A self-balancing cable-driven robot based on the gyroscopic stability of a high-speed flywheel

Abstract

The present invention discloses a self-balancing cable-driven robot based on the fixed-axis property of a high-speed flywheel to solve the problems of complex structure and poor device stability in the field of robots. The robot includes a frame, a cable driving mechanism, a balancing mechanism, and a pan-tilt. The frame is a centrosymmetric structure with its central axis as the rotation center. The cable driving mechanism includes a plurality of driving cables, a plurality of winches, and a plurality of first power components. The winches are arranged on the frame, and the first power components drive the corresponding winches to rotate. One end of the driving cable is connected to the outer wall of the corresponding winch, and the other end is used for fixation. The balancing mechanism includes a plurality of flywheels and a plurality of second power components. The second power components drive the flywheels to rotate, and the plurality of flywheels are evenly distributed around the central axis on the frame. The pan-tilt is arranged on the frame and is used for loading items.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to a self-balancing rope-driven robot with a fixed axis based on a high-speed flywheel. Background Art

[0002] Rope-driven parallel robots belong to the field of parallel robots. They have the characteristics of large working space, fast response speed, strong load-bearing capacity, and light structure, so they are widely used in large space assembly, microgravity simulation, rehabilitation medicine and other fields. Most common rope-driven parallel robots are redundantly constrained robots, that is, the number of ropes is greater than the number of degrees of freedom. In this case, the robot's positioning accuracy and movement compliance are relatively good.

[0003] However, due to the large number of ropes, interference between ropes is likely to occur in a large space, and the device for driving the ropes is arranged separately from the end effector, which brings great inconvenience to the robot's disassembly, transportation, and replacement.

[0004] Although the under-constrained rope-driven parallel robot is not prone to rope interference in a large space, in addition to the problem of separate arrangements of the anchor seat and the end effector, there are also problems such as uncontrollable tilt angle during movement, lower movement accuracy compared to redundantly constrained robots, and poor movement smoothness. Summary of the invention

[0005] The present invention provides a self-balancing rope-driven robot based on the fixed axis of a high-speed flywheel, aiming to solve at least one of the technical problems existing in the prior art.

[0006] The technical solution of the present invention is a self-balancing rope-driven robot with a fixed axis based on a high-speed flywheel, which includes: a frame, a rope driving mechanism, a balancing mechanism and a pan-tilt platform, wherein the frame is a centrally symmetrical structure with its central axis as the rotation center; the rope driving mechanism includes multiple driving ropes, multiple winches and multiple first power members, the winches are arranged on the frame, the first power members drive the corresponding winches to rotate, one end of the driving rope is connected to the outer wall of the corresponding winch, and the other end is used for fixing; the balancing mechanism includes multiple flywheels and multiple second power members, the second power members drive the flywheels to rotate, and the multiple flywheels are evenly distributed on the frame around the central axis; the pan-tilt platform is arranged on the frame, and the pan-tilt platform is used to load items.

[0007] Furthermore, the rope driving mechanism, the balancing mechanism and the pan / tilt head are sequentially installed on the frame from top to bottom.

[0008] Furthermore, the frame is provided with a first partition, a second partition and a third partition in sequence from top to bottom, and the first partition, the second partition and the third partition are connected by a connecting column.

[0009] Furthermore, one end of the rotating shaft of the winch is rotatably connected to the first partition, and the other end is rotatably connected to the second partition. The first power member is disposed on the second partition. The output end of the first power member passes through the second partition and is connected to the other end of the corresponding winch rotating shaft.

[0010] Furthermore, a first thrust ball bearing is connected between one end of the rotating shaft and the first partition, and a second thrust ball bearing is connected between the other end of the rotating shaft and the second partition.

[0011] Furthermore, the first partition, the second partition and the third partition are all provided with a plurality of weight reduction holes.

