CN112238822B - Two-wheeled robot capable of remotely transmitting video based on 5G communication network - Google Patents
Two-wheeled robot capable of remotely transmitting video based on 5G communication network Download PDFInfo
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- CN112238822B CN112238822B CN202011130014.7A CN202011130014A CN112238822B CN 112238822 B CN112238822 B CN 112238822B CN 202011130014 A CN202011130014 A CN 202011130014A CN 112238822 B CN112238822 B CN 112238822B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D49/00—Tractors
- B62D49/08—Tractors having means for preventing overturning or tipping
- B62D49/085—Counterweight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0085—Adjustable or movable supports with adjustment by rotation in their operational position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
- B60R2011/0092—Adjustable or movable supports with motorization
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Abstract
The invention discloses a two-wheeled robot capable of remotely transmitting videos based on a 5G communication network, which belongs to the technical field of two-wheeled robots and comprises a control center, a 5G communication network access end, video acquisition devices, a robot chassis, a balancing instrument and a robot shell, wherein the control center is arranged in the middle of the robot shell, the two video acquisition devices which are bilaterally symmetrical are arranged at the upper end of the robot shell, the 5G communication network access end is arranged on each video acquisition device and is connected with the 5G communication network through the 5G communication network access end, and the balancing instrument and the robot chassis are arranged at the lower end of the robot shell. The balance state of the robot is monitored by a dynamic balancer at a fixed frequency and is transmitted to a control center, and the control center controls a cylinder assembly on a balance adjusting device to run according to the balance state, so that the dynamic balance of the robot is maintained, and the robot is further enabled to move in a two-wheel state.
Description
Technical Field
The invention relates to the technical field of two-wheeled robots, in particular to a two-wheeled robot capable of remotely transmitting videos based on a 5G communication network.
Background
The great application of electronic technology and information technology in the aspect of robots enables the robots to make profound progress in the aspect of automatic control, and further promotes the development of the robot technology towards the direction of automation and intellectualization. Although the robots on the market are full of precious and full of people, most of the robots are three or more wheels, and few robots are two wheels, because the two-wheel robot is an unstable system, a stabilizing device is needed, and otherwise the robot falls down.
Patent No. CN201020564272.1 discloses an inertia wheel type two-wheeled robot stabilizing device, which comprises a bicycle, wherein a control unit and a stabilizing unit are fixedly mounted on the bicycle; the detection unit comprises a single-axis gyroscope sensor and a three-axis acceleration sensor, the stabilizing unit comprises a balance wheel, a 540 direct current motor and an H-bridge motor driving circuit, the control unit is a single chip microcomputer, the lateral angle, the angular velocity and the angular acceleration of the bicycle are obtained through measurement and calculation according to the detection unit, the information is transmitted to the control unit, the control unit receives and processes the information, the direction of the bicycle toppling and the toppling angle are obtained through calculation, then a control signal is output to the H-bridge motor driving circuit, the direct current motor fixed on the bicycle body is driven to rotate in the toppling direction of the bicycle, and therefore the balance wheel is driven to rotate. The moment generated when the balance wheel rotates is opposite to the dumping moment of the bicycle, so that the moment and the dumping moment are mutually offset, and the bicycle is kept stable and does not fall down.
The patent number CN201720297370.5 discloses a two-wheeled robot chassis structure, which comprises a chassis, a battery, universal wheels and a pair of driving wheel sets which are symmetrically distributed, wherein each driving wheel set comprises a motor, a corner speed reducer, a coupling and a traveling wheel; an orthogonal code disc is arranged in the center of the chassis.
However, the two-wheeled robot in the above patent adjusts the balance of the two-wheeled robot through the turning speed reducer and the balancing wheel respectively, and the adjustment can only maintain the static balance of the robot, when the multi-directional rotating device installed in the robot operates, the gravity center of the robot itself changes continuously, which results in that the two-wheeled robot cannot maintain the dynamic balance, and multi-directional acquisition and high-speed transmission.
