CN105234935B - Double-flywheel steel-wire-walking robot structure - Google Patents

Abstract

The invention discloses a steel wire walking robot structure with double flywheels. The balance device includes upper and lower balance frames and upper and lower balance flywheels. The upper and lower balance frames are installed in a support frame on a base plate, and the upper and lower balance flywheels are respectively installed horizontally. In the upper and lower balance frames, the support frame is equipped with a balance frame motor that drives the upper and lower balance frames to rotate synchronously and reversely at a small angle through a linkage mechanism, and the support frame is equipped with a balance frame that detects the rotation range of the upper and lower balance frames respectively Encoder, the balance frame is equipped with a balance flywheel motor that drives the balance flywheel to rotate at high speed and a balance flywheel encoder that detects the rotational speed; its walking device includes front and rear wire walking wheels installed at the bottom of the base plate and is set to drive a wire walking wheel. Wheel motors and travel wheel encoders that detect rotational speed. The invention effectively controls the attitude of the machine body when it is inclined, and realizes the self-balancing control of the machine body on the rigid or flexible steel wire.

Description

Tightrope walking robot structure with double flywheels

technical field

The invention relates to a tightrope walking robot structure, in particular to a double flywheel tightrope walking robot structure.

Background technique

A tightrope walking robot is a mechanical device that can maintain self-balancing and walk on a flexible steel wire, mainly through the rotation and translation of the balance bar to achieve self-balancing.

Shanghai Jiaotong University applied for the "tightrope walking robot" invention patent (application number 03129064.7). The technical solution of the invention is to utilize the stability of the gyroscope to realize self-balancing by using the gyroscope as a stabilizing device. However, this patented robot does not consider the influence of the flexibility of the steel wire on the balance of the robot. The torque generated by the high-speed rotation of the gyro will deform the flexible steel wire, thereby increasing the difficulty and uncertainty of control.

In the article "The Wonderful Use of Flywheels" written by Jia Shuhui in the first issue of "Mechanics and Practice" in 2002, he proposed that the orientation of objects can be controlled by driving the flywheel to obtain counter torque. This principle can not only control the attitude of the spacecraft, but also can To increase the stability of robots and tightrope walkers, this article only proposes a possibility of using flywheels to control balance, and does not conduct in-depth discussions to propose effective solutions.

Contents of the invention

For this reason, the present invention proposes a kind of double-flywheel steel wire walking robot structure that utilizes the high-speed rotation of the upper and lower flywheels to generate a moment that controls lateral balance to realize self-balancing, and can walk on the steel wire through the walking wheels.

The double-flywheel steel wire walking robot structure of the present invention, its technical proposal includes a balance device, a walking device, and a control device based on a base plate. The balance device includes an upper and lower balance frame and an upper and lower balance flywheel. 1. The rotating shaft of the right balance frame is installed in the support frame on the base plate, and the upper and lower balance flywheels are respectively horizontally installed in the upper and lower balance frames through the balance flywheel rotating shaft. The balance frame motor rotates synchronously and reversely at a small angle. The support frame is also equipped with upper and lower balance frame encoders that detect the rotation range of the upper and lower balance frames respectively. The upper and lower balance frames are respectively equipped with driving corresponding balance flywheels to rotate at high speed. A balanced flywheel motor and a balanced flywheel encoder for detecting the rotating speed of the balanced flywheel; the walking device includes front and rear steel wire running wheels installed on the bottom of the base plate through a wheel frame, and a steel wire running wheel is set as a driving wheel, and is mounted on the corresponding wheel frame A road wheel motor for driving the driving wheel and a road wheel encoder for detecting the rotating speed of the driving wheel are arranged on the top.

One form of the linkage mechanism includes upper and lower balance frame driven gears and balance frame driving gears, the balance frame driving gear is installed on the balance frame motor, and the upper and lower balance frame driven gears are respectively installed on the upper and lower balance frames. On the rotating shaft of the frame, the driving gear of the balance frame is arranged in the middle of the driven gear of the upper balance frame and the lower balance frame and meshes with both of them respectively.

In order to save gear manufacturing materials, the balance frame driving gear adopts upper and lower symmetrical fan-shaped teeth in the center of rotation. The sector teeth meshed with the driven gear of the lower balance frame are internal teeth.

The control device includes a battery pack connected through relevant circuits, a gyroscope, a motion controller and a servo driver. The gyroscope detects the attitude of the body in real time and sends a drive signal to each motor according to the attitude of the body, and simultaneously receives feedback signals from each encoder to further Correct each motor operation.