[0012] Furthermore, the number of flywheels is even, and the rotation directions of two centrally symmetric flywheels are opposite.

[0013] Furthermore, the rope driving mechanism further includes a wire guiding bracket disposed on the frame. The wire guiding bracket is provided with a plurality of first wire holes and a plurality of second wire holes. The plurality of first wire holes are evenly distributed around the central axis, and the openings of the second wire holes face the corresponding winches.

[0014] Furthermore, the plurality of first wire holes are disposed at the position on the wire guiding bracket closest to the central axis.

[0015] Furthermore, a controller is further included. The controller is disposed on the frame and is used to control the rope driving mechanism and the balance mechanism.

[0016] The beneficial effects of the present invention are as follows.

[0017] 1. Different first power members drive the corresponding winches. The winches drive the corresponding driving ropes to stretch and contract, and the entire robot is driven by a plurality of ropes to move the robot in space, which is simple to operate.

[0018] 2. The frame is a centrally symmetric structure, and the driving ropes, winches, first power members, and flywheels are all evenly distributed around the central axis on the frame, ensuring that the overall center of gravity of the robot is near the geometric center of the robot, maintaining balance during operation, having high integration and integration, and being convenient for transportation and rapid installation.

[0019] 3. The flywheels are driven by the second power member to rotate at high speed, providing upward power for the robot to offset the gravity of the robot itself, so that the robot maintains balance, the overall movement of the robot tends to be stable without shaking, enabling the pan-tilt to work stably, the tilt angle during movement is controllable, the movement accuracy is higher than that of a robot with redundant constraints, and the movement smoothness is higher.

[0020] 4. The main structure of the robot consists of a frame, the components on the frame, and a driving rope. Among them, the driving rope occupies most of the space, and the other end of the driving rope is fixed. It can be used as long as a fixed place is found. It is easy to transport, convenient to install, has low requirements for the environment, is applicable to more occasions, and is not prone to rope interference in space. Description of the Drawings

[0021] Figure 1 is the overall structure schematic diagram of the self - balancing rope - driven robot based on the gyroscopic effect of a high - speed flywheel in an embodiment of the present invention;

[0022] Figure 2 is the schematic diagram of the main structure of the self - balancing rope - driven robot based on the gyroscopic effect of a high - speed flywheel in an embodiment of the present invention;

[0023] Figure 3 is Figure 2 the sectional structure schematic diagram cut along the central axis;

[0024] Figure 4 is the installation structure schematic diagram of the rope - driving mechanism and the frame with the first partition removed in an embodiment of the present invention;

[0025] Figure 5 is the schematic diagram of the rope - driving mechanism in an embodiment of the present invention;

[0026] Figure 6 is the schematic diagram of the wire - guiding bracket in an embodiment of the present invention;

[0027] Figure 7 is the schematic diagram of the flywheel in an embodiment of the present invention;

[0028] Figure 8 is the schematic diagram of the controller in an embodiment of the present invention.

[0029] Reference Numerals in the Drawings:

[0030] Frame 100, Central Axis 110, First Partition 120, Second Partition 130, Third Partition 140;

[0031] Rope - driving Mechanism 200, Driving Rope 210, Winch 220, First Power Component 230, Wire - guiding Bracket 240, First Wire Hole 241, Second Wire Hole 242;

[0032] Balancing Mechanism 300, Flywheel 310, Second Power Component 320;

[0033] Pan - tilt 400;

[0034] Controller 500. Detailed Embodiments

[0035] The following content will describe several embodiments of the present invention, including embodiments corresponding to the accompanying drawings. It can be understood that the drawings are used to assist in understanding the technical features and technical solutions of the present invention, and should not be construed as limiting the protection scope of the present invention.

[0036] The concept, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and the drawings, so as to fully understand the purpose, solution and effects of the present invention. It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other.

