CN203732988U - Unicycle robot capable of achieving self balancing - Google Patents
Unicycle robot capable of achieving self balancing Download PDFInfo
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- CN203732988U CN203732988U CN201320792818.2U CN201320792818U CN203732988U CN 203732988 U CN203732988 U CN 203732988U CN 201320792818 U CN201320792818 U CN 201320792818U CN 203732988 U CN203732988 U CN 203732988U
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Abstract
The utility model discloses a unicycle robot capable of achieving self balancing. The unicycle robot includes a wireless module, a gyroscope, a motion controller and a servo drive, the servo drive includes a swing rod servo drive, a waist disc servo drive, a unicycle servo drive, a swing rod, a waist disc and a unicycle; the swing rod servo drive, the waist disc servo drive and the unicycle servo drive are respectively connected with the motion controller through conducting wires, the gyroscope and a swing rod encoder are used for collecting vehicle attitudes, feeding back a signal to the motion controller and processing the signal under a control program to send a control command to the swing rod servo drive, the waist disc servo drive and the unicycle servo drive, so as to respectively control the swing rod, the waist disc and the unicycle to rotate to regulate and control the posture of the robot. The unicycle robot disclosed by the utility model can be used for regulating the rotation inertia of the swing rod and the waist disc online, reinforcing the balancing and steering regulation capacity of the unicycle robot and enhancing the adaptability of the robot to dynamic complicated environments.
Description
Technical field
The utility model relates to intelligent robot technology field, is specifically related to a kind of wheelbarrow robot that realizes self-equilibrating.
Background technology
Wheelbarrow robot is the robot system of riding the mechanical mechanism design of wheelbarrow according to the mankind, because it has the concern that build is narrow and small, energy utilization rate advantages of higher is subject to robot research personnel.Be different from general static balancing robot, wheelbarrow robot belongs to static instability and mechanical system that dynamically can be stable, has broad application prospects: utilize its mobile equilibrium characteristic, it is introduced to complex-terrain environment, can transport and succour; Utilize the very thin characteristic flexibly that turns to of its profile, can realize monitoring and detection to narrow environment.
Carry out a series of research about self-equilibrating wheelbarrow robot abroad.In early days, the people such as the Jascha van Pommeren of California, USA university successfully develop wheelbarrow self-equilibrating machine Unibot, and the type of drive that it combines wheeled inverted pendulum and flying wheel inverted pendulum keeps balance automatically.But Unibot lacks steering mechanism, therefore this wheelbarrow machine lacks the ability of turning and keeping away barrier.Domestic to wheelbarrow robot research more be the Ruan Xiao steel team of Beijing University of Technology, they have made wheelbarrow robot model machine and have done the balance test of all around.As the Chinese invention patent that publication number is CN102445944A, a kind of single-wheel self-balancing robot system, the back of this robot system contain one can left-right rotation the waist dish of vertical placement, be used for realizing the horizontal equilibrium control of robot, the waist dish that contains rotating horizontal positioned in the middle of fuselage, is used for realizing the turning of robot, underbelly be one can before and after rotate single wheel, be used for realizing the anterior-posterior balance system of robot, the waist dish of described vertical placement and the waist dish of horizontal positioned, all the balance control that turns to realize fuselage by entirety, and the yaw direction of fuselage is not had to direct effect power, and rotor moment of inertia is constant, do not consider that when people rides wheelbarrow, waist rotates and the impact of upper body mass distribution dynamic change on the control of turning balance, therefore a little less than tackling complicated variable environment capacity, more difficult aspect the control of course, and because waist dish is to do unitary rotation, its control accuracy is lower.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of wheelbarrow robot of the realized self-equilibrating based on the control of variable rotational inertia waist dish, this wheelbarrow robot can not only realize all around balance and turn to flexibly, and moment of inertia that can on-line control fork and adjust car body barycenter and distribute, thereby the control ability of having strengthened wheelbarrow robot balance and having turned to, make controlled inclination angle larger, radius of turn is less, thereby has strengthened the adaptability of robot to DYNAMIC COMPLEX environment.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is as follows:
