CN109693747B - Swing type balance robot and balance robot control method - Google Patents
Swing type balance robot and balance robot control method Download PDFInfo
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- CN109693747B CN109693747B CN201710984133.0A CN201710984133A CN109693747B CN 109693747 B CN109693747 B CN 109693747B CN 201710984133 A CN201710984133 A CN 201710984133A CN 109693747 B CN109693747 B CN 109693747B
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- 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
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Abstract
本发明提供一种摆动式平衡机器人以及平衡机器人控制方法，涉及平衡车领域，该摆动式平衡机器人包括至少一个机械臂与承载设备。机械臂包括摆动装置与电控装置，电控装置与摆动装置连接，摆动装置连接于拆装基台，摆动装置可在电控装置的控制下摆动并带动承载设备移动。相较于现有技术，本发明提供的一种摆动式平衡机器人，避免了使用者与承载设备的直接接触，保障了使用者的安全同时使得承载设备的操作更加方便。
The invention provides a swing type balancing robot and a control method of the balancing robot, which relate to the field of balancing vehicles. The swing type balancing robot includes at least one mechanical arm and a carrying device. The mechanical arm includes a swing device and an electric control device, the electric control device is connected with the swing device, the swing device is connected with the disassembly base, and the swing device can swing under the control of the electric control device and drive the carrying equipment to move. Compared with the prior art, the swing type balancing robot provided by the present invention avoids the direct contact between the user and the carrying device, ensures the safety of the user and makes the operation of the carrying device more convenient.
Description
Technical Field
The invention relates to the field of balance cars, in particular to a swing type balance robot and a balance robot control method.
Background
With the progress of society, the balance car gradually goes into people's daily life. The operation principle of the balance vehicle, namely a somatosensory vehicle and a thinking vehicle, is mainly based on the basic principle of dynamic stability, the gyroscope and the acceleration sensor in the bearing body are utilized to detect the change of the posture of the bearing body, and the servo control system is utilized to accurately drive the motor to carry out corresponding adjustment so as to ensure the balance of the bearing body.
At present, the control mode of the balance car has two kinds: firstly, an operating rod is arranged on the bearing body, and a user stands on a pedal platform of the bearing body to operate the operating rod, so that the forward movement, the backward movement and the stop of the bearing body are realized in a manual mode, but the weight of the whole balance car is increased by the operating rod, and the carrying is not facilitated; secondly, a control pedal is arranged in a pedal area of the bearing body, and a user applies different forces to the front end and the rear end of the control pedal, namely the forward movement, the backward movement, the turning and the stop of the bearing body are realized in a foot control mode. Whichever implementation, all require the user to control the balance car with balance car direct contact. The inventor researches and discovers that in some special scenes, a balance car is needed to perform some special tasks, for example, the balance car is needed to enter some narrow areas or the balance car is placed in some specific areas, at the moment, a person is not needed to directly contact with the balance car, and the existing balance car can not move autonomously when being separated from the direct contact of the person.
In view of the above, it is important to design and manufacture a balance car that can be controlled by remote control without direct contact of a user.
Disclosure of Invention
The invention aims to provide a swing type robot, which can enable a bearing device to be separated from the direct contact of a user to realize normal operation.
Another object of the present invention is to provide a balance robot control method, which controls the movement of the carrying device by controlling the swinging device, so as to avoid the direct contact between the user and the carrying device, and is simple and safer to operate.
The invention is realized by adopting the following technical scheme.
A swing type balance robot comprises at least one mechanical arm and bearing equipment, wherein the mechanical arm comprises a swing device and an electric control device, the swing device is connected with the bearing equipment, the electric control device is connected with the swing device, and the swing device can swing under the control of the electric control device and drives the bearing equipment to move.
The mechanical arm further comprises a disassembling and assembling base station, the disassembling and assembling base station is detachably connected to the bearing equipment, the electric control device is arranged on the disassembling and assembling base station, and the swinging device is connected to the disassembling and assembling base station; the swinging device comprises a main swinging arm, a swinging joint and a control chain, one end of the main swinging arm is hinged to the dismounting base station, the swinging joint is hinged to one end, away from the dismounting base station, of the main swinging arm, one end of the control chain is connected with the electric control device, the other end of the control chain is fixedly connected with the swinging joint and the swinging joint respectively, the main swinging arm is used for selectively rotating relative to the dismounting base station under the control of the control chain, and the swinging joint is used for selectively rotating relative to the main swinging arm under the control of the control chain.
