Wheeled humanoid robot based on magnetorheological fluid
By using the buffer and auxiliary mechanisms of magnetorheological fluid, the vibration reduction and stability problems of wheeled humanoid robots on rough roads were solved, achieving efficient vibration reduction and support stability, and extending the service life of the magnetorheological fluid.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-02-02
- Publication Date
- 2026-03-10
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Existing wheeled humanoid robots struggle to maintain motion and support stability on rough terrain and are prone to tipping over due to bumps; current vibration reduction technologies have failed to effectively address this issue.
A buffer and auxiliary mechanism based on magnetorheological fluid is adopted. Vibration energy is converted through a floating seat and linkage structure. The damping force is controlled by the magnetic field of the magnetorheological fluid. Real-time vibration reduction and support stability control are achieved by combining tilt sensors and electric push rods.
It improves vibration reduction, enhances the stability of the chassis, prevents tipping, extends the service life of the magnetorheological fluid, and improves the support stability and endurance of the robot body.
Smart Images
Figure CN121626046A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of robotics, and more particularly to a wheeled humanoid robot based on magnetorheological fluid. Background Technology
[0002] With the rapid development of robotics technology, wheeled humanoid robots, with their advantages of combining the high efficiency of wheeled mobility with the environmental adaptability of humanoid structures, are widely used in complex scenarios such as industrial inspection, public services, and emergency rescue. In actual operation, robots inevitably face various dynamic loads such as bumpy roads, obstacle impacts, and inertial vibrations during start-stop. These loads not only affect the robot's motion stability and posture control accuracy, but may also damage the precision electronic components inside the robot, shorten the service life of the equipment, or even cause safety hazards such as work interruption. Therefore, an efficient and stable vibration reduction system is one of the core technologies for wheeled humanoid robots to achieve reliable operation in complex environments. The vibration of wheeled robots mainly comes from bumpy roads. However, existing technologies mainly reduce the transmission of external road surface excitation to the robot body, without considering that the robot's own stability will also be affected on bumpy roads, making it difficult to ensure the robot's support stability during buffering. Summary of the Invention
[0003] The purpose of this invention is to overcome the shortcomings of existing technologies and propose a wheeled humanoid robot based on magnetorheological fluid. This invention uses a buffer mechanism so that when the floating seat moves downward due to vibration, the floating seat pushes two supports to extend to both sides of the chassis through two connecting rods, thereby converting vibration energy into the kinetic energy of the support sliding, further improving the vibration reduction effect. In addition, after the supports extend, they can provide auxiliary support to both sides of the chassis, thereby improving the stability of the chassis during vibration and preventing the device from tipping over on bumpy roads.
[0004] To achieve the above objectives, the present invention adopts the following technical solution: a wheeled humanoid robot based on magnetorheological fluid, comprising a chassis and a robot body. A support is fixed on the top outer wall of the chassis, and a floating seat is slidably fitted on the outer wall of the support. The robot body is rotatably connected to the top of the floating seat via a connecting joint. A power storage unit is provided on the outer wall of the chassis. A buffer mechanism and an auxiliary mechanism are provided on the chassis. The buffer mechanism includes a cavity disposed within the support, the cavity being filled with magnetorheological fluid. An excitation coil electrically connected to the power storage unit is slidably fitted on the outer wall of the support. A resistance plate is rotatably connected to the inner wall of the body via a rotating shaft. A throttling hole is provided on the outer wall of the resistance plate. A gear is installed on the rotating shaft of the resistance plate. A rack that meshes with the gear is installed on the bottom outer wall of the floating seat. A first spring is provided between the top inner wall of the floating seat and the top outer wall of the support. A pair of brackets symmetrically distributed on both sides of the support are slidably inserted into the outer wall of the chassis. A universal wheel is installed on the outer wall of each bracket. A pair of symmetrically distributed connecting rods are rotatably connected to the outer wall of the floating seat. The outer wall of each connecting rod away from the floating seat is rotatably connected to the outer wall of the bracket.
[0005] Preferably, the auxiliary mechanism includes a partition that divides the cavity into two parts, an electric push rod is installed on the top inner wall of the support, the output end of the electric push rod is fixed on the outer wall of the excitation coil, an inclination sensor for detecting the tilt direction of the connecting joint is installed on the outer wall of the connecting joint, the inclination sensor is electrically connected to the electric push rod through a controller signal, and a pair of symmetrically distributed support rods are slidably inserted into the top outer wall of the cavity divided into two parts by the partition.