A kind of wheelbarrow robot that realizes self-equilibrating, comprise wireless module, gyroscope, motion controller, vehicle frame, fork, waist dish, single wheel and servo-driver, described servo-driver comprises fork servo-driver, waist dish servo-driver and single wheel servo-driver; Described fork servo-driver, waist dish servo-driver, single wheel servo-driver are connected with motion controller by wire respectively, described waist dish is connected with waist dish servo-driver, described single wheel is connected with single wheel servo-driver, described fork is arranged at vehicle frame top, described waist dish is arranged at the waist of vehicle frame, described single wheel is arranged at the bottom of vehicle frame
Described fork comprises swing link bracket, fork rotating shaft, fork slide block, fork motor, fork scrambler, described swing link bracket is vertically arranged on vehicle frame, fork rotating shaft is connected between the both sides of swing link bracket, and one end of fork rotating shaft is connected with fork motor, the other end of fork rotating shaft is connected with fork scrambler, and fork motor is connected with fork servo-driver respectively by wire with fork scrambler;
Described fork slide block is arranged in swing link bracket by slide bar, and fork slide block is connected with worm-wheel shaft by fork steel cable, and worm gear matches with worm screw, and worm screw is connected with worm drive motor coaxle, and the rotating of worm gear drives fork slide block to move up and down;
Described gyroscope and fork scrambler gather body gesture, signal feedback, to motion controller, is processed signal under control program, thereby sent steering order to fork servo-driver;
Described fork servo-driver, waist dish servo-driver, single wheel servo-driver are all accepted instruction from motion controller, control respectively fork, waist dish and single wheel and rotate, and the attitude of robot is regulated to control.
In order dynamically to change the moment of inertia of waist dish, described waist dish comprises waist dish axle, waist plate wheel edge, waist disk-drive motor, waist dish slider-actuated motor A and waist dish slider-actuated motor B;
Described waist dish axle one end is connected with waist disk-drive motor, and waist disk-drive motor is fixed on vehicle body waist, and waist disk-drive motor is connected with waist dish servo-driver by wire;
Described waist plate wheel edge is connected with vehicle frame by waist dish axle, be provided with waist dish slide block at waist plate wheel edge, waist dish slide block matches by keyway with cross rocking bar, between waist dish slide block and waist dish slide block, interconnect by connecting rod, waist dish slider-actuated motor B is connected with waist dish slide block outside by waist dish steel cable, can be with movable slider outwards to move, waist dish slider-actuated motor A is connected with waist dish slide block inner face by waist dish steel cable, can be with movable slider to move inward.
Preferably, described waist dish slide block is 4, be arranged at respectively in 2 perpendicular diameter of waist plate wheel edge, and symmetrical between two.
Preferably, described waist disk-drive motor, waist dish slider-actuated motor A and waist dish slider-actuated motor B are stepper motor.
Preferably, described single wheel comprises single wheel axle, single wheel motor and single wheel scrambler,
Described single wheel is connected with vehicle frame by single wheel axle, single wheel is connected with single wheel scrambler with single wheel motor by wheel rim gear, single wheel scrambler is connected with single wheel axle with gear engagement by encoder gear, single wheel motor is connected with single wheel servo-driver by wire with single wheel scrambler, and single wheel servo-driver is connected with motion controller by wire.
In order to improve acceleration and the decelerability of motor, and then accurate control step stroke, described single wheel motor is single wheel pancake motor.
Preferably, described fork slide block is more than 2 or 2, vertically arranges, and is distributed in the both sides up and down of fork rotating shaft.
Preferably, described fork motor is fork pancake motor.
Compared with prior art, the utlity model has following advantage:
1, the designed self-equilibrating wheelbarrow robot of the utility model, robot original place be can realize and car balance exercise, straight line balance exercise and turning balance exercise determined, and the center of gravity of balance control mechanism height is adjustable, moment of inertia size is adjustable, according to conservation of angular momentum principle, such system adjustment inclination angle is larger, and radius of turn is less, and response speed is faster.
