Auxiliary balancing device suitable for feet of robot and balancing method thereof

Abstract

The invention discloses an auxiliary balancing device suitable for feet of a robot and a balancing method thereof. The auxiliary balancing device comprises a driving part and the feet which are connected through supporting legs, the driving part is provided with an assembling groove, and at least one driving device is arranged in the assembling groove and connected with the external supporting legs; the supporting legs comprise a first supporting leg and a second supporting leg which are connected through a rotating shaft, the rotating shaft is driven by the driving device, and the second supporting leg is connected with the feet; grooves are formed in the bottom surfaces of the feet, and at least one balance assembly is arranged in each groove; an assembly column is provided with a through hole, a balance weight sliding block is arranged in the through hole, fixing pieces are arranged at the two ends of the assembly column, and first damping rotating shafts and fixed pulleys are arranged on the fixing pieces. and the first damping rotating shafts are connected with a telescopic bracket. All the driving devices are commanded to conduct driving through a control system, telescopic adjustment of the supporting legs is completed, the robot is kept balanced all the time in the action process, the body part is prevented from tilting and rollover, and the standing stability of the robot is guaranteed.

Description

technical field [0001] The invention relates to the field of robot manufacturing and the field of balance adjustment of mechanical devices, and relates to an auxiliary balance device suitable for a robot foot and a balance method thereof. Background technique [0002] A robot is a machine device that performs work automatically, including any machine that simulates human behavior or thought and simulates other creatures. There are still many classifications and controversies about the definition of robots in a narrow sense, and some computer programs are even called robots. In contemporary industry, a robot refers to a man-made machine device that can automatically perform tasks to replace or assist human work. It is generally an electromechanical device controlled by a computer program or an electronic circuit. The walking robot is a humanoid robot with a humanoid shape. At present, there are already robots that can complete the difficult action of going up the steps. It w...

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Problems solved by technology

Or the robot does some difficult movements, such as turning, climbing steps, dancing, etc., along with some movements, the opening and closing angles between the two feet of the robot will also change in different ways, and there will be two parallel feet, or two feet between the two feet. There are different angles such as acute angles, right angles, obtuse angles, etc., as in the case of human-like inner eight and outer eight. At this time, the two legs of the robot will appear in different bending states, which will affect the positional relationship between the two feet and the legs. , however, the feet of many robots touch the ground with the characteristics of a flat plate, and their feet cannot directly complete the self-adjustment of balance. The stability of the

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