A rotating flywheel momentum regulator for adjusting the fall posture of a quadruped robot

Abstract

This invention relates to the field of momentum regulator technology, and more specifically to a rotary flywheel momentum regulator for adjusting the fall attitude of a quadruped robot. Addressing the shortcomings of existing technologies, this invention utilizes three rotary flywheel momentum regulators, with the axes of the three flywheels perpendicular to each other and located on virtual x, y, and z axes respectively. Applying the principle of conservation of angular momentum, the angular momentum is applied to the quadruped robot in the pitch, yaw, and roll directions, thereby adjusting the robot's attitude during the fall and achieving a smooth landing.

Description

Technical Field

[0001] This invention relates to the field of momentum regulator technology, and more specifically to a rotating flywheel momentum regulator for adjusting the fall posture of a quadruped robot. Background Technology

[0002] With the development of robotics technology, quadruped robots, with their strong load-bearing capacity, stability, and environmental adaptability, are widely used in environmental exploration and rescue. However, when faced with scenarios involving falls from heights, quadruped robots cannot effectively adjust their posture, making them prone to tilting during a fall. This alters their landing posture, increasing the likelihood of tumbling and damaging the robot's structure and electronic components. Consequently, the robot's stability is reduced, limiting its application in certain terrain conditions. Summary of the Invention

[0003] This invention provides a rotating flywheel momentum regulator for adjusting the falling posture of a quadruped robot, the purpose of which is to adjust the posture of the quadruped robot during the falling process.

[0004] The above objectives are achieved through the following technical solutions:

[0005] A rotating flywheel momentum regulator includes a drive mechanism, an adjustment system driven to the drive mechanism, and an energy storage system driven to the adjustment system. The adjustment system is used to engage and disengage the drive mechanism and the energy storage system.

[0006] The drive mechanism includes a motor; the clutch mechanism includes: a friction disc fixed to the motor output shaft, a clutch housing sleeved on the motor output shaft, a pressure disc sleeved on the motor output shaft, a pressure actuator and a diaphragm spring sleeved on the motor output shaft, the pressure actuator being located on the right side of the pressure disc, a portion of the pressure actuator remaining outside the clutch housing and contacting the right side surface of the pressure disc, the remaining portion of the pressure actuator being inside the clutch housing, the diaphragm spring being located inside the clutch housing, the diaphragm spring being positioned between the pressure actuator and the friction disc, the diaphragm spring contacting the surfaces of the pressure actuator and the friction disc, an electromagnet being positioned between the motor and the pressure disc, the clutch housing being fixed to the energy storage system, and the friction disc being able to engage and disengage from the energy storage system.

[0007] The energy storage system includes a left transmission disc fixed to the right end of the clutch housing, a shaft fixed to the left transmission disc, the free end of the inner ring of a torsion spring fixed to the shaft, an energy storage disc fixed to the free end of the outer ring of the torsion spring, a right transmission disc fixed to the right end of the energy storage disc, another shaft fixed to the right transmission disc, a flywheel fixed to the right side of the right transmission disc on the other shaft, a left transmission disc located to the left of the energy storage disc, a friction disc located between the left transmission disc and the clutch housing, and friction transmission can be performed when the friction disc contacts the left transmission disc; 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 to the left of the left transmission disc.

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

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

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

[0012] A rotating flywheel momentum regulator for adjusting the fall posture of a quadruped robot includes a support structure, the support structure including a base and a support frame fixed to the upper end of the base;

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

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

[0015] The base is used to secure it to the top of the quadruped robot.

[0016] One of the flywheels has its axis aligned with the direction of travel of the quadruped robot.

[0017] The beneficial effects of the rotating flywheel momentum regulator for adjusting the falling posture of a quadruped robot in this invention are as follows: In view of the shortcomings of the prior art, this invention provides a rotating flywheel momentum regulator that uses the principle of conservation of angular momentum to adjust the posture of the quadruped robot during the falling process by applying angular momentum in the pitch, yaw and roll directions, thereby achieving a smooth landing of the quadruped robot. Attached Figure Description

[0018] Figure 1This is a front-view stereoscopic diagram of a rotating flywheel momentum regulator used for adjusting the fall posture of a quadruped robot.

[0019] Figure 2 This is a front-view stereoscopic diagram of the internal structure of the present invention;

[0020] Figure 3 This is a rear-view stereoscopic diagram of the internal structure of the present invention;

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

[0022] Figure 5 This is an exploded view of the regulation and energy storage system in this invention.