2, maintenance body side different from the past is to escapement or the single design of balance stem of balance, and the utility model is designed to the adjustable fork of quality branch, and for adapting to varying environment requirement, fork can freely switch to three kinds of mode of operations:
1. escapement mode of operation: swing stem high speed rotary simulation escapement, fork slide block synchronizing moving, alternative traditional escapement is realized the adjustability of moment of inertia, improves the dirigibility turning to, and can greatly reduce minimal curve radius;
2. cross bar mode of operation: fork is horizontal as Fig. 3, there is the slide block can independence and freedom moving fork inside, capable of regulating fork mass distribution, also can adjust in real time vehicle body centroid position, compared with conventional balanced bar control mode, controlled ability is stronger, and body gesture adjustment is rapider, need adjust the requirement of vehicle body barycenter while meeting by slope pavement;
3. heavily put mode of operation: fork in vertical position as Fig. 4, and fork slide block moves down, heavily pendulum of fork decentralization simulation, the small angle oscillation of fork provides lateral adjustment moment to vehicle body, and slider displacement amount is controlled, can adjust in real time and heavily put moment of inertia size and vehicle body center of gravity height, make to control sensitivity higher, control function more perfect, meet as the reduction of high-speed motion center of gravity and low-speed motion center of gravity rising requirement, body gravity energy real-time change requirement while meeting by fluctuating road surface, thus make robot operation more steady.
3, the utility model waist dish changes its moment of inertia by the position capable of dynamic of mobile waist dish slide block, because waist dish slide block adopts the larger metal manufacture of density, therefore can realize waist dish moment of inertia and in very large range realize the variation of nearly continuity, therefore improve wheelbarrow robot Self-regulation ability, greatly improved the adaptability to varying environment.
4, the utility model single wheel adopts wheel rim gear and motor gear engaged transmission, improves reduction gear ratio and the driving moment that reduces motor, has replaced traditional Design of Speed Reducer, and has solved the problem of conventional motors output torque deficiency.
Brief description of the drawings
Fig. 1 is a kind of wheelbarrow robot isogonism shaft side figure of realizing self-equilibrating;
Fig. 2 is a kind of wheelbarrow robot left view of realizing self-equilibrating;
Fig. 3 is a kind of wheelbarrow robot cross bar mode of operation front view of realizing self-equilibrating;
Fig. 4 is that mode of operation front view is heavily put by a kind of wheelbarrow robot that realizes self-equilibrating;
Fig. 5 is the structural drawing of waist dish;
Fig. 6 is the vertical view of waist dish;
Fig. 7 is the upward view of waist dish;
Fig. 8 is the cut-open view of fork;
Fig. 9 is the isogonism shaft side figure of fork.
Number in the figure: 1-wireless module; 2-gyroscope; 3-vehicle frame; 4-fork; 5-fork scrambler; 6-vehicle frame plate; 7-waist dish; 8-waist disk-drive motor; 9-motion controller; 10-single wheel; 11-fork pancake motor; 12-single wheel pancake motor; 13-gear; 14-single wheel scrambler; 15-encoder gear; 16-wheel rim gear; 17-single wheel axle; 18-servo-driver; 19-waist plate wheel edge; 20-cruciform rocking bar; 21-connecting rod; 22-waist dish slide block; 23-waist dish slider-actuated motor A; 24-waist dish slider-actuated motor B; 25-waist dish pulley; 26-waist dish steel cable; 27-swing link bracket; 28-fork slide block; 29-fork pulley; 30-fork steel cable; 31-worm gear; 32-worm screw; 33-worm drive motor; 34-slide bar; 35-electric battery.
