear wheels and the ground serves as advance power of the robot.

Description

technical field [0001] The invention belongs to the technical field of robots, and relates to a dragon-car type sliding robot for adjusting the center of gravity based on an inverted pendulum. Background technique [0002] Since the appearance of robot technology in the early 1960s, its development has made great progress, and various special-purpose robots have been widely used in real life. Although there are many kinds of robots at present, the main types are wheeled, crawler, legged, peristaltic, wheel-leg hybrid, etc. At present, in the case of wheeled motion, most robots directly drive the wheels to rotate by installing motors and other driving devices on the wheel shafts to realize actions such as forward, backward or turning of the robot. However, for some wheel-leg hybrid robots, the weight of the legs of the robot is greatly increased due to the installation of motors and some supporting devices, which is not conducive to the movement of the legs driven by the rob...

Claims

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Application Information

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IPC IPC(8): B62D63/02
CPCB62D63/02
Inventor 徐子力卢松陈龙杨文俊王浩然朱紫嫣
Owner SHANGHAI UNIV
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