Robot attitude control device

Abstract

The robot posture control device comprises a frame, a wheel set, a control moment gyroscope set, a servo motor set and a carrying platform, and a first wheel and a second wheel of the wheel set are symmetrically arranged at the two ends of the frame; a first control moment gyroscope and a second control moment gyroscope of the control moment gyroscope group are symmetrically distributed about the gravity center of the frame in a plane perpendicular to the vertical direction, and a supporting shaft of the first control moment gyroscope and a supporting shaft of the second control moment gyroscope are arranged in parallel to the vertical direction; a flywheel rotation axis of the first control moment gyroscope and a flywheel rotation axis of the second control moment gyroscope are parallel to the horizontal plane; a first servo single machine and a second servo motor of the servo motor set are fixedly connected with the frame, the first servo motor is in driving connection with a supporting shaft of the first control moment gyroscope, the first servo motor is used for driving the supporting shaft of the first control moment gyroscope to rotate, and the second servo motor is in driving connection with a supporting shaft of the second control moment gyroscope.

Description

Technical Field

[0001] The utility model relates to the technical field of robot posture adjustment devices, in particular to a robot posture control device. Background Art

[0002] A humanoid robot is a complex system that involves mechanical design, control algorithms, sensor technology, human-machine interaction, etc. Especially when pitching forward and backward, the robot needs to maintain dynamic stability to cope with various external interferences and the influence of different terrains. Pitch control has always been a difficult problem in the industry.

[0003] Control moment gyroscopes (CMGs) are a type of attitude adjuster commonly used in aerospace. They generate the required gyro torque through the precession effect of the gyroscope to achieve attitude control of spacecraft or aircraft. However, during operation, in addition to generating control torque in the target direction, CMGs also generate interference torque in other directions, which is not conducive to the attitude control of spacecraft. Utility Model Content

[0004] To solve at least one aspect of the above problems, the utility model provides a robot posture control device, comprising: a frame; a wheel group, the wheel group comprising a first wheel and a second wheel, the first wheel and the second wheel are symmetrically arranged at two ends of the frame, and the first wheel and the second wheel are rotatably connected to the frame respectively; a control moment gyro group, the control moment gyro group comprising a first control moment gyro and a second control moment gyro, the first control moment gyro and the second control moment gyro are symmetrically distributed about the center of gravity of the frame in a plane perpendicular to the vertical direction, and the support axis of the first control moment gyro and the support axis of the second control moment gyro are arranged parallel to the vertical direction. , the flywheel rotation axis of the first control moment gyro and the flywheel rotation axis of the second control moment gyro are parallel to the horizontal plane; a servo motor group, the servo motor group includes a first servo motor and a second servo motor, the first servo unit and the second servo motor are respectively fixedly connected to the frame, the first servo motor is drivingly connected to the support shaft of the first control moment gyro, the first servo motor is used to drive the support shaft of the first control moment gyro to rotate, the second servo motor is drivingly connected to the support shaft of the second control moment gyro, the second servo motor is used to drive the support shaft of the second control moment gyro to rotate; a loading platform, the loading platform is fixedly arranged at the top of the frame.

[0005] Preferably, a rotation angle of a support axis of the first control moment gyro and a rotation angle of a support axis of the second control moment gyro is greater than -90° and less than 90°.

[0006] Preferably, the first control moment gyro and the second control moment gyro have the same rotation speed and opposite rotation directions.

[0007] Preferably, the frame adopts a cubic frame structure, and a first extending shaft and a second extending shaft are symmetrically arranged at two ends of the frame, the first wheel is rotatably connected to the first extending shaft, and the second wheel is rotatably connected to the second extending shaft.

[0008] Preferably, the first servo motor and the second servo motor are arranged at the top of the frame and below the loading platform.

[0009] Preferably, the output shaft of the first servo motor is arranged colinearly with the support shaft of the first control moment gyro, and the output shaft of the second servo motor is arranged colinearly with the support shaft of the second control moment gyro.

[0010] Preferably, the first wheel includes a first hub motor, and the second wheel includes a second hub motor.

[0011] Preferably, the loading platform adopts a flat plate structure, and the loading platform is arranged parallel to a horizontal plane.

