Momentum wheel and robot

Abstract

The embodiment of the application provides a momentum wheel and a robot, the momentum wheel comprises: a wheel body for being connected with a motor, the wheel body comprises a first wheel, a connecting piece and a second wheel, the first wheel is used for connecting an output end of the motor, two ends of the connecting piece are connected with the first wheel and the second wheel respectively, and a counterweight is connected with the second wheel, the density of the counterweight is greater than the density of the wheel body, compared with a traditional momentum wheel, the momentum wheel provided by the application can greatly provide the rotational inertia of the momentum wheel, so that the angular momentum of the momentum wheel during rotation can be improved, a large angular velocity is not needed, angular momentum balance of the robot is facilitated, energy consumed during balance is reduced, the structure is simple, and the practicality is strong.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, and in particular relates to a momentum wheel and a robot. Background Technology

[0002] Currently, with the development of technology, robots are gradually taking center stage and being applied to all aspects of life. For example, robots are replacing humans in performing Yangko dance.

[0003] For large robots, since they basically mimic the human body structure, center of gravity control is relatively simple, so balancing is relatively easy. However, for small robots (such as desktop robots), since their external shape often adopts a cartoon image, the symmetry is poor, and the internal structure is limited, requiring the installation of multiple components, the center of gravity is difficult to determine, so maintaining balance is more difficult. Traditional desktop robots are generally fixed to the desktop by some fixed structure, and since they cannot move, the fun is greatly reduced. Summary of the Invention

[0004] The purpose of this application is to provide a momentum wheel and a robot, which aims to solve the problem of achieving balance without the need for fixation.

[0005] To achieve the above objectives, the technical solution adopted in this application is: to provide a momentum wheel for use in a desktop robot, characterized in that it includes: a wheel body for connection with a motor, the wheel body including a first wheel, a connector and a second wheel, the first wheel being used to connect to the output end of the motor, the two ends of the connector being connected to the first wheel and the second wheel respectively; and a counterweight block, the counterweight block being connected to the second wheel, the density of the counterweight block being greater than the density of the wheel body.

[0006] Optionally, the wheel body is a carbon fiber wheel body, and the counterweight is a metal counterweight.

[0007] Optionally, the connector includes a connecting body, a first connecting end, and a second connecting end, wherein the first connecting end is disposed on the side of the connecting body facing the first wheel, and the second connecting end is disposed on the side of the connecting body facing the second wheel.

[0008] Optionally, the circumferential length of the first connecting end is less than the circumferential length of the second connecting end.

[0009] Optionally, the connector is provided in multiple parts, and the multiple connectors are arranged at equal intervals along the circumference.

[0010] Optionally, the second wheel is provided with an annular groove, and the counterweight is embedded in the annular groove.

[0011] This application also provides a momentum wheel for a robot, comprising: a robot body, the robot body having an internal accommodating cavity; an adjustment device including a motor and the aforementioned momentum wheel, the motor being fixed in the accommodating cavity along a preset direction, the momentum wheel being connected to the output end of the motor, the motor being used to adjust the rotation mode according to the pitch state of the robot body so that the robot body maintains a predetermined posture; and a detection device, the detection device being disposed in the accommodating cavity and electrically connected to the adjustment device, and being used to detect the pitch state of the robot body.

[0012] Optionally, three adjustment devices are provided, and the orientations of any two adjustment devices are perpendicular to each other.

[0013] Optionally, the speed range of the output terminal of the motor is 20,000-100,000 revolutions per minute.

[0014] Optionally, the detection device is one of a gyroscope, a three-axis accelerometer, or a vision sensor.

[0015] The beneficial effects of this application are as follows: Compared to traditional momentum wheels, the momentum wheel provided in this application can significantly increase the rotational inertia of the momentum wheel, thereby increasing the angular momentum when the momentum wheel rotates. It does not require a large angular velocity, making it easier to balance the angular momentum of the robot, thus reducing the energy consumed during balancing. It has a simple structure and strong practicality.

