CN102424075B - Rigid flexible coupled wirewalking robot based on balance beam - Google Patents

Rigid flexible coupled wirewalking robot based on balance beam Download PDF

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CN102424075B
CN102424075B CN 201110373133 CN201110373133A CN102424075B CN 102424075 B CN102424075 B CN 102424075B CN 201110373133 CN201110373133 CN 201110373133 CN 201110373133 A CN201110373133 A CN 201110373133A CN 102424075 B CN102424075 B CN 102424075B
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robot
motor
balance
translation
rotating
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CN102424075A (en
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郭磊
魏世民
卢光磊
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Beijing University of Posts and Telecommunications
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Beijing University of Posts and Telecommunications
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Abstract

一种基于平衡杆控制的刚柔耦合走钢丝机器人,设有三个部件:由底板与立板构成的底盘及行进电机组成的行走装置,由传感器、执行电机、齿轮传动机构、转动杆与平动构件组成的平衡装置,以及智能控制电器箱。其中关键部件:平衡装置的执行电机转轴上装有两组平衡部件:联轴件与转动杆构成的旋转平衡部件和齿轮传动的四边形平动构件组成的重心平移平衡部件。通过对与执行电机转轴联动的旋转平衡部件中转动杆的转动和四边形平动构件中平动杆的平动位移进行控制,调整机器人的平衡:藉由转动杆的转动力矩抵消机器人重力力矩作用,同时,由平动杆产生的质心偏移抵消机器人的重心偏移;从而使得该机器人实现自平衡,并能行走于钢丝上。

Figure 201110373133

A rigid-flexible coupled wire walking robot based on balance bar control, which has three parts: a chassis composed of a bottom plate and a vertical plate, and a walking device composed of a traveling motor, which consists of a sensor, an actuator motor, a gear transmission mechanism, a rotating rod and a translational component. The composed balance device, and the intelligent control electrical box. Among them, the key components: two sets of balance components are installed on the rotating shaft of the executive motor of the balance device: the rotation balance component composed of the shaft coupling and the rotating rod, and the center of gravity translation balance component composed of the quadrilateral translation component of the gear transmission. The balance of the robot is adjusted by controlling the rotation of the rotating rod in the rotating balance part linked to the rotating shaft of the executive motor and the translational displacement of the translation rod in the quadrilateral translational member: the gravity torque of the robot is offset by the rotating torque of the rotating rod, At the same time, the offset of the center of mass produced by the translation rod counteracts the offset of the center of gravity of the robot; thus, the robot can realize self-balancing and walk on the steel wire.

Figure 201110373133

Description

Coupled Rigid-flexible Wire walking robot based on trammel beam control
Technical field
The present invention relates to a kind of Wire walking robot, definite says, relates to a kind of two-wheel robot that can keep self-balancing and move forward and backward by adjusting trammel beam on the flexible steel wire that hangs, and belongs to the Robotics field.
Background technology
Wire walking robot is a kind of robot system that relies on drive wheel to carry out the balance walking at flexible steel wire.This robot has static instability and characteristics that dynamically can be stable, and has and significantly owe drive performance, produces mutual constrained motion by Dynamics Coupling between robot body and the steel rope.Its various parameters that embody dynamics are particularly important for the balance exercise of system.Because the complexity of system, these parameters can not obtain by directly measuring usually, but need to carry out the on-line identification of robot parameter.Therefore, the research of Wire walking robot need to consider the rigid motion of robot and the flexibility of steel rope swings, and sets up the system dynamics model of Coupled Rigid-flexible; Based on nonlinear control theory, be the Robot Design controller again, improve the robustness of system.
At present, all kinds of robots with single wheel feature are realized that self-stabilization equilibrium function aspect is studied both at home and abroad, still, data of literatures or considerably less.Especially based on the acrobatics motion principle of human tight-wire walking, can the mimic human movements function, and can be on steel wire in three dimensional space the research of the robot of self-balancing walking especially so far there are no relevant report.