[0012] The robot posture control device of the embodiment of the utility model has the following beneficial effects: the rotation speeds of the two CMGs flywheels are the same in magnitude and opposite in direction, so that when the flip angles and angular velocities of the two CMGs flywheels are the same in magnitude and opposite in direction, a gyroscopic moment in the pitch direction can be generated to quickly eliminate the interference of the pitch overturning moment and maintain the stability of the robot's pitch angle; if the two CMGs flip in the same direction, a gyroscopic moment in the roll direction can be generated to resist the interference of the roll overturning moment and maintain the stability of the robot's roll angle; when the robot turns, if the two CMGs flip synchronously, the CMGs roll interference moment caused by the turn can be offset to maintain the stability of the robot's roll angle; the servo motor will increase the size of the CMGs, and the arrangement along the z-axis can save the robot's horizontal space, which is beneficial to reducing the robot's footprint and improving movement flexibility, and is suitable for scenarios with limited footprint. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to better understand the above and other purposes, features, advantages and functions of the present invention, reference may be made to the embodiments shown in the accompanying drawings. The same reference numerals in the accompanying drawings refer to the same components. It should be understood by those skilled in the art that the accompanying drawings are intended to schematically illustrate the preferred embodiments of the present invention and have no limiting effect on the scope of the present invention, and the components in the drawings are not drawn to scale.

[0014] Figure 1 A schematic structural diagram of a robot posture control device according to an embodiment of the utility model is shown;

[0015] Figure 2 Another schematic structural diagram of the robot posture control device according to an embodiment of the utility model is shown;

[0016] Figure 3 Another perspective structural schematic diagram of the robot posture control device according to an embodiment of the utility model is shown.

[0017] Reference numerals:

[0018] 1. Loading platform; 2. Servo motor group; 3. Frame; 4. Control torque gyro group; 5. Wheel group. DETAILED DESCRIPTION

[0019] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0020] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The term "based on" means "based at least in part on". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0021] In order to at least partially solve one or more of the above-mentioned problems and other potential problems, an embodiment of the present disclosure proposes a robot posture control device, including: a frame 3, a wheel group 5, a control moment gyro group 4, a servo motor group 2 and a loading platform 1, the wheel group 5 includes a first wheel and a second wheel, the first wheel and the second wheel are symmetrically arranged at both ends of the frame 3, and the first wheel and the second wheel are rotatably connected to the frame 3 respectively; the control moment gyro group 4 includes a first control moment gyro and a second control moment gyro, the first control moment gyro and the second control moment gyro are symmetrically distributed about the center of gravity of the frame 3 in a plane perpendicular to the vertical direction, and the first control moment gyro The support axis of the first control moment gyro and the support axis of the second control moment gyro are arranged parallel to the vertical direction, and the flywheel rotation axis of the first control moment gyro and the flywheel rotation axis of the second control moment gyro are parallel to the horizontal plane; the servo motor group 2 includes a first servo motor and a second servo motor, the first servo unit and the second servo motor are fixedly connected to the frame 3 respectively, the first servo motor is drivingly connected to the support axis of the first control moment gyro, the first servo motor is used to drive the support axis of the first control moment gyro to rotate, the second servo motor is drivingly connected to the support axis of the second control moment gyro, and the second servo motor is used to drive the support axis of the second control moment gyro to rotate; the loading platform 1 is fixedly arranged at the top of the frame 3.

[0022] Specifically, Figure 1-Figure 3 As shown, the robot's moving direction is the x-axis, and the robot's width direction is the y-axis, wherein the plane where the x-axis and the y-axis are located is parallel to the horizontal plane, and the vertical direction is the z-axis.

[0023] The frame 3 adopts a rigid structure, which is used to fix and support other parts of the robot, so that the shape of the frame 3 remains stable in various states of the robot. The width direction of the frame 3 is parallel to the y-axis, and the first wheel and the second wheel are rotatably arranged at both ends of the frame 3, the axes of the first wheel and the second wheel are collinear, and the connecting line of the axes of the first wheel and the second wheel is parallel to the y-axis.

[0024] The first control moment gyro and the second control moment gyro of the control moment gyro group 4 are respectively arranged in the frame 3, and the first control moment gyro and the second control moment gyro adopt the same type of control moment gyro. The first control moment gyro and the second control moment gyro are respectively rotatably arranged in the frame 3 through their respective support shafts, so that the first control moment gyro can rotate around the support shaft in the frame 3, and the second control moment gyro can rotate around the support shaft in the frame 3. The support shaft of the first control moment gyro and the support shaft of the second control moment gyro are parallel to the z-axis, and the flywheel rotation axes of the first control moment gyro and the second control moment gyro are parallel to the x-axis.

