A tightrope walking device imitating the balance principle of a seesaw

Abstract

The invention discloses a wire-walking device imitating a seesaw balance principle. According to the device, a balance mechanism comprises an upper base plate and a lower base plate, wherein a single-connecting rod is arranged on the middle position between the upper base plate and the lower base plate, double-connecting rods and electric pushing rods are symmetrically arranged on the left position and on the right position between the upper base plate and the lower base plate, and the upper ends and the lower ends of the single-connecting rod, the double-connecting rods and the electric pushing rods are hinged to the corresponding positions on the upper base plate and the lower base plate respectively; a walking mechanism is arranged on the bottom of the lower base plate and comprises walking wheels arranged in the middle positions of the base plates in a front-rear mode and walking wheel driving components; a detection control mechanism comprises a gyroscope, a motion controller, servo drivers and battery packs, wherein the gyroscope is located in the middle position of the lower base plate, the motion controller is arranged in the middle position of the upper base plate, the servo drivers and the battery packs are located on the left and right of the motion controller respectively, and the left and right electric pushing rods are connected with the left and right servo drivers through wire circuits respectively. The wire-walking device imitating the seesaw balance principle imitates the leg bending and stretching mechanical behaviors of human or other animals in seesaw balance performance, and therefore the self-balance motion of the walking device on a steel wire is achieved.

Description

technical field [0001] The invention relates to robot application technology, in particular to a wire walking device that can walk on a flexible steel wire rope and imitates the balance principle of a seesaw. Background technique [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, as well as for low...

AI Technical Summary

Problems solved by technology

In addition, the four-bar drive mechanism of this design will make the overall center of mass of the robot move up and down, thereby increasing the complexity of balance control, and the translation and rotation of this design are coupled together in a fixed relationship, which is inconsistent with the actual situation

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