[0016] Compared to traditional desktop robots that maintain their posture by being fixed to a tabletop, this invention uses a detection device to acquire the robot's pitch state in real time. Since the detection device is electrically connected to an adjustment device, the adjustment device can adjust the rotation mode based on the real-time pitch state, thereby maintaining the robot's posture. This application provides real-time pitch state feedback through a detection device and achieves inertial level adjustment through an adjustment device, resulting in stable posture maintenance, a simple structure, and strong practicality. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or exemplary technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a perspective view of the momentum wheel according to an embodiment of the present invention; Figure 2 This is a partial structural diagram of the wheel body according to an embodiment of the present invention; Figure 3This is a schematic diagram of the robot structure according to an embodiment of the present invention.

[0019] The following are the labeling elements in the figure: 10. Momentum wheel; 110. Wheel body; 111. First wheel; 112. Connector; 1121. Connecting body; 1122. First connecting end; 1123. Second connecting end; 113. Second wheel; 120. Counterweight; 20. Robot; 210. Machine body; 211. Receptacle cavity; 220. Adjustment device; 221. Motor; 230. Detection device. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the scope of this application.

[0021] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly or indirectly attached to that other component. When a component is referred to as "connected to" another component, it can be directly or indirectly connected to that other component. The terms "upper," "lower," "left," "right," etc., indicate orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, and are for ease of description only, not to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features. "A plurality" means two or more, unless otherwise explicitly defined.

[0022] Please see Figures 1 to 2 An embodiment of this application provides a momentum wheel 10, which is applied to a desktop robot 20 and includes a wheel body 110 and a counterweight 120.

[0023] The wheel 110 is roughly circular in shape and is used to connect to the motor 221. Specifically, the wheel 110 includes a first wheel 111, a connecting member 112, and a second wheel 113.

[0024] The first ring 111 is annular and has a certain thickness. The first ring 111 is used to connect to the output end of the motor 221. For example, the center of the first ring 111 is provided with a connecting hole and a keyway. When the motor 221 is an inner rotor motor 221, the output shaft of the motor 221 is matched and connected with the connecting hole and fixed by the keyway. When the motor 221 is an outer rotor motor 221, the outer rotor housing is matched and connected with the connecting hole and fixed by the keyway.

[0025] The connector 112 is roughly strip-shaped, and its two ends are connected to the first wheel 111 and the second wheel 113, respectively.

[0026] The counterweight 120 is connected to the second wheel 113. The counterweight 120 can increase the overall rotational inertia of the wheel 110. The density of the counterweight 120 is greater than that of the wheel 110, so the mass can be concentrated on the second wheel 113, thereby increasing the overall rotational inertia of the momentum wheel 10.

[0027] In some possible examples, the second wheel 113 body 110 is provided with an annular groove, and the counterweight 120 is embedded in the annular groove. In another possible example, the second wheel 113 body 110 may be provided with a threaded hole, and the counterweight 120 is connected to the second wheel 113 body 110 through the threaded hole.

[0028] It is understandable that, compared with the traditional momentum wheel 10, the momentum wheel 10 provided in this application can significantly increase the rotational inertia of the momentum wheel 10, thereby increasing the angular momentum when the momentum wheel 10 rotates. It does not require a large angular velocity, which makes it easier to balance the angular momentum of the robot 20, thereby reducing the energy consumed during balancing. It has a simple structure and strong practicality.

[0029] In one possible example, to further increase the moment of inertia of the momentum wheel 10, the wheel body 110 is a carbon fiber wheel body 110. The low density of the carbon fiber wheel body 110 can significantly reduce the weight of the first wheel 111 and the connecting piece 112. The counterweight 120 is a metal counterweight 120, such as a titanium alloy counterweight 120. It can be understood that the carbon fiber wheel body 110 reduces the weight of the wheel body 110 as much as possible, while the titanium alloy counterweight 120 increases the weight of the second wheel 113, thereby further increasing the moment of inertia of the momentum wheel 10.