[0025] The first servo motor is fixedly mounted on the frame 3, and the output shaft of the first servo motor is drivingly connected to the support shaft of the first control moment gyro, so that the first servo motor drives the support shaft of the first control moment gyro, and the flywheel rotation axis of the first control moment gyro flips around the support shaft. The second servo motor is fixedly mounted on the frame 3, and the output shaft of the second servo motor is drivingly connected to the support shaft of the second control moment gyro, so that the second servo motor drives the support shaft of the second control moment gyro, and the flywheel rotation axis of the second control moment gyro flips around the support shaft. In some embodiments, the first servo motor and the second servo motor of the servo motor group 2 use the same motor model to reduce motor drive errors. In some embodiments, as Figure 3 As shown, the support shaft of the first control moment gyro and the support shaft of the second control moment gyro rotate at opposite angles. In another embodiment, the support shaft of the first control moment gyro and the support shaft of the second control moment gyro rotate at the same angle. The first servo motor and the second servo motor drive the support shafts of the first control moment gyro and the second control moment gyro respectively to achieve the rotation of the flywheel rotation shaft of the first control moment gyro and the flywheel rotation shaft of the second control moment gyro in the same direction or in the opposite direction.

[0026] The loading platform 1 is fixedly arranged on the top of the frame 3, and the loading platform 1 is used for loading goods or transporting passengers.

[0027] By rotatably connecting the support shafts of the first control moment gyro and the second control moment gyro of the control moment gyro group 4 to the frame 3, and driving the support shafts of the first control moment gyro and the second control moment gyro by the servo motor group 2, the flywheel rotation axes of the first control moment gyro and the second control moment gyro can be rotated around their respective support shafts, thereby eliminating the interference of the pitch and roll moment of the robot, or resisting the interference of the roll and roll moment.

[0028] In some embodiments, the rotation angle of the support axis of the first control moment gyro and the support axis of the second control moment gyro is greater than -90° and less than 90°.

[0029] Specifically, Figure 1As shown, the flywheel of the first control moment gyro and the flywheel of the second control moment gyro are parallel to the yoz plane, and the support axis of the first control moment gyro and the support axis of the second control moment gyro are parallel to the z-axis, then the flip range of the support axis of the first control moment gyro is configured to rotate 0°-90° counterclockwise around the axis of its support axis, and rotate 0°-90° clockwise around the axis of its support axis. The flip range of the support axis of the second control moment gyro is configured to rotate 0°-90° counterclockwise around its axis, and rotate 0°-90° clockwise around its axis. In other embodiments, the rotation angles of the support axis of the first control moment gyro and the support axis of the second control moment gyro can be set according to actual needs.

[0030] In some embodiments, the flywheels of the first control moment gyro and the second control moment gyro rotate at the same speed and in opposite directions.

[0031] Specifically, Figure 1 As shown, the first control moment gyro and the second control moment gyro adopt the same type of control moment gyro, and the first control moment gyro and the second control moment gyro are configured so that the flywheels rotate at the same speed and in opposite directions, so that when the support axes of the first control moment gyro and the second control moment gyro flip in the same direction, a gyroscopic moment in the rolling direction is generated, and when the support axes of the first control moment gyro and the second control moment gyro flip in opposite directions, a gyroscopic moment in the pitching direction is generated.

[0032] In some embodiments, the frame 3 adopts a cubic frame 3 structure, and the first extension shaft and the second extension shaft are symmetrically arranged at both ends of the frame 3, the first wheel is rotatably connected to the first extension shaft, and the second wheel is rotatably connected to the second extension shaft.

[0033] Specifically, the frame 3 adopts a cubic frame 3 symmetrical structure, the first extension axis and the second extension axis are parallel to the center line of the width direction of the frame 3, the first extension axis and the second extension axis are collinear, and the first extension axis and the second extension axis are rotatably connected to the first wheel and the second wheel to realize the transmission connection between the wheel set 5 and the frame 3. At the same time, the symmetrical distribution of the first wheel and the second wheel along the center line of the frame 3 reduces the disturbance caused by the unbalanced distribution of the dead weight of the frame 3.

[0034] In another embodiment, the first wheel and the second wheel can be symmetrically arranged below the frame 3 through a transmission assembly. Or in other embodiments, the first and second inwardly extending shafts are arranged at both ends of the frame 3, respectively used to rotatably connect the first wheel and the second wheel.

[0035] In some embodiments, the first servo motor and the second servo motor are disposed at the top of the frame 3 and below the loading platform 1 .