Report openly now that document mainly contains the patent application of the Chinese science and technology paper online " the low-cost die fuzzy controllers of robot tight-wire walking " of Song Jiewen etc. and the Zhou Chunlin of Shanghai Communications University etc.Document " the low-cost die fuzzy controllers of robot tight-wire walking " has been set up the math modeling of a robot tight-wire walking, swing by fuzzy control method control trammel beam, but, have no the consideration about the flexibility of steel rope in the document, and the document fails to make the physical prototyping of Wire walking robot, just the math modeling of setting up carried out simple simulating, verifying.The public announcement of a patent application of Shanghai Communications University a kind of Wire walking robot that comprises that outer hull, support wheel, gyro, interior ring craspedodrome drive motor, inner ring frame frame, outer shroud framework, gyro, craspedodrome drive motor, damper and sensor form, equally, this patent application does not consider that the flexibility of rope is on the impact of robot stabilized balance, and, its described Wire walking robot mainly is that the gyro effect that relies on gyration to produce keeps balance, rather than realizes by the control trammel beam.
Because that Wire walking robot must be equipped with is abundant, react efficiently sensory system and thinking decision system, might become walking-replacing tool with its small volume and less weight, energy-conservation characteristics.In addition, at space industry, can also develop a kind of influence of topography that is not subjected to based on the principle of Wire walking robot, the motion lunar rover vehicle freely.Wire walking robot also can be used for electric power or communication system, such as finish the several functions such as line inspection, line upkeep, circuit deicing in electric power or communication system.Therefore, many in the industry scientific and technical personnel are still arranged in the scientific research task of paying close attention to and study Wire walking robot at present.
Summary of the invention
In view of this, the purpose of this invention is to provide a kind of Coupled Rigid-flexible Wire walking robot based on trammel beam control, this robot is to realize self-balancing by the control trammel beam, and can walk at steel wire, and simple in structure, and volume is small and exquisite, is convenient to implement control.
In order to reach the foregoing invention purpose, the invention provides a kind of Coupled Rigid-flexible Wire walking robot based on trammel beam control, it is characterized in that: this robot is provided with following parts: the running gear that chassis and the motor of advancing form, the balancing device that is formed by sensor, actuating motor, gear drive, dwang and translation member, and Based Intelligent Control electrical equipment case, wherein
This robot body's framework that the chassis of running gear is comprised of the base plate that carries the whole members of robot and the riser that is upright in the base plate front side, the rear and front end of floor below line of centers is arranged with former and later two rollers, be provided with between two rollers for driving trailing wheel and rotate, realize the motor of advancing that robot moves forward and backward, as the strong point, this robot is stood and is walked on the steel wire by these former and later two rollers;
The outstanding Guan County of the actuating motor of balancing device is loaded on riser top rear side, the rotating shaft of this actuating motor stretches out in the riser front side, and two groups of equalizing features are installed in the rotating shaft: the barycenter displacement equalizing feature that the spin balancing parts that coupling piece and dwang consist of and gear-driven quadrangle translation member form; Sensor has two: MTI(motion tracker instrument is measured in the miniature course that is installed on the base plate) sensor and the rotating speed of detection actuating motor and the photoelectric code disk of angle; Be fixed with respectively miniature gears and coupling piece in the rotating shaft of this actuating motor, wherein, the top is meshed with two big gear wheels respectively about the miniature gears both sides, and the wheel shaft of these two big gear wheels is installed in riser by antifriction-bearing box; This two big gear wheels and be fixedly arranged on two side links of wheel shaft top, and form one with a flat motion bar that the side link top joins together and can rotate with big gear wheel and make this flat motion bar produce the quadrangle translation member of translation displacement;
Based Intelligent Control electrical equipment case comprise being packed in respectively be provided with digital signal processing DSP(Digital Signal Processing on the base plate) chip and the control circuit board of peripheral circuit thereof, drive control box and the storage battery of actuating motor.
