System for optimizing energy flow and improving balance force of humanoid robot

Abstract

The utility model discloses a system for optimizing energy flow and improving balance force of a humanoid robot, which is characterized in that a new battery system formed by combining a flywheel energy storage battery and a power supply is adopted in a joint driving system of the robot, and the flywheel energy storage battery is used for replacing an original brake resistor; as a traditional braking resistor releases braking energy in a heat mode to consume the energy and can generate a large amount of heat, a humanoid robot system is damaged, a flywheel energy storage battery is adopted to store the braking energy, the energy is recycled, the energy utilization rate is greatly increased, and the energy utilization rate of the humanoid robot system is increased. And higher braking power can be provided in a short time.

Description

Technical Field

[0001] This utility model relates to the field of robot control technology, and more specifically, to a system for optimizing the energy flow and improving the balance of a humanoid robot. Background Technology

[0002] Humanoid robots possess a human-like appearance, including two legs, two arms, two hands, and a head. Due to their closer resemblance to human form and movement characteristics, they exhibit greater versatility and adaptability in human life and work. In the field of humanoid robot technology, many key technologies exist, among which joint movement mechanisms and stable balance control of the robot have consistently been both hot topics and challenging areas of development.

[0003] The joint drive unit mainly consists of a motor, controller, and reducer. DC motors and torque motors are currently the mainstream motors used. The controller is mainly used to control the motor speed to achieve joint movement. Since the joint drive unit's movement needs to simulate human actions, it can be divided into two working states from a power perspective: driving and braking. In the driving state, the motor power is positive, and battery energy flows from the battery through the controller to the motor, where it is converted into mechanical energy. In the braking state, the motor power is negative, and mechanical energy flows from the motor through the controller to the battery, where it is converted into electrical energy. To achieve high-speed joint movement, the driving and braking power are often relatively large. The battery's charging power is often insufficient to meet the joint braking requirements. Therefore, a common practice is to add a switch and a braking resistor across the battery terminals. When high-power braking is required, this switch is opened, and the braking resistor releases the energy.

[0004] However, the above-mentioned technical solutions only start from the prediction and control of motion, which places high demands on the robot's actuators (motors in the joint drive unit) and requires rapid response to action requests. This also brings greater challenges to the entire energy system to a certain extent, as rapid actions require rapid energy charging and discharging speeds, which existing battery energy systems can hardly meet. Utility Model Content

[0005] The technical problem this invention aims to solve is how to overcome the technical deficiency of existing battery energy systems, which are unable to meet the energy demands of rapidly responding to action requests. To overcome these shortcomings, this invention provides a system that optimizes energy flow and improves balance in humanoid robots.

[0006] This invention provides a system for optimizing energy flow and improving balance in a humanoid robot, comprising a power supply, a flywheel energy storage battery, and multiple joint drive units. The positive terminal of the flywheel energy storage battery is electrically connected to the positive terminal of the power supply, and the negative terminal of the flywheel energy storage battery is electrically connected to the negative terminal of the power supply. The positive terminals of all the joint drive units are electrically connected to the positive terminal of the power supply, and the negative terminals of all the joint drive units are electrically connected to the negative terminal of the power supply.

[0007] This invention relates to a system for optimizing energy flow and improving balance in humanoid robots. Compared to existing technologies, it employs a novel battery system combining a flywheel energy storage battery and a power source in the robot's joint drive system. The flywheel energy storage battery replaces the traditional braking resistor. Traditional braking resistors dissipate braking energy as heat, generating significant heat that can harm the humanoid robot system. The flywheel energy storage battery stores and recovers braking energy, greatly improving energy utilization and providing greater braking power in a shorter time. Furthermore, traditional battery systems store energy within the battery, which has limited discharge capacity (typically three times the rated current). If the energy required for rapid response to actions exceeds the battery's capacity, the robot cannot perform these actions. Increasing the battery capacity, however, would increase the system's weight. This invention solves this problem by combining a flywheel energy storage battery with a power source to form a new battery system. Specifically, when high power output is required, the high power output capability of the flywheel energy storage battery can compensate for the insufficient power source, thus allowing for the use of a smaller battery pack to meet the needs of humanoid robots for rapid response to action requests.