[0036] Specifically, Figure 1-Figure 3 As shown, the first servo motor and the second servo motor are arranged between the loading platform 1 and the frame 3. Compared with being arranged at the bottom of the frame 3, arranging the servo motor group 2 above the frame 3 can shorten the longitudinal extension of the bottom of the frame 3, which is suitable for scenes with a small wheel radius. In another embodiment, the first servo motor and the second servo motor are arranged below the loading platform 1.

[0037] In some embodiments, the output shaft of the first servo motor is colinearly arranged with the support shaft of the first control moment gyro, and the output shaft of the second servo motor is colinearly arranged with the support shaft of the second control moment gyro.

[0038] Specifically, the output shaft of the servo motor group 2 is colinearly arranged with the support shaft of the control torque gyro, and the first support shaft and the second support shaft are parallel to the vertical direction. Those skilled in the art can understand that the servo motor will increase the size of the CMGs, and the arrangement of the first support shaft and the second support shaft along the vertical direction can save horizontal space of the robot, which is beneficial to reducing the footprint of the robot and improving movement flexibility, and is suitable for scenarios with limited footprint.

[0039] In some embodiments, the first wheel includes a first hub motor and the second wheel includes a second hub motor.

[0040] Specifically, the first wheel and the second wheel use the same wheel mechanism with a hub motor. In another real-time example, the first wheel and the second wheel use unpowered wheels. Alternatively, in other embodiments, the wheel set 5 also includes a power drive mechanism, and the power drive structure is respectively connected to the first wheel and the second wheel to provide the first wheel and the second wheel with driving power.

[0041] In some embodiments, the loading platform 1 adopts a flat plate structure, and the loading platform 1 is arranged parallel to a horizontal plane.

[0042] Specifically, Figure 1 and Figure 2 As shown, the upper surface of the loading platform 1 provides a smooth loading surface, and during the movement of the robot, the loading platform 1 is maintained parallel to the horizontal plane by adjusting the control torque gyro group 4 to provide a placement space for the loaded object. In other embodiments, the loading platform 1 can be a connector of any structure that can connect or carry the target loaded object.

[0043] The embodiments of the present disclosure have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements in the market, or to enable other persons of ordinary skill in the art to understand the present invention.

Claims

1. A robot posture control device, characterized in that: include: frame; A wheel set, the wheel set comprising a first wheel and a second wheel, the first wheel and the second wheel are symmetrically arranged at two ends of the frame, and the first wheel and the second wheel are rotatably connected to the frame respectively; A control moment gyro group, the control moment gyro group comprising a first control moment gyro and a second control moment gyro, the first control moment gyro and the second control moment gyro are symmetrically distributed about the center of gravity of the frame in a plane perpendicular to the vertical direction, the support axis of the first control moment gyro and the support axis of the second control moment gyro are arranged parallel to the vertical direction, and the flywheel rotation axis of the first control moment gyro and the flywheel rotation axis of the second control moment gyro are parallel to the horizontal plane; A servo motor group, the servo motor group comprising a first servo motor and a second servo motor, the first servo motor and the second servo motor are respectively fixedly connected to the frame, the first servo motor is drivingly connected to the support shaft of the first control moment gyro, the first servo motor is used to drive the support shaft of the first control moment gyro to rotate, the second servo motor is drivingly connected to the support shaft of the second control moment gyro, and the second servo motor is used to drive the support shaft of the second control moment gyro to rotate; The loading platform is fixedly arranged on the top of the frame.

2. The device according to claim 1, characterized in that A rotation angle of a support axis of the first control moment gyro and a rotation angle of a support axis of the second control moment gyro is greater than -90° and less than 90°.

3. The device according to claim 2, characterized in that The flywheels of the first control moment gyro and the second control moment gyro have the same rotation speed and opposite rotation directions.

4. The device according to claim 1, characterized in that The frame adopts a cubic frame structure, and a first extending shaft and a second extending shaft are symmetrically arranged at two ends of the frame. The first wheel is rotatably connected to the first extending shaft, and the second wheel is rotatably connected to the second extending shaft.

5. The device according to claim 4, characterized in that The first servo motor and the second servo motor are arranged at the top of the frame and are located below the loading platform.

6. The device according to claim 5, characterized in that The output shaft of the first servo motor is collinearly arranged with the support shaft of the first control moment gyro, and the output shaft of the second servo motor is collinearly arranged with the support shaft of the second control moment gyro.

7. The device according to claim 1, characterized in that The first wheel includes a first hub motor, and the second wheel includes a second hub motor.

8. The device according to claim 1, characterized in that The loading platform adopts a flat plate structure and is arranged parallel to a horizontal plane.

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