[0006] Preferably, the support rod passes through the top outer wall of the floating seat, and a protrusion that abuts against the support rod is provided on the bottom outer wall of the connecting joint.
[0007] Preferably, each of the support rods has a cavity on its outer wall, each cavity is connected to its adjacent cavity, and a third spring is provided between the outer wall of each support rod and the top outer wall of the support.
[0008] Preferably, a resistance adjustment element electrically connected to the excitation coil is fixed on the inner wall of the support, and a support rod is provided on the top inner wall of the floating seat, with a vibration sensor fixed at the end of the support rod away from the floating seat.
[0009] Preferably, a switching unit electrically connected to the excitation coil is fixed on the top inner wall of the support, the resistance adjustment element and the switching unit are connected in series in the circuit of the excitation coil, and the vibration sensor is electrically connected to the resistance adjustment element and the switching unit through a controller signal.
[0010] Preferably, a mounting bracket is provided on the bottom outer wall of the vehicle body, which is coaxially distributed with the cavity, and a power generation coil electrically connected to the power storage unit is installed on the inner wall of the mounting bracket.
[0011] Preferably, a permanent magnet located within a mounting bracket is installed on the outer wall of the end of the gear furthest from the cavity.
[0012] Compared with the prior art, the beneficial effects of the present invention are: 1. The present invention, through the buffer mechanism, enables the floating seat to push the two supports to extend to both sides of the chassis through two connecting rods when the floating seat moves down due to vibration, thereby converting the vibration energy into the kinetic energy of the support sliding, further improving the vibration reduction effect. In addition, after the supports extend, they can provide auxiliary support to both sides of the chassis, thereby improving the stability of the chassis during vibration and preventing the device from overturning on bumpy roads.
[0013] 2. This invention utilizes a resistance adjustment element to change the current of the excitation coil. When the robot body experiences low-frequency, high-amplitude vibrations, the floating seat drives the support rod to vibrate synchronously. At this time, the vibration sensor's detection value triggers the switching unit, energizing the excitation coil and causing the magnetorheological fluid inside the cavity to start working. Simultaneously, the vibration sensor activates the resistance adjustment element through the controller. The resistance adjustment element reduces the resistance in the excitation coil circuit, thereby increasing the current in the excitation coil. Furthermore, the greater the vibration amplitude, the greater the reduction in resistance by the resistance adjustment element, resulting in a larger current in the excitation coil. Consequently, the magnetic field applied to the magnetorheological fluid inside the cavity becomes stronger, and the vibration damping and buffering effect of the magnetorheological fluid becomes better. This achieves real-time control of the vibration damping effect based on the vibration intensity.
[0014] 3. The present invention, through the auxiliary mechanism, enables the tilt sensor to detect the tilt direction of the robot body, and drives the output end of the electric push rod to move in the tilt direction of the robot body via the controller signal. This causes the electric push rod to push the excitation coil to the outer wall of the cavity on the side closer to the robot body, thereby increasing the flow resistance of the magnetorheological fluid in that cavity. At this time, the magnetorheological fluid hinders the downward movement of the support rod on the same side, so that the support rod provides a near-rigid support effect for the connecting joint. This ensures that the angle of the connecting joint is locked during vibration, further improving the support stability of the robot body. Attached Figure Description
[0015] Figure 1 This is a three-dimensional schematic diagram of the overall structure proposed in this invention; Figure 2 This is a three-dimensional schematic diagram of the robot body proposed in this invention; Figure 3 This is a three-dimensional schematic diagram of the vehicle chassis proposed in this invention; Figure 4This is a three-dimensional sectional view of the floating seat proposed in this invention; Figure 5 This is a three-dimensional sectional view of the mounting bracket proposed in this invention; Figure 6 This is a three-dimensional schematic diagram of the support proposed in this invention; Figure 7 This is a three-dimensional sectional view of the cavity proposed in this invention; Figure 8 This is a three-dimensional schematic diagram of the buffer mechanism proposed in this invention; Figure 9 This is a three-dimensional schematic diagram of the auxiliary mechanism proposed in this invention; Figure 10 This is a three-dimensional sectional view of the support rod proposed in this invention.