[0037] It should be noted that unless otherwise clearly defined, when a certain feature is referred to as "fixed", "connected", "installed" to another feature, it can be directly fixed or connected to another feature, or indirectly fixed or connected to another feature. The words such as "fixed", "connected", "installed" should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in the present invention in combination with the specific content of the technical solution.

[0038] It should be noted that the descriptions of the orientation or positional relationship indicated by up, down, left, right, top, bottom, front, back, inside, outside, etc. in the present invention are based on the orientation or positional relationship of the drawings or embodiments, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0039] It should be noted that the term "and / or" used in the present invention includes any combination of one or more of the related listed items. The meaning of several is one or more, the meaning of multiple is two or more, greater than, less than, exceeding, etc. are understood as not including the present number, and above, below, within, etc. are understood as including the present number.

[0040] It should be noted that if the present invention describes the first and the second, it is only for the purpose of distinguishing technical features, and should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or implicitly indicating the sequence relationship of the indicated technical features.

[0041] It should be noted that unless otherwise clearly defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art of this technology. The terms used in the description of this specification are only for describing specific embodiments, rather than limiting the present invention.

[0042] The technical solution of the present invention is a self-balancing rope-driven robot based on the fixed-axis property of a high-speed flywheel 310, which includes: a frame 100, a rope driving mechanism 200, a balancing mechanism 300, and a pan-tilt 400. The frame 100 is a centrosymmetric structure with its central axis 110 as the rotation center; the rope driving mechanism 200 includes a plurality of driving ropes 210, a plurality of winches 220, and a plurality of first power components 230. The winches 220 are arranged on the frame 100, and the first power components 230 drive the corresponding winches 220 to rotate. One end of the driving rope 210 is connected to the outer wall of the corresponding winch 220, and the other end is for fixing; the balancing mechanism 300 includes a plurality of flywheels 310 and a plurality of second power components 320. The second power components 320 drive the flywheels 310 to rotate, and the plurality of flywheels 310 are evenly arranged on the frame 100 around the central axis 110; the pan-tilt 400 is used to load items.

[0043] The frame 100 is a centrosymmetric structure, and the driving ropes 210, winches 220, first power components 230, and flywheels 310 are all evenly distributed on the frame 100 around the central axis 110, ensuring that the overall center of gravity of the robot is near the geometric center of the robot, maintaining balance during operation, being highly integrated and integrated, facilitating transportation and rapid installation; the number of the plurality of driving ropes 210, the plurality of winches 220, and the plurality of first power components 230 is the same. Different first power components 230 drive the corresponding winches 220, and the winches 220 drive the corresponding driving ropes 210 to stretch and contract, driving the entire robot to move through a plurality of ropes, enabling the robot to complete the movement in space position; the second power components 320 drive the flywheels 310 to rotate at high speed, providing upward power for the robot to offset the gravity of the robot itself, enabling the robot to maintain balance, the overall movement of the robot tends to be stable without shaking, enabling the pan-tilt 400 to work stably, the tilt angle being controllable during the movement process, the movement accuracy being relatively high compared to robots with redundant constraints, and the movement smoothness being relatively high; the main structure of the robot consists of the frame 100, the components on the frame 100, and the driving ropes 210. Among them, the driving ropes 210 occupy most of the space, and the other end of the driving ropes 210 is fixed. As long as a fixed place can be found, it can be used, being easy to transport, convenient to install, having low requirements for the environment, being applicable to more occasions, and not easily having rope interference in space.

[0044] The pan-tilt 400 can install different items. By replacing the bottom plate, we can also install actuators such as manipulators and cameras to achieve different functions and make the execution of tasks more flexible.

[0045] The inner diameter of the inner ring of the winch 220 is the same as the inner diameter of the rim. There is a small hole for threading the rope on the rim, and there is also a small hole on the spoke. After the rope passes through the small hole and enters the inner ring, it can be tied to the spoke to ensure that the rope can be tied firmly.