Disclosure of Invention
The invention aims to provide a two-wheeled robot capable of remotely transmitting videos based on a 5G communication network, wherein videos are transmitted to the 5G network by utilizing a 5G communication network access end, so that efficient and rapid remote video transmission is realized; the balance state of the robot is monitored by a dynamic balancer at a fixed frequency and is transmitted to a control center, the control center controls a cylinder assembly on a balance adjusting device to run according to the balance state, the dynamic balance of the robot is maintained, and the robot is further made to move in a two-wheel state, so that the problems in the background art are solved.
In order to achieve the purpose, the invention provides the following technical scheme: a two-wheeled robot based on 5G communication network and capable of remotely transmitting videos comprises a control center, a 5G communication network access end, video acquisition devices, a robot chassis, a balance instrument and a robot shell, wherein the control center is installed in the middle of the robot shell, two video acquisition devices which are bilaterally symmetrical are arranged at the upper end of the robot shell, the video acquisition devices are provided with the 5G communication network access end and are connected with the 5G communication network through the 5G communication network access end, the balance instrument and the robot chassis are arranged at the lower end of the robot shell, and the robot chassis and the balance instrument are connected with each other;
the video acquisition device comprises an installation base, a rotating shaft, a main shaft motor, an auxiliary shaft motor and a camera, wherein the rotating shaft is rotatably connected to the middle of the installation base and is rotatably connected with the main shaft motor through the rotating shaft;
the robot chassis comprises a left wheel driving device, a right wheel driving device and a balance adjusting device, wherein the left wheel driving device is installed at the left end of the lower bottom surface of the robot shell, the right wheel driving device is installed at the right end of the lower bottom surface of the robot shell, and the balance adjusting device is fixedly connected between the left wheel driving device and the right wheel driving device;
the balance adjusting device comprises a cross beam, a rear air cylinder assembly, a front rolling shaft, a rear rolling shaft, an adjusting air cylinder assembly and an adjusting air cylinder connecting assembly, wherein the front side of the cross beam is provided with the front air cylinder assembly, the front rolling shaft is connected with the front air cylinder assembly through the front air cylinder assembly, the rear side of the cross beam is provided with the rear air cylinder assembly, the rear rolling shaft is connected with the rear air cylinder assembly through the rear air cylinder assembly, the adjusting air cylinder assembly is installed at the two ends of the rear rolling shaft, the front rolling shaft and the cross beam, and the adjusting air cylinder assembly is connected with a robot shell through the adjusting air cylinder connecting assembly.
Furthermore, the left wheel driving device comprises a left wheel body, a left wheel mounting plate, a left wheel shaft and a left wheel driving assembly, the left wheel mounting plate is fixedly connected to the lower bottom surface of the robot shell through bolts, the left wheel shaft is rotatably connected to the left wheel mounting plate through a bearing, the left wheel body is rotatably connected to the left wheel shaft through the left wheel shaft, and the left wheel driving assembly is arranged on the inner side of the left wheel shaft.
Furthermore, the right wheel driving device comprises a right wheel body, a right wheel mounting plate, a right wheel shaft and a right wheel driving assembly, the right wheel mounting plate is fixedly connected to the lower bottom surface of the robot shell through bolts, the right wheel mounting plate is rotatably connected with the right wheel shaft through a bearing, the right wheel body is rotatably connected with the right wheel shaft through the right wheel shaft, and the right wheel driving assembly is arranged on the inner side of the right wheel shaft.
Furthermore, the structure of left wheel drive assembly and right wheel drive assembly is unanimous, and left wheel drive assembly includes master gear, chain, pinion and operation motor, and equal fixedly connected with pinion is epaxial with the left wheel shaft and the right wheel, installs the operation motor on the robot casing, and fixedly connected with master gear on the motor shaft of operation motor passes through the chain connection between pinion and the master gear, and the limiting plate has all been welded at the both ends of left wheel shaft and right wheel shaft.