[0016] Legend: 1. Chassis; 11. Support; 111. Cavity; 112. Partition; 113. Electric push rod; 114. Excitation coil; 115. Resistance adjustment element; 117. Switching unit; 12. Energy storage unit; 13. Mounting frame; 131. Generating coil; 2. Robot body; 21. Connecting joint; 211. Tilt sensor; 212. Protrusion; 22. Floating seat; 221. First spring; 222. Link; 223. Bracket; 224. Support rod; 225. Vibration sensor; 23. Rack; 3. Resistance plate; 31. Throttling orifice; 32. Gear; 33. Permanent magnet; 4. Support rod; 41. Third spring; 42. Cavity. Detailed Implementation
[0017] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.
[0018] See Figures 1 to 10 As shown, a wheeled humanoid robot based on magnetorheological fluid includes a wheel 1 and a robot body 2. A support 11 is fixed on the top outer wall of the wheel 1, and a floating seat 22 is slidably sleeved on the outer wall of the support 11. The robot body 2 is rotatably connected to the top of the floating seat 22 through a connecting joint 21. An electric storage unit 12 is provided on the outer wall of the wheel 1, and a buffer mechanism and an auxiliary mechanism are provided on the wheel 1. The buffer mechanism includes a cavity 111 disposed within the support 11, the cavity 111 being filled with magnetorheological fluid, an excitation coil 114 electrically connected to the power storage unit 12 being slidably sleeved on the outer wall of the support 11, a resistance plate 3 being rotatably connected to the inner wall of the cavity 111 via a rotating shaft, a throttling hole 31 being opened on the outer wall of the resistance plate 3, a gear 32 being mounted on the rotating shaft of the resistance plate 3, a rack 23 being mounted on the bottom outer wall of the floating seat 22 and meshing with the gear 32, a first spring 221 being disposed between the top inner wall of the floating seat 22 and the top outer wall of the support 11, a pair of symmetrically distributed brackets 223 being slidably inserted into the outer wall of the wheel 1, each bracket 223 having a universal wheel mounted on its outer wall, a pair of symmetrically distributed connecting rods 222 being rotatably connected to the outer wall of the floating seat 22, each connecting rod 222 having its outer wall away from the floating seat 22 being rotatably connected to the outer wall of the bracket 223.
[0019] It should be noted that magnetorheological fluid, as a typical intelligent and controllable fluid, has the core characteristic of being able to achieve millisecond-level control of apparent viscosity and shear strength under the action of an external magnetic field. Moreover, this control process is reversible, continuous, and precise. When magnetorheological fluid is applied to a vibration reduction system, the magnetic field strength can be changed by adjusting the current intensity of the excitation coil 114 in real time, thereby dynamically controlling the damping force of the magnetorheological fluid. This allows the vibration reduction system to quickly adapt to impact loads of different intensities. Compared with traditional vibration reduction technologies, magnetorheological fluid vibration reduction systems have significant advantages such as fast response speed, wide damping adjustment range, compact structure, high control precision, and low maintenance cost, which can precisely make up for the shortcomings of existing wheeled humanoid robot vibration reduction solutions.
[0020] When the pallet 1 travels on a bumpy road, the vibration is transmitted to the robot body 2 through the pallet 1, causing the robot body 2 and the floating seat 22 to rise and fall synchronously. Whenever the floating seat 22 moves up and down, the floating seat 22 drives the rack 23 to move synchronously. Under the meshing action of the rack 23 and the gear 32, the gear 32 drives the resistance plate 3 to rotate in the cavity 111. After the excitation coil 114 outside the cavity 111 is energized, a magnetic field is generated, which causes the formation of the magnetorheological fluid particle chain structure, changes in rheological properties, and increases in flow resistance in the cavity 111. As a result, the resistance plate 3 will shear the magnetorheological fluid particle chain structure during rotation, which reduces the flowability of the magnetorheological fluid through the throttling orifice 31 and increases the rotational resistance of the resistance plate 3, thereby hindering the floating seat 22 and the robot body 2 from vibrating significantly, thus achieving the effect of vibration reduction and buffering for the robot body 2.
