Tightrope walking robot structure with double flywheels

Abstract

The invention discloses a double-flywheel steel-wire-walking robot structure. A balance device of the double-flywheel steel-wire-walking robot structure comprises an upper balance frame, a lower balance frame, an upper balance flywheel and a lower balance flywheel; the upper balance frame and the lower balance frame are installed in a supporting frame on a base plate, and the upper balance flywheel and the lower balance flywheel are horizontally installed in the upper balance frame and the lower balance frame respectively; the supporting frame is provided with balance frame motors for driving the upper balance frame and the lower balance frame to do small-angle synchronization reversing rotation through linkage mechanisms and provided with balance frame encoders for detecting the rotation ranges of the upper balance frame and the lower balance frame respectively, and the balance frames are provided with balance flywheel motors for driving the balance flywheels to rotate at a high speed and balance flywheel encoders for detecting the rotating speed; a walking device of the double-flywheel wire-walking robot structure comprises a front steel wire walking wheel, a back steel wire walking wheel, a walking wheel motor and a walking wheel encoder, wherein the front steel wire walking wheel and the back steel wire walking wheel are installed at the bottom of the base plate, one steel wire walking wheel is driven by the walking wheel motor, and the walking wheel encoder is used for detecting the rotating speed. By means of the double-flywheel wire-walking robot structure, the posture of a machine body during inclination is effectively controlled, and self-balance control of the machine body on a rigid or soft steel wire is achieved.

Description

technical field [0001] The invention relates to a tightrope walking robot structure, in particular to a double flywheel tightrope walking robot structure. Background technique [0002] 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. [0003] 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. [0004] In the arti...

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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. The torque generated by the high-speed rotation of the gyro will deform the flexible steel wire, which increases the difficulty and uncertainty of control.

[0004] 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 acrobats, this article only proposed a possibility of using the flywheel to control the balance, and did not conduct in-depth discussions to propose an effective solution

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