In order to reach the foregoing invention purpose, the present invention also provides a kind of control method of the Coupled Rigid-flexible Wire walking robot based on trammel beam control, it is characterized in that: to the spin balancing parts of actuating motor rotating shaft interlock in the rotation of dwang and the translation displacement of the flat motion bar in the quadrangle translation member control, be used for adjusting the balance of robot: the effect of offsetting the robot gravity torque by the rotating torque of dwang, simultaneously, the centroid motion that is produced by flat motion bar is offset the centre-of gravity shift of robot; The balanced adjustment factor of these two operations depends on the length of side link in the ratio of number of teeth of large miniature gears and the quadrangle translation member; Described method comprises following control step:
(1) after robot started, miniature course was measured the MTI sensor and is detected the current state information that this robot comprises its roll angle and luffing angle, and the information that will detect is sent to the control circuit board in this Based Intelligent Control electrical equipment case in real time;
(2) control circuit board is set respectively actuating motor and rotating speed and the steering order of the motor of advancing according to this robot current state information that receives;
(3) actuating motor rotates, and drives coupling piece drive dwang cw or conter clockwise transmission, so that the rotating torque of its corresponding generation is offset the effect of robot gravity torque;
(4) the rotating shaft Drive pinion of actuating motor engagement big gear wheel rotates, the rotation of actuating motor is converted into the translation displacement of flat motion bar by the quadrangle translation member, change the center of gravity of robot by the movement of flat motion bar barycenter, so that this robot center of gravity remains on the steel wire;
(5) photoelectric code disk feeds back to control circuit board with spindle speed and the location information of actuating motor, forms closed loop control, so that this robot keeps its self-balancing on steel wire; This step (5) is carried out simultaneously with step (3), (4);
(6) under robot is in state of equilibrium, control circuit board is set the electric machine control order of advancing, and finishes the walking of robot on steel wire.
The structure innovation characteristics of Wire walking robot of the present invention are: by the rotation of the dwang in the spin balancing parts of control and actuating motor rotating shaft interlock and the translation displacement of the flat motion bar in the quadrangle translation member, adjust and realize the self-balancing of this robot: the effect of offsetting the robot gravity torque by the rotating torque of dwang, simultaneously, the centroid motion that is produced by flat motion bar is offset the centre-of gravity shift of robot.
Description of drawings
Fig. 1 is that the structure that the present invention is based on the Coupled Rigid-flexible Wire walking robot of trammel beam control forms schematic diagram.
Fig. 2 is the front elevation that the present invention is based on the Coupled Rigid-flexible Wire walking robot of trammel beam control.
Fig. 3 is the back view that the present invention is based on the Coupled Rigid-flexible Wire walking robot of trammel beam control.
Fig. 4 is the left view that the present invention is based on the Coupled Rigid-flexible Wire walking robot of trammel beam control.
Fig. 5 is the right elevation that the present invention is based on the Coupled Rigid-flexible Wire walking robot of trammel beam control.
Fig. 6 is the top view that the present invention is based on the Coupled Rigid-flexible Wire walking robot of trammel beam control.
Fig. 7 is the lower view that the present invention is based on the Coupled Rigid-flexible Wire walking robot of trammel beam control.
Fig. 8 is the whole front elevation that actuating motor is in the robot in the rotation in the balancing device of the present invention.
Fig. 9 is big or small meshed transmission gear figure in the balancing device of the present invention.
The specific embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, the present invention is described in further detail below in conjunction with drawings and Examples.