[0008] In one possible implementation, the power source is a lithium battery; the new battery system combining a flywheel energy storage battery and a lithium battery can compensate for the shortcomings of the lithium battery with the high power output capability of the flywheel energy storage battery when high power output is required, thereby achieving the goal of using a smaller battery pack to meet the operational needs of the humanoid robot.

[0009] In one possible implementation, the power supply includes multiple rows of cells, each row of cells includes multiple cells, and each row of cells is provided with a positive wire and a negative wire.

[0010] One end of the positive wire of the first cell row is electrically connected to the positive terminal of the power supply; the other end of the negative wire of the previous cell row is electrically connected to one end of the positive wire of the next cell row; and the other end of the negative wire of the last cell row is electrically connected to the negative terminal of the power supply.

[0011] In each of the aforementioned cell rows, the other end of the positive electrode line is simultaneously electrically connected to the positive electrode of all cells in that cell row, and the negative electrode of all cells in that cell row is electrically connected to one end of the negative electrode line of that cell row.

[0012] This solution corresponds to a lithium battery or power supply composed of multiple cells connected in series and parallel, which can improve the battery voltage and the power supply's charging and discharging current capability according to system requirements.

[0013] In one possible implementation, the flywheel energy storage battery includes a housing, two bearings, a first controller, a motor, and a flywheel with a central rotating shaft. The two bearings, the first controller, the motor, and the flywheel (25) are all located within the area enclosed by the housing.

[0014] The first controller has a positive terminal, a negative terminal, and an output pin. The positive terminal of the first controller is electrically connected to the positive terminal of the power supply, the negative terminal of the first controller is electrically connected to the negative terminal of the power supply, and the output pin of the first controller is electrically connected to the motor.

[0015] One end of the motor's output shaft is connected to one of the bearings, the other end of the motor's output shaft is connected to one end of the flywheel's shaft, and the other end of the flywheel's shaft is connected to another bearing.

[0016] The flywheel energy storage battery corresponding to this scheme uses electrical energy to drive the flywheel to rotate at high speed, converting electrical energy into mechanical energy. When needed, the flywheel inertia drives the motor to generate electricity, converting the stored mechanical energy into electrical energy output (i.e., the so-called flywheel discharge). Its advantages are reflected in its short-time, high-frequency, and high-power charging and discharging characteristics.

[0017] In one possible implementation, all of the joint drive units include a second controller and a joint motor;

[0018] The second controller has a positive terminal, a negative terminal, and an output pin. The positive terminal of the second controller is electrically connected to the positive terminal of the power supply, the negative terminal of the second controller is electrically connected to the negative terminal of the power supply, and the output pin of the second controller is electrically connected to the joint motor. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a system structure for optimizing energy flow and improving balance in a humanoid robot, as disclosed in this embodiment.

[0020] Figure 2 This is a schematic diagram of the power supply structure disclosed in this embodiment;

[0021] Figure 3 This is a schematic diagram of the flywheel energy storage battery structure disclosed in this embodiment.

[0022] Explanation of reference numerals in the attached figures:

[0023] 1. Power supply; 11. Positive wire; 12. Negative wire; 2. Flywheel energy storage battery; 21. Housing; 22. Bearing; 23. First controller; 24. Motor; 25. Flywheel; 3. Joint drive unit; 31. Second controller; 32. Joint motor. Detailed Implementation

[0024] First, those skilled in the art should understand that these embodiments are merely used to explain the technical principles of the embodiments of this application and are not intended to limit the scope of protection of the embodiments of this application. Those skilled in the art can make adjustments as needed to adapt to specific application scenarios.

[0025] Secondly, in the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0026] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "electrical connection" and "electrical connection relationship" should be interpreted broadly, referring to a connection method with an electrical relationship. For example, it can be a circuit connection achieved through conductive wires, an electrical connection achieved through a radio signal channel, or a combination of both. Furthermore, "electrical connection" and "electrical connection relationship" can be based on a mechanical connection (such as conductive wires being installed within a connecting key); it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0027] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0028] The present application will be further described in detail below with reference to an embodiment, the accompanying drawings, and specific embodiments.