Embodiment
In order more to clearly demonstrate the technical characterstic of this programme, below in conjunction with the drawings and specific embodiments, this programme is elaborated:
As shown in Figure 1, 2, a kind of wheelbarrow robot that realizes self-equilibrating of the utility model, for aluminum alloy frame, comprise wireless module 1, gyroscope 2, motion controller 9, servo-driver 18, vehicle frame 3, vehicle frame plate 6, electric battery 35, fork 4, waist dish 7 and single wheel 10; Described servo-driver 18 comprises fork servo-driver, waist dish servo-driver, single wheel servo-driver, and servo-driver 18, motion controller 9 and electric battery 35 are fixedly connected on vehicle frame plate 6.Described waist dish 7 is connected with waist dish servo-driver, described single wheel 10 is connected with single wheel servo-driver, described fork servo-driver, waist dish servo-driver and single wheel servo-driver are connected with motion controller 9 by wire respectively, described fork 4 is arranged at vehicle frame 3 tops, described waist dish 7 is arranged at the waist of vehicle frame 3, and 10 of described single wheels are arranged at the bottom of vehicle frame 3.
As shown in Figure 8,9, described fork 4 is adjustable mechanical body, it comprises swing link bracket 27, fork rotating shaft, fork slide block 28, fork motor, fork scrambler 5, described swing link bracket 27 is vertically arranged on vehicle frame 3, fork rotating shaft is connected between the both sides of swing link bracket 27, and one end of fork rotating shaft is connected with fork motor, the other end of fork rotating shaft is connected with fork scrambler 5, and fork motor is connected with fork servo-driver respectively by wire with fork scrambler 5.
Described fork slide block 28 is arranged in swing link bracket 27 by slide bar 34, fork slide block 28 is connected with worm-wheel shaft by fork steel cable 30, fork steel cable 30 is by fork pulley 29, worm gear 31 matches with worm screw 32, worm screw 32 is coaxially connected with worm drive motor 33, the rotating of worm gear 31 drives fork slide block 28 to move up and down, and the mass distribution of fork 4 is adjusted in the movement of fork slide block 28, thereby can change in real time moment of inertia and the car body centroid position of fork 4.Described fork slide block 28 is 4 and is divided into two groups, and 2 fork slide blocks 28 in every group are vertically arranged, and two groups of fork slide blocks 28 are distributed in the both sides up and down of fork rotating shaft.By regulating fork rotating shaft, fork slide block 28 etc., fork 4 can be realized the motion of circumference escapement, WidFin motion and three kinds of motion control patterns of upright heavy pendular motion.
As shown in Fig. 5,6,7, described waist dish 7 is adjustable mechanical body, and it comprises waist dish axle, waist plate wheel edge 19, waist disk-drive motor 8, waist dish slider-actuated motor A23 and waist dish slider-actuated motor B24.
Described waist dish axle one end is connected with waist disk-drive motor 8, and waist disk-drive motor 8 is fixed on vehicle body waist, and waist disk-drive motor 8 is connected with waist dish servo-driver by wire.
Described waist plate wheel edge 19 is connected with vehicle frame 3 by waist dish axle, be provided with waist dish slide block 22 at waist plate wheel edge 19, waist dish slide block 22 matches by keyway with cross rocking bar, between waist dish slide block 22 and waist dish slide block 22, interconnect by connecting rod 21, each waist dish slide block 22 is made up of the larger metal material of density, there is impartial quality, waist dish slide block 22 adopts keyway to be connected with cruciform rocking bar 20, can mutually slide, described waist dish slide block 22 is 4, be arranged at respectively in 2 perpendicular diameter of waist plate wheel edge 19, and symmetrical between two.Described waist dish steel cable 26 is by waist dish pulley 25, waist dish slider-actuated motor B24 is connected with waist dish slide block 22 outsides by waist dish steel cable 26, can be with movable slider outwards to move, waist dish slider-actuated motor A23 is connected with waist dish slide block 22 inner faces by waist dish steel cable 26, can be with movable slider to move inward.
Described single wheel 10 comprises single wheel axle 17, single wheel motor and single wheel scrambler 14, described single wheel 10 is connected with vehicle frame 3 by single wheel axle 17, single wheel 10 is connected with single wheel scrambler 14 with single wheel motor by wheel rim gear 16, single wheel scrambler 14 is connected with single wheel axle 17 with gear 13 engagements by encoder gear 15, single wheel motor is connected with single wheel servo-driver by wire with single wheel scrambler 14, and single wheel servo-driver is connected with motion controller 9 by wire.
