Simulated walking wire robot

Abstract

The invention discloses a simulated wire-walking robot. The simulated wire-walking robot comprises a walking device, a balance device and a detection control device, wherein the walking device comprises a front walking wheel with a V-shaped groove, a rear walking wheel with a V-shaped groove and a walking wheel drive mechanism, the balance device comprises a balance rod rotation mechanism, a balance rod transversal movement mechanism and a balance rod vertical movement mechanism, the balance rod vertical movement mechanism is arranged on the walking device, the balance rod transversal movement mechanism is arranged on the balance rod vertical movement mechanism, and balance rod rotation mechanism is arranged on the balance rod transversal movement mechanism; the detection control device comprises a gyroscope, a movement controller, a servo driver, a wireless module and a battery pack, the movement controller is used for giving an instruction to the servo driver according to the signal of the gyroscope, so as to control the walking wheels to walk, and used for controlling the comprehensive movement of rotation, transversal movement and vertical movement during the walking process, so as to balance. The simulated wire-walking robot disclosed by the invention is capable of simulating the mechanical behaviours of forearm swing and leg flexion of human during wire walking, and realizing the self-balance movement thereof on a rigid wire or a flexible wire.

Description

(1) Technical field: [0001] The invention relates to robot application technology, in particular to a simulated walking steel wire robot capable of walking on flexible steel wire ropes. (2) Background technology: [0002] A tightrope walking robot is a naturally unstable mechanical system, which can achieve balance control and forward and backward motion on rigid and flexible steel wires by means of walking wheels with V-grooves. Unlike general statically balanced robots, tightrope walking robots have obvious dynamic balance characteristics and have obvious underactuated characteristics. [0003] The balance control and forward and backward movement of the robot are realized through dynamic coupling between the tightrope walking robot and the flexible steel wire rope. Using its dynamic balance characteristics, the robot is not affected by the terrain, and it can be introduced into complex terrain environments for transportation and rescue; using its slender appearance And t...

AI Technical Summary

Problems solved by technology

[0005] The technical solution of this invention is to offset the effect of the gravity moment of the robot through the rotational moment of the rotating rod, and use the center of mass offset generated by the translation rod to offset the center of gravity shift of the robot, but the rotating rod and the translation rod of this design are independent moving parts. There is no mutual correlation, which is still far from the fact that the human arm can rotate and move at the same time when walking on a tightrope; in addition, the driving four-bar mechanism of this design will make the center of mass of the translation rod move up and down, and will also generate a rotational moment around the wire rope, thereby increasing Complexity of balance control

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