[0046] "The frame 100 is a centrosymmetric structure with its central axis 110 as the rotation center". It can be understood that in a plane, if a figure can coincide with the original figure after being rotated 180° around a certain point, then this figure is called a centrosymmetric figure, and its rotation center is the symmetric center. In a three-dimensional figure, if a solid can coincide with the original solid after being rotated 180° around a line, then this solid figure is a centrosymmetric structure, and its rotation center is the central axis 110. Here, the frame 100 is a centrosymmetric structure. The frame 100 is rotated 180° around the central axis 110, and the rotated structure coincides with the original structure.

[0047] "One end of the driving rope 210 is connected to the outer wall of the corresponding winch 220, and the other end is for fixation". It can be understood that one end of the driving rope 210 is connected to the outer wall of the winch 220, and the other end is fixed through a connection fixing part. The fixing part can be understood as an environmental feature, which can be a wall, a telegraph pole, a tree, a lamp post, etc., where items can be installed and fixed. A fixing block is installed at the corresponding position, and then the other end of the driving rope 210 is fixed to the fixing block. If there is no suitable position, corresponding fixing rods can be erected by oneself. After the fixing rods are placed at the corresponding positions, the other end of the driving rope 210 is fixed to the fixing rods. By driving the winch 220, one end of the driving rope 210 moves and the other end does not move, so that different driving ropes 210 form different degrees of expansion and contraction, realizing the movement of the robot in spatial position.

[0048] In some embodiments, the driving rope mechanism 200, the balance mechanism 300, and the pan-tilt 400 are installed on the frame 100 in sequence from top to bottom. The driving rope mechanism 200 is installed at the topmost end, so that the driving rope 210 pulls the upper end of the frame 100 to move. The driving rope 210 forms a certain angle with the frame 100, and the driving rope 210 will not interfere with the frame 100. The pan-tilt 400 is used to install and fix items and is installed at the bottommost end, away from the driving rope 210, to prevent interference between the pan-tilt 400 and the driving rope 210, which may affect the use. And the pan-tilt 400 occupies a small space, and placing it at the bottommost end will not block the rotation of the flywheel 310 on the middle balance mechanism 300.

[0049] In some embodiments, the frame 100 is sequentially provided with a first partition 120, a second partition 130, and a third partition 140 from top to bottom. The first partition 120, the second partition 130, and the third partition 140 are connected by connecting columns. It can be understood that the frame 100 is sequentially provided with the first partition 120, the connecting column, the second partition 130, the connecting column, and the third partition 140, making the whole frame 100 a hollow structure, reducing the weight of the frame 100. The hollow structure also facilitates the installation of the driving rope mechanism 200, the balance mechanism 300, and the pan-tilt 400 on the corresponding partitions.

[0050] In some embodiments, one end of the rotating shaft of the winch 220 is rotatably connected to the first partition plate 120, and the other end is rotatably connected to the second partition plate 130. The first power member 230 is disposed on the second partition plate 130. The output end of the first power member 230 passes through the second partition plate 130 and is connected to the other end of the corresponding rotating shaft of the winch 220. A first thrust ball bearing is connected between one end of the rotating shaft and the first partition plate 120, and a second thrust ball bearing is connected between the other end of the rotating shaft and the second partition plate 130. One end of the rotating shaft of the winch 220 is connected to the first partition plate 120 through the first thrust ball bearing, and the other end is connected to the second partition plate 130 through the second thrust ball bearing, so that the winch 220 is prevented from directly contacting the partition plate, reducing the friction between the two. Secondly, compared with other types of bearings, the thickness of the partition plate needs to be increased to install the bearing inside the partition plate. The thrust ball bearing can be installed outside the partition plate, effectively reducing the thickness of the partition plate and reducing the weight of the frame 100.

[0051] In some embodiments, the first partition plate 120, the second partition plate 130, and the third partition plate 140 are all provided with a plurality of weight reduction holes. The setting of the weight reduction holes can reduce the weight of the frame 100; the wires of the power supply or the controller 500 can also pass through the weight reduction holes, which is beneficial to the circuit layout.