Furthermore, the adjusting cylinder connecting assembly comprises side lugs, a lower pin shaft, a rocker arm and an upper pin shaft, the top end of the adjusting cylinder assembly is connected with the two side lugs through bolts in a locking mode, the lower pin shaft is connected between the two side lugs in a rotating mode, the lower pin shaft is fixedly connected with the upper pin shaft through the rocker arm, and the upper pin shaft is fixedly connected onto the robot shell through bolts.
Further, the robot chassis comprises a left wheel driving device, a right wheel driving device, a balance adjusting device and a reversing device, the reversing device is installed at the lower end of the robot shell, the left wheel driving device is arranged at the left end of the reversing device, the right wheel driving device is arranged at the right end of the reversing device, and the balance adjusting device is fixedly connected to the lower end of the middle of the reversing device.
Furthermore, the reversing device comprises a connecting rod, a transmission rod, a guide rod and a reversing motor, wherein a motor shaft of the reversing motor is fixedly connected with the guide rod, the guide rod is fixedly connected to the middle of the transmission rod, and two ends of the transmission rod are respectively and fixedly connected with a left wheel mounting plate and a right wheel mounting plate through the connecting rod.
Further, the balance instrument is a dynamic balance instrument PY-2700G.
Compared with the prior art, the invention has the beneficial effects that:
1. the two-wheeled robot based on the 5G communication network and capable of remotely transmitting the video acquires the video through the cameras capable of rotating in multiple directions, and transmits the video to the 5G network by utilizing the 5G communication network access end, so that efficient and rapid remote video transmission is realized.
2. The invention provides a two-wheeled robot capable of remotely transmitting videos based on a 5G communication network, which adopts a dynamic balancing instrument to monitor the balance state of the robot at a fixed frequency and transmit the balance state to a control center, and the control center controls a cylinder component on a balance adjusting device to operate according to the balance state to maintain the dynamic balance of the robot so as to enable the robot to move in a two-wheeled state.
Drawings
FIG. 1 is an overall structure diagram of a two-wheeled robot capable of remote video transmission based on a 5G communication network according to the present invention;
FIG. 2 is a robot shell structure diagram of a two-wheeled robot capable of remote video transmission based on a 5G communication network according to the present invention;
FIG. 3 is an assembly diagram of a video capture device of a two-wheeled robot capable of remote video transmission based on a 5G communication network according to the present invention;
FIG. 4 is an exploded view of a video capture device of a two-wheeled robot capable of remote video transmission based on a 5G communication network according to the present invention;
fig. 5 is a robot chassis structure diagram of a two-wheeled robot capable of remote video transmission based on a 5G communication network according to a first embodiment of the present invention;
FIG. 6 is a structural diagram of a left wheel driving device of a two-wheeled robot capable of remote video transmission based on a 5G communication network according to the present invention;
FIG. 7 is a structural diagram of a right wheel driving device of a two-wheeled robot capable of remote video transmission based on a 5G communication network according to the present invention;
FIG. 8 is a structural diagram of a left wheel driving assembly of a two-wheeled robot capable of remote video transmission based on a 5G communication network according to the present invention;
FIG. 9 is a structural diagram of a balance adjustment device of a two-wheeled robot capable of remote video transmission based on a 5G communication network according to the present invention;
FIG. 10 is a structural diagram of a regulating cylinder connecting component of a two-wheeled robot capable of remote video transmission based on a 5G communication network, which is disclosed by the invention;
fig. 11 is a robot chassis structure diagram of a two-wheeled robot capable of remote video transmission based on a 5G communication network according to a second embodiment of the present invention.
