Robot center of gravity balancing method

Abstract

The present invention relates to the field of object center of gravity balancing, and specifically to a method for object center of gravity balancing, wherein a balancing part measures the pressure size or pressure change trend of each joint or part through a measuring device to balance the center of gravity, and the balance of the object is achieved through the balance of the balancing part. A measuring device, a piston is arranged in a cylinder body, a piston cavity is formed between the cylinder body and the piston, hydraulic oil is contained in the piston cavity, and a hydraulic outlet is arranged on one side of the piston cavity. An adjusting column balancing part is composed of a plurality of auxiliary supports on a main support, and the pressure or tension of the auxiliary supports on the main support is measured by a measuring device. An adjusting motion support surface balancing part is composed of a plurality of auxiliary supports located around the main support, and the pressure or tension of the auxiliary supports and the main support is measured by a measuring device. An adjusting support surface balancing part is composed of a plurality of supports distributed between parts that need to be balanced, and the pressure or tension of the supports is measured by a measuring device. The design is relatively simple and can be quickly balanced.

Description

Technical Field

[0001] The invention relates to the field of object center of gravity balancing, and in particular to a robot center of gravity balancing method. Background Art

[0002] There are many robots now, but balance is the focus of each robot. Many robots calculate the center of gravity of the robot by angle or scanning state posture. For example, the balance problem of a two-legged walking robot is more complicated, and the balance effect is not ideal.

[0003] Based on the above-mentioned prior art, the applicant has made persistent and beneficial exploration and repeated designs, and carried out a non-limited number of experiments, and finally found a solution to the above-mentioned technical problems and formed the technical scheme to be introduced below. Summary of the invention

[0004] In order to solve the problems in the prior art, the present invention provides a robot center of gravity balancing method.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a method for balancing the center of gravity of an object, comprising the following steps: each balancing part measures the pressure size or pressure change trend of each joint or balancing part through a measuring device, wherein the measuring device is a device for measuring the pressure or pressure change between the above-mentioned joints or the above-mentioned balancing parts, and the measuring device is used to measure tension or pressure, and its measured value can not only be used for balance, but also can be used to control the size of its joint strength, and then adjust each balancing part to achieve the overall balance of the object, and its measuring device is located above or below the measured part.

[0006] The balancing part includes a supporting device and a measuring device. The measuring device is located at the part to be measured or between the joints to be measured. The supporting device is used to provide pressure support or tension support. The measuring device is used to measure pressure or tension. The supporting device and the measuring device are connected, and the measuring device is arranged at the bottom or top of the supporting device.

[0007] An adjusting column balancing part is composed of several auxiliary supports arranged on a main support. The pressure or tension of the auxiliary supports arranged on the main support is measured by a measuring device, which is used for balancing the main support column. The adjusting column balancing part is used to achieve the balance of the column balancing part through the measuring device, auxiliary supports and main supports.

[0008] A balancing part for adjusting a moving support surface is provided, which is composed of a plurality of auxiliary supports located around a main support. The pressure or tension of the auxiliary supports and the main support is measured by a measuring device for overall balance on the main support. The balancing part for adjusting the moving support surface is used to achieve balance of the balancing part through the measuring device, the auxiliary supports and the main support.

[0009] A balancing part for adjusting a support surface is composed of a plurality of supports distributed between parts that need to be balanced. The pressure or tension of the supports is measured by a measuring device. An adjustable balancing part is constructed according to the shape of the part that needs to be balanced, and is used to support the overall balance above. The balancing part for adjusting the support surface is used to: support the balancing of the balancing part through the measuring device.

[0010] Compared with the prior art, the beneficial effects of the present invention are: the design is relatively simple, and the balance of the whole body is decomposed into several balancing joints and balancing parts. The present invention obtains the contact pressure of the balancing joints and parts by measuring the hydraulic pressure of the deformable hydraulic cylinder, and balances the center of gravity by measuring the pressure size or pressure change trend of each balancing joint or balancing part. No matter what posture or state the robot is in, or whether it is loaded or not, it can quickly balance. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Other features, objectives and advantages of the present invention will become more apparent from a reading of the detailed description of non-limiting embodiments made with reference to the following accompanying drawings.

[0012] Figure 1 It is a schematic diagram of the structure of the measuring device in the present invention.

[0013] Figure 2 It is a schematic diagram of the side view structure of the ankle joint balancing part in the present invention.

[0014] Figure 3 It is a schematic diagram of the top view structure of the ankle joint balancing part in the present invention.

[0015] Figure 4 yes Figure 2 Schematic diagram of the structure at A.

[0016] Figure 5 It is a schematic diagram of the front structural view of the knee joint in the present invention.