[0030] Please see Figure 2In one possible example, the connector 112 includes a connector body 1121, a first connector end 1122, and a second connector end 1123. The connector body 1121 is generally strip-shaped and has a certain width. When the output end of the motor 221 rotates, the torque of the first wheel 111 is transmitted to the second wheel 113 through the connector body 1121, thereby driving the second wheel 113 to rotate. Specifically, the first connector end 1122 is located on the side of the connector body 1121 facing the first wheel 111, and the second connector end 1123 is located on the side of the connector body 1121 facing the second wheel 113.

[0031] Please see Figure 2 In one possible example, because the counterweight 120 exerts a strong force on the connection between the first connecting end 1122 and the second wheel 113 during rotation, the circumferential length of the first connecting end 1122 is less than the circumferential length of the second connecting end 1123 in this example, thereby improving the stability of the connection between the connecting body 1121 and the second wheel 113. Furthermore, multiple connecting members 112 can be provided, with the multiple connecting members 112 evenly spaced circumferentially, thereby reducing the force on a single connecting member 112 and improving the durability of the momentum wheel 10.

[0032] Please see Figures 1 to 3 This application provides a robot 20, including a robot body 210, an adjustment device 220, and a detection device 230. It should be noted that the robot 20 of this application is a small desktop robot 20, such as a robot 20 with a height of less than 30 centimeters.

[0033] The machine body 210 can be a wheeled robot 20 or a humanoid robot 20. When the machine body 210 is a humanoid robot 20, it has a head, torso, and limbs, and an internal accommodating cavity 211. Specifically, since the limbs of the small robot 20 are relatively small, the accommodating cavity 211 can be located inside the torso of the machine body 210.

[0034] It is understood that the inner wall of the accommodating cavity 211 may be provided with a mounting groove for the matching attitude holding component, through which the adjustment device 220 and the detection device 230 can be fixed to the accommodating cavity 211.

[0035] The adjusting device 220 is disposed in the receiving cavity 211 along a first direction. In one possible example, the first direction can be... Figure 1 In the Z-axis direction, the adjustment device 220 is used to adjust the rotation mode according to the pitch state of the machine body 210. Specifically, adjusting the rotation mode includes adjusting the rotation speed and rotation direction, thereby adjusting the angular momentum so as to use the principle of conservation of angular momentum to keep the machine body 210 in a predetermined posture.

[0036] The adjusting device 220 includes a motor 221 and a momentum wheel 10. The specific structure of the momentum wheel 10 is as described in the above embodiments. Since this device adopts all the technical solutions of all the above embodiments, it also has all the beneficial effects brought about by the technical solutions of the above embodiments, and will not be described in detail here.

[0037] The detection device 230 is located in the accommodating cavity 211 and is electrically connected to the adjustment device 220. For example, the detection device 230 can be connected to the same circuit board as the adjustment device 220.

[0038] In some possible examples, the detection device 230 is one of a gyroscope (mechanical gyroscope or fiber optic gyroscope), a three-axis accelerometer or a vision sensor, and the detection device 230 can detect the pitch state of the machine body 210.

[0039] For example, when the detection device 230 is a gyroscope and the pitch axis is the Z-axis, the gyroscope senses the pitch motion by detecting the rotational angular velocity around the Z-axis, and then obtains the accurate pitch angle through integration and sensor fusion.

[0040] When the detection device 230 is a three-axis accelerometer, its output mainly reflects the components of gravitational acceleration on the three axes of the body coordinate system. Since the direction of gravity is fixed (pointing towards the Earth's center), the pitch angle can be calculated through the gravity components.

[0041] When the detection device 230 is a vision sensor, and the vision sensor includes the desktop area, the ground can be regarded as a reference plane (such as a horizontal ground). Changes in the pitch angle will directly change the "tilt" of the ground in the image. The pitch angle can be calculated by analyzing the projection characteristics of the ground in the image.

[0042] It is understandable that, compared to the traditional desktop robot 20 which maintains its posture by being fixed to a desktop, the detection device 230 can acquire the pitch state of the robot body 210 in real time. Since the detection device 230 is electrically connected to the adjustment device 220, the adjustment device 220 can adjust the rotation mode based on the real-time pitch state, thereby maintaining the posture of the robot body 210. This application uses the detection device 230 to provide real-time feedback on the pitch state and the adjustment device 220 to achieve inertial level adjustment, resulting in stable posture maintenance, a simple structure, and strong practicality.

