Flywheel energy storage type angular momentum balance biped robot

Abstract

The flywheel energy storage type angular momentum balance biped robot comprises a head, a trunk, arms and legs, and the core structure of the flywheel energy storage type angular momentum balance biped robot is a balance movement mechanism composed of the trunk and the legs. The trunk comprises a sliding rail, a flywheel shell, a motor, a ball screw, a storage battery, a power electronic conversion device, a stepping motor, a coupler, a fastening connecting piece, a shock pad, an upper rolling bearing, a rotating shaft, a magnetic induction coil, a flywheel and a lower rolling bearing. The legs comprise hip joints, knee joints and ankle joints, all the mechanisms operate in a coordinated mode to achieve overall operation of the flywheel energy storage type angular momentum balance biped robot, and the flywheel energy storage type angular momentum balance biped robot comprises a flywheel energy storage structure, a gravity center adjusting structure, a leg movement structure and a balance control structure. The stability is improved; by utilizing the flywheel energy storage principle, mechanical energy is converted into electric energy and stored, so that continuous advancing power is provided; and each leg has four degrees of freedom, so that the mechanical complexity is reduced.

Description

TECHNICAL FIELD

[0001] The technical field related to the present invention mainly includes robot technology, dynamics control, energy conversion and storage technology, and automation system. BACKGROUND

[0002] Traditionally, designing and developing a stable biped robot system is a challenging task. Traditional biped robot systems usually rely on complex balance algorithms and highly flexible joint designs to achieve stable walking and balance. These systems require a large amount of computing resources and precise mechanical design, so they are expensive and difficult to implement, such as patent CN118493415A, which uses a pneumatic soft structure as the joint of the robot, but the overall design is bulky and the joint structure is not strong enough. In addition, they also need a lot of energy to maintain motion, limiting their range of motion and duration. In the prior art, some attempts have been made to use inertial devices or similar devices to increase the stability and motion efficiency of the robot, such as patent CN118907272A, which applies a flywheel device to a two-wheel mobile robot to maintain balance. Compared with wheeled robots, legged robots have strong terrain adaptability, high obstacle crossing ability, and strong motion flexibility, and have higher application value. Moreover, these methods often require more complex mechanical design and control system, which may have performance limitations or efficiency problems in practice.

[0003] Therefore, finding a method to simplify the design of the robot and improve stability has become the focus of research and development. Flywheel, as an inertial energy storage device, has the ability to store energy while providing a large angular momentum, so it is considered a potential solution. The use of flywheel angular momentum can reduce the requirements for other components of the robot, reducing the mechanical burden of the robot system, and simplifying the design of the balance control algorithm.

[0004] The present invention aims to use a flywheel energy storage type angular momentum balance system to provide stable angular momentum and forward power through high-speed rotating flywheels, thereby achieving balance and walking of a biped robot, to solve the limitations and problems of traditional methods. SUMMARY

[0005] To solve the shortcomings of the prior art, a biped robot based on a flywheel energy storage type angular momentum balance mechanism and a control method are provided, which provides a new balance solution by utilizing the angular momentum generated by the flywheel, which can significantly reduce the requirements for robot degrees of freedom and balance algorithms, thereby solving the problem of current traditional biped robots that need to constantly adjust their posture to maintain balance during walking, requiring complex control algorithms and high degrees of freedom mechanical structure.

[0006] To achieve the above object, the application provides a flywheel energy storage type angular momentum balance biped robot, which is similar to human structure and distribution and is divided into a head, a trunk, arms and legs, the head is located at the uppermost end, the lower end of the head is the trunk, arms are arranged on both sides of the trunk, and legs are arranged at the lower part of the trunk, the core structure is a balance movement mechanism composed of the trunk and the legs, the trunk comprises a slide rail, a flywheel shell, a motor, a ball screw, a battery, a power electronic conversion device, a stepping motor, a coupling, a fastening connecting piece, a damping pad, an upper rolling bearing, a rotating shaft, a magnetic induction coil, a flywheel and a lower rolling bearing, the legs comprise a hip joint, a knee joint and an ankle joint, and the coordinated operation of the mechanisms realizes the overall operation of the flywheel energy storage type angular momentum balance biped robot, and the following structure is provided.