Beneficial effects of the present invention:

1. The balance control of the double-flywheel wire walking robot structure of the present invention is mainly realized by the high-speed rotation of the upper and lower balance flywheels and the small-angle rotation adjustment of the upper and lower balance frames, which effectively controls the posture of the body when it is tilted, and realizes the Self-balancing control on rigid or flexible wire.

2. In the present invention, the upper and lower balance flywheels are independent of each other in terms of mechanical structure, and the upper and lower balance flywheels rotate in reverse at high speed, producing a pair of component moments that cancel each other in the heading direction, which can better offset the impact on the flexible steel wire force, thereby reducing the difficulty of control.

3. In the present invention, the upper and lower outer ring frames are always in the small-angle rotation adjustment range, while the balance flywheel is in a high-speed autorotation state relative to the balance frame, thereby generating gyro torque for the attitude change of the adjustment mechanism.

Description of drawings

Figure 1 is a left isometric view of one embodiment of the present invention.

FIG. 2 is a right isometric view of FIG. 1 .

Drawing number identification: 1. Substrate; 2. Balance frame; 3. Balance flywheel; 4. Balance frame shaft; 5. Support frame; 6. Balance flywheel shaft; 7. Balance frame encoder; 8. Balance flywheel encoder; 9 1. Steel wire traveling wheel; 10. Wheel frame; 11. Traveling wheel motor; 12. Traveling wheel encoder; 13. Balance frame driven gear; 14. Balance flywheel motor; 15. Balance frame driving gear; 16. Battery pack; 17 , gyroscope; 18, motion controller; 19, servo driver; 20, balance frame motor.

detailed description

The technical solutions of the present invention will be further described below in conjunction with the embodiments shown in the accompanying drawings.

The technical solution of the double-flywheel tightrope walking robot structure of the present invention includes a balance device, a walking device and a control device based on the base plate 1 .

The base plate 1 is a flat plate, and a support frame 5 is arranged on the base plate 1, and the support frame 5 is composed of left and right side plates, as shown in Fig. 1 and Fig. 2 .

The balance device includes upper and lower balance frames 2 and upper and lower balance flywheels 3, and the upper and lower balance frames 2 are placed horizontally (the length direction of the balance frame 2 is left and right, and the inner hollow part of the balance frame 2 is the front , rear direction) between the left and right side plates of the support frame 5, each balance frame 2 is installed on the left and right side plates through the left and right balance frame rotating shafts 4, and passes between the upper and lower balance frame rotating shafts 4 on the right side The linkage mechanism is connected; the linkage mechanism includes upper and lower balance frame driven gears 13 and balance frame driving gear 15, and the upper and lower balance frame driven gears 13 are respectively installed on the upper and lower balance frame shafts 4 outside the right side plate. Shaft end, on the outside of the right side plate, the upper and lower sector teeth of the balance frame driving gear 15 are placed between the upper and lower balance frame driven gears 13 and meshed with the two respectively, wherein the upper sector teeth adopt internal teeth and The outer teeth of the driven gear 13 of the upper balance frame are meshed, and the balance frame motor 20 that drives the upper and lower balance frames 2 to rotate synchronously and reversely at a small angle is installed in the right side plate, and the output shaft of the balance frame motor 20 extends out of the right side The outside of the board is installed and connected with the balance frame driving gear 15, corresponding to the upper and lower balance frame shafts 4, the upper and lower balance frame encoders 7 are respectively arranged outside the left side plate, and the upper and lower balance frame codes 7 respectively pass through gears with the same transmission ratio The transmission mechanism is connected to the upper and lower balance frame shafts 4; the upper and lower balance flywheels 3 are placed horizontally in the upper and lower balance frames 2 and installed through the vertical balance flywheel shaft 6, and each balance frame 2 is equipped with a balance flywheel motor 14 and a balance flywheel encoder 8, the balance flywheel motor 14 driving the balance flywheel 3 high-speed rotation is connected to the balance flywheel shaft 6 through a gear transmission mechanism, and the balance flywheel encoder 8 is connected to the balance flywheel shaft 6 through a gear transmission mechanism with the same transmission ratio, As shown in Figure 1 and Figure 2.

Described walking device comprises front and rear steel wire walking wheel 9 (roller with V-shaped groove), and front and rear steel wire walking wheel 9 is installed on base plate 1 bottom by front and rear wheel frame 10 respectively, and preceding steel wire walking wheel 9 is set It is a driving wheel, and external teeth are provided on the wheel surface on both sides of the V-shaped groove of the front steel wire traveling wheel 9, and a traveling wheel motor 11 and a traveling wheel encoder 12 are respectively installed on the left and right sides of the wheel frame 10. The driving gear on the output shaft of the road wheel motor 11 meshes with the external teeth on the corresponding side on the front wire road wheel 9, and the driven gear on the output shaft of the road wheel encoder 12 meshes with the external teeth on the corresponding side on the front wire road wheel 9, As shown in Figure 1 and Figure 2.