[0052] Specifically, through the weight reduction holes, the electronic components can be fixed on the weight reduction holes by magic tape ties. The electronic components are electronic speed regulators, power supplies, controllers 500, etc. This can not only greatly reduce the extra weight required to fix the electronic components, but also greatly reduce the workload of replacing the power supply because the magic tape ties are very convenient to disassemble and install.

[0053] In some embodiments, there are an even number of flywheels 310, and the rotation directions of two centrally symmetric flywheels 310 are opposite. Although all the flywheels 310 rotating at high speed in the same direction can keep the robot in a horizontal state, uncontrollable rotation will occur in the vertical direction. This not only makes our operation inconvenient, but also may cause the problem of the ropes being entangled with each other. An even number of flywheels 310 are evenly arranged on the lower layer plate around the central axis 110. Although the rotation directions of two centrally symmetric flywheels 310 are opposite, their reaction torques can balance each other, and the working position of the robot can be kept stable. Reference can be made to a tandem rotor helicopter.

[0054] Furthermore, by changing the rotation speeds of the centrally symmetric flywheels 310 so that the rotation speeds of the two flywheels 310 are different, keeping the connection point position between the driving rope 210 and the frame 100 unchanged, and the frame 100 rotates relative to the connection point, multi-angle position transformation of the robot is realized.

[0055] In some embodiments, the rope driving mechanism 200 further includes a rope guiding bracket 240 provided on the frame 100. The rope guiding bracket 240 is provided with a plurality of first wire holes 241 and a plurality of second wire holes 242. The plurality of first wire holes 241 are evenly distributed around the central axis 110, and the second wire holes 242 are open towards the corresponding winches 220. The rope guiding bracket 240 can be integral with the frame 100 or detachably connected to the frame 100. The driving rope 210 is led out from the winch 220, passes through the second wire hole 242, then passes through the first wire hole 241, and finally is connected to the outside. The second wire hole 242 is open towards the winch 220, which can enable the driving rope 210 to pass through the wire guiding ring immediately after winding down from the winch 220, thereby reducing the chance of the rope slipping out of the winch 220; the first wire hole 241 serves as the connection point between the main body of the frame 100 and the external environment. The driving rope 210 passes through the first wire hole 241, enabling the driving rope 210 to pull the robot body.

[0056] In some embodiments, the plurality of first wire holes 241 are provided at the position on the rope guiding bracket 240 closest to the central axis 110. It can be understood that the positions of the four first wire holes 241 are very close to each other and are very small compared to the overall size and movement space of the robot. Therefore, the rope can be approximately regarded as passing through the center point at the top of the robot, that is, the rope acts on a point of the robot. The robot body can rotate around this acting point at this time, and then through the control of the plurality of flywheels 310 of the balance mechanism 300, the robot body can be kept in a balanced state or rotated, realizing the multi-angle and multi-directional movement of the robot.

[0057] In some embodiments, a controller 500 is further included. The controller 500 is provided on the frame 100 and is used to control the rope driving mechanism 200 and the balance mechanism 300. The controller 500 respectively controls the rotation of the first power member 230, so that different driving ropes 210 are respectively stretched to different degrees, enabling the robot to move to different positions; the controller 500 respectively controls the rotation of the second power member 320 to control the plurality of flywheels 310 to rotate at different speeds, enabling the robot to maintain balance or rotate to a certain extent.

[0058] It should be noted that in this specification, terms such as "one embodiment", "some embodiments", "basic embodiment", "extended embodiment" can be used to describe several embodiments of the present invention. The specific features, structures, materials or characteristics in several embodiments can be combined under the premise of conforming to the principles and purposes of the present invention.