[0007] The flywheel energy storage structure comprises a flywheel, a motor, a magnetic induction coil, a battery, a power electronic conversion device and a flywheel shell, the flywheel is installed at the gravity center of the robot trunk, and the rotating shaft thereof is perpendicular to the horizontal ground, the flywheel is driven to rotate at a high speed by the motor, angular momentum is generated for balancing the robot, and mechanical energy is converted into electrical energy by the magnetic induction coil and stored in the battery, the flywheel shell is made of high-strength composite material, the inner wall is provided with an anti-friction gap, and the power electronic conversion device controls the mutual conversion of mechanical energy and electrical energy, the flywheel has a high inertia design, the demand of the robot on the leg degrees of freedom is significantly reduced, and the flywheel provides the functions of angular momentum balance and energy conversion.

[0008] The gravity center adjusting structure comprises a ball screw, a stepping motor and a slide rail, the ball screw is connected with the stepping motor in a shaft connection mode, a nut is arranged on the ball screw, the nut is connected with the motor through a screw, the stepping motor controls the ball screw to drive the flywheel to move in the horizontal direction, so that the gravity center position is adjusted to adapt to the dynamic balance requirement, the slide rail assembly is installed in the robot trunk frame to share the mass of the flywheel, the ball screw bottom and the slide rail two ends are provided with damping pads for absorbing vibration in the gravity center adjusting process and protecting parts.

[0009] The leg movement structure comprises a hip joint, a knee joint and an ankle joint, the hip joint is composed of two rudders in the front-rear direction and the left-right direction, and two rotation degrees of freedom are provided, the knee joint is composed of a single-axis rudder, and is used for realizing up-down swing, the ankle joint is composed of a single-axis rudder, and is used for realizing up-down swing of the foot, the rudders are connected with the robot leg frame through a modular interface, a joint angle sensor is integrated in the interface, and the angle change of the leg joint is monitored in real time, the power of the rudders is supplied by the flywheel energy storage system, and the rudders are synchronously coordinated with the balance control structure through a centralized control module.

[0010] Balance control structure: including gyroscopes, acceleration sensors, pressure sensors, ZMP algorithm control module and sensor network; gyroscopes and acceleration sensors are fixed in the robot frame, for real-time monitoring of the robot center of gravity, angular velocity and attitude changes; pressure sensors are installed on the robot foot, for monitoring the distribution of support force; ZMP algorithm module combines sensor data to calculate the current center of gravity and the offset of the support surface, and sends adjustment instructions to the flywheel system and leg movement mechanism; all sensors are connected to the central control system through CAN bus, ensuring efficient data communication and response speed.

[0011] The slide rail is installed in the torso frame inside the robot, and the frame is made of aluminum alloy to provide light weight support for the flywheel. The slide rail has a guide groove inside to limit the horizontal movement direction of the flywheel, ensuring the accuracy of the flywheel adjustment. The two ends of the slide rail are fixed inside the robot, and the two ends of the slide rail are provided with shock pads for absorbing vibration during the adjustment of the center of gravity and protecting the parts.

[0012] The flywheel is driven by a motor to provide high speed for the flywheel, generating a large angular momentum to maintain balance. The flywheel axis is perpendicular to the horizontal ground, and is installed at the center of gravity between the robot legs. The top of the flywheel shaft has a "T" structure, which connects the flywheel with the guide groove of the slide rail. Three groups of magnetic induction coils are coaxially installed above the flywheel, and the flywheel is connected to the motor drive shaft through a coupling at the lower part. The motor drive shaft is coaxially connected with the flywheel center shaft, ensuring the stability of power transmission when the flywheel rotates. The flywheel is covered with a flywheel shell made of light weight and high strength material to protect the flywheel and internal components.

[0013] The motor shaft is connected with the flywheel center shaft, and the motor shaft is perpendicular to the horizontal ground. The motor is connected to the flywheel output power through a coupling above, and is connected to the nut of the ball screw below by screws, so as to realize the forward and backward translation of the motor and the flywheel to control the change of the robot center of gravity.

[0014] The ball screw is driven by a stepping motor, one end of which is connected with the shaft of the stepping motor, and the other end is fixed in the robot. It is fixed with the main frame of the robot through a shock pad to relieve the vibration generated when the robot moves.

[0015] One end of the stepping motor is connected with the shaft of the ball screw to provide power, and the other end is fixed in the robot.

[0016] The flywheel, rotating shaft, magnetic induction coil, upper rolling bearing and lower rolling bearing are surrounded by the flywheel shell, and the flywheel shell is in clearance fit with the internal structure. The small gap is used to prevent friction loss caused by thermal expansion when the flywheel rotates at high speed.

