Flywheel balance robot

Abstract

The invention discloses a flywheel balance robot which comprises a robot shell and a flywheel balance device in the shell, the robot shell comprises a robot head, four limbs and a trunk, the robot head is located above the robot trunk, the robot four limbs are located on the two sides of the robot trunk, and the flywheel balance device is located above the robot head. The flywheel balancing device is located in the robot trunk, comprises a controller, a battery pack, a flywheel and a motor and is fixed to the center of the interior of the robot trunk through an aluminum alloy frame. The flywheel of the robot can quickly adjust the rotational inertia and the rotating speed, so that the robot can timely and effectively cope with the situation of unstable balance; through the flywheel effect, the stability and balance performance of the robot are effectively improved, and the robot can be kept stable in various complex environments. The robot balancing device can also be applied to other robots needing balancing capacity, such as a quadruped robot or a wheeled robot.

Description

Technical Field

[0001] The invention relates to a flywheel stabilizing device for regulating the motion posture of a biped robot, in particular to a flywheel-balanced biped humanoid robot, and to the technical field of robot structure and control. Background Art

[0002] Traditional bipedal humanoid robots have always been a challenge in maintaining balance, especially in complex and changing environments. Traditional balance control methods usually rely on sensing devices such as gyroscopes and tilt sensors to obtain the tilt state of the robot, and adjust joint movements through control systems to maintain the balance of the robot. However, in the presence of irregular terrain or external interference, the applicability and effectiveness of traditional methods are limited, resulting in the robot being prone to balance loss. The prior art (patent CN 107127760A) proposes a foot-and-shoe composite humanoid robot that combines the robot with foot tracks to achieve adaptability to most complex terrains. This robot design greatly facilitates the application and popularization of this type of humanoid robot, but the robot's balance depends on the foot tracks, and there is no balancing device on the upper body of the robot.

[0003] In order to solve this challenge, the scientific research community has been seeking new balance control technologies. Among them, using the flywheel effect to enhance the balance performance of the robot has become a method that has attracted much attention. As a rotating mass with angular momentum, the moment of inertia of the flywheel increases with the increase of the speed. By adjusting the moment of inertia and speed of the flywheel, a reverse torque can be generated to restore the robot to balance. Summary of the invention

[0004] In view of the deficiencies of the above-mentioned technology, the purpose of the present invention is to provide a flywheel stabilization device for regulating the motion posture of a bipedal robot, specifically relating to a flywheel-balanced bipedal humanoid robot, which is used to solve the problem that the bipedal robot in the prior art has unsatisfactory balance performance in motion and is prone to tipping over.

[0005] In order to achieve the above-mentioned objectives, the technical solution adopted by the present invention is as follows: a flywheel balancing robot, characterized in that it includes a robot shell and an internal flywheel balancing device, the robot shell includes the robot head, robot limbs, and robot torso, the robot head is located above the robot torso, the robot limbs are located on both sides of the robot torso, the flywheel balancing device is located inside the robot torso, the flywheel balancing device includes a controller, a battery pack, a flywheel, and a motor, and the flywheel balancing device is fixed to the center of the robot torso through an aluminum alloy frame.

[0006] The working principle of this technical solution is:

[0007] The flywheel balancing device is installed in the central position of the robot's trunk through an aluminum alloy frame, which is located at the overall center of gravity of the robot. Through the controller in the flywheel balancing device, a signal is sent out when the robot tips over or the center of gravity is unstable, and instructions are transmitted to control the motor in the flywheel balancing device to rotate clockwise or counterclockwise. When the robot tilts or loses balance, a reverse torque is generated, thereby restoring the robot's balance.

[0008] It is further defined that the flywheel balancing device is located at the center of gravity in the center of the robot body, and the flywheel is connected through the motor and controlled by the controller.

[0009] The balancing control method based on the flywheel effect has the following advantages:

[0010] (1) Fast response: The flywheel can quickly adjust the moment of inertia and rotation speed, allowing the robot to respond to unstable balance situations in a timely and effective manner.

[0011] (2) Improved stability: By utilizing the flywheel effect, the robot’s stability and balance performance are effectively improved, enabling it to remain stable in various complex environments.

[0012] (3) Wide applicability: This method is not only applicable to bipedal humanoid robots, but can also be applied to other robots that require balance capabilities, such as quadruped robots or wheeled robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic structural diagram of a flywheel balancing robot of the present invention, in which the internal joints and the balancing structure in the trunk are outlined by wireframes.

[0014] Figure 2 The figure is a schematic diagram of the front appearance of a flywheel balancing robot according to the present invention.

[0015] Figure 3 This is a cross-sectional position diagram and a cross-sectional view of a flywheel balancing robot of the present invention. The left figure is a cross-sectional view, and the right figure is a cross-sectional position diagram.

[0016] Figure 4 The present invention is a schematic diagram of a motor structure used in a balancing structure of a flywheel balancing robot.

[0017] Figure numbers: 1-robot head, 2-shoulder joint position rotation joint, 3-elbow joint position rotation joint, 4-battery pack and controller, 5-wrist joint position rotation joint, 6-knee joint position rotation joint, 7-ankle joint position rotation joint, 8-robot lower limbs, 9-hip joint position rotation joint, 10-lateral movement device, 11-motor, 12-flywheel, 13-robot torso, 14-robot upper limbs, 15-aluminum alloy frame. DETAILED DESCRIPTION

[0018] The present invention discloses a flywheel balancing robot, such as Figure 1-Figure 4 As shown, it includes a robot shell and an internal flywheel balancing device, the robot shell includes the robot head 1, robot upper limbs 14, robot lower limbs 8 and robot torso 13, the robot head 1 is located above the robot torso 13, the robot upper limbs 14 and robot lower limbs 8 are located on both sides of the robot torso 13, and it is a bipedal humanoid robot, the flywheel balancing device is located inside the robot torso 13, the flywheel balancing device includes a battery pack and controller 4, a lateral moving device 10, a motor 11, a flywheel 12 and an aluminum alloy frame 15, and the flywheel balancing device is fixed to the center of the robot torso 13 through the aluminum alloy frame 15.

