CN102424075B - Rigid flexible coupled wirewalking robot based on balance beam - Google Patents
Rigid flexible coupled wirewalking robot based on balance beam Download PDFInfo
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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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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。
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.
Description
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)
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110373133 CN102424075B (en) | 2011-11-22 | 2011-11-22 | Rigid flexible coupled wirewalking robot based on balance beam |
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| CN 201110373133 CN102424075B (en) | 2011-11-22 | 2011-11-22 | Rigid flexible coupled wirewalking robot based on balance beam |
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| CN102424075A CN102424075A (en) | 2012-04-25 |
| CN102424075B true CN102424075B (en) | 2013-01-23 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103707293B (en) * | 2013-12-12 | 2015-08-05 | 桂林电子科技大学 | Emulation row Wire walking robot |
| JP5813746B2 (en) * | 2013-12-26 | 2015-11-17 | 川崎重工業株式会社 | Robot control system |
| CN104787140B (en) * | 2015-04-24 | 2017-02-01 | 桂林电子科技大学 | Wire-walking device imitating seesaw balance principle |
| CN105171759B (en) * | 2015-10-13 | 2017-03-29 | 桂林电子科技大学 | Swing arm single wheel Wire walking robot |
| CN108324376B (en) * | 2016-06-29 | 2019-07-23 | 微创（上海）医疗机器人有限公司 | Operating robot and its mechanical arm |
| CN106384492A (en) * | 2016-09-20 | 2017-02-08 | 湖南科技职业学院 | Control device of robot remote cloud deck |
| CN106684757B (en) * | 2017-01-22 | 2018-12-11 | 国网河南省电力公司检修公司 | Extra-high voltage electrified operation is along anchor support insulator chain into electric field moving trolley |
| CN107030735B (en) * | 2017-05-19 | 2019-04-16 | 常州轻工职业技术学院 | Power industry Wire walking robot with protective device |
| CN111593872B (en) * | 2020-01-19 | 2021-02-26 | 威海鹏飞自动化技术有限公司 | Gravity center control device and control method for robot scaffold for construction |
| CN114179925A (en) * | 2020-10-22 | 2022-03-15 | 北星空间信息技术研究院(南京)有限公司 | A Real-time Center of Gravity Stabilization Method for Robots with Variable Battery Position |
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| JPS59179464A (en) * | 1983-03-30 | 1984-10-12 | Agency Of Ind Science & Technol | Six-leg walking machine |
| JPS63150176A (en) * | 1986-12-15 | 1988-06-22 | 工業技術院長 | Walking control method of dynamic walking robot |
| CN1256218C (en) * | 2003-06-05 | 2006-05-17 | 上海交通大学 | tightrope walker |
| CN102222137B (en) * | 2011-05-30 | 2013-06-05 | 山东理工大学 | Fire-fighting robot arm double-coupling simulation method |
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