[0017] The motor and the flywheel are connected with the rotating shaft through a key, a shaft shoulder and a shaft coupling, rotate together with the rotating shaft, and the rotating shaft is sequentially provided with an upper rolling bearing, a magnetic induction coil, the flywheel, a lower rolling bearing, the shaft coupling and the motor from top to bottom.

[0018] The hip joint is formed by two groups of steering mechanisms, the axial directions of the two groups of steering mechanisms are respectively front-back direction and left-right direction relative to the robot, and the two groups of steering mechanisms respectively control the lifting and falling of the robot hip joint and the side lifting and falling of the robot hip joint, and the two groups of steering mechanisms give the hip joint two degrees of freedom. The steering mechanism of the axial direction left-right direction is fixed at the end of the robot trunk, and the steering mechanism of the axial direction front-back direction is fixed below the steering mechanism of the axial direction left-right direction, so that the movement of the hip joint is realized, and the power is provided by the flywheel energy storage power generation system.

[0019] The knee joint is formed by a group of steering mechanisms, the axial direction of the steering mechanism is the left-right direction relative to the robot, and the steering mechanism controls the lifting and falling of the robot knee joint, and the steering mechanism gives the knee joint one degree of freedom, and the power is provided by the flywheel energy storage power generation system.

[0020] The ankle joint is formed by a group of steering mechanisms, the axial direction of the steering mechanism is the left-right direction relative to the robot, and the steering mechanism controls the swinging of the robot ankle joint, and the steering mechanism gives the knee joint one degree of freedom, and the power is provided by the flywheel energy storage power generation system.

[0021] The steering mechanism of the leg movement mechanism is connected with the robot main frame through a standardized interface, the interface comprises a quick release locking device, and the quick release locking device facilitates replacement of the steering mechanism or maintenance of the leg assembly. Each steering mechanism is fixedly connected to a corresponding joint bearing through a flange and a fastener, so as to ensure the stability and accuracy of the movement.

[0022] The built-in gyroscope is fixed in the robot to calculate the overall center of gravity and angular velocity change of the robot, and dynamically adjusts the position and rotation speed of the flywheel in combination with the ZMP gait algorithm, so as to ensure that the robot remains balanced and stable during walking. The gyroscope and the ZMP algorithm control module are connected through a CAN bus to realize efficient real-time data transmission.

[0023] The flywheel energy storage system can connect the motors in a parallel manner through a plurality of magnetic induction coils to realize a plurality of energy management modes.

[0024] The storage battery is connected with the motor and the steering mechanism module through a cable, the cable adopts a shielding design to reduce the influence of electromagnetic interference on the control signal during high-speed movement. The storage battery is used to store the electric energy generated during the rotation of the flywheel, and to supply power to the motor, the steering mechanism module and the control module, and to realize bidirectional conversion of flywheel kinetic energy and electric energy through a power electronic conversion device. And dynamically adjust the priority of electric energy distribution according to the motion state of the robot, to preferentially ensure the continuity of the flywheel driving and the steering action.

[0025] The flywheel energy storage type angular momentum balance biped robot system provided by the application, the operation process mainly includes:

[0026] First step: through the motor drive, the flywheel at the robot gravity center is rotated at high speed, and sufficient angular momentum is generated. Under the action of the angular momentum, the robot system keeps upright balance and is ready to enter the motion state.

[0027] Second step: the motor continues to drive the flywheel, and converts the input electric energy into mechanical energy of the flywheel. During the high-speed rotation of the flywheel, part of the mechanical energy is converted into electric energy through the power electronic conversion device and stored in the storage battery for subsequent power demand.

[0028] Third step: the electric energy generated by the flywheel drives the rudder of the hip joint, knee joint and ankle joint of the biped robot to move forward. Assuming that the left leg is first stepped, at this time, the left leg hip joint is lifted to the front of the robot, the knee joint is slightly bent downward, the right leg of the robot is supported alone, the whole robot system keeps balance and does not fall under the angular momentum conservation of the high-speed rotating flywheel system.

[0029] Fourth step: the flywheel is driven to move horizontally inside the robot through the ball screw mechanism, so that the center of gravity of the robot and the direction of the angular momentum are changed, the center of gravity of the robot is moved forward, and the robot is supported to complete single-leg support propulsion.

[0030] Fifth step: through the robot built-in gyroscope computer, the overall center of gravity and angular velocity change of the robot are calculated, the right leg knee joint of the robot is slightly bent, and the left leg is landed, the flywheel returns to the initial position through the ball screw, at this time, the center of gravity is located between the two legs of the robot, and the whole robot system keeps balance and does not fall.