[0029] See Figures 1-3 This application discloses a system for optimizing energy flow and improving balance in a humanoid robot. See also... Figure 1 The system includes a power source 1, a flywheel energy storage battery 2, and multiple joint drive units 3. The positive terminal of the flywheel energy storage battery 2 is electrically connected to the positive terminal of the power source 1, and the negative terminal of the flywheel energy storage battery 2 is electrically connected to the negative terminal of the power source 1. The positive terminals of all joint drive units 3 are electrically connected to the positive terminal of the power source 1, and the negative terminals of all joint drive units 3 are electrically connected to the negative terminal of the power source 1.

[0030] See Figure 2 In this embodiment, the power source 1 is a lithium battery. The power source 1 includes multiple cell rows, each cell row includes multiple cells, and each cell row is provided with a positive electrode line 11 and a negative electrode line 12. One end of the positive electrode line 11 of the first cell row is electrically connected to the positive electrode of the power source 1, the other end of the negative electrode line 12 of the previous cell row is electrically connected to one end of the positive electrode line 11 of the next cell row, and the other end of the negative electrode line 12 of the last cell row is electrically connected to the negative electrode of the power source 1. In each cell row, the other end of the positive electrode line 11 is simultaneously electrically connected to the positive electrode of all cells in that cell row, and the negative electrode of all cells in that cell row is electrically connected to one end of the negative electrode line 12 of that cell row.

[0031] See Figure 3 In this embodiment, the flywheel energy storage battery 2 includes a housing 21, two bearings 22, a first controller 23, a motor 24, and a flywheel 25 with a central rotating shaft. The two bearings 22, the first controller 23, the motor 24, and the flywheel 25 are all disposed within the area enclosed by the housing 21. In the flywheel energy storage battery 2, the first controller 23 has a positive terminal, a negative terminal, and an output pin. The positive terminal of the first controller 23 is electrically connected to the positive terminal of the power supply 1, the negative terminal of the first controller 23 is electrically connected to the negative terminal of the power supply 1, and the output pin of the first controller 23 is electrically connected to the motor 24. One end of the output shaft of the motor 24 is connected to one bearing 22, the other end of the output shaft of the motor 24 is connected to one end of the rotating shaft of the flywheel 25, and the other end of the rotating shaft of the flywheel 25 is connected to the other bearing 22.

[0032] See Figure 1 In this system, all joint drive units 3 include a second controller 31 and a joint motor 32. In the joint drive unit 3, the second controller 31 is provided with a positive terminal, a negative terminal and an output pin. The positive terminal of the second controller 31 is electrically connected to the positive terminal of the power supply 1, the negative terminal of the second controller 31 is electrically connected to the negative terminal of the power supply 1, and the output pin of the second controller 31 is electrically connected to the joint motor 32.

[0033] To fully illustrate the beneficial effects of the system for optimizing energy flow and improving balance of the humanoid robot disclosed in this embodiment, the technical effects that the system can achieve when facing extreme working conditions during operation will be analyzed below after it is installed on the robot.

[0034] When all the robot's joint motors 32 are operating in electric mode, energy can be converted from the electrical energy of the power supply 1 and the flywheel energy storage battery 2 into the mechanical energy of the motors. Let the electric power of all joint motors 32 be P_b, the maximum discharge power of the power supply 1 be P_b, and the maximum discharge power of the flywheel energy storage battery 2 be P_f; then, in order to meet the maximum power requirement of the motors, the power needs to satisfy P_b + P_f > P_m.

[0035] When all joint motors are operating in braking mode, energy can be converted from the mechanical energy of the motors into electrical energy from the lithium battery and mechanical energy from the flywheel energy storage battery. Let the braking power of all joint motors be P_g, the maximum charging power of the lithium battery be P_c, and the maximum discharge power of the flywheel energy storage battery be P_f; then, to meet the braking requirements of the motors, the power must satisfy P_c + P_f > P_g.

[0036] As can be seen from the above analysis of this solution, when the joint motor 32 is working in the driving mode, the flywheel energy storage battery 2 can also provide discharge power to supplement the discharge power of the power supply 2; when the joint motor is working in the braking mode, the flywheel energy storage battery 2 can also provide charging power to supplement the discharge power of the power supply 1; since the braking resistor is removed, the overall system weight will be reduced.

[0037] In addition to providing the system with greater charging and discharging power and eliminating discharge resistance, the flywheel energy storage battery 2 can also utilize the physical characteristics of the flywheel's rapid rotation, combined with the application scenarios of humanoid robots, to use the angular momentum generated by the rapid rotation to improve the robot's stability.