[0021] Meanwhile, the first spring 221 is a high-strength spring, which can provide elastic support and reset for the floating seat 22 and the robot body 2. In the initial state, the floating seat 22 drives the rack 23 to move upward away from the chassis 1, ensuring that the rack 23 has enough stroke to mesh with the gear 32 when vibration occurs, without being obstructed by the top outer wall of the chassis 1. When the floating seat 22 moves downward due to vibration, the floating seat 22 pushes the two supports 223 to extend to both sides of the chassis 1 through the two connecting rods 222, thereby converting the vibration energy into the kinetic energy of the support 223 sliding, further improving the vibration reduction effect. In addition, the outer wall of the chassis 1 is provided with a limiting groove for guiding the support 223. After the support 223 extends, it can provide auxiliary support to both sides of the chassis 1, thereby improving the stability of the chassis 1 when vibration occurs and preventing the device from overturning on bumpy roads.
[0022] The auxiliary mechanism includes a partition 112 that divides the cavity 111 in two. An electric push rod 113 is installed on the top inner wall of the support 11. The output end of the electric push rod 113 is fixed on the outer wall of the excitation coil 114. An inclination sensor 211 for detecting the tilt direction of the connecting joint 21 is installed on the outer wall of the connecting joint 21. The inclination sensor 211 is electrically connected to the electric push rod 113 through a controller signal. A pair of symmetrically distributed support rods 4 are slidably inserted into the top outer wall of the cavity 111 divided in two by the partition 112. The support rods 4 penetrate the top outer wall of the floating seat 22. A protrusion 212 that abuts against the support rods 4 is provided on the bottom outer wall of the connecting joint 21. A cavity 42 is opened on the outer wall of each support rod 4. Each cavity 42 is connected to its adjacent cavity 111. A third spring 41 is provided between the outer wall of each support rod 4 and the top outer wall of the support 11.
[0023] It should be noted that, since the robot body 2 changes its tilt state during operation, and when the chassis 1 travels on a bumpy road, prolonged vibration will affect the locking of the connecting joint 21 to the angle of the robot body 2. This invention uses a tilt sensor 211 to detect the tilt direction of the robot body 2, and drives the output end of the electric push rod 113 to move in the tilt direction of the robot body 2 through a controller signal. This causes the electric push rod 113 to push the excitation coil 114 to the outer wall of the cavity 111 on the side close to the robot body 2. The magnetic field generated by the excitation coil 114 is coaxially distributed with the cavity 111 and covers the magnetorheological fluid inside the cavity 111. This increases the flow resistance of the magnetorheological fluid in the cavity 111 on that side. The bottom of the support rod 4 should be in direct contact with the magnetorheological fluid. The shear yield strength of the magnetorheological fluid generates resistance. At this time, the magnetorheological fluid prevents the support rod 4 on the same side from moving down, so that the support rod 4 provides an almost rigid support effect for the connecting joint 21. This ensures that the angle of the connecting joint 21 is locked during vibration, further improving the support stability of the robot body 2.
[0024] Furthermore, during the aforementioned process, when the excitation coil 114 moves to the outer wall of one side cavity 111, the magnetorheological fluid in the other side cavity 111 is in a state of no external magnetic field or weak magnetic field. At this time, under the action of the rack 23 and gear 32 in the aforementioned buffer mechanism, the resistance plate 3 can stir the magnetorheological fluid in the side cavity 111 without magnetic field, preventing the particles inside the magnetorheological fluid from settling and causing performance degradation, thereby improving the service life of the magnetorheological fluid. Similarly, when the tilt direction of the robot body 2 changes, the excitation coil 114 moves synchronously to the outer wall of the cavity 111 on the new tilt direction side, thereby realizing the alternating operation of the magnetorheological fluid in the two cavities 111, further improving the service life of the magnetorheological fluid.
[0025] A resistance adjustment element 115 electrically connected to the excitation coil 114 is fixed on the inner wall of the support 11. A support rod 224 is provided on the top inner wall of the floating seat 22. A vibration sensor 225 is fixed at the end of the support rod 224 away from the floating seat 22. A switch unit 117 electrically connected to the excitation coil 114 is fixed on the top inner wall of the support 11. The resistance adjustment element 115 and the switch unit 117 are connected in series in the circuit of the excitation coil 114. The vibration sensor 225 is electrically connected to the resistance adjustment element 115 and the switch unit 117 through a controller signal. A mounting bracket 13 is provided on the bottom outer wall of the chassis 1, which is coaxially distributed with the cavity 111. A generator coil 131 electrically connected to the power storage unit 12 is installed on the inner wall of the mounting bracket 13. A permanent magnet 33 located in the mounting bracket 13 is installed on the outer wall of the end of the gear 32 away from the cavity 111.