[0017] Figure 6 It is a schematic diagram of the side view structure of the knee joint in the present invention.

[0018] Figure 7 It is a schematic diagram of the main structure of the thigh joint in the present invention.

[0019] Figure 8 It is a schematic diagram of the side view structure of the thigh joint in the present invention.

[0020] Fig. 9 It is a schematic diagram of the top view of the waist joint in the present invention.

[0021] Fig.10 It is a schematic diagram of the structure of the present invention. DETAILED DESCRIPTION

[0022] The present invention is further described in detail below by examples, which are only used to illustrate the present invention and are not intended to limit the scope of the present invention.

[0023] like Figure 1-10 A robot center of gravity balancing method shown in the figure includes the following steps: decomposing an object to be balanced into a plurality of balancing parts; the balancing parts are joints or parts; each balancing part measures the pressure size or pressure change trend of each joint or balancing part through a measuring device 3, wherein the measuring device 3 is used to measure the pressure or pressure change between the above-mentioned joints or the above-mentioned balancing parts, and the measuring device 3 is used to measure tension or pressure, and its measured value can not only be used for balance, but also can be used to control the size of its joint strength, and then adjust each balancing part to achieve the overall balance of the object, and its measuring device 3 is located above or below the measured part.

[0024] The object center of gravity balancing method, the balancing part includes a support device and a measuring device 3, the support device is used to provide pressure support or tension support, and the support device is divided into two types: with telescopic power and without telescopic power. The measuring device 3 is used to measure pressure or tension, the support device and the measuring device 3 are connected, and the measuring device 3 is arranged at the lower part or the upper part of the support device.

[0025] The measuring device 3 includes a cylinder body 310, a piston 320 and a hydraulic outlet 330. The piston 320 is arranged in the cylinder body 310. The piston 320 includes a piston body and a piston rod. A piston chamber 321 is formed between the cylinder body 310 and the piston 320. There is hydraulic oil 322 in the piston chamber 321. A hydraulic outlet 330 is arranged on one side of the piston chamber 321. The hydraulic outlet 330 is used for the hydraulic oil to enter and exit and install the hydraulic oil pipe 331. The hydraulic oil pipe 331 is installed and connected to the pressure sensor 332. The pressure sensor is used to sense and measure the pressure change of the hydraulic oil in the hydraulic oil pipe 331. The hydraulic outlet 330 is connected to the pressure sensor 332 and a hydraulic pump (not shown in the figure). The measuring device 3 can be made into different shapes according to different parts. Although the volume of the hydraulic oil changes slightly with the temperature and pressure, it has little effect on the overall balance.

[0026] An adjusting column balancing part is provided with a plurality of auxiliary supports arranged on a main support, and the pressure or tension of the auxiliary supports is measured by a measuring device 3, which is used for balancing the main support column. The characteristics of the adjusting column balancing part are: a plurality of auxiliary supports are connected to the main support column to adjust the balance of the support column, such as the ankle joint balancing part 5, in order to achieve the function of a foot and to be made into the shape of a foot, a basic structure of a main support column and two auxiliary supports is adopted. The main support column is a calf support rod 522, and the auxiliary supports are divided into an ankle joint telescopic part 1 54 and an ankle joint telescopic part 2 55.

[0027] The ankle joint balancing part 5 is one of the adjusting column balancing parts. The ankle joint balancing part 5 includes a motor assembly 52, an ankle joint telescopic part 1 54, an ankle joint telescopic part 2 55, an ankle joint measuring device 1 31, an ankle joint measuring device 2 32 and an ankle joint measuring device 3 33. The ankle joint telescopic part 1 54 and the ankle joint telescopic part 2 55 are symmetrically arranged on both sides of the motor assembly 52. ​​The bottom of the motor assembly 52 is connected to the ankle joint measuring device 1 31, the end of the ankle joint telescopic part 1 54 is connected to the ankle joint measuring device 2 32, and the end of the ankle joint telescopic part 2 55 is connected to the ankle joint measuring device 3 33. The ankle joint measuring device 1 31, the ankle joint measuring device 2 32 and the ankle joint measuring device 3 33 have the same structure as the measuring device 3. If one foot is off the ground and one does the action of standing alone, there is a range value that does not fall. If you don't fall forward, the pressure on the heel cannot be lower than zero; if you don't fall backward, the pressure of the two measuring devices in front cannot be lower than zero; if you don't fall to the left, the pressure value of the small measuring device on the right cannot be lower than zero; if you don't fall to the right, the pressure value of the measuring device on the left cannot be lower than zero. According to this range, according to the pressure change trend of the three force measuring pressure cylinders of ankle joint measuring device 1 31, ankle joint measuring device 2 32 and ankle joint measuring device 3 33 (the pressure of the force measuring hydraulic cylinder is getting bigger and bigger, which proves that the center of gravity is on that side, and vice versa), adjust the balance joints above the ankle joint. Finally, the ankle joint is balanced. In the theoretical absolute balance, the pressure values ​​of the three force measuring hydraulic cylinders are stable and unchanged, which is the theoretical absolute balance.

