Auxiliary balancing device suitable for robot feet and balancing method thereof

Abstract

The invention discloses an auxiliary balancing device suitable for the foot of a robot and a balancing method thereof. The device is connected to the external supporting leg; the supporting leg includes a first supporting leg and a second supporting leg connected by a rotating shaft, the rotating shaft is driven by a driving device, and the second supporting leg is connected to the foot; grooves are arranged on the bottom surface of the foot, and the concave At least one balance component is arranged inside the groove; a through hole is arranged on the assembly cylinder, a counterweight slider is arranged inside the through hole, fixing pieces are arranged at both ends of the assembly cylinder, and a first damping shaft and a fixed pulley are arranged on the fixing piece; the first damping A telescopic bracket connected by a rotating shaft. The control system commands each driving device to drive to complete the telescopic adjustment of the supporting legs. The robot always maintains balance when it moves, preventing body parts from tilting and rolling over, and ensuring the stability of the robot standing.

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...

AI Technical Summary

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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