[0031] Sixth step: the right leg of the robot is slightly bent, and steps forward, and the flywheel is driven by the ball screw to move horizontally forward again inside the robot, so that the center of gravity is changed to above the left foot support, and the whole robot system keeps balance and does not fall during the stepping process.

[0032] Seventh step: the third step to the sixth step are repeated, the two legs of the robot move forward alternately, and the whole robot keeps balance and does not fall under the angular momentum provided by the flywheel.

[0033] Compared with the prior art, the application provides a two-legged robot based on a flywheel energy storage type angular momentum balancing mechanism and a control method, which has the following advantages: the application is aimed at the energy waste and instability that may exist in the walking process of the current traditional two-legged robot system, which affects the walking efficiency and stability of the two-legged robot system; the application can more effectively drive the movement of the robot by utilizing the angular momentum provided by the flywheel, and improve the walking efficiency and stability; the application is aimed at the problem that the current robot needs continuous energy supply to drive movement, but the traditional battery power supply method has the problems of low energy density and limited endurance; the application solves the problem of energy supply by utilizing the flywheel energy storage principle to convert mechanical energy into electrical energy and store the electrical energy to provide continuous forward power; the application is aimed at the problem that the current traditional two-legged robot system usually needs complex mechanical structure and control system to realize balance and walking, which increases the manufacturing and maintenance cost; the application simplifies the degree of freedom and balance control demand of the robot, reduces each leg from six degrees of freedom to four degrees of freedom, reduces the mechanical complexity, and makes the robot system more stable and easy to realize. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is a general schematic diagram of the flywheel energy storage type angular momentum balancing two-legged robot of the application;

[0035] Figure 2 is a front structure schematic diagram of the core component of the flywheel energy storage type angular momentum balancing two-legged robot of the application;

[0036] Figure 3 is a back structure schematic diagram of the core component of the flywheel energy storage type angular momentum balancing two-legged robot of the application;

[0037] Figure 4 is a cross-sectional structure schematic diagram of the trunk part of the flywheel energy storage type angular momentum balancing two-legged robot of the application;

[0038] Figure 5 is a structure schematic diagram of the flywheel energy storage type angular momentum balancing device of the flywheel energy storage type angular momentum balancing two-legged robot of the application;

[0039] Figure 6 is a cross-sectional structure schematic diagram of the flywheel energy storage type angular momentum balancing device of the flywheel energy storage type angular momentum balancing two-legged robot of the application.

[0040] In the diagram: 1-Torso, 2-Legs, 3-Head, 4-Arms, 5-Slide rail, 6-Flywheel housing, 7-Motor, 8-Ball screw, 9-Battery, 10-Power electronic conversion device, 11-Stepper motor, 12-Coupling, 13-Fastening connector, 14-Shock damping pad, 201-Hip joint, 202-Knee joint, 203-Ankle joint, 601-Upper rolling bearing, 602-Rotating shaft, 603-Magnetic induction coil, 604-Flywheel, 605-Lower rolling bearing. Detailed Implementation

[0041] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings.

[0042] This invention provides a flywheel energy storage angular momentum balancing bipedal robot, such as... Figures 1-3 As shown, the robot comprises a torso 1, legs 2, head 3, and arms 4. Its core structure is a balancing motion mechanism composed of the torso 1 and legs 2. The torso 1 includes a slide rail 5, a flywheel housing 6, a motor 7, a ball screw 8, a battery 9, a power electronic conversion device 10, a stepper motor 11, a coupling 12, fastening connectors 13, shock-absorbing pads 14, an upper rolling bearing 601, a rotating shaft 602, a magnetic induction coil 603, a flywheel 604, and a lower rolling bearing 605. The legs include a hip joint 201, a knee joint 202, and an ankle joint 203. The coordinated operation of these mechanisms enables the overall operation of the flywheel-energy-storage angular momentum-balancing bipedal robot. Its main structure includes:

[0043] The flywheel energy storage structure includes a flywheel 604, a motor 7, a magnetic induction coil 603, a battery 9, a power electronic conversion device 10, and a flywheel housing 6. The flywheel 604 is installed at the center of gravity of the robot's torso 1, and its rotation axis 602 is perpendicular to the horizontal ground. The flywheel 604 is driven to rotate at high speed by the motor 7, generating angular momentum to balance the robot. At the same time, the magnetic induction coil 603 converts mechanical energy into electrical energy and stores it in the battery 9. The flywheel housing 6 is made of high-strength composite material, and the inner wall is provided with anti-friction gaps. The power electronic conversion device 10 controls the mutual conversion between mechanical energy and electrical energy. The flywheel 604 has a high inertia design, which significantly reduces the robot's leg freedom requirements, while providing the dual functions of angular momentum balance and energy conversion.