[0028] The motor assembly 52 includes a motor body 521 and a calf support rod 522. The motor body 521 is fixed to the bottom of the calf support part 51. The calf support part 51 is a round rod or a cylinder. The bottom shaft of the motor body 521 is fixedly connected to the calf support rod 522. The motor body 521 drives the calf support rod 522 to rotate. The calf support rod 522 is connected to the ankle joint measuring device 31. The ankle joint expansion and contraction part 1 54 and the ankle joint expansion and contraction part 2 55 are symmetrically arranged on both sides of the calf support rod 522. One end of the ankle joint expansion and contraction part 1 54 and the ankle joint expansion and contraction part 2 55 are hingedly connected to the calf support rod 522. The ankle joint expansion and contraction part 1 54 and the ankle joint expansion and contraction part 2 55 can use hydraulic cylinders according to the situation. The bottoms of the ankle joint measuring devices 1 31, 32 and 33 are fixedly arranged on the ankle joint base frame 50.

[0029] The calf support rod 522 is connected to the ankle joint measuring device 1 31 through a ball groove structure, the bottom of the ankle joint expansion and contraction part 1 54 is connected to the ankle joint measuring device 2 32 through a ball groove structure, and the bottom of the ankle joint expansion and contraction part 2 55 is connected to the ankle joint measuring device 33 through a ball groove structure; the ball groove structure includes a ball 531 and a groove 3211, the ball 531 is fixed to the bottom of the support rod 53, and the groove 3211 is fixed to the upper end surface of the piston 320 of the ankle joint measuring device 1 31, and the groove 3211 is a hollow spherical structure, the groove 3211 is opened on the piston 320, and the ball 531 is arranged in the groove 3211, and the ball 531 is fixed to the bottom of the support rod 53, and the groove 3211 is fixed to the upper end surface of the piston 320 of the ankle joint measuring device 1 31. The ball center of 31 is located at the lower part of the upper end surface of the groove 3211. The knee joint balancing part 6 is composed of a number of knee joint telescopic parts arranged on the periphery and a knee joint support rod 63 arranged in the middle position of the knee joint telescopic part. The specific number of knee joint telescopic parts is two. The bottom of the knee joint telescopic part and the knee joint support rod 63 are connected to the knee joint measuring device. The structure of the knee joint measuring device is the same as that of the measuring device 3. The knee joint telescopic part 1 61, the knee joint telescopic part 2 62, and the knee joint support rod 63 constitute the knee joint balancing part 6. The bottom of the knee joint telescopic part and the knee joint support rod 63 are connected to the knee joint measuring device through a ball groove structure. Because the knee joint only moves forward and backward, it does not swing left and right. There are two power cylinders on the top and three force measuring cylinders on the bottom. The power cylinder can make the joint below move forward and backward. For the current direction of movement, when the two power cylinders are balanced, one is fully contracted and the other is fully opened. The support point of the middle knee joint support rod 63 is mainly to support power, and secondly to measure the balance of the left and right knee joints. The support points on both sides mainly play this key balancing role.

[0030] A balancing part for adjusting the motion support surface, which is composed of several auxiliary supports located around the main support, and the pressure or tension of the auxiliary supports and the main support is measured by a measuring device 3, which is used for the overall balance on the main support. The characteristics of the balancing part for adjusting the motion support surface are: there are several auxiliary supports around a main support, and the auxiliary supports are used not only for balance in a balanced state, but also for movement with their power during movement. For example, the knee joint balancing part 6 and the thigh joint balancing part 7.