[0059] Although some embodiments of the present invention have been shown and described in this specification, the present invention should not be limited to the above embodiments. As long as it achieves the technical effects of the present invention by the same or equivalent means, any changes, modifications, equivalent substitutions, and equivalent variations made to these embodiments within the spirit and principles of the present disclosure and without departing from the principles and purposes of the present invention should be included within the scope of protection of the present disclosure and should be considered to be within the scope of protection of the present invention.

Claims

1. A self - balancing cable - driven robot based on the gyroscopic stability of a high - speed flywheel, characterized in that, it includes: A frame (100), the frame (100) being a centrosymmetric structure with the central axis (110) as the rotation center; A cable - driving mechanism (200), the cable - driving mechanism (200) including a plurality of drive cables (210), a plurality of winches (220), and a plurality of first power components (230). The winches (220) are arranged on the frame (100), the first power components (230) drive the corresponding winches (220) to rotate, one end of the drive cable (210) is connected to the outer wall of the corresponding winch (220), and the other end is for fixation; A balancing mechanism (300), the balancing mechanism (300) including a plurality of flywheels (310) and a plurality of second power components (320). The second power components (320) drive the flywheels (310) to rotate. The plurality of flywheels (310) are evenly arranged on the frame (100) around the central axis (110). The cable - driving mechanism (200) further includes a cable - guiding bracket (240) arranged on the frame (100). The cable - guiding bracket (240) is provided with a plurality of first cable - guiding holes (241) and a plurality of second cable - guiding holes (242). The plurality of first cable - guiding holes (241) are evenly distributed around the central axis (110), the openings of the second cable - guiding holes (242) face the corresponding winches (220), the plurality of first cable - guiding holes (241) are arranged at the position on the cable - guiding bracket (240) closest to the central axis (110), the drive cable (210) is led out from the winch (220), passes through the second cable - guiding hole (242), then passes through the first cable - guiding hole (241), and finally is connected to the outside; A pan - tilt head (400), arranged on the frame (100), and the pan - tilt head (400) is used for loading items; The cable - driving mechanism (200), the balancing mechanism (300), and the pan - tilt head (400) are sequentially installed on the frame (100) from top to bottom.

2. The self - balancing cable - driven robot based on the gyroscopic stability of a high - speed flywheel according to claim 1, characterized in that, The frame (100) is sequentially provided with a first partition (120), a second partition (130), and a third partition (140) from top to bottom, and the first partition (120), the second partition (130), and the third partition (140) are connected by connecting columns.

3. The self - balancing cable - driven robot based on the gyroscopic stability of a high - speed flywheel according to claim 2, characterized in that, One end of the rotating shaft of the winch (220) is rotatably connected to the first partition (120), and the other end is rotatably connected to the second partition (130). The first power component (230) is arranged on the second partition (130), and the output end of the first power component (230) passes through the second partition (130) and is connected to the other end of the rotating shaft of the corresponding winch (220).

4. The self - balancing cable - driven robot based on the gyroscopic stability of a high - speed flywheel according to claim 3, characterized in that, A first thrust ball bearing is connected between one end of the rotating shaft and the first partition plate (120), and a second thrust ball bearing is connected between the other end of the rotating shaft and the second partition plate (130).

5. The self-balancing cable-driven robot based on the axial stability of a high-speed flywheel according to claim 4, wherein, the first partition plate (120), the second partition plate (130), and the third partition plate (140) are each provided with a plurality of weight-reducing holes.

6. The self-balancing cable-driven robot based on the axial stability of a high-speed flywheel according to claim 1, wherein, the flywheels (310) are provided in an even number, and the two centrally symmetric flywheels (310) rotate in opposite directions.

7. The self-balancing cable-driven robot based on the axial stability of a high-speed flywheel according to claim 1, wherein, it further includes a controller (500), the controller (500) is disposed on the frame (100), and the controller (500) is used to control the cable driving mechanism (200) and the balancing mechanism (300).

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