Referring to Fig. 1 ~ Fig. 9, the structure that introduction the present invention is based on the Coupled Rigid-flexible Wire walking robot of trammel beam control forms: this device is provided with following three parts: the running gear that chassis and the motor 12 of advancing form, the balancing device that is formed by sensor 2 and 11, actuating motor 10, dwang 4, gear drive and quadrangle translation member, and Based Intelligent Control electrical equipment case.Wherein, this robot body's framework that the chassis of running gear is comprised of the base plate 1 that carries the whole members of robot and the riser 3 that is upright in base plate 1 front side, the rear and front end of base plate 1 below line of centers is arranged with front-wheel 17 and trailing wheel 15, be provided with between two rollers 17 and 15 for driving trailing wheel 15 and rotate, realize the motor 16 of advancing that robot moves forward and backward, as the strong point, this robot is stood and is walked on the steel wire by these former and later two rollers 17 and 15.
The present invention is based on the critical component of the Coupled Rigid-flexible Wire walking robot of trammel beam control: actuating motor 10 outstanding Guan County of balancing device are loaded on the top rear side of riser 3, the rotating shaft of this actuating motor 10 stretches out in the front side of riser 3, and the miniature gears 6 that is fixedly mounted with respectively in its rotating shaft and the coupling piece that is anchored on the rotating shaft top 5 form two groups of equalizing features: coupling piece 5 and the spin balancing parts of dwang 4 formations and the barycenter displacement equalizing feature of gear-driven quadrangle translation member composition.Coupling piece 5 wherein is provided with through hole, and the dwang 4 with equivalent length is packed in the through hole of coupling piece 5, by the left-right rotation of cw or the conter clockwise of this dwang 4, so that this robot keeps its state of equilibrium on steel wire.The top is meshed with two big gear wheels 9 respectively about the both sides of miniature gears 6, and the wheel shaft of these two big gear wheels 9 is installed in riser 3 by antifriction-bearing box; This two big gear wheels 9 and be fixedly arranged on two side links 7 of its wheel shaft top, and form one with a flat motion bar 8 that side link 7 tops join together and can rotate with big gear wheel 7 and make this flat motion bar 8 produce the quadrangle translation member of translation displacements.According to the radius of big gear wheel 9 with miniature gears 6 intermeshing situations under, select the bearing hole of these two big gear wheels 9 in the installation site of riser 3, and adjust side link 7, so that two side links 7 are in the state of being parallel to each other, and the flat motion bar 8 at its top also will be parallel to each other with dwang 4.Situation when actuating motor 10 rotates can be referring to shown in Figure 8, and wherein the engaged transmission of big gear wheel 9 miniature gearss 6 relation can be referring to shown in Figure 9.MTI(motion tracker instrument is measured in the miniature course for detection of robot location's information that two sensors are mounted in respectively on the base plate 1) sensor 2 and detect the rotating speed of actuating motor 10 and the photoelectric code disk 11 of angle.
Actuating motor 10 of the present invention is that its model is: SAEG motors is the product of Beijing Bochuang Xingsheng Robot Technology Co., Ltd. with the hollow-cup motor of speed reduction gearing and sensitive controller characteristic curve and stability.Because the actuating motor of this SAEG motors model is attached to detecting, monitor the rotating speed of its machine shaft and the photoelectric code disk of angle; At this moment, balancing device only need configure miniature course and measure MTI sensor 2.
Based Intelligent Control electrical equipment case comprise being packed in respectively be provided with digital signal processing DSP(Digital Signal Processing on the base plate 1) control circuit board 13 of chip and peripheral circuit thereof, be packed in drive control box 12 and the storage battery 14 of actuating motor 10 belows of riser 3.Control circuit board 13 is vertically mounted on storage battery 14 tops, with convenient debug circuit.