[0031] The knee joint balancing part 6 is a kind of balancing part for adjusting the motion support surface, the auxiliary supports are the knee joint telescopic part 1 61 and the knee joint telescopic part 2 62, and the main support is the knee joint support rod 63. The knee joint balancing part 6 includes the knee joint telescopic part 1 61, the knee joint telescopic part 2 62, the knee joint support rod 63, the knee joint measuring device 1 64, the knee joint measuring device 2 65 and the knee joint measuring device 3 66. The knee joint telescopic part 1 61 and the knee joint telescopic part 2 62 are arranged between the knee joint support rod 63, the bottom of the knee joint telescopic part 1 61 is connected to the knee joint measuring device 1 64, the bottom of the knee joint support rod 63 is connected to the knee joint measuring device 2 65, and the bottom of the knee joint telescopic part 2 62 is connected to the knee joint measuring device 3 66. 6 are connected, the knee joint measuring device 1 64, the knee joint measuring device 2 65 and the knee joint measuring device 3 66 are consistent with the structure of the measuring device 3, the knee joint telescopic part 1 61 and the knee joint telescopic part 2 62 can use hydraulic cylinders according to the situation, the bottom of the knee joint telescopic part 1 61 is connected to the knee joint measuring device 1 64 through a ball groove structure connection, the bottom of the knee joint telescopic part 2 62 is connected to the knee joint measuring device 3 66 through a ball groove structure connection, and the bottom of the knee joint support rod 63 is connected to the knee joint measuring device 2 65 through a ball groove structure.

[0032] The thigh joint balancing part 7 is a balancing part for adjusting the support surface of the movement, wherein the secondary support is the thigh joint telescopic part 71, and the main support is the thigh joint support rod 72. The thigh joint balancing part 7 is composed of a plurality of thigh joint telescopic parts 71 arranged at the periphery and a thigh joint support rod 72 arranged at the middle position of the thigh joint telescopic part. The specific number of thigh joint telescopic parts is four. The bottoms of the thigh joint telescopic part 71 and the thigh joint support rod 72 are both connected to the thigh joint measuring device 73, and the structure of the thigh joint measuring device is the same as that of the measuring device 3. The structure of the thigh joint telescopic part is consistent with that of the knee joint thigh joint telescopic part, and the structure of the thigh joint support rod is consistent with that of the knee joint support rod, and this is not repeated here. The bottoms of the thigh joint telescopic part 71 and the thigh joint support rod 72 are connected to the thigh joint measuring device 73 through a ball groove structure. The balance of the thigh joint is balanced with five supporting points because its joint not only moves forward and backward, but also swings left and right, and the amplitude is relatively large. The four surrounding ones mainly balance the left and right, and the middle thigh joint support rod 72 mainly supports gravity, and there is also a measurement of the balance between the left and right thigh joints. The five thigh joint measuring devices 73 below and the four power cylinders above are mainly used to provide power in the front, back, left and right directions of the thigh joint. The knee joint balancing part and the thigh joint balancing part are surrounded by several auxiliary supports on the main support for overall balance on the main support.

[0033] An adjustable support surface balancing part, composed of a plurality of supports distributed between parts that need to be balanced, measures the pressure or tension of the supports through a measuring device 3, and constructs a part that can adjust the balance according to the shape of the part that needs to be balanced, which is used to support the overall balance above. The adjustable support surface balancing part is characterized in that its parts do not move, but can swing around as a whole, which is used to adjust the balance, such as the waist joint balancing part 8, the abdominal joint balancing part 9, etc., which do not move but can swing. The structural feature is that a plurality of supports are distributed at required positions according to needs.

[0034] Different balance devices can also be used for different parts of the arm. The measured values ​​can be used to control the strength of different parts of it.

[0035] The waist joint balancing part 8 is a balancing part for adjusting the supporting surface, and its support is a waist joint telescopic part 81. The waist joint balancing part 8 is composed of a plurality of waist joint telescopic parts 81 arranged on the periphery. The specific number of waist joint telescopic parts is six. The bottom of the waist joint telescopic part 81 is connected to the waist joint measuring device 82. The structure of the waist joint measuring device is the same as that of the measuring device 3. The waist joint telescopic part is consistent with the structure of the knee joint and thigh joint telescopic part. The bottom of the waist joint telescopic part 81 is connected to the waist joint measuring device 82 through a ball groove structure. The balance of the waist joint can not only swing around, but also rotate within a certain limit. Further, it can be an elliptical frame, and the frame can have one layer, two layers are better, and three layers are also possible. Two layers are preferred here. Each time is an independent balance support, and two layers are two independent balance supports above and below. Each layer is composed of two concentric ellipses of different sizes, and a power hydraulic cylinder or a force measuring hydraulic cylinder (such as Fig. 9 As shown). Six force-measuring hydraulic cylinders of waist joint measuring devices 82 are added between the two lowest circles, and the top layer is six hydraulic cylinders of the power of the waist joint telescopic part 81 with support points, one power hydraulic cylinder and two separate pressure measuring cylinders are connected together. The upper part of the thigh is welded to the inner side of the lower edge of the lower layer. The waist joint balancing part is composed of several supports distributed between the parts that need to be balanced, and is used to construct a part that can adjust the balance according to the shape of the balancing part.

