Rotary flywheel momentum regulator for adjusting falling posture of quadruped robot

Abstract

The invention relates to the technical field of momentum adjusters, in particular to a rotating flywheel momentum adjuster used for adjusting the falling posture of a quadruped robot. In order to overcome the defects in the prior art, three flywheel momentum regulators are arranged, axes of three flywheels are perpendicular pairwise and are located on a virtual x axis, a virtual y axis and a virtual z axis respectively, the angular momentum conservation principle is applied, angular momentum in the pitching, yawing and rolling directions is applied to the quadruped robot, the posture of the quadruped robot in the falling process is adjusted, and therefore the quadruped robot falling posture is adjusted. And stable landing of the quadruped robot is realized.

Description

Technical Field

[0001] The invention relates to the technical field of momentum regulators, and more specifically to a rotary flywheel momentum regulator for adjusting the falling posture of a quadruped robot. Background Art

[0002] With the development of robot technology, quadruped robots are widely used in environmental detection, rescue, military and other fields due to their strong carrying capacity, certain stability and environmental adaptability. However, when faced with a high-altitude fall during movement, quadruped robots cannot effectively adjust their posture. They are prone to tilting during the fall, which changes the landing posture of the quadruped robot and makes it more prone to rolling, causing damage to the quadruped robot's main structure and the electronic components it carries, reducing the stability of the quadruped robot's movement and limiting its application in some terrain conditions. Summary of the invention

[0003] The invention provides a rotating flywheel momentum regulator for adjusting the falling posture of a quadruped robot, aiming at adjusting the posture of the quadruped robot during the falling process.

[0004] The above purpose is achieved through the following technical solutions:

[0005] A rotary flywheel momentum regulator comprises a driving mechanism, a regulating system transmission-connected to the driving mechanism, and an energy storage system transmission-connected to the regulating system. The regulating system is used for engaging and disengaging the transmission of the driving mechanism and the energy storage system.

[0006] The driving mechanism includes a motor; the clutch mechanism includes: a friction plate fixedly connected to the output shaft of the motor, a clutch housing sleeved on the output shaft of the motor, a pressure plate sleeved on the output shaft of the motor, an actuator and a diaphragm spring sleeved on the output shaft of the motor, the actuator is located on the right side of the pressure plate, a part of the actuator remains outside the clutch housing and contacts with the right side surface of the pressure plate, the remaining part of the actuator is placed inside the clutch housing, the diaphragm spring is located inside the clutch housing, the diaphragm spring is between the actuator and the friction plate, the diaphragm spring contacts with the actuator and the surface of the friction plate, the electromagnet is arranged between the motor and the pressure plate, the clutch housing is fixedly connected to the energy storage system, and the friction plate can be engaged with and separated from the energy storage system.

[0007] The energy storage system includes a left transfer plate fixedly connected to the right end of the clutch housing, a shaft fixedly connected to the left transfer plate, an inner ring free end of a torsion spring fixedly connected to the shaft, an energy storage plate fixedly connected to an outer ring free end of the torsion spring, a right transfer plate fixedly connected to the right end of the energy storage plate, another shaft fixedly connected to the right transfer plate, a flywheel located on the right side of the right transfer plate fixedly connected to the other shaft, a left transfer plate located on the left side of the energy storage plate, a friction plate located between the left transfer plate and the clutch housing, and friction transmission can be performed when the friction plate contacts the left transfer plate; the axis of the motor output shaft coincides with the axis of the flywheel.

[0008] The motor output shaft passes through the clutch housing and is located on the left side of the left transfer disc.

[0009] The torsion spring is located in the energy storage disk, the free end of the outer ring of the torsion spring is fixedly connected to the inner wall of the energy storage disk, and the torsion spring is sleeved on the shaft.

[0010] The left transfer disc is fixedly connected to the shaft via a first connecting shaft mounter, and the right transfer disc is fixedly connected to the other shaft via a second connecting shaft mounter.

[0011] The electromagnet is a push-pull type electromagnet.

[0012] A rotary flywheel momentum regulator for adjusting the falling posture of a quadruped robot comprises a support structure, wherein the support structure comprises a base and a support frame fixedly connected to the upper end of the base;

[0013] It also includes a detection control system, which includes an inertial measurement unit fixedly connected to the base, a control board and a relay fixedly connected to the support frame; a driver fixedly connected to the support frame;

[0014] The rotating flywheel momentum regulators are provided with three, the axes of the three flywheels are perpendicular to each other and are respectively located on a virtual x, y and z axis; the motor and the electromagnet are both fixedly connected to the top of the support frame.