In the figure: 1. a control center; 2. 5G communication network access end; 3. a video capture device; 31. installing a base; 32. a rotating shaft; 33. a spindle motor; 34. a countershaft motor; 35. a camera; 4. a robot chassis; 41. a left wheel drive; 411. a left wheel body; 412. a left wheel mounting plate; 413. a left wheel axle; 414. a left wheel drive assembly; 4141. a main gear; 4142. a chain; 4143. a pinion gear; 4144. operating the motor; 415. a limiting plate; 42. a right wheel drive; 421. a right wheel body; 422. a right wheel mounting plate; 423. a right wheel axle; 424. a right wheel drive assembly; 43. a balance adjustment device; 431. a cross beam; 432. a rear cylinder assembly; 433. a front cylinder assembly; 434. a front roller; 435. a rear roller; 436. adjusting the cylinder assembly; 437. an adjusting cylinder connecting assembly; 4371. a lateral ear; 4372. a lower pin shaft; 4373. a rocker arm; 4374. an upper pin shaft; 44. a reversing device; 441. a connecting rod; 442. a transmission rod; 443. a guide bar; 444. a commutation motor; 5. balancing the instrument; 6. robot casing.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
Referring to fig. 1 to 4, a two-wheeled robot capable of remote video transmission based on a 5G communication network comprises a control center 1, a 5G communication network access end 2, a video acquisition device 3, a robot chassis 4, a balancing instrument 5 and a robot housing 6, wherein the control center 1 is installed in the middle of the robot housing 6, two video acquisition devices 3 which are bilaterally symmetrical are arranged at the upper end of the robot housing 6, the 5G communication network access end 2 is arranged on each video acquisition device 3 and is connected with the 5G communication network through the 5G communication network access end 2, the balancing instrument 5 and the robot chassis 4 are arranged at the lower end of the robot housing 6, and the robot chassis 4 and the balancing instrument 5 are connected with each other; the balancing instrument 5 is a dynamic balancing instrument PY-2700G;
the video acquisition device 3 comprises an installation base 31, a rotating shaft 32, a spindle motor 33, an auxiliary shaft motor 34 and a camera 35, wherein the rotating shaft 32 is rotatably connected to the middle of the installation base 31, the spindle motor 33 is rotatably connected through the rotating shaft 32, the auxiliary shaft motor 34 is fixedly connected to one side of the spindle motor 33, the camera 35 is fixedly connected to the auxiliary shaft motor 34 through a motor shaft, and the camera 35 is electrically connected to the 5G communication network access end 2.
Referring to fig. 5 to 8, the robot chassis 4 includes a left wheel driving device 41, a right wheel driving device 42, and a balance adjusting device 43, the left wheel driving device 41 is installed at the left end of the lower bottom surface of the robot housing 6, the right wheel driving device 42 is installed at the right end of the lower bottom surface of the robot housing 6, and the balance adjusting device 43 is fixedly connected between the left wheel driving device 41 and the right wheel driving device 42;
the left wheel driving device 41 comprises a left wheel body 411, a left wheel mounting plate 412, a left wheel axle 413 and a left wheel driving assembly 414, the left wheel mounting plate 412 is fixedly connected to the lower bottom surface of the robot shell 6 through bolts, the left wheel axle 413 is rotatably connected to the left wheel mounting plate 412 through a bearing, the left wheel body 411 is rotatably connected to the left wheel axle 413 through the left wheel axle 413, and the left wheel driving assembly 414 is arranged on the inner side of the left wheel axle 413;
the right wheel driving device 42 comprises a right wheel body 421, a right wheel mounting plate 422, a right wheel axle 423 and a right wheel driving assembly 424, the right wheel mounting plate 422 is fixedly connected to the lower bottom surface of the robot housing 6 through bolts, the right wheel axle 423 is rotatably connected to the right wheel mounting plate 422 through bearings, the right wheel body 421 is rotatably connected to the right wheel axle 423 through the right wheel axle 423, and the right wheel driving assembly 424 is arranged on the inner side of the right wheel axle 423;
the left wheel driving assembly 414 and the right wheel driving assembly 424 are identical in structure, the left wheel driving assembly 414 includes a main gear 4141, a chain 4142, a secondary gear 4143 and a running motor 4144, the left wheel axle 413 and the right wheel axle 423 are both fixedly connected with the secondary gear 4143, the robot housing 6 is provided with the running motor 4144, the motor shaft of the running motor 4144 is fixedly connected with the main gear 4141, the secondary gear 4143 and the main gear 4141 are connected through the chain 4142, the running motor 4144 drives the main gear 4141 to rotate, the main gear 4141 drives the secondary gear 4143 and the left wheel axle 413 or the right wheel axle 423 to rotate through the chain 4142, the wheels are driven to rotate, the robot moves, and the left wheel axle 413 and the right wheel axle 423 are welded at two ends with limit plates 415, the limit plates 415 are used for limiting, and the secondary gear 4143, the left wheel mounting plate 412 or the right wheel mounting plate 422 are prevented from slipping off the left wheel axle 413.