Furthermore, the swing joint comprises a plurality of joints which are sequentially hinged, and any two adjacent joints can rotate relatively.
Furthermore, the swinging device also comprises a mass block which is detachably connected to one end of the swinging joint far away from the main swinging arm.
Furthermore, the electric control device comprises an electric control chip, a driving motor and a signal receiving module, wherein the electric control chip, the driving motor and the signal receiving module are all fixedly arranged on the dismounting base station, and the electric control chip is electrically connected with the driving motor. The signal receiving module is electrically connected with the electric control chip, and the driving motor is connected with the swinging device and used for driving the swinging device to swing.
Furthermore, the bearing device comprises a bearing body, a pedal capable of rotating relative to the bearing device and roller assemblies pivoted on two sides of the bearing body, wherein the pedal comprises a first driving plate and a second driving plate, the first driving plate and the second driving plate are respectively arranged at two ends of the bearing body and are both connected with the driving assemblies, and the first driving plate and the second driving plate can mutually independently control the roller assemblies pivoted on two sides of the bearing body; the number of the mechanical arms is two, and the two mechanical arms are respectively connected to the first driving plate and the second driving plate so as to respectively drive the first driving plate and the second driving plate to rotate.
Further, the swing type balance robot further comprises a remote control device, and the remote control device is in communication connection with the electric control device so as to control the swing device through the electric control device.
A control method of a balance robot is applied to a swing type balance robot, the swing type balance robot comprises at least one mechanical arm and bearing equipment, the bearing equipment comprises a bearing body, a pedal capable of rotating relative to the bearing body, a driving assembly and roller assemblies pivoted on two sides of the bearing body, the pedal is arranged on the bearing body and connected with the driving assembly, the driving assembly is contained in the bearing body and connected with the roller assemblies, and the driving assembly is used for driving the roller assemblies to rotate under the driving of the pedal. The arm includes dismouting base station, pendulous device and electrically controlled device, and dismouting base station detachably connects in the footboard, and electrically controlled device sets up on the dismouting base station and is connected with the pendulous device, and the pendulous device is connected in the dismouting base station, and the pendulous device can be under electrically controlled device's control around the swing of dismouting base station and drive the footboard and rotate, and balanced robot control method includes:
a receiving step: receiving swing instruction information through an electric control device;
a swinging step: the electric control device drives the swinging device to swing according to the swinging instruction information;
a rotation step: the swinging device drives the pedal to rotate, and the roller component is driven by the pedal to rotate.
Further, the balance robot control method further includes:
a sending step: the remote control device identifies the operation instruction and generates swing instruction information, and the remote control device sends the swing instruction information to the electric control device.
Furthermore, the remote control device comprises a signal sending module, the electric control device comprises a signal receiving module, an electric control chip and a driving motor, the signal sending module sends swing instruction information to the signal receiving module, the signal receiving module receives the swing instruction information and then transmits the swing instruction information to the electric control chip, the electric control chip receives the swing instruction information and then generates swing information and transmits the swing information to the driving motor, and the driving motor receives the swing information and then drives the swing device to swing.
The invention has the following beneficial effects:
the invention provides a swing type balance robot, wherein a dismounting base station is detachably arranged on a bearing body, and a swing device is connected with the dismounting base station. In the actual use process, the electric control device drives the swinging device to swing, so that the dismounting base station can rotate, and the bearing equipment connected with the bottom of the dismounting base station moves along with the rotation of the dismounting base station. Compared with the prior art, the swing type balance robot provided by the invention has the advantages that the swing device is controlled to swing through the electric control device, so that the movement of the bearing equipment is controlled, the direct contact between a user and the bearing equipment is avoided, the safety of the user is guaranteed, and the operation of the bearing equipment is more convenient.