[0015] The base is used to be fixed on the top of the quadruped robot.

[0016] The axis of one of the flywheels is in the same direction as the quadruped robot's travel.

[0017] The beneficial effects of the rotating flywheel momentum regulator for adjusting the falling posture of a quadruped robot of the present invention are as follows: In view of the deficiencies in the prior art, the present invention provides a rotating flywheel momentum regulator, which uses the principle of conservation of angular momentum to apply angular momentum in the pitch, yaw and roll directions to the quadruped robot, thereby adjusting the posture of the quadruped robot during the falling process and achieving a smooth landing of the quadruped robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1It is a rotating flywheel momentum regulator for adjusting the falling posture of a quadruped robot and a front-view stereoscopic schematic diagram of the quadruped robot;

[0019] Figure 2 It is a front perspective schematic diagram of the internal structure of the present invention;

[0020] Figure 3 It is a rear perspective schematic diagram of the internal structure of the present invention;

[0021] Figure 4 It is a schematic diagram of the structure of the regulation and energy storage system in the present invention;

[0022] Figure 5 It is an exploded diagram of the partial structure of the regulation and energy storage system in the present invention.

[0023] In the figure: 101, base; 102, support frame; 201, inertial measurement unit; 202, control board; 203, relay; 301, flywheel; 302, motor; 303, driver; 401, transfer disk; 402, torsion spring; 403, energy storage disk; 501, power supply; 502, actuator; 503, diaphragm spring; 504, friction disk; 505, clutch housing; 506, electromagnet; 507, angle steel; 508, clamping disk; 509, motor compartment; 510, connecting shaft installer; 511, actuator; 601, quadruped robot platform. DETAILED DESCRIPTION

[0024] A rotary flywheel momentum regulator for adjusting the falling posture of a quadruped robot includes a support structure, wherein the support structure includes a base 101 and a support frame 102 fixedly connected to the upper end of the base 101, and a storage compartment is formed on the support frame 102 to accommodate other parts. An angle steel 507 can be fixed between the base 101 and the support frame 102, or the angle steel 507 can be fixed inside or on the upper part of the support frame 102 to increase the structural strength. The base 101 is fixedly connected to the upper end of the quadruped robot platform 601.

[0025] It also includes a detection control system, which includes an inertial measurement unit 201 fixed to the base 101, and a control board 202 and a relay 203 fixed to the support frame 102 and located in the storage compartment.

[0026] It also includes a regulating system, which includes a flywheel 301, an output shaft of a motor 302 for driving the flywheel 301 to rotate around the output shaft of the motor 302, the axis of the output shaft of the motor 302 coincides with the axis of the flywheel 301, and a driver 303 for controlling the motor 302, the driver 303 is fixed to the support frame 102 and is located in the storage compartment, and the motor 302 is fixed to the top of the support frame 102. The motor 302 can be placed in a motor cabin 509, and the motor cabin 509 is fixed to the top of the support frame 102 to protect the motor 302.

[0027] It also includes an energy storage system, which includes a transfer disc 401, a torsion spring 402 and an energy storage disc 403; the transfer disc 401 includes a left transfer disc 401-1 and a right transfer disc 401-2;

[0028] Among them, Figure 5 In the figure, the right transmission disc 401-2 is fixed on the right side of the energy storage disc 403, the right transmission disc 401-2 is located on the left side of the flywheel 301, the right transmission disc 401-2 is fixedly connected to the first connecting shaft installer 510, the first connecting shaft installer 510 and the flywheel 301 are both fixedly connected to the first shaft, and the left transmission disc 401-1 is located on the left side of the energy storage disc 403;

[0029] The left transfer disk 401-1 is fixedly connected to the second connecting shaft installer 510, the second connecting shaft installer 510 is fixedly connected to the second shaft, the torsion spring 402 is installed in the energy storage disk 403, the inner circle free end of the torsion spring 402 is fixed to the second shaft where the left transfer disk 401-1 is located, the outer peripheral free end of the torsion spring 402 is fixed to the inner wall of the energy storage disk 403 on the first shaft, and the torsion spring 402 is sleeved on the second shaft. The axes of the first shaft and the second shaft coincide;

[0030] The regulating system further includes a clamping plate 508, a pressing plate 511, a power source 501, a pressing device 502, a diaphragm spring 503, a friction plate 504, a clutch housing 505 and an electromagnet 506;