Single wheel motor and the fork motor employing pancake motor stated of the present utility model, pancake motor, as the driving power source of single wheel 10, it is advantageous that pancake motor belongs to power motor, has good acceleration and decelerability, thus accurate control step stroke.
Described waist disk-drive motor 8, waist dish slider-actuated motor A23 and waist dish slider-actuated motor B24 adopt stepper motor, stepper motor drives power source as waist dish slide block 22, it is advantageous that small volume, convenient installation, accurately control step journey, also just can accurately control waist dish slide block 22 slide block movement positions, thereby save the position signalling that increases extra displacement transducer and go to obtain waist dish slide block 22 slide blocks, therefore also reduce cost.
Described gyroscope 2 and fork scrambler 5 gather body gesture, signal feedback, to motion controller 9, is processed signal under control program, thereby sent steering order to fork servo-driver.
Described fork servo-driver, waist dish servo-driver and single wheel servo-driver are accepted instruction from motion controller 9, respectively by single wheel motor, fork motor and waist disk-drive motor 8, and then control fork 4, waist dish 7 and single wheel 10 and rotate, the attitude of robot is regulated to control.
A kind of wheelbarrow robot that realizes self-equilibrating of the utility model, also can be called the self-equilibrating one-wheel robot that becomes structure, keeps the process of car body balance to be at traveling process:
The major function of wheelbarrow robot is to keep under the prerequisite of vehicle body front and back pitching balance and side direction balance, can realize robot seesaws and the control of turning, and can, according to the moment of inertia of different space environments and geomorphological environment change waist dish 7 and fork 4, improve the adaptivity of robot.The motion controller 9 of wheelbarrow robot obtains the body gesture signal that gyroscope 2 gathers, and calculate the driving moment of motor, and calculate the corresponding acceleration of motor torque, send ASCII character and carry out and control to fork servo-driver, waist dish servo-driver and single wheel servo-driver:
(1) single wheel servo-driver control single wheel pancake motor 12 moves, single wheel scrambler (14) feedback single wheel 10 velocity and accelerations, single wheel pancake motor 12 engages with gear 13 and drives single wheel 10 to keep the balance of robot fore-and-aft direction, and can realize rectilinear motion; Fork servo-driver control fork pancake motor 11 moves, and fork scrambler 5 feeds back fork 4 velocity and accelerations, and fork pancake motor 11 is coaxial with fork rotating shaft, keeps body side to balance thereby drive fork 4 to rotate.Gyroscope 2 detects that tilt angle information gives motion controller 9, motion controller 9 rotates according to predetermined moving equilibrium control algolithm control fork 4, in the time that gyroscope 2 detects that fuselage is offset left, and at this moment fork 4 rotation of turning left, thereby vehicle body obtains a moment to the right, makes the right pendulum of fuselage.In the time that gyroscope 2 detects that fuselage is offset left, if under escapement mode of operation, escapement accelerates rotation counterclockwise, thereby vehicle body obtains a moment to the right, makes the right pendulum of fuselage; If under cross bar mode of operation, as shown in Figure 3, fork 4 is walked around moving counterclockwise, so that it rotates, moment is offset the effect of robot gravity torque; If heavily putting under mode of operation, as shown in Figure 4, the vertical state of fork 4, two slide blocks move down, and the mass concentration of fork 4 is in fork 4 lower ends, and the centroid motion that fork 4 lower ends right-hand rotations produce is offset the centre-of gravity shift of robot.In like manner, in the time that gyroscope 2 detects that fuselage has side-play amount to the right, fork 4 turns right, and makes vehicle body keep side direction balance.
