# US 11,027,416 B2 · Two-wheeled self-balancing robot

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- Number: US 11,027,416 B2
- Document ID: US11027416B2
- Status: Granted
- Kind: B2
- Application number: 16/622,209
- Filed: 2017-11-14
- Published: 2020-06-11
- Granted: 2021-06-08
- Earliest claimed: 2017-08-04
- Assignees: Goertek Technology Co., Ltd.
- Applicants: GoerTek Technology Co., Ltd.
- Inventors: Xuehui Dong
- Web page: https://patentgrep.com/patent/US11027416B2

## CPC

- B25J 5/007: {mounted on wheels}
- B62D 37/06: using gyroscopes
- B25J 9/0009: {Constructional details, e.g. manipulator supports, bases}
- B25J 19/0008: {Balancing devices}
- B25J 19/02: Sensing devices
- B62D 33/0207: {Connections of movable or detachable racks or stanchions to platforms}
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)

## Abstract

The present disclosure discloses a two-wheeled self-balancing robot which solves the technical problems in the prior art that the robot can only travel on a flat ground and its driving environments are limited by making improvements in its mechanical structure. The two-wheeled self-balancing robot comprises a vehicle body with wheels mounted on both sides thereof. The vehicle body comprises a parallelogram frame which can deform tiltedly. The vehicle body is provided with a stage, and the stage is hinged with the parallelogram frame. The parallelogram frame is provided with a first motor. The first motor drives the parallelogram frame to deform tiltedly according to road conditions so as to always keep the stage horizontal. The two-wheeled self-balancing robot according to the present disclosure can adapt to complicated road conditions, and its stage always keeps horizontal such that the object carried is not prone to fall off.

## Claims

### Claim 1

A two-wheeled self-balancing robot, comprising a vehicle body with wheels mounted on both sides thereof, wherein:
the vehicle body comprises a parallelogram frame for enabling the vehicle body to deform tiltedly;
the vehicle body is provided with a stage, and the stage is hinged with the parallelogram frame;
the parallelogram frame is provided with a first motor, and the first motor drives the parallelogram frame to deform tiltedly according to road conditions so as to always keep the stage horizontal;
a flywheel is provided in the parallelogram frame, the flywheel is located in a central perpendicular plane which is perpendicular to a connection line of centers of two wheels at a center of the connection line, and rotation of the flywheel keeps the vehicle body in a standing state due to gyroscopic effect; and
a lower portion of the middle plate is provided with a flywheel support plate which is parallel to the middle plate; two sides of the flywheel support plate are respectively hinged to the side plates; the flywheel support plate is provided with a flywheel seat at a middle position of the flywheel support plate, the flywheel is mounted in the flywheel seat, and a second motor is mounted below or above the flywheel seat to drive the flywheel to rotate.

### Claim 2 (depends on 1)

The two-wheeled self-balancing robot according to claim 1, wherein an angle sensor or a gyroscope is provided on the stage to detect an angle of the stage relative to a horizontal plane, and when the robot is on an uneven road, the first motor drives the parallelogram frame to deform tiltedly according to angle values detected by the angle sensor or the gyroscope so as to always keep the stage horizontal.

### Claim 3 (depends on 1)

A two-wheeled self-balancing robot according to claim 1, wherein the parallelogram frame comprises an upper plate and a middle plate arranged in parallel, and a left side plate and a right side plates on both sides;
the upper plate and the middle plate are hinged with the left side plate and the right side plate respectively; and
a left wheel is mounted at a lower end of the left side plate, and a right wheel is mounted at a lower end of the right side plate.

### Claim 4 (depends on 1)

The two-wheeled self-balancing robot according to claim 1, wherein the flywheel is provided with a central shaft, a rotating shaft of the second motor is coupled to the central shaft of the flywheel, and the flywheel seat is provided with upper and lower bearings to support and fix the central shaft of the flywheel.

### Claim 5 (depends on 3)

A two-wheeled self-balancing robot according to claim 3, wherein the stage is T-shaped and comprises a horizontal support platform and a leg perpendicular to the support platform, a middle portion of the leg is hinged to the upper plate, and a lower end of the leg is hinged to the middle plate.

### Claim 6 (depends on 5)

A two-wheeled self-balancing robot according to claim 5, wherein the first motor is mounted on the middle plate, a rotating shaft of the first motor is coupled to a hinged shaft of the middle plate and the leg, the hinged shaft and the leg are fixedly connected, and the leg of the stage always keeps a vertical state.

### Claim 7 (depends on 5)

The two-wheeled self-balancing robot according to claim 5, wherein a middle portion of the upper plate is provided with a through hole, the leg of the stage passes through the through hole, and the leg of the stage and the upper plate are hinged at the through hole.

### Claim 8 (depends on 1)

The two-wheeled self-balancing robot according to claim 1, wherein hinges or hinged shafts are provided at positions where the upper plate, the middle plate and the side plates are hinged and where the flywheel support plate and the side plate are hinged, such that the upper plate, the middle plate and the flywheel support plate are rotatable relative to the side plates.