System for adjusting torque required by robot driving device

Abstract

The invention discloses a system for adjusting torque required by a robot driving device, belongs to the technical field of mobile robots, and solves the problems that the main body of the conventional mobile robot is fixed in structure, unadjustable in gravity center and too large in rotational inertia. The system comprises a counterweight, a counterweight supporting component and a counterweight moving component, wherein the counterweight is connected with the counterweight moving component through the counterweight supporting component; the counterweight can change position in a robot structure. Compared with the conventional system with a fixed structure, the system provided by the invention has the advantages as follows: the control performance is significantly improved; on one hand, the gravity center of a robot system can be controllably changed, the rotational inertia of the overall system can be adjusted, the torque can be reduced, and the working intensity of the driver is reduced; on the other hand, the posture of a robot can be controlled more precisely so as to improve the operating performance of the robot.

Description

technical field [0001] The invention relates to the technical field of mobile robots, and more particularly, to a system for adjusting the torque required by a driver by adjusting the center of gravity of the robot. Background technique [0002] Generally, the body part of a mobile robot is a fixed structure, and the robot adjusts its pose through a wheeled structure or a mechanical arm structure. The mobile robot rotates during the pose adjustment process. Since the center of gravity cannot coincide with all the rotation axes, when the robot rotates along a specific axis, the driver must provide a large torque, which often requires a gear box and other devices, which greatly increases the complexity of the robot structure. It also reduces the operating performance of the robot. [0003] For the center of gravity adjustment mechanism, it is rarely used in the field of mobile robots in China, and the gear box mechanism is used to increase the driving torque, and it is partia...

AI Technical Summary

Problems solved by technology

[0004] The present invention aims at the technical problems existing in the above-mentioned prior art, and provides a system for adjusting the required torque of the robot driving device, which solves the problems in the prior art that the main body structure of the mobile robot is fixed, the center of gravity and the moment of inertia cannot be adjusted, and the drive of the rotating joint cannot be adjusted. high torque requirements

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