[0038] In summary, the system disclosed in this embodiment employs a novel battery system combining a flywheel energy storage battery 2 and a power supply 1 in the robot's joint drive system. The flywheel energy storage battery 2 replaces the original braking resistor. Traditional braking resistors dissipate braking energy as heat, generating significant heat that can harm the humanoid robot system. The flywheel energy storage battery 2 stores and recovers braking energy, greatly improving energy utilization and providing greater braking power in a short time. Simultaneously, traditional battery systems store energy in the battery, which has limited and relatively small discharge capacity, typically three times the rated current. When the humanoid robot needs to respond quickly to action requests, if the required energy exceeds the battery's capacity, these actions cannot be completed. Increasing the battery capacity would increase the system weight. This embodiment solves this problem by combining the flywheel energy storage battery 2 with the power source 1 to form a new battery system. Specifically, when high power output is required, the high power output capability of the flywheel energy storage battery 2 can compensate for the insufficiency of the power source 1, thereby allowing a smaller battery pack to meet the needs of the humanoid robot for rapid response to action requests.

[0039] In the description of the embodiments of this application, it should be noted that the terms "inner", "outer", "front", "rear", etc., indicating the direction or positional relationship are based on the direction or positional relationship shown in the drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this application.

[0040] In the description of this application, the references to terms such as "an embodiment," "some embodiments," "in this embodiment," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0041] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A system for optimizing energy flow and improving balance in a humanoid robot, characterized in that, It includes a power source (1), a flywheel energy storage battery (2), and multiple joint drive units (3). The positive terminal of the flywheel energy storage battery (2) is electrically connected to the positive terminal of the power source (1), and the negative terminal of the flywheel energy storage battery (2) is electrically connected to the negative terminal of the power source (1). The positive terminals of all the joint drive units (3) are electrically connected to the positive terminal of the power source (1), and the negative terminals of all the joint drive units (3) are electrically connected to the negative terminal of the power source (1).

2. The system for optimizing energy flow and improving balance force of humanoid robot according to claim 1, wherein, The power source (1) is a lithium battery.

3. The system for optimizing energy flow and improving balance force of an anthropomorphic robot according to claim 1 or 2, characterized in that, The power supply (1) includes multiple rows of cells, each row of cells includes multiple cells, and each row of cells is provided with a positive wire (11) and a negative wire (12); One end of the positive line (11) of the first cell row is electrically connected to the positive terminal of the power supply (1), the other end of the negative line (12) of the previous cell row is electrically connected to one end of the positive line (11) of the next cell row, and the other end of the negative line (12) of the last cell row is electrically connected to the negative terminal of the power supply (1). In each of the cell rows, the other end of the positive line (11) is simultaneously electrically connected to the positive pole of all the cells in that cell row, and the negative pole of all the cells in that cell row is electrically connected to one end of the negative line (12) of that cell row.

4. The system for optimizing energy flow and improving balance force of a humanoid robot according to claim 3, wherein, The flywheel energy storage battery (2) includes a housing (21), two bearings (22), a first controller (23), a motor (24), and a flywheel (25) with a central rotating shaft. The two bearings (22), the first controller (23), the motor (24), and the flywheel (25) are all located within the area enclosed by the housing (21). The first controller (23) is provided with a positive terminal, a negative terminal and an output pin. The positive terminal of the first controller (23) is electrically connected to the positive terminal of the power supply (1), the negative terminal of the first controller (23) is electrically connected to the negative terminal of the power supply (1), and the output pin of the first controller (23) is electrically connected to the motor (24). One end of the output shaft of the motor (24) is connected to one of the bearings (22), the other end of the output shaft of the motor (24) is connected to one end of the shaft of the flywheel (25), and the other end of the shaft of the flywheel (25) is connected to another bearing (22).

5. The system for optimizing energy flow and improving balance force of humanoid robot according to claim 4, wherein, All of the joint drive units (3) include a second controller (31) and a joint motor (32); The second controller (31) has a positive terminal, a negative terminal and an output pin. The positive terminal of the second controller (31) is electrically connected to the positive terminal of the power supply (1), the negative terminal of the second controller (31) is electrically connected to the negative terminal of the power supply (1), and the output pin of the second controller (31) is electrically connected to the joint motor (32).

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