The flywheel energy storage type angular momentum balance biped robot comprises a head, a trunk, arms and legs, and the core structure of the flywheel energy storage type angular momentum balance biped robot is a balance movement mechanism composed of the trunk and the legs. The trunk comprises a sliding rail, a flywheel shell, a motor, a ball screw, a storage battery, a power electronic conversion device, a stepping motor, a coupler, a fastening connecting piece, a shock pad, an upper rolling bearing, a rotating shaft, a magnetic induction coil, a flywheel and a lower rolling bearing. The legs comprise hip joints, knee joints and ankle joints, all the mechanisms operate in a coordinated mode to achieve overall operation of the flywheel energy storage type angular momentum balance biped robot, and the flywheel energy storage type angular momentum balance biped robot comprises a flywheel energy storage structure, a gravity center adjusting structure, a leg movement structure and a balance control structure. The stability is improved; by utilizing the flywheel energy storage principle, mechanical energy is converted into electric energy and stored, so that continuous advancing power is provided; and each leg has four degrees of freedom, so that the mechanical complexity is reduced.
本发明公开飞轮储能式角动量平衡两足机器人,分为头部、躯干、手臂和腿部,其核心结构是躯干和腿部组成的平衡运动机构,躯干包括滑轨、飞轮外壳、电机、滚珠丝杠、蓄电池、电力电子转换装置、步进电机、联轴器、紧固连接件、减震垫、上滚动轴承、旋转轴、磁感应线圈、飞轮、下滚动轴承;腿部包括髋关节、膝关节和踝关节,各机构协调运作实现飞轮储能式角动量平衡两足机器人的整体运行,包括飞轮储能结构、重心调节结构、腿部运动结构和平衡控制结构,本发明通过利用飞轮提供的角动量,能够更有效地驱动机器人的运动,并提高了稳定性;利用飞轮储能原理,将机械能转化为电能并储存,以提供持续的前进动力;每条腿有四个自由度,降低了机械复杂度。
Flywheel energy storage type angular momentum balance biped robot
飞轮储能式角动量平衡两足机器人
2025-03-14
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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