Referring to fig. 9 to 10, the balance adjusting device 43 includes a cross beam 431, a rear cylinder assembly 432, a front cylinder assembly 433, a front roller 434, a rear roller 435, an adjusting cylinder assembly 436, and an adjusting cylinder connection assembly 437, wherein the front side of the cross beam 431 is provided with the front cylinder assembly 433, the front roller 434 is connected through the front cylinder assembly 433, the rear side is provided with the rear cylinder assembly 432, the rear roller 435 is connected through the rear cylinder assembly 432, the adjusting cylinder assembly 436 is mounted at both ends of the rear roller 435, the front roller 434, and the cross beam 431, the adjusting cylinder assembly 436 is connected with the robot housing 6 through the adjusting cylinder connection assembly 437, the positions of the front roller 434 and the rear roller 435 are adjusted by adjusting the lengths of the rear cylinder assembly 432 and the front cylinder assembly 433, and the balance weight is performed by using the lever principle in cooperation with the offset state of the robot; the adjusting cylinder connecting assembly 437 comprises two side lugs 4371, a lower pin 4372, a rocker 4373 and an upper pin 4374, the top end of the adjusting cylinder assembly 436 is connected with the two side lugs 4371 through bolts in a locking manner, the lower pin 4372 is connected between the two side lugs 4371 in a rotating manner, the lower pin 4372 is fixedly connected with an upper pin 4374 through the rocker 4373, and the upper pin 4374 is fixedly connected to the robot housing 6 through bolts.
Example two
Referring to fig. 1 to 4, a two-wheeled robot capable of remote video transmission based on a 5G communication network comprises a control center 1, a 5G communication network access end 2, a video acquisition device 3, a robot chassis 4, a balancing instrument 5 and a robot housing 6, wherein the control center 1 is installed in the middle of the robot housing 6, two video acquisition devices 3 which are bilaterally symmetrical are arranged at the upper end of the robot housing 6, the 5G communication network access end 2 is arranged on each video acquisition device 3 and is connected with the 5G communication network through the 5G communication network access end 2, the balancing instrument 5 and the robot chassis 4 are arranged at the lower end of the robot housing 6, and the robot chassis 4 and the balancing instrument 5 are connected with each other; the balancing instrument 5 is a dynamic balancing instrument PY-2700G;
the video acquisition device 3 comprises an installation base 31, a rotating shaft 32, a spindle motor 33, an auxiliary shaft motor 34 and a camera 35, wherein the rotating shaft 32 is rotatably connected to the middle of the installation base 31, the spindle motor 33 is rotatably connected through the rotating shaft 32, the auxiliary shaft motor 34 is fixedly connected to one side of the spindle motor 33, the camera 35 is fixedly connected to the auxiliary shaft motor 34 through a motor shaft, and the camera 35 is electrically connected to the 5G communication network access end 2.