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

[0024] A rotary flywheel momentum regulator for adjusting the fall posture of a quadruped robot includes a support structure. The support structure includes a base 101 and a support frame 102 fixed to the upper end of the base 101. Storage compartments are formed on the support frame 102 to accommodate other parts. Angle steel 507 can be used to fix the base 101 and the support frame 102, or angle steel 507 can be fixed inside or on top of the support frame 102 to increase structural strength. The base 101 is fixed to the upper end of a quadruped robot platform 601.

[0025] It also includes a detection and 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 an adjustment system, which includes a flywheel 301. The output shaft of a motor 302 drives 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. A driver 303 controls the motor 302. The driver 303 is fixed to the support frame 102 and located in the storage compartment. The motor 302 is fixed to the top of the support frame 102. The motor 302 can be placed inside a motor compartment 509, which 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 disk 401, a torsion spring 402 and an energy storage disk 403; the transfer disk 401 includes a left transfer disk 401-1 and a right transfer disk 401-2.

[0028] Among them, Figure 5 In the middle, the right transfer disk 401-2 is fixed on the right side of the energy storage disk 403. The right transfer disk 401-2 is located on the left side of the flywheel 301. The right transfer disk 401-2 is fixed to the first connecting shaft mount 510. Both the first connecting shaft mount 510 and the flywheel 301 are fixed to the first shaft. The left transfer disk 401-1 is located on the left side of the energy storage disk 403.

[0029] The left transfer disk 401-1 is fixed to the second connecting shaft mount 510, which is in turn fixed to the second shaft. A torsion spring 402 is installed inside the energy storage disk 403. The free end of the inner ring of the torsion spring 402 is fixed to the second shaft where the left transfer disk 401-1 is located, and the free end of the outer circumference of the torsion spring 402 is fixed to the inner wall of the energy storage disk 403 located on the first shaft. The torsion spring 402 is sleeved on the second shaft. The axes of the first and second shafts coincide.

[0030] The adjustment system also includes a clamping plate 508, a pressure plate 511, a power supply 501, a pressure 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 fixed to the left end of the left transmission disc 401-1. The friction disc 504 is located inside the clutch housing 505, between the left transmission disc 401-1 and the clutch housing 505. The friction disc 504 is fixed to the output shaft of the motor 302. Friction transmission can occur when the friction disc 504 contacts the left transmission disc 401-1. The output shaft of the motor 302 passes through the clutch housing 505 but not through the left transmission disc 401-1. A pressure disc 511 is sleeved on the output shaft of the motor 302 to allow the pressure 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 fitted on the output shaft of the motor 302. The pressure actuator 502 is located on the right side of the pressure plate 511. Part of the pressure actuator 502 is outside the clutch housing 505 and in contact with the right side surface of the pressure plate 511, and part of it is placed inside the clutch housing 505. The diaphragm spring 503 is located inside the clutch housing 505 and is between the pressure actuator 502 and the friction plate 504. The diaphragm spring 503 can contact the surfaces of the pressure actuator 502 and the friction plate 504.

[0032] To further explain, the bottom of the clamping plate 508 is fixed to the support frame 102. The clamping plate 508 is installed on both sides of the right transfer plate 401-2 with a certain gap. The electromagnet 506 is fixed to the support frame 102 or to the angle steel 507. The electromagnet 506 is located between the motor 302 and the pressure plate 511. The control board 202 controls the operation of the electromagnet 506 through the relay 203. The electromagnet 506 affects the displacement or deformation of the clamping plate 508 through magnetic force, so that the clamping plate 508 clamps the right transfer plate 401-2, at which time the right transfer plate 401-2 cannot rotate.

[0033] Specifically, electromagnet 506 is a push-pull type electromagnet. This type of existing push-pull electromagnet contains an iron core, around which are coils and a return spring. When energized, the coils around the iron core generate magnetic force, pushing the iron core to move against the spring force of the return spring, thus generating a corresponding pushing force. Therefore, when electromagnet 506 is energized, it generates a pushing force, causing one side of the clamping plate 508 to shift while the other side remains stationary, thereby achieving a clamping effect. Similarly, when electromagnet 506 is de-energized, the generated pushing force disappears, thus releasing the clamping plate 508.