Described control device comprises battery pack 16, gyroscope 17, motion controller 18 and servo driver 19, and described battery pack 16, gyroscope 17, motion controller 18 and servo driver 19 are connected by relevant circuit, and gyroscope 17 detects in real time According to the posture of the body, it sends a drive signal to each motor, and at the same time receives the feedback signal of each encoder to further correct the operation of each motor.

The mode of operation of the present invention:

During the walking process of the robot on the steel wire, the gyroscope 17 detects the posture of the body in real time, and sends the detected data to the motion controller 18 in real time.

When the gyroscope 17 detects that the body is tilted on the steel wire, the detected signal is transmitted to the motion controller 18, and the rotation speed of the balance flywheel 3 and the balance frame 2 are controlled by the servo driver 19 . When the upper and lower balance frames 2 reversely rotate at a small angle, the upper and lower balance flywheels 3 rotate at a high speed relative to the balance frame 2, and the speeds are equal, but the rotation directions are opposite, thereby generating a pair of gyro torques, one part acts on the heading direction, and the other part Acting in the horizontal direction, the upper and lower balance flywheels 3 rotate in reverse to generate a pair of torques acting in the opposite direction of the heading direction and the same torque in the horizontal direction. The torques in the heading direction cancel each other out, and finally synthesize the torque in the horizontal direction to adjust the robot The posture of the body controls the balance of the body.

The traveling wheel encoder 12 collects the rotating speed of the front steel wire traveling wheel 9, feeds back to the motion controller 18, and controls the traveling wheel motor 11 to drive the front and rear steel wire traveling wheels 9 on the steel wire before and after the walking by the servo driver 19.

Claims (4)

1. double flywheel tightrope walking robot structure, it is characterized in that: comprise the balance device and walking device and control device that are set based on base plate (1), described balance device comprises upper and lower balance frame (2) and upper and lower balance flywheel (3 ), the upper and lower balance frames (2) are installed in the support frame (5) on the base plate (1) through the left and right balance frame shafts (4) respectively, and the upper and lower balance flywheels (3) pass through the balance flywheel shafts (6 ) are respectively horizontally installed in the upper and lower balance frames (2), and the support frame (5) is provided with a balance frame motor (20) that drives the upper and lower balance frames (2) to rotate synchronously at a small angle through a linkage mechanism , the support frame (5) is also provided with upper and lower balance frame encoders (7) for respectively detecting the rotation range of the upper and lower balance frames (2), and the upper and lower balance frames (2) are respectively provided with driving corresponding balance flywheels (3) a balance flywheel motor (14) rotating at a high speed and a balance flywheel encoder (8) detecting a balance flywheel (3) rotating speed; Rear steel wire traveling wheel (9), a steel wire traveling wheel (9) is set as driving wheel, and the traveling wheel motor (11) that drives driving wheel and the traveling wheel code that detects driving wheel rotating speed are set on the corresponding wheel frame (10) device (12). 2. double flywheel tightrope walking robot structure according to claim 1, is characterized in that: described linkage mechanism comprises upper and lower balance frame driven gear (13) and balance frame drive gear (15), and described balance frame drive gear (15) Installed on the balance frame motor (20), the upper and lower balance frame driven gears (13) are installed on the upper and lower balance frame rotating shafts (4) respectively, and the balance frame driving gear (15) is located on the upper and lower balance frame shafts (4). The center of the lower balance frame driven gear (13) is meshed with the two respectively. 3. The double-flywheel tightrope walking robot structure according to claim 2, characterized in that: the balance frame driving gear (15) is a fan-shaped tooth that is symmetrical up and down at the center of rotation, and is connected with the upper balance frame driven gear (13) The meshed sector teeth are internal teeth, or the sector teeth meshed with the lower balance frame driven gear (13) are internal teeth. 4. The double-flywheel tightrope walking robot structure according to any one of claims 1 to 3, characterized in that: the control device includes a battery pack (16), a gyroscope (17), a motion controller connected through relevant circuits (18) and a servo driver (19), the gyroscope (17) detects the posture of the body in real time and sends a driving signal to each motor according to the posture of the body, and simultaneously receives the feedback signal of each encoder to further correct the operation of each motor.