[0026] It should be noted that in the initial state, the switch unit 117 is in the closed state, and the excitation coil 114 is not energized. The vibration amplitude is detected by the vibration sensor 225. When the detection value of the vibration sensor 225 reaches the preset value, the controller triggers the switch unit 117 to close, so that the circuit where the excitation coil 114 is located is turned on. The resistance adjustment element 115 can be an MCP series digital potentiometer. The vibration sensor 225 converts the detection value into an electrical signal and activates the resistance adjustment element 115 through the controller. As the amplitude increases, the resistance adjustment element 115 will continuously reduce the resistance in the circuit.
[0027] When the robot body 2 vibrates at a high frequency and a small amplitude, the floating seat 22 drives the support rod 224 to vibrate synchronously. At this time, the detection value of the vibration sensor 225 will not trigger the switch unit 117. Under the meshing action of the rack 23 and the gear 32, the gear 32 drives the permanent magnet 33 to rotate on the mounting frame 13, causing the power generation coil 131 to continuously cut the magnetic field lines, resulting in a change in the magnetic flux inside the power generation coil 131, thereby generating an induced electromotive force. This realizes the conversion of vibration energy into electrical energy and stores it in the power storage unit 12, improving the endurance of the robot body 2. In addition, the magnetic field of the permanent magnet 33 can also act on the magnetorheological fluid in the cavity 111, causing the particles inside the magnetorheological fluid to arrange according to the magnetic field distribution, further preventing the magnetorheological fluid from settling when it is not working for a long time.
[0028] When the robot body 2 experiences low-frequency, high-amplitude vibration, the floating seat 22 drives the support rod 224 to vibrate synchronously. At this time, the detection value of the vibration sensor 225 triggers the switching unit 117, energizing the excitation coil 114. The magnetorheological fluid in the cavity 111 then begins to work. Simultaneously, the vibration sensor 225 activates the resistance adjustment element 115 through the controller. The resistance adjustment element 115 reduces the resistance in the circuit of the excitation coil 114, thereby increasing the current of the excitation coil 114. Furthermore, as the vibration amplitude increases, the resistance adjustment element 115 reduces the resistance value more, resulting in a larger current in the excitation coil 114. Consequently, the magnetic field applied to the magnetorheological fluid in the cavity 111 becomes stronger, and the vibration damping and buffering effect of the magnetorheological fluid is better, achieving real-time adjustment of the vibration damping effect based on the vibration intensity.
[0029] Working principle: When the robot body 2 vibrates at a high frequency and small amplitude, the floating seat 22 drives the support rod 224 to vibrate synchronously. At this time, the detection value of the vibration sensor 225 will not trigger the switching unit 117. Under the meshing action of the rack 23 and the gear 32, the gear 32 drives the permanent magnet 33 to rotate on the mounting frame 13, causing the power generation coil 131 to continuously cut the magnetic field lines, resulting in a change in the magnetic flux inside the power generation coil 131, thereby generating an induced electromotive force. This realizes the conversion of vibration energy into electrical energy and stores it in the power storage unit 12, improving the endurance of the robot body 2. Furthermore, the magnetic field of the permanent magnet 33 can also be used for... The magnetorheological fluid used in the cavity 111 arranges the particles inside the magnetorheological fluid according to the magnetic field distribution. This allows the magnetorheological fluid particles to resist gravity through the magnetic field of the permanent magnet 33 when the vibration amplitude is small, resulting in insufficient meshing rotation amplitude between the rack 23 and the gear 32. This further prevents the magnetorheological fluid from settling when it is not working for a long time. In addition, the support rod 224 is a rod with a certain degree of elasticity. The vibration sensor 225 is installed at the bottom of the support rod 224, which allows the support rod 224 to amplify the vibration amplitude of the floating seat 22 and improve the detection sensitivity of the vibration sensor 225. When the robot body 2 experiences low-frequency, high-amplitude vibration, the floating seat 22 drives the support rod 224 to vibrate synchronously. At this time, the detection value of the vibration sensor 225 triggers the switching unit 117, energizes the excitation coil 114, and the magnetorheological fluid in the cavity 111 begins to work. Simultaneously, the vibration sensor 225 activates the resistance adjustment element 115 through the controller. The resistance adjustment element 115 can reduce the resistance in the