The working process of Coupled Rigid-flexible Wire walking robot that the present invention is based on trammel beam control is as follows: after robot starts, when steel wire occur to swing or robot is disturbed and tilts, this robot can be because of the Action of Gravity Field run-off the straight, so that its deviation of gravity center steel wire vertical directly over the time, after the runout information that the MTI sensor detects this robot location's roll angle and luffing angle is measured in miniature course, immediately these two angle informations are converted into electric signal, and send control circuit board to, digital signal processing chip in the control circuit board utilizes model algorithm to calculate according to these two angle change informations and exports corresponding voltage control information to actuating motor, so that dwang rotates, the rotating torque that produces is used for offsetting departing from of gravity torque rotation value wherein via coupling piece; Simultaneously, the miniature gears in the rotating shaft drives the big gear wheel rotation, through connection and the swing of two side links, so that the relative robot of the flat motion bar in the parallelogram member produces the translation displacement, this robot center of gravity is maintained directly over the steel wire again, keeps the robot balance.In addition, the rotating speed of this actuating motor and rotating shaft position information are detected and upload to control circuit board by photoelectric code disk, form closed loop feedback control; Robot is keeping on the Equilibrium basis, and control circuit board progressively provides corresponding control signal, so that flat motion bar and dwang return to its initial position according to the rotating shaft position information when front rake and actuating motor of robot.Moreover control circuit board is controlled the electric machine rotation of advancing according to setting instruction, so that this robot is realized moving forward and backward on maintenance Equilibrium basis.
Another innovation of the present invention provides a kind of control method of Wire walking robot: to the spin balancing parts of actuating motor rotating shaft interlock in the rotation of dwang and the translation displacement of the flat motion bar in the quadrangle translation member control, be used for adjusting the balance of robot: the effect of offsetting the robot gravity torque by the rotating torque of dwang, simultaneously, the centroid motion that is produced by flat motion bar is offset the centre-of gravity shift of robot; The balanced adjustment factor of these two operations depends on the length of side link in the ratio of number of teeth of large miniature gears and the quadrangle translation member.This control method comprises following control step:
(1) after robot started, miniature course was measured the MTI sensor and is detected the current state information that this robot comprises its roll angle and luffing angle, and the information that will detect is sent to the control circuit board in this Based Intelligent Control electrical equipment case in real time;
(2) control circuit board is set respectively actuating motor and rotating speed and the steering order of the motor of advancing according to this robot current state information that receives;
(3) actuating motor rotates, and drives coupling piece drive dwang cw or conter clockwise transmission, so that the rotating torque of its corresponding generation is offset the effect of robot gravity torque;
(4) the rotating shaft Drive pinion of actuating motor engagement big gear wheel rotates, the rotation of actuating motor is converted into the translation displacement of flat motion bar by the quadrangle translation member, change the center of gravity of robot by the movement of flat motion bar barycenter, so that this robot center of gravity remains on the steel wire;
(5) photoelectric code disk feeds back to control circuit board with spindle speed and the location information of actuating motor, forms closed loop control, so that this robot keeps its self-balancing on steel wire; This step (5) is carried out simultaneously with step (3), (4);
(6) under robot is in state of equilibrium, control circuit board is set the electric machine control order of advancing, and finishes the walking of robot on steel wire.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of making, is equal to replacement, improvement etc., all should be included within the scope of protection of the invention.