The invention also provides a balance robot control method, which is applied to the swing type balance robot, the electric control device is utilized to receive swing instruction information and drive the swing device to swing, and the swing of the swing device drives the pedal to rotate, so that the roller assembly is driven by the pedal to rotate. Compared with the prior art, the balance robot control method provided by the invention is simple and convenient to operate, and avoids direct contact between a user and a balance car.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic overall structure diagram of a swing type balance robot according to a first embodiment of the present invention;
FIG. 2 is a schematic view of a connection structure of the swing device of FIG. 1;
FIG. 3 is a block diagram of a connection structure of the electric control device in FIG. 1;
fig. 4 is a schematic step diagram of a balancing robot control method according to a second embodiment of the present invention.
Icon: 10-swing type balance robot; 100-a robotic arm; 110-disassembling the abutment; 130-a swing device; 131-a main swing arm; 133-a swing joint; 135-control chain; 137-mass block; 150-an electronic control device; 151-signal receiving module; 153-an electronic control chip; 155-a drive motor; 200-a carrier device; 210-a carrier body; 230-a pedal; 250-a roller assembly; 300-remote control device.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships conventionally put on the products of the present invention when used, and are only used for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," "mounted," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. Features in the embodiments described below may be combined with each other without conflict.
First embodiment
Referring to fig. 1, the present embodiment provides a swing type balance robot 10 including at least one robot arm 100, a carrying apparatus 200, and a remote control 300, the robot arm 100 being detachably mounted on the carrying apparatus 200 for controlling the movement of the carrying apparatus 200. The remote control device 300 is separately provided and is in communication with the robot arm 100 for controlling the swing of the robot arm 100, thereby controlling the movement of the carrying apparatus 200. In particular, the load bearing apparatus 200 is a balance car.
In the present embodiment, the remote control device 300 is a mobile phone, but it is not limited to this, and may be other remote control devices 300 such as a bracelet or a remote control board, and the like, and the invention is not limited thereto.
It should be noted that, in the present embodiment, the robot arm 100 is controlled to swing by the remote control device 300, the position of the center of gravity of the robot arm 100 is changed, and the robot arm 100 is detachably mounted on the carrier apparatus 200, and the change of the position of the center of gravity of the robot arm 100 can change the motion state of the carrier apparatus 200.
The carrying device 200 includes a carrying body 210, a pedal 230 capable of rotating relative to the carrying body 210, a driving assembly (not shown), and a roller assembly 250 pivotally connected to two sides of the carrying body 210, wherein the pedal 230 is disposed on the carrying body 210 and connected to the driving assembly, the driving assembly is accommodated in the carrying body 210 and connected to the roller assembly 250, and the driving assembly is used for driving the roller assembly 250 to rotate under the driving of the pedal 230.
In particular, the robot arm 100 may be of an integrated structure similar to a human limb, and the rotation of the pedal 230 is realized through bionic motions, such as the joint motions of the legs and arms of the human body. And the roller assembly 250 can adjust its rotation speed according to the rotation angle of the pedal 230.
The pedal 230 includes a first driving plate (not numbered in the figure) and a second driving plate (not numbered in the figure), the first driving plate and the second driving plate are respectively disposed at two ends of the bearing body 210 and are both connected with a driving assembly, and the driving assembly can be driven by the first driving plate and the second driving plate to independently control the roller assemblies 250 pivoted at two sides of the bearing body 210. Meanwhile, the number of the two mechanical arms 100 is two, and the two mechanical arms 100 are respectively connected to the first driving plate and the second driving plate so as to respectively drive the first driving plate and the second driving plate to rotate.
It should be noted that the pedal 230 may also be an integral driving plate, and at this time, the number of the mechanical arms 100 may also be one, and the mechanical arm 100 is connected to the pedal 230, and the movement of the carrying device 200 can also be realized by driving the pedal 230 to rotate through one mechanical arm 100.