[0019] like Figures 1 to 4 As shown, the robot head 1 is located above the robot torso 13. The top of the robot torso 13 has a groove and a link suitable for accommodating and installing the robot head, which is used to install and fix the robot head 1. The robot limbs (robot upper limbs 14, robot lower limbs 8) are located on both sides of the robot torso 13. The left and right sides are respectively composed of the humanoid upper limbs, lower limbs and feet of the robot, which belongs to a bipedal humanoid robot. The robot upper limb 14 includes a motor, a transmission shaft, a shoulder joint position rotation joint 2, an elbow joint position rotation joint 3, and a wrist position rotation joint 5. The motor The transmission shaft is linked to the shoulder joint position rotation joint 2, the elbow joint position rotation joint 3, the transmission shaft, and the wrist position rotation joint 5, and the overall connection method is a series method. The robot lower limb 8 includes a motor, a transmission shaft, a hip joint position rotation joint 9, a knee joint position rotation joint 6, and an ankle joint position rotation joint 7. The motor is linked to the transmission shaft, the hip joint position rotation joint 9, the knee joint position rotation joint 6, the transmission shaft, and the ankle position rotation joint 7. The overall connection method is a series method.

[0020] like Figures 1 to 4As shown, the flywheel balancing device (including a battery pack and a controller 4, a lateral moving device 10, a motor 11, a flywheel 12, and an aluminum alloy frame 15) is located in the central position inside the robot trunk 13, and is fixed to the central position inside the robot trunk 13 through the aluminum alloy frame 15. The lateral moving device 10 is located below the aluminum alloy frame 15. The flywheel balancing device includes a battery pack and a controller 4, a lateral moving device 10, a motor 11, a flywheel 12, and an aluminum alloy frame 15. The flywheel balancing device is installed on the aluminum alloy frame 15 and is connected by bolts and nuts. The flywheel balancing device includes a battery pack and a controller 4, a flywheel 12, and a motor 11. The battery pack and the controller are respectively connected to the battery pack and the motor 11. The edge of the flywheel 12 faces upward and is connected to the motor 11 by fixing bolts.

[0021] The balancing principle is that the flywheel balancing device (including the battery pack and controller 4, the lateral moving device 10, the motor 11, the flywheel 12, and the aluminum alloy frame 15) is based on the physical principle of conservation of angular momentum. By adjusting the rotation speed and moment of inertia of the flywheel 12, a torque opposite to the external disturbance is generated, thereby maintaining the balance of the robot posture. When the robot is disturbed by the outside world (such as tilt or thrust), the built-in controller monitors the tilt angle, acceleration change and rotation rate of the robot in real time. The controller calculates the required reverse torque based on the sensor data, and instructs the motor 11 to drive the flywheel 12 to rotate at a specific speed, thereby generating a torque opposite to the disturbance direction.

[0022] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", etc. is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application 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 cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. The equipment includes not only those elements, but also other elements that are not explicitly listed, or also includes elements inherent to such a process, method, article or equipment. In the absence of further restrictions, the elements defined by the sentence "including a..." do not exclude the existence of other identical elements in the process, method, article or device including the elements. The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined in this article can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown in this article, but will conform to the widest scope consistent with the principles and novel features of the application herein.

Claims

1. A flywheel balancing robot, characterized in that: The invention comprises a robot shell and a flywheel balancing device inside the shell, wherein the robot shell comprises a robot head, robot limbs and a robot trunk, wherein the robot head is located above the robot trunk, and the robot limbs are located on both sides of the robot trunk, and the flywheel balancing device is located inside the robot trunk, and the flywheel balancing device comprises a controller, a battery pack, a flywheel and a motor, wherein the flywheel balancing device is fixed at the center of the robot trunk through an aluminum alloy frame and is located at the overall center of gravity of the robot, and through the controller in the flywheel balancing device, a signal is sent out and an instruction is transmitted when the robot topples over or the center of gravity is unstable, so as to control the motor in the flywheel balancing device to rotate clockwise or counterclockwise, and a reverse torque is generated when the robot tilts or loses balance, thereby restoring the balance of the robot.

2. A flywheel balancing robot according to claim 1, characterized in that: The flywheel balancing device is located at the center of gravity in the center of the robot body. The flywheel is connected through the motor and is controlled and operated by the controller.

3. A flywheel balancing robot according to claim 1, characterized in that: The robot head is located above the robot torso, and the top of the robot torso is provided with a groove and a link suitable for accommodating and installing the robot head, which are used to install and fix the robot head; the robot limbs include robot upper limbs and robot lower limbs, which are located on both sides of the robot torso, and the left and right sides are respectively the humanoid robot upper limbs and robot lower limbs, which belongs to a bipedal humanoid robot, and the robot upper limbs include a motor, a transmission shaft, a shoulder joint position rotation joint, an elbow joint position rotation joint and a wrist position rotation joint, and the motor is linked to the transmission shaft, the shoulder joint position rotation joint, the elbow joint position rotation joint, the transmission shaft, and the wrist position rotation joint, and the overall connection method is a series method; the robot lower limbs include a motor, a transmission shaft, a hip joint position rotation joint, a knee joint position rotation joint, and an ankle joint position rotation joint, and the motor is linked to the transmission shaft, the hip joint position rotation joint, the knee joint position rotation joint, the transmission shaft, and the ankle position rotation joint, and the overall connection method is a series method.

Images