Claims (5)

1.一种基于平衡杆控制的刚柔耦合走钢丝机器人,其特征在于:该机器人设有下述部件:底盘及行进电机组成的行走装置,由传感器、执行电机、齿轮传动机构、转动杆与平动构件组成的平衡装置,以及智能控制电器箱,其中,1. A rigid-flexible coupled tightrope robot controlled by a balance bar, characterized in that: the robot is provided with the following parts: a walking device consisting of a chassis and a traveling motor, which is composed of a sensor, an executive motor, a gear transmission mechanism, a rotating rod and a flat The balance device composed of moving components, and the intelligent control electrical box, in which, 行走装置的底盘是由承载机器人全部构件的底板与垂直竖立于底板前侧的立板组成的该机器人主体框架,底板下方中心线的前后两端分设有前后两个滚轮,两个滚轮之间设有用于驱动后轮转动、实现机器人前后移动的行进电机,藉由该前后两个滚轮作为支撑点,该机器人站立与行走于钢丝上;The chassis of the walking device is the main frame of the robot composed of a base plate carrying all the components of the robot and a vertical plate vertically erected on the front side of the base plate. The front and rear ends of the center line under the base plate are respectively provided with two front and rear rollers. There is a traveling motor used to drive the rear wheel to rotate and realize the forward and backward movement of the robot. With the two front and rear rollers as supporting points, the robot stands and walks on the steel wire; 平衡装置的执行电机悬固安装于立板上部后侧,该执行电机的转轴伸出于立板前侧,转轴上安装有两组平衡部件:联轴件与转动杆构成的旋转平衡部件和齿轮传动的四边形平动构件组成的重心平移平衡部件;传感器有两个:安装在底板上的微型航向测量MTI传感器和检测执行电机的转速与角度的光电码盘;该执行电机的转轴上分别固装有小齿轮和联轴件,其中,小齿轮两侧的左右上方分别与两个大齿轮相啮合,该两个大齿轮的轮轴通过滚动轴承固装于立板;该两个大齿轮和固设于轮轴上方的两个连架杆,以及与连架杆顶端联成一体的一个平动杆组成一个能够随大齿轮转动而使该平动杆产生平动位移的四边形平动构件;The executive motor of the balance device is suspended and installed on the upper rear side of the vertical plate. The rotating shaft of the executive motor protrudes from the front side of the vertical plate. Two sets of balance components are installed on the rotating shaft: the rotating balance component composed of the coupling and the rotating rod and the gear transmission. The center of gravity translation balance part composed of quadrilateral translation components; there are two sensors: a miniature heading measurement MTI sensor installed on the bottom plate and a photoelectric code disc for detecting the rotation speed and angle of the execution motor; the rotation shaft of the execution motor is respectively fixed with The pinion and the shaft coupling, wherein, the left and right tops on both sides of the pinion are respectively meshed with two large gears, and the axles of the two large gears are fixed on the vertical plate through rolling bearings; the two large gears are fixed on the axle The two connecting rods on the top and a translation rod integrated with the top of the connecting rod form a quadrilateral translation member that can cause translation displacement of the translation rod with the rotation of the large gear; 智能控制电器箱包括分别固装在底板上的设有数字信号处理DSP芯片及其外围电路的控制电路板、执行电机的驱动控制箱和蓄电池。The intelligent control electrical box includes a control circuit board with a digital signal processing DSP chip and its peripheral circuits, a drive control box for an executive motor, and a storage battery, which are respectively fixed on the bottom plate. 2.根据权利要求1所述的走钢丝机器人,其特征在于:所述执行电机的转轴顶端紧固的联轴件设有通孔,一个具有相当长度的转动杆固装在联轴件的通孔内,藉由该转动杆的顺时针或逆时针的左右转动,以使该机器人保持其在钢丝上的平衡状态。2. The tightrope walking robot according to claim 1, characterized in that: the coupling fastened at the top of the rotating shaft of the actuator motor is provided with a through hole, and a rotating rod with a considerable length is fixed in the through hole of the coupling Inside, by the clockwise or counterclockwise left and right rotation of the rotating rod, the robot is kept in a balanced state on the steel wire. 3.根据权利要求1所述的走钢丝机器人,其特征在于:所述执行电机是带有减速机构与灵敏控制特性和稳定性的空心杯电机,其型号为:SAEG motors,为北京博创兴盛机器人技术有限公司的产品。