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

[0035] When the inertial measurement unit 201 detects a change in the spatial attitude angle of the quadruped robot, the control board 202 outputs a control signal, which drives the motor 302 to change its speed through the driver 303. The high-frequency pulse signal controls the electromagnet 506 to repeatedly loosen and open the clamping plate 508. The torsion spring 402 slowly releases the stored energy and drives the energy storage plate 403 and the right transfer plate 401-2, finally starting the flywheel 301. At the same time, the thrust of the electromagnet 506 can also push the pressure plate 511, causing the pressure plate 511 to squeeze the pressure device 502. The pressure device 502 squeezes the diaphragm spring 503, causing the diaphragm spring 503 to deform and bounce outwards. This makes the pressure of the diaphragm spring 503 on the friction plate 504 disappear, and the friction plate 504 and the left transfer plate 401-1 are no longer in contact. This stops the friction transmission between the friction plate 504 and the left transfer plate 401-1, cutting off the power from the motor 302 and avoiding affecting the energy release process of the energy storage system.

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

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

Claims

1. A rotating flywheel momentum regulator, comprising a drive mechanism, an adjustment system drivenly connected to the drive mechanism, and an energy storage system drivenly connected to the adjustment system, wherein the adjustment system is used to engage and disengage the drive mechanism and the energy storage system. The drive mechanism includes a motor (302); the clutch mechanism includes: A friction disc (504) is fixed to the output shaft of a motor (302), a clutch housing (505) is sleeved on the output shaft of a motor (302), a pressure disc (511) is sleeved on the output shaft of a motor (302), and a pressure actuator (502) and a diaphragm spring (503) are sleeved on the output shaft of a motor (302). The pressure actuator (502) is located to the right of the pressure disc (511), and a portion of the pressure actuator (502) remains outside the clutch housing (505) and contacts the right side surface of the pressure disc (511). The remaining parts are placed inside the clutch housing (505). The diaphragm spring (503) is located inside the clutch housing (505). The diaphragm spring (503) is located between the actuator (502) and the friction disc (504). The diaphragm spring (503) is in contact with the surfaces of the actuator (502) and the friction disc (504). The electromagnet (506) is set between the motor (302) and the actuator disc (511). The clutch housing (505) is fixedly connected to the energy storage system. The friction disc (504) can engage and disengage from the energy storage system. The energy storage system includes a left transmission disc (401-1) fixed to the right end of the clutch housing (505), a shaft fixed to the left transmission disc (401-1), the free end of the inner ring of a torsion spring (402) fixed to the shaft of the left transmission disc (401-1), an energy storage disc (403) fixed to the free end of the outer ring of the torsion spring (402), a right transmission disc (401-2) fixed to the right end of the energy storage disc (403), and another [unclear text - possibly a component or part] fixed to the right transmission disc (401-2). One shaft, on which a flywheel (301) is fixedly connected to the right side of the right transmission disk (401-2), the left transmission disk (401-1) is located to the left of the energy storage disk (403), and the friction disk (504) is located between the left transmission disk (401-1) and the clutch housing (505). When the friction disk (504) contacts the left transmission disk (401-1), friction transmission can be performed; the axis of the output shaft of the motor (302) coincides with the axis of the flywheel (301).

2. The rotating flywheel momentum regulator according to claim 1, wherein the output shaft of the motor (302) passes through the clutch housing (505) and is located to the left of the left transmission disc (401-1).

3. The rotating flywheel momentum regulator according to claim 1, wherein the torsion spring (402) is located inside the energy storage disk (403), the free end of the outer ring 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.

4. The rotating flywheel momentum regulator according to claim 1, wherein the left transfer disk (401-1) is fixed to the shaft by the first connecting shaft mount (510), and the right transfer disk (401-2) is fixed to the other shaft by the second connecting shaft mount (510).

5. In the rotating flywheel momentum regulator according to claim 1, the electromagnet (506) is a push-pull type electromagnet.

6. The rotating flywheel momentum regulator according to claim 1 further includes a support structure, the support structure including a base (101) and a support frame (102) fixed to the upper end of the base (101). It also includes a detection and control system, which includes an inertial measurement unit (201) fixed on the base (101), and a control board (202) and a relay (203) fixed on the support frame (102); and a driver (303) fixed on the support frame (102). The rotating flywheel momentum regulator is provided with three flywheels (301) with their axes perpendicular to each other and located on a virtual x, y, z axis respectively; the motor (302) and electromagnet (506) are both fixed to the top of the support frame (102).

7. The rotating flywheel momentum regulator according to claim 6, wherein the base (101) is used to be fixed to the top of the quadruped robot.

8. The rotating flywheel momentum regulator according to claim 7, wherein the axis of one of the flywheels (301) is the same as the direction of travel of the quadruped robot.

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