[0044] The gravity center adjusting structure includes a ball screw 8, a stepping motor 11, a slide rail 5 and a position sensor. The ball screw 8 is connected with the stepping motor 11 through a shaft connection, and a nut is arranged on the ball screw. The nut is connected with the motor 7 through a screw. The stepping motor 11 controls the ball screw 8 to drive the flywheel 604 to move in the horizontal direction, so as to adjust the gravity center position to adapt to the dynamic balance requirement. The slide rail 5 is arranged in the robot trunk 1 frame, so as to share the mass of the flywheel 604 to the motor 7 and the ball screw 8. Shock-absorbing pads 14 are arranged at the bottom of the screw rod and both ends of the slide rail 5, so as to absorb the vibration in the gravity center adjusting process and protect the parts.

[0045] The leg movement structure includes a hip joint 201, a knee joint 202 and an ankle joint 203. The hip joint 201 is composed of two rudders in the front-back direction and the left-right direction, and provides two rotation degrees of freedom. The knee joint 202 is composed of a single-axis rudder, and is used for up-down swinging. The ankle joint 203 is composed of a single-axis rudder, and is used for up-down swinging of the foot. The rudders are connected with the robot leg frame through a modular interface, and a joint angle sensor is integrated in the interface, so as to monitor the angle change of the leg joint in real time. The power of the rudders is supplied by the flywheel energy storage system, and is synchronized and coordinated with the balance control structure through a centralized control module.

[0046] The balance control structure includes a gyroscope, an acceleration sensor, a pressure sensor, a ZMP algorithm control module and a sensor network. The gyroscope and the acceleration sensor are fixed in the robot frame, and are used for monitoring the acceleration, angular velocity and attitude change of the robot gravity center in real time. The pressure sensor is arranged on the bottom of the robot foot, and is used for monitoring the force distribution of the support surface. The ZMP algorithm module calculates the offset of the current gravity center of the robot and the support surface in combination with the sensor data, and sends an adjustment instruction to the flywheel system and the leg movement mechanism. All the sensors are connected to the central control system through a CAN bus, so as to ensure efficient data communication and response speed.

[0047] As Figure 4 , Figure 5 and Figure 6The slide rail 5 is installed in the torso 1 frame inside the robot, which is made of aluminum alloy, and provides light mass support for the flywheel 604. The slide rail 5 has a guide groove inside to limit the horizontal movement direction of the flywheel 604, ensuring the accuracy of the flywheel adjustment. The two ends of the slide rail 5 are fixed in the robot by structural clamping slots, and the two ends of the slide rail 5 are provided with shock pads to absorb the vibration during the adjustment of the center of gravity and protect the parts. The flywheel 604 is driven by the motor 7 to provide high speed for the flywheel 604, generating a large angular momentum to maintain balance. The flywheel shaft is perpendicular to the horizontal ground, and is installed at the center of gravity between the robot legs 2. The top of the rotating shaft 602 has a "T" structure, which connects the flywheel 604 to the guide groove of the slide rail 5. Three sets of magnetic induction coils 603 are coaxially installed above the flywheel 604, and the flywheel 604 is connected to the motor 7 drive shaft through the coupling 12, and the motor 7 drive shaft is coaxially connected with the flywheel 604 center shaft, ensuring the stability of power transmission when the flywheel 604 rotates. The flywheel 604 is covered with a flywheel shell 6 made of light and high-strength material to protect the flywheel and internal components. The motor 7 shaft is connected with the flywheel 604 center shaft, and the motor 7 shaft is perpendicular to the horizontal ground, and the motor 7 is connected with the flywheel 604 output power through the coupling 12 above, and is connected with the nut of the ball screw 8 below by screws, so as to realize the forward and backward translation of the motor 7 and the flywheel 604 to control the change of the center of gravity of the robot. The ball screw 8 is driven by the stepping motor 11, one end of which is connected with the shaft of the stepping motor 11, and the other end is fixed in the robot by the fastening connector 13. It is fixed with the robot torso 1 frame through the shock pad 14, which is made of fiber reinforced composite material, which has high strength and certain damping effect, and is used to alleviate the vibration generated when the robot moves. At the same time, the structure is designed with a groove for fixing the ball screw 8. One end of the stepping motor 11 is connected with the shaft of the ball screw 8 to provide power for the nut of the ball screw 8, and the other end is fixed in the robot by inlay structure. When assembling, first insert the stepping motor 8 into the inlay structure of the torso 1, then lock the ball screw 8 at the other end with the fastening connector 13 in the torso 1 structure, and finally fasten with screws. The flywheel 604, rotating shaft 602, magnetic induction coil 603, upper rolling bearing 601 and lower rolling bearing 605 are surrounded by the flywheel shell 6, and the flywheel shell 6 is gap fitted with the internal structure. The small gap is used to prevent friction loss caused by thermal expansion when the flywheel 604 rotates at high speed. The motor 7 and the flywheel 604 are connected with the rotating shaft 602 through the key, shaft shoulder and coupling 12, and rotate together with the rotating shaft 602. The rotating shaft 602 is sequentially provided with the upper rolling bearing 601, the magnetic induction coil 603, the flywheel 604, the lower rolling bearing 605, the coupling 12 and the motor 7 from top to bottom.