In this embodiment, two roller assemblies 250 are respectively pivoted to two sides of the bearing body 210, and two driving assemblies are respectively and correspondingly controlling the two roller assemblies 250. Each roller assembly 250 includes a stator fixing shaft and a mover driving shaft, one end of the stator fixing shaft extends into the bearing body 210 and is connected to the bearing body 210, and the other end of the stator fixing shaft is pivotally connected to the mover driving wheel, so that the mover driving wheel can rotate relative to the stator fixing shaft. The two driving assemblies are electrically connected to the two mover driving wheels, respectively, and each driving assembly can output a driving signal to the corresponding mover driving wheel under the driving of the pedal 230. In the actual use process, the mechanical arm 100 is equivalently installed on the roller assembly 250, so that the interference of the balance state of the bearing body 210 on the output signal of the driving assembly is eliminated, that is, the whole driving mode of the bearing device 200 is only stimulated by the adjusting signal source of the driving assembly relative to the horizontal plane. Therefore, the robot arm 100 only needs to drive the pedal 230 to rotate, so that the pedal generates an inclined angle relative to the horizontal plane and drives the driving assembly to send a driving signal to the corresponding mover driving wheel, thereby obtaining a corresponding driving state.
Specifically, the driving assembly includes a horizontal plate, two elastic members and a control system, the horizontal plate is disposed in the bearing body 210 and rotatably connected to the stator fixing shaft, the two elastic members are disposed at two ends of the horizontal plate respectively and selectively abut against an inner wall of the bearing body 210, the control system is electrically connected to the mover driving wheel, and when the horizontal plate rotates relative to the stator fixing shaft and generates a rotation inclination angle, the control system outputs a driving signal to the mover driving wheel. When the horizontal plate and the horizontal plane generate a rotation inclination angle, the elastic part is abutted against the inner wall of the bearing body 210, when the horizontal plate and the horizontal plane generate a rotation inclination angle, the control system moves along with the horizontal plate, so that a driving signal is output to the corresponding rotor driving wheel, the rotation acceleration of the rotor driving wheel is realized, the horizontal plate has a tendency of being parallel to the horizontal plane, and the elastic parts arranged at the front end and the rear end of the horizontal plate limit the rotation angle of the horizontal plate relative to the bearing body 210, so that the horizontal plate cannot generate an overlarge inclination angle relative to the horizontal plane.
Preferably, in this embodiment, the elastic member is a spring, and the rotation of the horizontal plate relative to the bearing body 210 is limited by the elasticity of the spring.
Preferably, the control system is disposed below the horizontal plate and rotates therewith, although not limited thereto, and may be disposed at other positions of the horizontal plate, but any position capable of detecting the inclination angle of the horizontal plate with respect to the horizontal plane is within the scope of the present invention. The control system is provided with a sensor used for sensing the included angle of the horizontal plate relative to the horizontal plane.
In this embodiment, because bear body 210 and the connected mode that drive assembly can rotate relatively for can show when drive assembly and horizontal plane's contained angle reduce and eliminate because of bearing the effect that the user that body 210 suddenly rotated and bring loses the focus, thereby make to slow down more steady, ensured the safety of driving a vehicle.
The specific implementation process is as follows: when the two mechanical arms 100 tilt forward, the corresponding horizontal plates in the bearing body 210 are triggered, so that the two horizontal plates and the horizontal plane form a forward-tilting included angle, the two horizontal plates drive the corresponding control system to generate a forward-tilting angle relative to the bearing body 210, a sensor located in the control system detects forward-tilting movement signals of the two horizontal plates, at this time, the two control systems output forward-rotating driving signals to respective rotor driving wheels to synchronously rotate forward in advance, and the whole bearing device 200 moves forward. It will be appreciated that when the two robot arms 100 are tilted backwards, the entire carrying apparatus 200 moves backwards. When the inclined included angle of the left horizontal plate relative to the horizontal plane is larger than the inclined included angle of the right horizontal plate relative to the horizontal plane, the left control system outputs a fast rotation signal to the left rotor driving wheel, so that the left rotor driving wheel rotates faster, the right control system outputs a slow rotation signal to the right rotor driving wheel, so that the right rotor driving wheel rotates slower, namely the speed of the left rotor driving wheel is larger than that of the right rotor driving wheel, and the whole bearing equipment 200 turns to the right. Similarly, when the rotation inclination angle of the right horizontal plate relative to the bearing body 210 is greater than the rotation inclination angle of the left horizontal plate relative to the bearing body 210, the whole bearing device 200 turns left. The carrying device 200 realizes turning, advancing, backing and other functions by controlling the mover driving wheels on the two sides independently.