circuit of the excitation coil 114, thereby increasing the current of the excitation coil 114. As the vibration amplitude increases, the resistance adjustment element 115 reduces the resistance value more, resulting in a larger current in the excitation coil 114. This, in turn, makes the magnetic field applied to the magnetorheological fluid in the cavity 111 stronger, and the vibration damping and buffering effect of the magnetorheological fluid better. This achieves real-time adjustment of the vibration damping effect according to the vibration intensity. It should be noted that the working environment temperature of this device needs to be higher than the freezing point of the magnetorheological fluid and lower than the temperature at which the magnetorheological fluid particles agglomerate, to avoid extreme temperatures causing the performance of the magnetorheological fluid to degrade or fail. Under the action of the buffer mechanism, the excitation coil 114 outside the cavity 111 generates a magnetic field after being energized, which causes the formation of a chain-like structure of magnetorheological fluid particles in the cavity 111, changes in rheological properties, and an increase in flow resistance. As a result, the resistance plate 3 will shear the chain-like structure of magnetorheological fluid particles during rotation, which reduces the fluidity of the magnetorheological fluid through the throttling orifice 31 and increases the rotational resistance of the resistance plate 3, thereby hindering the floating seat 22 and the robot body 2 from vibrating significantly, thus achieving the effect of vibration reduction and buffering for the robot body 2. Meanwhile, when the floating seat 22 moves downward due to vibration, the floating seat 22 pushes the two supports 223 to extend to both sides of the platen 1 through the two connecting rods 222, thereby converting the vibration energy into the kinetic energy of the support 223 sliding, which further improves the vibration reduction effect. In addition, the outer wall of the platen 1 is provided with a limiting groove for guiding the support 223. After the support 223 extends, it can provide auxiliary support to both sides of the platen 1, thereby improving the stability of the platen 1 during vibration and preventing the device from overturning on bumpy roads. Under the action of the auxiliary mechanism, the tilt direction of the robot body 2 is detected by the tilt sensor 211, and the output end of the electric push rod 113 is driven to move in the tilt direction of the robot body 2 through the controller signal. This causes the electric push rod 113 to push the excitation coil 114 to move to the outer wall of the cavity 111 on the side close to the robot body 2. The magnetic field generated by the excitation coil 114 is coaxially distributed with the cavity 111 and covers the magnetorheological fluid inside the cavity 111. This increases the flow resistance of the magnetorheological fluid in the cavity 111 on this side. The bottom of the support rod 4 should be in direct contact with the magnetorheological fluid. The shear yield strength of the magnetorheological fluid generates resistance. At this time, the magnetorheological fluid hinders the downward movement of the support rod 4 on the same side, thus... The support rod 4 provides near-rigid support to the connecting joint 21, thereby ensuring that the angle of the connecting joint 21 is locked during vibration, further improving the support stability of the robot body 2. The support rod 4 is inserted into the support 1 through a dynamic sealing connection and extends into the cavity 111. Since the support rod 4 moves up or down with the rotation of the connecting joint 21, the cavity 42 allows the magnetorheological fluid to enter the cavity 42 when no magnetic field is applied, thereby compensating for the change in the internal volume of the cavity 111 caused by the up and down movement of the support rod 4. When an external magnetic field is applied, the fluidity of the magnetorheological fluid decreases, making it difficult to enter the cavity 42, thus enabling the support rod 4 to provide auxiliary support for the connecting joint 21.
[0030] Furthermore, during the aforementioned process, when the excitation coil 114 moves to the outer wall of one side cavity 111, the magnetorheological fluid in the other side cavity 111 is in a state of no external magnetic field or weak magnetic field. At this time, under the action of the rack 23 and gear 32 in the aforementioned buffer mechanism, the resistance plate 3 can stir the magnetorheological fluid in the side cavity 111 without magnetic field, preventing the particles inside the magnetorheological fluid from settling and causing performance degradation, thereby improving the service life of the magnetorheological fluid. Similarly, when the tilt direction of the robot body 2 changes, the excitation coil 114 moves synchronously to the outer wall of the cavity 111 on the new tilt direction side, thereby realizing the alternating operation of the magnetorheological fluid in the two cavities 111, further improving the service life of the magnetorheological fluid.