(2) waist dish servo-driver control waist disk-drive motor 8 rotates, waist disk-drive motor 8 is coaxial with waist dish axle, thereby controlling waist dish 7 rotates, in the time that needs are turned left, motion controller 9 turns right according to predetermined motion control arithmetic control waist dish 7, thereby vehicle body obtains a torsional moment left, robot automobile body is turned left.When external environment condition changes, while needing torsional moment to enlarge markedly, can control waist dish slider-actuated motor B24 rotates, waist dish slide block 22 is connected by steel cable with waist dish slider-actuated motor B24, drive waist dish slide block 22, and between waist dish slide block 22 and waist dish slide block 22, be connected by connecting rod 21, thereby four all outside mobile waist dish 7 moment of inertia increases that make of waist dish slide blocks 22 reach the object that significantly improves torsional moment.
Claims (8)
1. can realize the wheelbarrow robot of self-equilibrating for one kind, comprise wireless module (1), gyroscope (2), motion controller (9), vehicle frame (3), fork (4), waist dish (7), single wheel (10) and servo-driver (18), described servo-driver (18) comprises fork servo-driver, waist dish servo-driver and single wheel servo-driver; Described fork servo-driver, waist dish servo-driver, single wheel servo-driver are connected with motion controller (9) by wire respectively, described waist dish (7) is connected with waist dish servo-driver, described single wheel (10) is connected with single wheel servo-driver, described fork (4) is arranged at vehicle frame (3) top, described waist dish (7) is arranged at the waist of vehicle frame (3), described single wheel (10) is arranged at the bottom of vehicle frame (3), it is characterized in that:
Described fork (4) comprises swing link bracket (27), fork rotating shaft, fork slide block (28), fork motor, fork scrambler (5), described swing link bracket (27) is vertically arranged on vehicle frame (3), fork rotating shaft is connected between the both sides of swing link bracket (27), and one end of fork rotating shaft is connected with fork motor, the other end of fork rotating shaft is connected with fork scrambler (5), and fork motor is connected with fork servo-driver respectively by wire with fork scrambler (5);
Described fork slide block (28) is arranged in swing link bracket (27) by slide bar (34), fork slide block (28) is connected with worm-wheel shaft by fork steel cable (30), worm gear (31) matches with worm screw (32), worm screw (32) is coaxially connected with worm drive motor (33), and the rotating of worm gear (31) drives fork slide block (28) to move up and down;
Described gyroscope (2) and fork scrambler (5) gather body gesture, signal feedback, to motion controller (9), is processed signal under control program, thereby sent steering order to servo-driver (18);
Described fork servo-driver, waist dish servo-driver, single wheel servo-driver are all accepted instruction from motion controller (9), control respectively fork (4), waist dish (7) and single wheel and rotate, and the attitude of robot is regulated to control.
2. the wheelbarrow robot that realizes self-equilibrating according to claim 1, is characterized in that: described waist dish (7) comprises waist dish axle, waist plate wheel edge (19), waist disk-drive motor (8), waist dish slider-actuated motor A(23) and waist dish slider-actuated motor B (24);
Described waist dish axle one end is connected with waist disk-drive motor (8), and waist disk-drive motor (8) is fixed on vehicle body waist, and waist disk-drive motor (8) is connected with waist dish servo-driver by wire;
Described waist plate wheel edge (19) is connected with vehicle frame (3) by waist dish axle, be provided with waist dish slide block (22) at waist plate wheel edge (19), waist dish slide block (22) matches by keyway with cross rocking bar, between waist dish slide block (22) and waist dish slide block (22), interconnect by connecting rod (21), waist dish slider-actuated motor B (24) is connected with waist dish slide block (22) outside by waist dish steel cable (26), can be with movable slider outwards to move, waist dish slider-actuated motor A(23) be connected with waist dish slide block (22) inner face by waist dish steel cable (26), can be with movable slider to move inward.
3. the wheelbarrow robot that realizes self-equilibrating according to claim 2, is characterized in that: described waist dish slide block (22) is 4, is arranged at respectively in 2 perpendicular diameter of waist plate wheel edge (19), and symmetrical between two.
4. the wheelbarrow robot that realizes self-equilibrating according to claim 2, is characterized in that: described waist disk-drive motor (8), waist dish slider-actuated motor A(23) and waist dish slider-actuated motor B (24) be stepper motor.