[0043] For the aforementioned motor 221, the motor 221 can be fixed to the receiving cavity 211 with screws, thereby maintaining the stability of the motor 221 during operation. In some possible examples, the motor 221 can be an external rotor motor 221 or an internal rotor motor 221. For example... Figure 3 As shown, the motor 221 is held in the accommodating cavity 211 by the base, which can maintain the stability of the motor 221.

[0044] Preferably, when the motor 221 is an external rotor motor 221, the moment of inertia is not greater than 0.5. Since the attitude holding capability depends on the angular momentum of the momentum wheel 10, and the angular momentum is equal to the moment of inertia multiplied by the rotational speed, when the angular velocity is 8000 rad / s, the angular momentum is not greater than 400, which can offset the 30 N·m tipping torque (equivalent to the lateral thrust of a 70 kg adult).

[0045] It is understandable that the larger the adjustment range of the output speed of motor 221, the easier it is to adjust the angular momentum of momentum wheel 10. In one example, the output speed range of motor 221 is 20,000-100,000 revolutions per minute.

[0046] The momentum wheel 10 is roughly circular and has a certain thickness. It is connected to the output of motor 221, which drives the momentum wheel 10 to rotate. By adjusting the speed and direction of rotation of motor 221, the angular momentum of the momentum wheel 10 can be adjusted. It should be noted that when the machine body 210 pitches about a certain axis, maintaining the attitude can be achieved by making the rotation direction of motor 221 the same as the pitch direction.

[0047] In one possible example, three adjusting devices 220 are provided, and the orientations of any two adjusting devices 220 are perpendicular to each other. That is, Figure 3 A coordinate system is established with the Z-axis as the reference, and the other two adjustment devices 220 are respectively set on the other two coordinate axes, so that the robot 20 can be more stable.

[0048] The above are merely optional embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A momentum wheel, applied to a desktop robot, characterized in that, include: A wheel body for connection to a motor, the wheel body including a first wheel, a connecting member, and a second wheel, wherein the first wheel is used to connect to the output end of the motor, and the two ends of the connecting member are respectively connected to the first wheel and the second wheel; and A counterweight is connected to the second wheel, and the density of the counterweight is greater than the density of the wheel body.

2. The momentum wheel as described in claim 1, characterized in that: The wheel is a carbon fiber wheel, and the counterweight is a metal counterweight.

3. The momentum wheel as described in any one of claims 1-2, characterized in that: The connector includes a connecting body, a first connecting end, and a second connecting end. The first connecting end is located on the side of the connecting body facing the first wheel, and the second connecting end is located on the side of the connecting body facing the second wheel.

4. The momentum wheel as described in claim 3, characterized in that: The length of the first connecting end along the circumference is less than the length of the second connecting end along the circumference.

5. The momentum wheel as described in claim 1, characterized in that: The connector is provided in multiple parts, and the multiple connectors are arranged at equal intervals along the circumference.

6. The momentum wheel as described in claim 1, characterized in that: The second wheel has an annular groove, and the counterweight is embedded in the annular groove.

7. A robot, characterized in that, include: The machine body has an internal accommodating cavity; An adjustment device includes a motor and a momentum wheel as described in any one of claims 1-6. The motor is fixed to the receiving cavity along a preset direction, and the momentum wheel is connected to the output end of the motor. The motor is used to adjust the rotation mode according to the pitch state of the machine body to maintain a predetermined posture of the machine body. A detection device is disposed in the accommodating cavity and electrically connected to the adjustment device, and is used to detect the pitch state of the machine body.

8. The robot as described in claim 7, characterized in that: The adjustment device is provided in three parts, and the orientation of any two adjustment devices is perpendicular to each other.

9. The robot as described in claim 7, characterized in that: The output speed range of the motor is 20,000-100,000 revolutions per minute.

10. The robot as described in claim 7, characterized in that: The detection device is one of a gyroscope, a three-axis accelerometer, or a vision sensor.

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