[0031] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.
Claims
1. A wheeled humanoid robot based on magneto-rheological fluid, comprising a car disc (1) and a robot body (2), characterized in that: a support (11) is fixed on the top outer wall of the car disc (1), a floating seat (22) is slidably sleeved on the outer wall of the support (11), the robot body (2) is rotatably connected to the top end of the floating seat (22) through a connecting joint (21), an electricity storage unit (12) is arranged on the outer wall of the car disc (1), and a buffering mechanism and an auxiliary mechanism are arranged on the car disc (1); the buffering mechanism comprises a cavity (111) arranged in the support (11), the cavity (111) is filled with magneto-rheological fluid, an excitation coil (114) electrically connected with the electricity storage unit (12) is slidably sleeved on the outer wall of the support (11), a resistance plate (3) is rotatably connected to the inner wall of the cavity (111) through a rotating shaft, a throttle hole (31) is formed in the outer wall of the resistance plate (3), a gear (32) is installed on the rotating shaft of the resistance plate (3), a rack (23) meshing with the gear (32) is installed on the bottom outer wall of the floating seat (22), a first spring (221) is arranged between the top inner wall of the floating seat (22) and the top outer wall of the support (11), a pair of supports (223) symmetrically distributed on both sides of the support (11) are slidably inserted into the outer wall of the car disc (1), a universal wheel is installed on the outer wall of each support (223), and a pair of symmetrically distributed connecting rods (222) are rotatably connected to the outer wall of the floating seat (22). The auxiliary mechanism comprises a partition plate (112) dividing the cavity (111) into two parts, an electric push rod (113) is installed on the top inner wall of the support (11), the output end of the electric push rod (113) is fixed to the outer wall of the excitation coil (114), an inclination sensor (211) for detecting the inclination direction of the connecting joint (21) is installed on the outer wall of the connecting joint (21), the inclination sensor (211) is electrically connected with the electric push rod (113) through a controller signal, and a pair of symmetrically distributed supporting rods (4) are slidably inserted into the top outer wall of the cavity (111) divided into two parts by the partition plate (112).
2. The wheel-type humanoid robot based on magneto-rheological fluid according to claim 1, characterized in that: The supporting rod (4) penetrates the top outer wall of the floating seat (22), and a protrusion (212) abutting against the supporting rod (4) is arranged on the bottom end outer wall of the connecting joint (21).
3. The wheel-type humanoid robot based on magnetorheological fluid according to claim 2, characterized in that: A cavity (42) is formed in the outer wall of each supporting rod (4), each cavity (42) is in communication with the cavity (111) adjacent thereto, and a third spring (41) is arranged between the outer wall of each supporting rod (4) and the top outer wall of the support (11).
4. The wheel-type humanoid robot based on MR fluid according to claim 3, characterized in that: 5. The wheel-type humanoid robot based on MR fluid according to claim 1, characterized in that: The inner wall of the support (11) is fixed with a resistance adjusting element (115) electrically connected with the excitation coil (114), the top inner wall of the floating seat (22) is provided with a support rod (224), and the end of the support rod (224) away from the floating seat (22) is fixed with a vibration sensor (225).
6. The wheel-type humanoid robot based on magnetorheological fluid according to claim 5, characterized in that: The top inner wall of the support (11) is fixed with a switch unit (117) electrically connected with the excitation coil (114), the resistance adjusting element (115) and the switch unit (117) are connected in series in the circuit of the excitation coil (114), and the vibration sensor (225) is electrically connected with the resistance adjusting element (115) and the switch unit (117) through a controller signal.
7. The wheel-type humanoid robot based on MR fluid according to claim 1, characterized in that: The bottom outer wall of the vehicle disc (1) is provided with a mounting frame (13) coaxially distributed with the cavity (111), and the inner wall of the mounting frame (13) is mounted with a power generation coil (131) electrically connected with the electricity storage unit (12).
8. The wheel-type humanoid robot based on MR fluid according to claim 7, characterized in that: The outer wall of the gear (32) away from the cavity (111) is mounted with a permanent magnet (33) located in the mounting frame (13).