The mechanical arm 100 includes a detachable base 110, a swinging device 130 and an electric control device 150, the detachable base 110 is detachably connected to the pedal 230, the electric control device 150 is disposed on the detachable base 110 and connected to the swinging device 130, the swinging device 130 is connected to the detachable base 110, and the swinging device 130 can swing around the detachable base 110 and drive the pedal 230 to rotate under the control of the electric control device 150.
Referring to fig. 2, the swing device 130 includes a main swing arm 131, a swing joint 133, a control chain 135 and a mass 137, wherein one end of the main swing arm 131 is hinged to the dismounting base 110, and the swing joint 133 is hinged to one end of the main swing arm 131 far away from the dismounting base 110. One end of the control chain 135 is connected to the electric control device 150, and the other end is fixedly connected to the swing joint 133 and the swing joint 133, respectively. The main swing arm 131 is selectively rotated relative to the mounting/dismounting base 110 under the control of the control chain 135, and the swing joint 133 is selectively rotated relative to the main swing arm 131 under the control of the control chain 135. The mass 137 is detachably connected to an end of the swing joint 133 remote from the main swing arm 131.
It should be noted that the shape of the mass 137 is not limited, and the mass 137 is detachably connected to the swing joint 133, and the weight thereof can be selected according to actual requirements, and the existence of the mass 137 enables the adjustment speed of the swing device 130 to be faster and the controllability to be higher.
The swing joint 133 includes a plurality of joints hinged in sequence, and any two adjacent joints can rotate relatively. In this embodiment, the number of the joints is two, the two joints can rotate relatively, one of the joints is hinged to one end of the main swing arm 131 far away from the dismounting base 110, and the other joint is detachably connected with the mass block 137.
It should be noted that the number of joints is not limited to two, and may be three, four, or five, and the higher the number of joints is, the higher the control accuracy of the swing device 130 is. The number of joints can be selected according to actual control requirements, and is not particularly limited herein.
Referring to fig. 3, the electronic control device 150 includes an electronic control chip 153, a driving motor 155 and a signal receiving module 151, the electronic control chip 153, the driving motor 155 and the signal receiving module 151 are all fixedly disposed on the base platform 110, and the electronic control chip 153 is electrically connected to the driving motor 155. The signal receiving module 151 is electrically connected to the electronic control chip 153, and the driving motor 155 is connected to the swinging device 130 and configured to drive the swinging device 130 to swing. The remote control device 300 is communicatively connected to the electronic control device 150 to control the swing device 130 through the electronic control device 150.
In an actual use process, the signal receiving module 151 receives an instruction signal from the remote control device 300, and sends the instruction signal to the electronic control chip 153, and the electronic control chip 153 receives the instruction signal and then controls the driving motor 155 to drive the swinging device 130 to swing, so that the position of the center of gravity of the whole swinging arm is changed, the pedal 230 is driven to rotate, and the driving assembly drives the roller assembly 250 to rotate under the driving of the pedal 230.
In summary, the present embodiment provides a swing type balance robot 10, in which two mechanical arms 100 are respectively connected to a first driving plate and a second driving plate, and the two mechanical arms 100 are respectively and independently controlled, so that the moving modes of the carrying device 200, such as forward movement, backward movement, turning, and the like, can be realized, and the change of the gravity center position of the mechanical arm 100 is realized by controlling the swing device 130 to swing through the electric control device 150. In the actual use process, the remote control device 300 controls the electric control device 150 to drive the swinging device 130 to swing, so as to realize the function of controlling the carrying device 200. Compared with the prior art, the swing type balance robot 10 provided by the invention has the advantages that the remote control device 300 controls the electric control device 150 to drive the swing device 130 to swing so as to control the carrying equipment 200, so that the direct contact between a user and the carrying equipment 200 is avoided, and the carrying equipment 200 can perform some special tasks. While the swing arm is also detachable from the carrier device 200 so that the user can ride the same as the normal carrier device 200.