[0036] The abdominal joint balance part 9 is a balance part for adjusting the support surface. The abdominal joint balance part 9 has the same structure as the waist joint balance part 8 and can be decomposed into several groups of abdominal joint balance parts 9 and waist joint balance parts 8 from the chest to the waist, thereby further stabilizing the center of the robot and increasing the flexibility of the robot.

[0037] Ankle joint balancing part 5, knee joint balancing part 6, thigh joint balancing part 7, waist joint balancing part 8, the ankle joint balancing part 5 is arranged between the sole and the calf, the knee joint balancing part 6 is arranged between the calf and the thigh, the waist joint balancing part 8 is arranged between the thigh and the waist, and several groups of waist joint balancing parts 8 are arranged from the waist to the chest to form a walking robot balancing device.

[0038] The balance of each joint constitutes the balance of the whole body. The principle is to ensure the balance below first, and then go up: when adjusting the balance, first make the balance above lose balance, and then adjust it downwards. This is the same as a human. If the robot carries something on its left shoulder, it will lose balance, and the pressure on the left side will be high. The chest will swing to the right to guide the chest to reach balance by itself. If the object is too heavy and the chest cannot adjust the balance, and the pressure on the left side is still high, it will be passed to the next balance. The next balance still has high pressure on the left side. If this balance can reach balance, it is balanced. If not, it will be passed down until it is balanced. Of course, the heavy object cannot exceed the load-bearing range of the robot. The same principle applies to forward, backward, left, and right. Until the balance is completed.

[0039] The balance of walking and running is the same. When using it, first give the robot an instruction to walk. The robot will break the balance by itself, lean forward, and at the same time, the left foot will start, and the human body will also lean to the right. The robot gradually reaches a short-term balance state with one foot off the ground and one foot supporting. Because the front and rear center of gravity of the body is biased forward, the robot will also lean forward. When the heel of the back foot supporting the ground is zero, the other toe touches the ground. This is how to walk. In fact, it is to use the robot's own self-balancing ability, combined with movements, to walk and run. Of course, when running, the body should lean forward a little more, and the legs and feet should move faster. Of course, by calculating the time of tipping, the movement can also be fast within the time range without tipping.

[0040] The overall balance of a walking robot is decomposed into the balance of each load-bearing joint and the balance of non-load-bearing joints. The entire design uses a deformable hydraulic cylinder to measure force, and then guides the robot to work, adjust, achieve balance (that is, stillness), and break balance (that is, movement).

[0041] In the description of this specification, the description with reference to the terms "one embodiment", "shown", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0042] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. A robot center of gravity balancing method, characterized in that: The method comprises the following steps: each balancing part measures the pressure size or pressure change trend of each joint or balancing part by a measuring device, wherein the measuring device is used to measure the pressure or pressure change between the above joints or the above balancing parts, and then adjusts each balancing part to achieve the overall balance of the object; The balancing part includes a supporting device and a measuring device, the measuring device is located at a part to be measured or between joints to be measured, the supporting device is used to provide pressure support or tension support, the measuring device is used to measure pressure or tension, the supporting device and the measuring device are connected, and the measuring device is arranged at the lower part or the upper part of the supporting device; The measuring device comprises a cylinder body, a piston and a hydraulic outlet, wherein the piston is arranged in the cylinder body, a piston cavity is formed between the cylinder body and the piston, hydraulic oil is contained in the piston cavity, and a hydraulic outlet is arranged on one side of the piston cavity, and the measuring device is used to measure the pressure or pressure change between the joints or the balancing parts of the object through the cylinder body, the piston and the hydraulic outlet, so that the object can adjust each balancing part to achieve the overall balance of the object; The adjusting column balancing part is composed of several auxiliary supports arranged on the main support, and the pressure or tension of the auxiliary supports arranged on the main support is measured by a measuring device for balancing the main support column. The adjusting column balancing part is used to: achieve the balance of the column balancing part through the measuring device, the auxiliary supports and the main support; The balancing part of the adjusting motion support surface is composed of a plurality of auxiliary supports located around the main support, and the pressure or tension of the auxiliary supports and the main support is measured by a measuring device for the overall balance on the main support. The balancing part of the adjusting motion support surface is used to achieve the balance of the balancing part through the measuring device, the auxiliary supports and the main support; The adjusting support surface balancing part is composed of a plurality of supports distributed between the parts that need to be balanced. The pressure or tension of the supports is measured by a measuring device. An adjusting balancing part is constructed according to the shape of the part that needs to be balanced, which is used to support the overall balance above. The adjusting support surface balancing part is used to: support the balance of the balancing part through the measuring device.

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