[0031] Among them, for example Figure 5 The clutch housing 505 is fixedly connected to the left end of the left transfer disc 401-1, the friction disc 504 is located in the clutch housing 505, the friction disc 504 is located between the left transfer disc 401-1 and the clutch housing 505, and the friction disc 504 is fixedly connected to the output shaft of the motor 302. When the friction disc 504 contacts the left transfer disc 401-1, friction transmission can be performed. The output shaft of the motor 302 passes through the clutch housing 505 but does not pass through the left transfer disc 401-1. A pressing disc 511 is sleeved on the output shaft of the motor 302 to enable the pressing disc 511 to slide relative to the axis of the output shaft of the motor 302. A pressure actuator 502 and a diaphragm spring 503 are sleeved on the output shaft of the motor 302. The pressure actuator 502 is located on the right side of the pressure plate 511. A portion of the pressure actuator 502 remains outside the clutch housing 505 and contacts the right side surface of the pressure plate 511, and a portion of the pressure actuator 502 is placed inside the clutch housing 505. The diaphragm spring 503 is located inside the clutch housing 505. The diaphragm spring 503 is between the pressure actuator 502 and the friction plate 504, and the diaphragm spring 503 can contact the surface of the pressure actuator 502 and the friction plate 504.

[0032] Further explained, the bottom of the clamping disk 508 is fixedly connected to the support frame 102, and the clamping disk 508 is installed on both sides of the right transfer disk 401-2 with a certain gap. The electromagnet 506 is fixedly connected to the support frame 102 or to the angle steel 507, and the electromagnet 506 is arranged between the motor 302 and the pressure disk 511. The control board 202 controls the electromagnet 506 to work through the relay 203. The electromagnet 506 affects the displacement or deformation of the clamping disk 508 through magnetic force, so that the clamping disk 508 clamps the right transfer disk 401-2, and the right transfer disk 401-2 cannot rotate at this time.

[0033] Specifically, the electromagnet 506 is a push-pull electromagnet. This push-pull electromagnet product in the prior art has an iron core inside, and there are coils and a reset spring around the iron core. After power is turned on, the coils around the iron core will generate magnetic force to push the iron core to overcome the elastic force of the reset spring and move, thereby generating a corresponding thrust. Therefore, after power is turned on, the electromagnet 506 can generate thrust, causing the surface of one side of the clamping disk 508 to move while the other side remains stationary, thereby achieving a clamping effect; similarly, after the electromagnet 506 is powered off, the thrust generated disappears, thereby loosening the clamping disk 508.

[0034] When the output shaft of the motor 302 rotates, the output shaft of the motor 302 drives the friction disk 504 to rotate around the output shaft of the motor 302, and the friction disk 504 drives the left transfer disk 401-1 to rotate around the output shaft of the motor 302. The rotational motion of the left transfer disk 401-1 is transmitted to the torsion spring 402 to store the rotational potential energy.

[0035] When the inertial measurement unit 201 detects that the spatial attitude angle of the quadruped robot changes, the control board 302 outputs a control signal, drives the motor 302 to change its speed through the driver 303, and controls the electromagnet 506 through a high-frequency pulse signal to repeatedly release the clamping disk 508, and the torsion spring 402 slowly releases the stored energy and drives the energy storage disk 403 and the right transfer disk 401-2, and finally starts the flywheel 301; at the same time, the thrust of the electromagnet 506 can also push the pressing disk 511, so that the pressing disk 511 squeezes the actuator 502, and the actuator 502 squeezes the diaphragm spring 503, causing the diaphragm spring 503 to deform, causing the diaphragm spring 503 to bounce outward on all sides, so that the pressure of the diaphragm spring 503 on the friction disk 504 disappears, and the friction disk 504 is out of contact with the left transfer disk 401-1, so that the friction transmission between the friction disk 504 and the left transfer disk 401-1 stops, so that the power from the motor 302 is cut off, avoiding affecting the energy release process of the energy storage system;

[0036] When the energy storage system has released its energy, the control board 202 controls the electromagnet 506 to loosen the clamping disk 508 and release the pressing disk 511. The power from the motor 302 is transferred to the left transfer disk 401-1 through the friction disk 504, and finally transferred to the flywheel 301 through the energy storage system to maintain the rotation of the flywheel 301.