Second embodiment
Referring to fig. 4, the present embodiment provides a balance robot control method, which is applied to a swing type balance robot 10, wherein the basic structure and principle of the swing type balance robot 10 and the generated technical effects are the same as those of the first embodiment, and for the sake of brief description, the corresponding contents in the first embodiment can be referred to where the present embodiment is not mentioned in part.
The swing type balance robot 10 includes at least one mechanical arm 100 and a bearing device 200, the bearing device 200 includes a bearing body 210, a pedal 230 capable of rotating relative to the bearing body 210, a driving assembly and a roller assembly 250 pivoted to two sides of the bearing body 210, the pedal 230 is disposed on the bearing body 210 and connected with the driving assembly, the driving assembly is accommodated in the bearing body 210 and connected with the roller assembly 250, and the driving assembly is used for driving the roller assembly 250 to rotate under the driving of the pedal 230. The robot arm 100 includes a detachable base 110, a swinging device 130 and an electric control device 150, the detachable base 110 is detachably connected to the pedal 230, the electric control device 150 is disposed on the detachable base 110 and connected to the swinging device 130, the swinging device 130 is connected to the detachable base 110, the swinging device 130 can swing around the detachable base 110 and drive the pedal 230 to rotate under the control of the electric control device 150, and the balance robot control method includes:
transmission step S501: the remote control device 300 recognizes the operation instruction and generates the swing instruction information, and the remote control device 300 transmits the swing instruction information to the electric control device 150.
In this embodiment, the remote control device 300 includes a signal transmitting module, the electric control device 150 includes a signal receiving module 151, an electric control chip 153 and a driving motor 155, the electric control chip 153, the driving motor 155 and the signal receiving module 151 are all fixedly disposed on the base platform 110, and the electric control chip 153 is electrically connected to the driving motor 155.
In this embodiment, the user inputs the swing instruction information to the remote control device 300, and the signal transmitting module transmits the swing instruction information to the signal receiving module 151.
Receiving step S503: the wobble instruction information is received by the electronic control device 150.
In this embodiment, the signal receiving module 151 receives the wobble command information and then transmits the wobble command information to the electronic control chip 153.
Swing step S505: the electronic control device 150 drives the swinging device 130 to swing according to the swinging instruction information.
The electronic control chip 153 generates swing information after receiving the swing instruction information and transmits the swing information to the driving motor 155, and the driving motor 155 drives the swing device 130 to swing after receiving the swing information.
Rotation step S507: the swing device 130 rotates the pedal 230, and the roller assembly 250 rotates under the rotation of the pedal 230.
Specifically, the rotation of the pedal 230 drives the driving assembly to send a driving signal to the roller assembly 250, so that the roller assembly 250 can also rotate under the driving of the pedal 230.
In summary, the present embodiment provides a balance robot control method for controlling the swing type balance robot 10 according to the first embodiment, which is simple to operate and avoids the user from directly touching the carrying apparatus 200. In the actual operation process, the user can operate the carrying device 200 to move only by holding the remote control device 300 and manually inputting the swing instruction information, and the operation instruction of the user can be well transmitted to the final roller assembly 250, which is very convenient. Compared with the prior art, the balance robot control method provided by the embodiment realizes the effect of controlling the bearing equipment 200 through the swinging of the swinging device 130, avoids the direct contact of a user with the bearing equipment 200, and is simple and very convenient to operate.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The swing type balance robot is characterized by comprising at least one mechanical arm and bearing equipment, wherein the mechanical arm comprises a swing device and an electric control device, the swing device is connected with the bearing equipment, the electric control device is connected with the swing device, and the swing device can swing under the control of the electric control device and drive the bearing equipment to move;
the bearing device comprises a bearing body, a pedal capable of rotating relative to the bearing device, a driving assembly and roller assemblies pivoted to two sides of the bearing body, wherein the pedal comprises a first driving plate and a second driving plate, the first driving plate and the second driving plate are respectively arranged at two ends of the bearing body and are both connected with the driving assembly, and the first driving plate and the second driving plate can mutually independently control the roller assemblies pivoted to two sides of the bearing body; the number of the mechanical arms is two, and the two mechanical arms are respectively connected to the first driving plate and the second driving plate so as to respectively drive the first driving plate and the second driving plate to rotate.