Referring to fig. 11, the robot chassis 4 includes a left wheel driving device 41, a right wheel driving device 42, a balance adjusting device 43 and a reversing device 44, the reversing device 44 is installed at the lower end of the robot housing 6, the left wheel driving device 41 is installed at the left end of the reversing device 44, the right wheel driving device 42 is installed at the right end of the reversing device 44, and the balance adjusting device 43 is fixedly connected to the lower end of the middle part of the reversing device 44;
the reversing device 44 comprises a connecting rod 441, a transmission rod 442, a guide rod 443 and a reversing motor 444, wherein a motor shaft of the reversing motor 444 is fixedly connected with the guide rod 443, the guide rod 443 is fixedly connected to the middle of the transmission rod 442, two ends of the transmission rod 442 are respectively and fixedly connected with the left wheel mounting plate 412 and the right wheel mounting plate 422 through the connecting rod 441, the reversing motor 444 drives the guide rod 443 to rotate and further drives the transmission rod 442 to swing, so that the offset state of the left wheel mounting plate 412 and the right wheel mounting plate 422 is adjusted, and turning is realized;
the left wheel driving device 41 comprises a left wheel body 411, a left wheel mounting plate 412, a left wheel axle 413 and a left wheel driving assembly 414, wherein the left wheel mounting plate 412 is rotatably connected with the left wheel axle 413 through a bearing, the left wheel body 411 is rotatably connected with the left wheel axle 413 through the left wheel axle 413, and the inner side of the left wheel axle 413 is provided with the left wheel driving assembly 414;
the right wheel driving device 42 comprises a right wheel body 421, a right wheel mounting plate 422, a right wheel axle 423 and a right wheel driving assembly 424, the right wheel mounting plate 422 is rotatably connected with the right wheel axle 423 through a bearing, the right wheel body 421 is rotatably connected with the right wheel axle 423 through the right wheel axle 423, and the right wheel driving assembly 424 is arranged on the inner side of the right wheel axle 423;
the left wheel driving assembly 414 and the right wheel driving assembly 424 have the same structure, the left wheel driving assembly 414 includes a main gear 4141, a chain 4142, a secondary gear 4143 and an operation motor 4144, the left wheel axle 413 and the right wheel axle 423 are both fixedly connected with the secondary gear 4143, the robot housing 6 is provided with the operation motor 4144, the motor shaft of the operation motor 4144 is fixedly connected with the main gear 4141, the secondary gear 4143 and the main gear 4141 are connected through the chain 4142, the operation motor 4144 drives the main gear 4141 to rotate, the main gear 4141 drives the secondary gear 4143 and the left wheel axle 413 or the right wheel axle 423 to rotate through the chain 4142, the wheel body is driven to rotate, and the robot moves; limiting plates 415 are welded at two ends of the left wheel axle 413 and the right wheel axle 423, and the limiting plates 415 are used for limiting, so that the auxiliary gear 4143, the left wheel mounting plate 412 or the right wheel mounting plate 422 are prevented from slipping off the left wheel axle 413.
Referring to fig. 9 to 10, the balance adjusting device 43 includes a cross beam 431, a rear cylinder assembly 432, a front cylinder assembly 433, a front roller 434, a rear roller 435, an adjusting cylinder assembly 436, and an adjusting cylinder connection assembly 437, wherein the front side of the cross beam 431 is provided with the front cylinder assembly 433, the front roller 434 is connected through the front cylinder assembly 433, the rear side is provided with the rear cylinder assembly 432, the rear roller 435 is connected through the rear cylinder assembly 432, the adjusting cylinder assembly 436 is mounted at both ends of the rear roller 435, the front roller 434, and the cross beam 431, the adjusting cylinder assembly 436 is connected with the robot housing 6 through the adjusting cylinder connection assembly 437, the positions of the front roller 434 and the rear roller 435 are adjusted by adjusting the lengths of the rear cylinder assembly 432 and the front cylinder assembly 433, and the balance weight is performed by using the lever principle in cooperation with the offset state of the robot; the adjusting cylinder connecting assembly 437 comprises two side lugs 4371, a lower pin 4372, a rocker 4373 and an upper pin 4374, the top end of the adjusting cylinder assembly 436 is connected with the two side lugs 4371 through bolts in a locking manner, the lower pin 4372 is connected between the two side lugs 4371 in a rotating manner, the lower pin 4372 is fixedly connected with an upper pin 4374 through the rocker 4373, and the upper pin 4374 is fixedly connected to the robot housing 6 through bolts.
