Swing arm type single-wheel wire-walking robot

Abstract

The invention discloses a swing arm type single-wheel wire-walking robot. The swing arm type single-wheel wire-walking robot comprises a balance rod mechanism used for adjusting the lateral balance, a swing arm mechanism used for balancing the center of mass and a single wheel mechanism used for walking front and back and adjusting the pitching balance. The swing arm mechanism is arranged on the single wheel mechanism. The balance rod mechanism is arranged on the swing arm mechanism. The rotation of a balance rod generates counter torque to counteract the overturn torque of a mechanical device. The translational motion of a swing arm compensates for the offset of the center of mass of the mechanical device. Pitching posture control and travel of the mechanical device are achieved through motion parameters of a travel gear. According to the swing arm type single-wheel wire-walking robot, the rotation of the balance rod and the translational motion of the swing arm simulate the motion of two hands respectively when a human walks on a wire, the travel gear simulates the pitching posture adjustment when the human walks on the wire, mechanical behaviors of arm motion and pitching posture when the human walks on the wire are effectively simulated, and self-balance motion of the robot on a rigid steel wire rope or a flexible steel wire rope is achieved.

Description

technical field [0001] The invention relates to a robot structure, in particular to a swing-arm type one-wheeled wire-walking robot capable of walking on a flexible steel wire. Background technique [0002] A tightrope walking robot is a mechanical system capable of self-balancing and walking on a tight wire. The name of this type of robot comes from the high-altitude tightrope walking of human beings. Unicycle tightrope walking robots are practical and can walk on taut ropes. Its walking stunts can bring joy. To this end, Japan's Iguchi Laboratory and Waseda University have developed a single-wheel mobile entertainment robot. [0003] The dynamic coupling between the tightrope walking robot and the flexible wire rope realizes the balance control and forward and backward movement of the robot. Using its dynamic balance characteristics, the robot is not affected by the terrain and can be introduced into the complex terrain environment for transportation and rescue and low-...

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Problems solved by technology

However, this patented robot does not consider the influence of the flexibility of the steel wire on the balance of the robot, and does not achieve the balance of the robot through the balance bar and the offset of the center of mass, so it cannot effectively simulate the mechanical behavior of humans walking a flexible steel wire rope in three-dimensional space; Beijing in 2011 The patent "rigid-flexible coupling tightrope walking robot based on balance bar control" applied by Guo Lei of the University of Posts and Telecommunications announced a tightrope walking robot, which offsets the effect of the robot's gravity moment by rotating the bar rotation moment, and offsets the center of mass generated by the translation bar to offset the mechanical force. The center of gravity of the device is offset. The rotating rod and the translation rod of this design are coupled through a pair of gears. When the motor drives the rotation rod to rotate, the translation rod moves in translation.

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