[0048] As Figure 2 And Figure 3As shown, the hip joint 201 is composed of two groups of steering mechanisms, the axial direction of the two groups of steering mechanisms is front-back direction and left-right direction respectively, which controls the lifting and falling of the robot hip joint 201, and gives the hip joint 201 two degrees of freedom. The axial direction of the left-right direction steering mechanism is fixed on the end of the robot torso 1, and the axial direction of the front-back direction steering mechanism is fixed below the left-right direction steering mechanism, so as to realize the forward and turning movement of the hip joint 201, and the power is provided by the flywheel energy storage power generation system. The knee joint 202 is composed of a group of steering mechanisms, the axial direction of the steering mechanism is left-right direction, which controls the lifting and falling of the robot knee joint 202, and gives the knee joint 202 one degree of freedom, and the power is provided by the flywheel energy storage power generation system. The ankle joint 203 is composed of a group of steering mechanisms, the axial direction of the steering mechanism is left-right direction, which controls the swinging and swinging of the robot ankle joint 203, and gives the knee joint 203 one degree of freedom, and the power is provided by the flywheel energy storage power generation system. The steering mechanism of the leg movement mechanism is connected with the robot main frame through a standardized interface, the interface includes quick release locking device, which is convenient for replacing the steering mechanism or maintaining the leg assembly. Each steering mechanism is fixedly connected to the corresponding joint bearing through flange and fastener, so as to ensure the stability and accuracy of movement

[0049] The built-in gyroscope is fixed inside the robot to calculate the overall center of gravity and angular velocity change of the robot, and dynamically adjust the position and rotating speed of the flywheel in combination with ZMP gait algorithm, so as to ensure that the robot keeps balance and stability during walking. The gyroscope and ZMP algorithm control module are connected through CAN bus to realize efficient real-time data transmission.

[0050] The flywheel energy storage system can connect the motor in parallel through multiple magnetic induction coils 603, so as to realize various energy management modes. The battery 9 is connected with the motor 7, the stepping motor 11 and the steering mechanism module through cable, and the cable adopts shielding design to reduce the influence of electromagnetic interference on control signal during high-speed movement. The battery 9 is used for storing the electric energy generated in the rotating process of the flywheel 604, and supplies power for the motor 7, the stepping motor 11, the steering mechanism module and the control module. The power electronic conversion device 10 realizes bidirectional conversion of kinetic energy and electric energy of the flywheel 604, and dynamically adjusts the electric energy distribution priority according to the motion state of the robot, so as to preferentially guarantee the continuity of the driving of the stepping motor 11 and the action of the steering mechanism.

[0051] The operation process mainly includes:

[0052] First step: drive the flywheel 604 at the center of gravity of the robot to rotate at high speed through the motor 7, so as to generate enough angular momentum. Under the action of angular momentum, the robot system keeps upright balance and is ready to enter the motion state.

[0053] Second step: motor 7 continues to drive the flywheel 604, converting the input electrical energy into mechanical energy of the flywheel 604. During the high-speed rotation of the flywheel 604, part of the mechanical energy is converted into electrical energy by the power electronic conversion device 10 and stored in the battery 9 for subsequent power demand.

[0054] Third step: the electrical energy generated by the flywheel 604 drives the steering engine of the hip joint 201, knee joint 202 and ankle joint 203 of the biped robot to move forward. Assuming that the left leg is stepped first, at this time the left leg hip joint 201 is lifted to the front of the robot, the knee joint 202 is slightly bent downward, and the right leg of the robot supports the ground alone. The whole robot system keeps balance and does not fall under the conservation of angular momentum of the high-speed rotating flywheel system.