In summary, the following steps: according to the two-wheeled robot capable of remotely transmitting the video based on the 5G communication network, the video is collected through the camera 35 capable of rotating in multiple directions, and the video is transmitted to the 5G network through the 5G communication network access end 2, so that efficient and rapid remote video transmission is realized; the balance state of the robot is monitored by a dynamic balancer at a fixed frequency and is transmitted to the control center 1, and the control center 1 controls the cylinder assembly on the balance adjusting device 43 to run according to the balance state, so that the dynamic balance of the robot is maintained, and the robot is further enabled to move in a two-wheel state.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and the inventive concepts of the present invention within the technical scope of the present invention.
Claims (8)
1. The two-wheeled robot based on the 5G communication network and capable of remotely transmitting videos is characterized by comprising a control center (1), a 5G communication network access end (2), a video acquisition device (3), a robot chassis (4), a balance instrument (5) and a robot shell (6), wherein the control center (1) is installed in the middle of the robot shell (6), the two video acquisition devices (3) which are bilaterally symmetrical are arranged at the upper end of the robot shell, the 5G communication network access end (2) is arranged on the video acquisition device (3) and connected with the 5G communication network through the 5G communication network access end (2), the balance instrument (5) and the robot chassis (4) are arranged at the lower end of the robot shell (6), and the robot chassis (4) and the balance instrument (5) are connected with each other;
the video acquisition device (3) comprises an installation base (31), a rotating shaft (32), a main shaft motor (33), an auxiliary shaft motor (34) and a camera (35), wherein the rotating shaft (32) is rotatably connected to the middle of the installation base (31), the main shaft motor (33) is rotatably connected through the rotating shaft (32), the auxiliary shaft motor (34) is fixedly connected to one side of the main shaft motor (33), the camera (35) is fixedly connected to the auxiliary shaft motor (34) through a motor shaft, and the camera (35) is electrically connected with a 5G communication network access end (2);
the robot chassis (4) comprises a left wheel driving device (41), a right wheel driving device (42) and a balance adjusting device (43), the left wheel driving device (41) is installed at the left end of the lower bottom surface of the robot shell (6), the right wheel driving device (42) is installed at the right end of the lower bottom surface of the robot shell (6), and the balance adjusting device (43) is fixedly connected between the left wheel driving device (41) and the right wheel driving device (42);
the balance adjusting device (43) comprises a cross beam (431), a rear cylinder assembly (432), a front cylinder assembly (433), a front roller (434), a rear roller (435), an adjusting cylinder assembly (436) and an adjusting cylinder connecting assembly (437), wherein the front side of the cross beam (431) is provided with the front cylinder assembly (433), the front roller (434) is connected with the front cylinder assembly (433) through the front cylinder assembly (433), the rear side of the cross beam is provided with the rear cylinder assembly (432), the rear roller (435) is connected through the rear cylinder assembly (432), the adjusting cylinder assembly (436) is installed at the two ends of the rear roller (435), the front roller (434) and the cross beam (431), and the adjusting cylinder assembly (436) is connected with the robot shell (6) through the adjusting cylinder connecting assembly (437).
2. The two-wheeled robot based on the 5G communication network and capable of remotely transmitting the video is characterized in that the left wheel driving device (41) comprises a left wheel body (411), a left wheel mounting plate (412), a left wheel axle (413) and a left wheel driving assembly (414), the left wheel mounting plate (412) is fixedly connected to the lower bottom surface of the robot shell (6) through bolts, the left wheel axle (413) is rotatably connected to the left wheel mounting plate (412) through a bearing, the left wheel body (411) is rotatably connected to the left wheel axle (413), and the left wheel driving assembly (414) is arranged on the inner side of the left wheel axle (413).
3. The two-wheeled robot based on the 5G communication network and capable of remotely transmitting the video is characterized in that the right wheel driving device (42) comprises a right wheel body (421), a right wheel mounting plate (422), a right wheel axle (423) and a right wheel driving assembly (424), the right wheel mounting plate (422) is fixedly connected to the lower bottom surface of the robot shell (6) through bolts, the right wheel axle (423) is rotatably connected to the right wheel mounting plate (422) through bearings, the right wheel body (421) is rotatably connected to the right wheel axle (423) through the right wheel axle, and the right wheel driving assembly (424) is arranged on the inner side of the right wheel axle (423).