[0037] The adjustment system is provided with three flywheels 301, and the axes of the three flywheels 301 are perpendicular to each other and are respectively located on a virtual x, y, and z axis. The power supply 501 is fixedly connected to the base 101 and is used to supply power to the motor 302, the inertial measurement unit 201, the control board 202, the relay 203, and the electromagnet 506.

Claims

1. A rotary flywheel momentum regulator, comprising a driving mechanism, a regulating system transmission-connected to the driving mechanism, and an energy storage system transmission-connected to the regulating system, wherein the regulating system is used to engage and disengage the transmission of the driving mechanism and the energy storage system.

2. The rotary flywheel momentum regulator according to claim 1, wherein the driving mechanism comprises a motor (302); and the clutch mechanism comprises: A friction plate (504) is fixedly connected to the output shaft of the motor (302); a clutch housing (505) is sleeved on the output shaft of the motor (302); a pressure plate (511) is sleeved on the output shaft of the motor (302); a pressure device (502) and a diaphragm spring (503) are sleeved on the output shaft of the motor (302); the pressure device (502) is located on the right side of the pressure plate (511); a part of the pressure device (502) is left outside the clutch housing (505) and contacts the right side surface of the pressure plate (511); the pressure device (502) ) The rest of the components are placed inside the clutch housing (505), the diaphragm spring (503) is located inside the clutch housing (505), the diaphragm spring (503) is between the actuator (502) and the friction disk (504), the diaphragm spring (503) is in surface contact with the actuator (502) and the friction disk (504), the electromagnet (506) is arranged between the motor (302) and the actuator disk (511), the clutch housing (505) is fixedly connected to the energy storage system, and the friction disk (504) can be engaged with and separated from the energy storage system.

3. The rotating flywheel momentum regulator according to claim 2, wherein the energy storage system comprises a left transfer disc (401-1) fixedly connected to the right end of the clutch housing (505), a shaft fixedly connected to the left transfer disc (401-1), an inner ring free end of a torsion spring (402) fixedly connected to the shaft, an energy storage disc (403) fixedly connected to the outer ring free end of the torsion spring (402), a right transfer disc (401-2) fixedly connected to the right end of the energy storage disc (403), and a right transfer disc (401-2) fixedly connected to the right end of the right transfer disc (401-2). ), the flywheel (301) being fixedly connected to the other shaft and being located on the right side of the right transfer disc (401-2); the left transfer disc (401)-(1) being located on the left side of the energy storage disc (403); the friction disc (504) being located between the left transfer disc (401-1) and the clutch housing (505); and friction transmission can be performed when the friction disc (504) contacts the left transfer disc (401-1); and the axis of the output shaft of the motor (302) coincides with the axis of the flywheel (301).

4. According to the rotary flywheel momentum regulator of claim 3, the output shaft of the motor (302) passes through the clutch housing (505) and is located on the left side of the left transfer disc (401-1).

5. According to the rotating flywheel momentum regulator of claim 3, the torsion spring (402) is located inside the energy storage disk (403), the outer ring free end of the torsion spring (402) is fixed to the inner wall of the energy storage disk (403), and the torsion spring (402) is sleeved on the shaft.

6. According to the rotating flywheel momentum regulator of claim 3, the left transfer disk (401-1) is fixedly connected to the shaft through a first connecting shaft installer (510), and the right transfer disk (401-2) is fixedly connected to the other shaft through a second connecting shaft installer (510).

7. The rotary flywheel momentum regulator according to claim 3, wherein the electromagnet (506) is a push-pull electromagnet.

8. A rotary flywheel momentum regulator for adjusting the falling posture of a quadruped robot, comprising a support structure, the support structure comprising a base (101) and a support frame (102) fixedly connected to the upper end of the base (101); further comprising a detection control system, the detection control system comprising an inertial measurement unit (201) fixedly connected to the base (101), and a control board (202) and a relay (203) fixedly connected to the support frame (102); a driver (303) fixedly connected to the support frame (102); The rotating flywheel momentum regulator is provided with three flywheels (301), the axes of which are perpendicular to each other and respectively located on a virtual x, y, and z axis; the motor (302) and the electromagnet (506) are both fixedly connected to the top of the support frame (102).

9. According to the rotary flywheel momentum regulator of claim 8, the base (101) is used to be fixedly connected to the top of the quadruped robot.

10. The rotary flywheel momentum regulator according to claim 8, wherein the axis of one flywheel (301) is the same as the direction of travel of the quadruped robot.

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