The invention relates to a walking mechanism of a two-wheeled mobile robot and a stability control method of the walking mechanism, and the walking mechanism comprises a shell which comprises an upper shell and a lower shell, and the lower shell is internally and fixedly connected with a supporting assembly; the low-gravity-center walking mechanism comprises a pair of walking wheels, and the walking wheels are mounted on the lower shell through driving shaft mounting holes; the walking wheel transmission mechanism consists of a synchronous belt driving wheel, a synchronous belt and a synchronous belt driven wheel; the walking wheel driving motor is fixedly connected with the supporting assembly, is connected with the synchronous belt wheel driving wheel through a connecting key for transmission, and is connected with the synchronous belt wheel driving wheel through a positioning pin; the inertia flywheel mechanism is composed of an inertia flywheel, an encoder motor and an encoder motor base, and the two-wheeled mobile robot walking mechanism and the stability control method thereof aim at solving the problems that an existing two-wheeled self-balancing mobile robot is poor in structural stability, and the requirement for the stability of a control system is high.

    本发明涉及一种两轮移动机器人行走机构及其稳定控制方法,包括:壳体:包括上壳体和下壳体,下壳体内固定连接有一支撑组件;低重心行走机构:包括一对行走轮,所述行走轮通过驱动轴安装孔安装在所述下壳体;行走轮传动机构:由同步带主动轮、同步带和同步带从动轮组成;行走轮驱动电机:与所述支撑组件固定连接,并通过联接键与同步带轮主动轮联结进行传动,通过定位销与同步带轮主动轮连接;惯性飞轮机构:由惯性飞轮、编码器电机、编码器电机座组成,和控制系统,本发明涉及的一种两轮移动机器人行走机构及其稳定控制方法,以解决目前两轮自平衡移动机器人结构稳定性差、控制系统稳定性要求高等问题。


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    Title :

    Two-wheeled mobile robot walking mechanism and stability control method thereof


    Additional title:

    一种两轮移动机器人行走机构及其稳定控制方法


    Contributors:
    WANG HONGCHENG (author) / LI HONGSHENG (author) / BAI ZIHAO (author) / HUANG YEXIAN (author) / CAI YUCHEN (author) / GAO QIANG (author) / LI LIANGLIANG (author) / ZHANG LINAN (author)

    Publication date :

    2024-11-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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