3. The tightrope walking robot according to claim 1, characterized in that: the executive motor is a coreless motor with a reduction mechanism, sensitive control characteristics and stability, and its model is: SAEG motors, for Beijing Bochuang Xingsheng Robot A product of Technology Ltd. 4.根据权利要求3所述的走钢丝机器人,其特征在于:所述型号为:SAEGmotors的执行电机附属带有检测、监控其电机转轴的转速与角度的光电码盘;此时,平衡装置只需配置微型航向测量MTI传感器。4. The tightrope walking robot according to claim 3, characterized in that: the model is: the executive motor of SAEGmotors is attached with a photoelectric code disc that detects and monitors the rotating speed and angle of its motor shaft; at this time, the balance device only needs to Configure the miniature heading measurement MTI sensor. 5.一种基于平衡杆控制的刚柔耦合走钢丝机器人的控制方法,其特征在于:对与执行电机转轴联动的旋转平衡部件中的转动杆的转动和四边形平动构件中的平动杆的平动位移进行控制,用于调整机器人的平衡:藉由转动杆的转动力矩抵消机器人重力力矩的作用,同时,由平动杆产生的质心偏移来抵消机器人的重心偏移;该两项操作的平衡调整因子取决于大小齿轮的齿数比与四边形平动构件中连架杆的长度;所述方法包括下列操作步骤:5. A control method of a rigid-flexible coupled tightrope robot based on balance bar control, characterized in that: the rotation of the rotation bar in the rotating balance part linked with the execution motor shaft and the translation bar in the quadrilateral translation member The dynamic displacement is controlled to adjust the balance of the robot: the effect of the gravity moment of the robot is offset by the rotational moment of the rotating rod, and at the same time, the offset of the center of mass generated by the translation rod is used to offset the offset of the robot's center of gravity; the two operations The balance adjustment factor depends on the gear ratio of the large and small gears and the length of the connecting rod in the quadrilateral translation member; the method includes the following steps: (1)机器人启动后,微型航向测量MTI传感器检测该机器人包括其横滚角度和俯仰角度的当前状态信息,并将检测信息实时传送至该智能控制电器箱中的控制电路板;(1) After the robot is started, the micro heading measurement MTI sensor detects the current state information of the robot including its roll angle and pitch angle, and transmits the detection information to the control circuit board in the intelligent control electrical box in real time; (2)控制电路板根据接收到的该机器人当前状态信息分别设定执行电机和行进电机的转速和转向指令;(2) The control circuit board sets the speed and steering commands of the execution motor and the travel motor respectively according to the received current state information of the robot; (3)执行电机转动,并驱动联轴件带动转动杆顺时针或逆时针传动,以使其相应产生的转动力矩抵消机器人重力力矩的作用;(3) Execute the motor to rotate, and drive the coupling to drive the rotating rod clockwise or counterclockwise, so that the corresponding rotating torque can offset the effect of the robot's gravity torque; (4)执行电机的转轴驱动小齿轮啮合大齿轮产生转动,通过四边形平动构件将执行电机的转动转化为平动杆的平动位移,藉由平动杆质心的移动来改变机器人的重心,以使该机器人重心保持于钢丝上;(4) The rotating shaft of the executive motor drives the pinion gear to mesh with the large gear to generate rotation. The rotation of the executive motor is converted into the translation displacement of the translation rod through the quadrilateral translation member, and the center of gravity of the robot is changed by the movement of the center of mass of the translation rod. to keep the center of gravity of the robot on the steel wire; (5)光电码盘将执行电机的转轴速度和位置信息反馈给控制电路板,形成闭环控制,以使该机器人保持其在钢丝上的自平衡;该步骤(5)是与步骤(3)、(4)同时执行的;(5) The photoelectric code disc feeds back the speed and position information of the rotating shaft of the executive motor to the control circuit board to form a closed-loop control so that the robot can maintain its self-balancing on the steel wire; this step (5) is the same as step (3), (4) Executed at the same time; (6)在机器人处于平衡状态下,控制电路板设定行进电机控制命令,完成机器人在钢丝上的行走。(6) When the robot is in a balanced state, the control circuit board sets the control command of the traveling motor to complete the walking of the robot on the steel wire.
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