2. The oscillating balance robot of claim 1, wherein the robotic arm further comprises a de-assembly base, the de-assembly base being detachably connected to the load bearing apparatus, the electrical control device being disposed on the de-assembly base, the oscillating device being connected to the de-assembly base; the swing device comprises a main swing arm, a swing joint and a control chain, one end of the main swing arm is hinged to the dismounting base station, the swing joint is hinged to one end, far away from the dismounting base station, of the main swing arm, one end of the control chain is connected with the electric control device, the other end of the control chain is fixedly connected with the swing joint and the swing joint respectively, the main swing arm is used for being selectively opposite to the dismounting base station under the control of the control chain, and the swing joint is used for being selectively opposite to the main swing arm under the control of the control chain.
3. The oscillating balanced robot of claim 2 in which the oscillating joint comprises a plurality of sequentially articulated joints, any two adjacent joints being relatively rotatable.
4. The oscillating balanced robot of claim 2 or 3 in which the oscillating device further comprises a mass detachably connected to the end of the oscillating joint remote from the main oscillating arm.
5. The oscillating balance robot as claimed in claim 2, wherein the electrical control device comprises an electrical control chip, a driving motor and a signal receiving module, the electrical control chip, the driving motor and the signal receiving module are all fixedly disposed on the disassembling and assembling base, the electrical control chip is electrically connected to the driving motor, the signal receiving module is electrically connected to the electrical control chip, and the driving motor is connected to the oscillating device for driving the oscillating device to oscillate.
6. The oscillating balancing robot according to claim 1, characterized in that it further comprises a remote control, which is communicatively connected to the electric control for controlling the oscillating device by means of the electric control.
7. A balance robot control method is characterized in that the method is applied to a swing type balance robot, the swing type balance robot comprises at least one mechanical arm and bearing equipment, the bearing equipment comprises a bearing body, pedals capable of rotating relative to the bearing body, a driving assembly and roller assemblies pivoted to two sides of the bearing body, the pedals are arranged on the bearing body and connected with the driving assembly, the driving assembly is accommodated in the bearing body and connected with the roller assemblies, and the driving assembly is used for driving the roller assemblies to rotate under the driving of the pedals; the arm includes dismouting base station, pendulous device and electrically controlled device, dismouting base station detachably connect in the footboard, electrically controlled device sets up on the dismouting base station and with the pendulous device is connected, the pendulous device connect in the dismouting base station, the pendulous device can wind under electrically controlled device's control the dismouting base station swing and drive the footboard rotates, balanced robot control method includes:
a receiving step: receiving swing instruction information through the electric control device;
a swinging step: the electric control device drives the swinging device to swing according to the swinging instruction information;
a rotation step: the swing device drives the pedal to rotate, and the roller assembly is driven by the pedal to rotate.
8. The balance robot control method according to claim 7, further comprising:
a sending step: and identifying an operation instruction through a remote control device and generating the swing instruction information, wherein the remote control device sends the swing instruction information to the electric control device.
9. The balance robot control method according to claim 8, wherein the remote control device includes a signal transmission module, the electronic control device includes a signal receiving module, an electronic control chip, and a driving motor, the signal transmission module transmits swing instruction information to the signal receiving module, the signal receiving module transmits the swing instruction information to the electronic control chip after receiving the swing instruction information, the electronic control chip generates the swing information and transmits the swing information to the driving motor after receiving the swing instruction information, and the driving motor drives the swing device to swing after receiving the swing information.
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Application publication date: 20190430 Assignee: Shenzhen Dynamic Balance Technology Co.,Ltd. Assignor: SHENZHEN BRIGHT INTELLIGENT CONTROL TECHNOLOGY Co.,Ltd. Contract record no.: X2025980025499 Denomination of invention: A swaying balance robot and a control method for the balance robot Granted publication date: 20220426 License type: Exclusive License Record date: 20250928 |
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