[0055] Fourth step: drive the flywheel 604 to move horizontally inside the robot through the ball screw 8 mechanism, so as to change the center of gravity and the direction of angular momentum of the robot, and make the center of gravity of the robot move forward to support the robot to complete the single-leg support propulsion.

[0056] Fifth step: through the built-in gyroscope of the robot, the change of the overall center of gravity and angular velocity of the robot is calculated, so that the right leg knee joint 202 of the robot is slightly bent, and the left leg falls to the ground. The flywheel 604 returns to the initial position through the ball screw 8, at this time the center of gravity is located between the two legs of the robot, and the whole robot system keeps balance and does not fall.

[0057] Sixth step: the right leg of the robot is slightly bent and steps forward, and at the same time the flywheel 604 is driven by the ball screw 8 to move horizontally forward inside the robot again, so as to change the center of gravity to above the left foot support, so that the whole robot system keeps balance and does not fall during the stepping process.

[0058] Seventh step: repeat the third step to the sixth step, the two legs of the robot move forward alternately, and the whole robot keeps balance and does not fall under the angular momentum provided by the flywheel 604.

[0059] Compared with the prior art, the application provides a two-legged robot based on a flywheel energy storage type angular momentum balancing mechanism and a control method, which has the following advantages: the application is aimed at the energy waste and instability that may exist in the walking process of the current traditional two-legged robot system, which affects the walking efficiency and stability. The application can more effectively drive the movement of the robot by utilizing the angular momentum provided by the flywheel, and improve the walking efficiency and stability; the application is aimed at the problem that the current robot needs continuous energy supply to drive movement, but the traditional battery power supply method has the problems of low energy density and limited endurance. The flywheel energy storage principle is used to convert mechanical energy into electrical energy and store it to provide continuous forward power, solving the problem of energy supply; the application is aimed at the fact that the current traditional two-legged robot system usually needs complex mechanical structure and control system to realize balance and walking, increasing the manufacturing and maintenance cost. The application simplifies the degree of freedom and balance control demand of the robot, reduces each leg from six degrees of freedom to four degrees of freedom, reduces the mechanical complexity, and makes the robot system more stable and easy to realize.

[0060] Further, the flywheel adopts a heterogeneous design, taking into account lightweight and high efficiency. Specifically, the flywheel has a diameter of 30 cm and a total mass of 5 kg, the outer ring is made of high-density metal material, and the inner ring is designed with a hollow structure, thereby optimizing the moment of inertia while significantly reducing the overall mass of the flywheel. Compared with traditional homogeneous flywheels, the heterogeneous design can provide an angular momentum of about 12.25 N·m·s at a low speed of 1230 rpm, significantly improving the system energy efficiency. The calculation shows that under the condition that the total mass of the robot is 25 kg and the center of gravity height is 1.2 m, the flywheel can effectively offset the overturning moment (24.5 N·m) caused by 0.1 m horizontal center of gravity deviation and restore dynamic balance within 0.5 seconds. The heterogeneous layout concentrates the angular momentum on the outside, maximizing the utilization rate of the moment of inertia, while the lightweight design of the inner ring reduces the influence of centrifugal force, enhancing the structural strength and service life of the flywheel. This heterogeneous flywheel structure is highly matched with the two-legged robot, not only effectively dealing with the influence of center of gravity deviation and external disturbance on balance, but also significantly reducing the energy consumption and weight burden of the whole machine. The optimized design combines precise control of angular momentum and lightweight, high-efficiency power characteristics, ensuring that the flywheel realizes maximum stability with minimum power consumption. In addition, this design further improves the stability performance of the robot in static and dynamic environments, providing strong technical support for complex terrain adaptability and posture adjustment capability. The above technical characteristics not only embody the innovation of flywheel design, but also provide an important practical reference for the improvement of two-legged robot balancing technology.