5. the wheelbarrow robot that realizes self-equilibrating according to claim 1, is characterized in that: described single wheel (10) comprises single wheel axle (17), single wheel motor and single wheel scrambler (14),
Described single wheel (10) is connected with vehicle frame (3) by single wheel axle (17), single wheel (10) is connected with single wheel scrambler (14) with single wheel motor by wheel rim gear (16), single wheel scrambler (14) is connected with single wheel axle (17) with gear (13) engagement by encoder gear (15), single wheel motor is connected with single wheel servo-driver by wire with single wheel scrambler (14), and single wheel servo-driver is connected with motion controller (9) by wire.
6. the wheelbarrow robot that realizes self-equilibrating according to claim 5, is characterized in that: described single wheel motor is single wheel pancake motor (12).
7. the wheelbarrow robot that realizes self-equilibrating according to claim 1, is characterized in that: described fork slide block (28) is more than 2 or 2, vertically arranges, and is distributed in the both sides up and down of fork rotating shaft.
8. the wheelbarrow robot that realizes self-equilibrating according to claim 1, is characterized in that: described fork motor is fork pancake motor (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201320792818.2U CN203732988U (en) | 2013-12-04 | 2013-12-04 | Unicycle robot capable of achieving self balancing |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320792818.2U CN203732988U (en) | 2013-12-04 | 2013-12-04 | Unicycle robot capable of achieving self balancing |
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| CN203732988U true CN203732988U (en) | 2014-07-23 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103645735A (en) * | 2013-12-04 | 2014-03-19 | 桂林电子科技大学 | Unicycle robot with function of self-balancing realization |
| CN105197156A (en) * | 2015-10-13 | 2015-12-30 | 桂林电子科技大学 | Bicycle robot capable of being converted into monocycle |
| CN106371434A (en) * | 2015-07-23 | 2017-02-01 | 联想(北京)有限公司 | Method for controlling mobile apparatus to maintain balance, and mobile apparatus |
| CN107458482A (en) * | 2017-09-15 | 2017-12-12 | 吉林大学 | A kind of Location of Mass Center of Automobiles adjusting apparatus and its control method |
| CN108268057A (en) * | 2016-12-30 | 2018-07-10 | 中国科学院沈阳自动化研究所 | A kind of three-dimensional pose adjustment and measuring device |
-
2013
- 2013-12-04 CN CN201320792818.2U patent/CN203732988U/en not_active Withdrawn - After Issue
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103645735A (en) * | 2013-12-04 | 2014-03-19 | 桂林电子科技大学 | Unicycle robot with function of self-balancing realization |
| CN103645735B (en) * | 2013-12-04 | 2016-01-20 | 桂林电子科技大学 | A kind of wheelbarrow robot realizing self-equilibrating |
| CN106371434A (en) * | 2015-07-23 | 2017-02-01 | 联想(北京)有限公司 | Method for controlling mobile apparatus to maintain balance, and mobile apparatus |
| CN106371434B (en) * | 2015-07-23 | 2020-06-23 | 联想(北京)有限公司 | Method for controlling mobile device to keep balance and mobile device |
| CN105197156A (en) * | 2015-10-13 | 2015-12-30 | 桂林电子科技大学 | Bicycle robot capable of being converted into monocycle |
| CN108268057A (en) * | 2016-12-30 | 2018-07-10 | 中国科学院沈阳自动化研究所 | A kind of three-dimensional pose adjustment and measuring device |
| CN108268057B (en) * | 2016-12-30 | 2020-11-03 | 中国科学院沈阳自动化研究所 | Three-dimensional pose adjusting and measuring device |
| CN107458482A (en) * | 2017-09-15 | 2017-12-12 | 吉林大学 | A kind of Location of Mass Center of Automobiles adjusting apparatus and its control method |
| CN107458482B (en) * | 2017-09-15 | 2023-12-15 | 吉林大学 | Automobile mass center position adjusting device and control method thereof |
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