4. The two-wheeled robot capable of remotely transmitting video based on the 5G communication network as claimed in claim 3, wherein the left wheel driving assembly (414) and the right wheel driving assembly (424) have the same structure, the left wheel driving assembly (414) comprises a main gear (4141), a chain (4142), a secondary gear (4143) and an operating motor (4144), the secondary gear (4143) is fixedly connected to each of the left wheel axle (413) and the right wheel axle (423), the operating motor (4144) is mounted on the robot housing (6), the main gear (4141) is fixedly connected to a motor shaft of the operating motor (4144), the secondary gear (4143) and the main gear (4141) are connected through the chain (4142), and the limiting plates (415) are welded to both ends of the left wheel axle (413) and the right wheel axle (423).
5. The two-wheeled robot based on the 5G communication network and capable of remotely transmitting the video is characterized in that the adjusting cylinder connecting assembly (437) comprises side lugs (4371), a lower pin shaft (4372), a rocker arm (4373) and an upper pin shaft (4374), the top end of the adjusting cylinder assembly (436) is connected with the two side lugs (4371) through bolts in a locking manner, the lower pin shaft (4372) is rotatably connected between the two side lugs (4371), the lower pin shaft (4372) is fixedly connected with the upper pin shaft (4374) through the rocker arm (4373), and the upper pin shaft (4374) is fixedly connected to the robot shell (6) through bolts.
6. The two-wheeled robot based on the 5G communication network and capable of remotely transmitting the video is characterized in that the robot chassis (4) comprises a left wheel driving device (41), a right wheel driving device (42), a balance adjusting device (43) and a reversing device (44), the reversing device (44) is installed at the lower end of the robot shell (6), the left wheel driving device (41) is arranged at the left end of the reversing device (44), the right wheel driving device (42) is arranged at the right end of the reversing device (44), and the balance adjusting device (43) is fixedly connected to the lower end of the middle of the reversing device (44).
7. The two-wheeled robot capable of remotely transmitting video based on the 5G communication network as claimed in claim 6, wherein the reversing device (44) comprises a connecting rod (441), a transmission rod (442), a guide rod (443) and a reversing motor (444), a motor shaft of the reversing motor (444) is fixedly connected with the guide rod (443), the guide rod (443) is fixedly connected with the middle of the transmission rod (442), and two ends of the transmission rod (442) are respectively fixedly connected with the left wheel mounting plate (412) and the right wheel mounting plate (422) through the connecting rod (441).
8. The two-wheeled robot capable of remote video transmission based on 5G communication network as claimed in claim 1, wherein said balancing apparatus (5) is a dynamic balancing apparatus of PY-2700G.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011130014.7A CN112238822B (en) | 2020-10-21 | 2020-10-21 | Two-wheeled robot capable of remotely transmitting video based on 5G communication network |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011130014.7A CN112238822B (en) | 2020-10-21 | 2020-10-21 | Two-wheeled robot capable of remotely transmitting video based on 5G communication network |
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| CN112238822A CN112238822A (en) | 2021-01-19 |
| CN112238822B true CN112238822B (en) | 2022-01-18 |
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| CN204462849U (en) * | 2015-01-30 | 2015-07-08 | 李俊红 | A kind of dead-weight balanced coaxial two wheels robot for Smart Home |
| WO2017202445A1 (en) * | 2016-05-23 | 2017-11-30 | Abb Schweiz Ag | Spring balancing device and industrial robot comprising a spring balancing device |
| CN108382473B (en) * | 2018-02-13 | 2020-07-07 | 中国农业大学 | Active balancing device for non-road operation chassis and using method thereof |
| CN109250004A (en) * | 2018-10-29 | 2019-01-22 | 逻腾（杭州）科技有限公司 | A kind of panoramic information acquisition rolling robot |
| CN111679665A (en) * | 2020-05-07 | 2020-09-18 | 上海安沛动力科技有限公司 | Intelligent chassis vehicle capable of being called |
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