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实用新型
CN202362674U 一种可实现自平衡的独轮机器人 失效 - 放弃

  • 专利标题： 一种可实现自平衡的独轮机器人
  • 专利标题（英）： One-wheel robot capable of being self-balanced
  • 申请号： CN201120509277.9
    申请日： 2011-12-09
  • 公开(公告)号： CN202362674U
    公开(公告)日： 2012-08-01
  • 发明人: 高丙团 , 包宇庆
  • 申请人： 东南大学
  • 申请人地址： 江苏省镇江市南纬四路36号
  • 专利权人： 东南大学
  • 当前专利权人： 东南大学
  • 当前专利权人地址： 江苏省镇江市南纬四路36号
  • 代理机构： 南京苏高专利商标事务所
  • 代理商 柏尚春
  • 主分类号： G05D1/02
  • IPC分类号： G05D1/02
一种可实现自平衡的独轮机器人
摘要：
本实用新型公开了一种可实现自平衡的独轮机器人，该独轮机器人包括支架、平衡杆、平衡杆转轴、车轮、车轮轴、皮带、码盘，以及固定在支架上的车轮电机、电池组、控制器、驱动器、倾角传感器、平衡杆转轴电机和平衡杆角度传感器；车轮轴通过皮带与车轮电机连接，车轮电机与驱动器连接，驱动器与控制器连接；平衡杆连接于支架的上部，平衡杆转轴的一端与平衡杆转轴电机相连，平衡杆转轴电机与驱动器连接；码盘固定连接在车轮电机的转轴上；倾角传感器和平衡杆角度传感器分别与控制器连接。该独轮机器人不仅能保持前后平衡和侧向平衡，而且具有加减速灵活、转向性能良好的特点。
摘要（英）：

The utility model discloses a one-wheel robot capable of being self-balanced. The one-wheel robot comprises a bracket, a balanced rod, a balanced rod rotary shaft, a wheel, a wheel shaft, a belt, a code disc, a wheel motor, a battery pack, a controller, a driver, an inclination angle sensor, a balanced rod rotary shaft motor and a balanced rod angle sensor, wherein the wheel motor, the battery pack, the controller, the driver, the inclination angle sensor, the balanced rod rotary shaft motor and the balanced rod angle sensor are fixed on the bracket; the wheel shaft is connected with the wheel motor through the belt; the wheel motor is connected with the driver; the driver is connected with the controller; the balanced rod is connected to the upper part of the bracket; one end of the balanced rod rotary shaft is connected with the balanced rod rotary shaft motor; the balanced rod rotary shaft motor is connected with the driver; the code disc is fixedly connected to a rotary shaft of the wheel motor; and the inclination angle sensor and the balanced rod angle sensor are respectively connected with the controller. The one-wheel robot can be balanced in front-and-back direction and in left-and-right direction and has the characteristics of flexibility in acceleration and deceleration and high steering performance.

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