Claims

1. A flywheel energy storage type angular momentum balance biped robot, divided into a head, a torso, arms and legs, the head is located at the uppermost end, the lower end of the head is the torso, the arms are on both sides of the torso, and the legs are at the lower part of the torso, characterized in that The core structure is a balanced motion mechanism composed of a trunk and a leg part, the trunk including a sliding rail, a flywheel shell, a motor, a ball screw, a battery, a power electronic conversion device, a stepping motor, a shaft coupling, a fastening connector, a shock pad, an upper rolling bearing, a rotating shaft, a magnetic induction coil, a flywheel, and a lower rolling bearing; the leg part including a hip joint, a knee joint, and an ankle joint, each mechanism operating in coordination to realize the overall operation of the flywheel energy storage type angular momentum balance biped robot, including a flywheel energy storage structure, a gravity center adjusting structure, a leg motion structure, and a balance control structure; the flywheel energy storage structure including a flywheel, a motor, a magnetic induction coil, a battery, a power electronic conversion device, and a flywheel shell; the flywheel is installed at the gravity center of the robot trunk, and the rotating shaft thereof is perpendicular to the horizontal ground; the flywheel is driven by the motor to rotate at a high speed, generates angular momentum for balancing the robot, and at the same time, converts mechanical energy into electrical energy through the magnetic induction coil and stores the electrical energy in the battery; the flywheel shell is made of high-strength composite material, the inner wall is provided with an anti-friction gap, and the power electronic conversion device controls the mutual conversion of mechanical energy and electrical energy; the flywheel has a high inertia design, significantly reduces the demand of the robot on the leg degrees of freedom, and at the same time, provides the dual functions of angular momentum balance and energy conversion; the gravity center adjusting structure includes a ball screw, a stepping motor, and a sliding rail, the ball screw is connected with the stepping motor in a shaft connection manner, a nut is installed on the ball screw, and the nut is connected with the motor through a screw; the stepping motor controls the ball screw to drive the flywheel to move in the horizontal direction, for adjusting the gravity center position to adapt to the dynamic balance demand; the sliding rail assembly is installed in the robot trunk frame to share the mass of the flywheel to the motor and the ball screw; shock pads are arranged at the bottom of the screw rod and both ends of the sliding rail, for absorbing vibration in the gravity center adjusting process and protecting the parts.

2. The flywheel energy storage type angular momentum balance biped robot according to claim 1, characterized by: Each leg of the leg motion structure includes a hip joint, a knee joint, and an ankle joint; the hip joint is composed of two steering mechanisms in the front-rear direction and the left-right direction, respectively providing two rotational degrees of freedom; the knee joint is composed of a single-axis steering mechanism, and the ankle joint is composed of a single-axis steering mechanism; the steering mechanisms are connected with the robot leg frame through a modular interface, a joint angle sensor is integrated in the interface, for monitoring the angle change of the leg joint in real time; the power of the steering mechanisms is supplied by the flywheel energy storage system, and is synchronized and coordinated with the balance control structure through a centralized control module.

3. The flywheel energy storage type angular momentum balance biped robot according to claim 1, characterized by: The balance control structure includes a gyroscope, an acceleration sensor, a pressure sensor, a ZMP algorithm control module, and a sensor network; the gyroscope and the acceleration sensor are fixed in the robot frame, for monitoring the acceleration, angular velocity, and attitude change of the robot gravity center in real time; the pressure sensor is installed at the bottom of the robot foot, for monitoring the distribution of the support force; the ZMP algorithm module calculates the offset of the current gravity center of the robot from the support surface in combination with the sensor data, and sends adjustment instructions to the flywheel system and the leg motion mechanism; all the sensors are connected to the central control system through a CAN bus, to ensure efficient data communication and response speed.

4. The flywheel energy storage type angular momentum balance biped robot according to claim 1, characterized by: The slide rail is installed in the trunk frame inside the robot, the frame is made of aluminum alloy, and is used for providing light mass support for the flywheel; the slide rail is provided with a guide groove, which is used for limiting the horizontal movement direction of the flywheel and ensuring the accuracy of the flywheel adjustment; the two ends of the slide rail are fixed inside the robot respectively, and the two ends of the slide rail are provided with shock pads, which are used for absorbing the vibration in the process of gravity center adjustment and protecting the parts.

5. The flywheel energy storage type angular momentum balance biped robot according to claim 1, characterized by: The flywheel is driven by a motor, the flywheel axis is perpendicular to the horizontal ground, the flywheel is installed at the gravity center position between the robot legs, the top end of the flywheel rotating shaft is provided with a T-shaped structure, so that the flywheel is connected with the guide groove of the slide rail, three groups of magnetic induction coils are coaxially installed above the flywheel, the flywheel is connected to the motor driving shaft through a coupling at the lower part, the motor driving shaft is coaxially connected with the flywheel center shaft, and the stability of power transmission during flywheel rotation is ensured; the flywheel is covered with a flywheel shell, the shell is made of light high-strength material, and is used for protecting the flywheel and the internal parts.

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