Robot posture balance adjustment control method and device, electronic equipment and storage medium

Abstract

The application discloses a robot posture balance adjustment control method and device, electronic equipment and a storage medium, and relates to the technical field of robots. The device is applied to a robot, and the robot comprises a fixed base, a servo motor, a rotating shaft, a rotating disc, a displacement mechanism, a clamping mechanism and two moving mechanisms. The top end of the fixed base is fixedly connected with the bottom end of the servo motor. The output end of the servo motor is fixedly connected with the bottom end of the rotating shaft. The top end of the rotating shaft is fixedly connected with the bottom end of the rotating disc. The top end of the rotating disc is fixedly connected with the bottom end of the displacement mechanism. The bottom end of the displacement mechanism is fixedly connected with the top end of the clamping mechanism. The two sides of the bottom end of the fixed base are fixedly connected with the top ends of the two moving mechanisms. The moving mechanism is arranged. The whole device has a multi-stage imbalance judgment and an emergency protection mechanism. The device avoids rollover and instability risks from the root cause, guarantees equipment and operation safety, comprehensively improves robot operation safety, operation stability and terrain adaptation capability, and avoids robot dumping.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to robot posture balance adjustment and control methods, devices, electronic devices, and storage media. Background Technology

[0002] Humanoid robots possess powerful intelligent navigation capabilities, enabling them to perceive their surroundings in real time and pinpoint their location accurately. They can automatically plan the optimal route based on the destination, avoiding congested areas and ensuring users arrive on time. This intelligent navigation function not only saves travel time but also makes users more confident in unfamiliar environments, eliminating worries about getting lost or experiencing traffic delays. For frequent business travelers, tourists, or commuters in large cities, this is one of the most attractive advantages of humanoid robots.

[0003] Existing robots have the following drawbacks:

[0004] Existing robots often exhibit tilting, swaying, tipping over, and instability when navigating complex terrains such as uneven surfaces, slopes, and steps, as well as during the extension of their robotic arms and load switching processes, due to poor balance. Summary of the Invention

[0005] The purpose of this invention is to provide a robot posture balance adjustment and control method, device, electronic device and storage medium to solve the problems mentioned in the background art, such as tilting, swaying, tipping over and instability of existing robots when driving on uneven roads, slopes, steps and other complex terrains, as well as during the extension of the robotic arm and load switching, due to poor balance.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a robot posture balance adjustment and control device, comprising a device applied to a robot, the robot comprising a fixed base, a servo motor, a rotating shaft, a turntable, a displacement mechanism, a clamping mechanism, and two moving mechanisms, wherein the top end of the fixed base is fixedly connected to the bottom end of the servo motor, the output end of the servo motor is fixedly connected to the bottom end of the rotating shaft, the top end of the rotating shaft is fixedly connected to the bottom end of the turntable, the top end of the turntable is fixedly connected to the bottom end of the displacement mechanism, the bottom end of the displacement mechanism is fixedly connected to the top end of the clamping mechanism, and the two sides of the bottom end of the fixed base are respectively fixedly connected to the top ends of the two moving mechanisms;

[0007] The device includes a balance control module, an attitude sensing module, a center of gravity adjustment execution module, a chassis balance execution module, and a linkage communication and early warning module.

[0008] The main control module for balance is the core computing unit for attitude balance adjustment.

[0009] The attitude perception module is responsible for acquiring multi-dimensional attitude and environmental data.

[0010] The center of gravity adjustment execution module is used to enable the robot's center of gravity to be actively adjusted.

[0011] Chassis balancing execution module, an execution unit for chassis attitude correction;

[0012] The linkage communication and early warning module supports CAN bus, Ethernet and serial communication modes, and can communicate with the robot collaborative control system, the robotic arm grasping control system and the main control system of the whole machine to synchronously receive operation action signals.

[0013] As a further technical solution of the present invention, the clamping mechanism includes a clamping frame, a clamping platform, a clamping cylinder, a connecting platform, two first direction seats, two clamping plates and two pull rods;

[0014] The bottom end of the clamping frame is fixedly connected to the top end of the clamping platform, and the two sides of the bottom end of the clamping platform are rotatably connected to the top ends of the two first direction seats respectively. The bottom ends of the two first direction seats are fixedly connected to the top ends of the two clamping plates respectively.

[0015] The middle part of the bottom end of the clamping frame is fixedly connected to the fixed end of the clamping cylinder, the movable end of the clamping cylinder is fixedly connected to the top end of the connecting platform, the two ends of the connecting platform are respectively rotatably connected to one end of the two pull rods, and the other ends of the two pull rods are respectively movably connected to the side of the two first direction seats facing each other.

[0016] One side of the clamping frame is fixedly connected to the displacement mechanism.

[0017] As a further technical solution of the present invention, the displacement mechanism includes a height plate, a vertical plate, a pushing cylinder, a sliding block, a limiting plate, a sliding platform, and a reinforcing plate;

[0018] The top of one side of the height plate is fixedly connected to one end of the sliding platform, one side of the top of the sliding platform is fixedly connected to the bottom of the limiting plate, and the middle part of the sliding platform is slidably connected to the inner side of the sliding block.

[0019] The top end of the height plate is fixedly connected to the bottom end of the vertical plate, one side of the vertical plate is fixedly connected to the fixed end of the push cylinder, and the movable end of the push cylinder is fixedly connected to the side of the sliding block facing it.

[0020] A reinforcing plate is fixedly installed at the connection between the height plate and the sliding platform. The bottom end of the height plate is fixedly connected to the turntable, and the bottom end of the sliding block is fixedly connected to the clamping mechanism.

[0021] As a further technical solution of the present invention, both of the moving mechanisms include a mounting base, a second direction base, a first direction plate, a second direction plate, a first angle cylinder, a movable block, a second angle cylinder, an angle plate, a spring damper, a movable block, and a movable wheel;

[0022] One side of the bottom end of the mounting base is fixedly connected to the top end of the second direction base. The bottom end of the direction base is rotatably connected to the top end of the first direction plate. The bottom end of the first direction plate is rotatably connected to the top end of the second direction plate. A moving groove is provided at the bottom end of the second direction plate. The interior of the moving groove is fixedly connected to one end of the spring shock absorber. The other end of the spring shock absorber is fixedly connected to the top end of the moving block. The moving block is slidably connected to the moving groove. The bottom end of the moving block is fixedly connected to the moving wheel.

[0023] An angle plate is fixedly installed on the other side of the bottom of the mounting base. One side of the angle plate is rotatably connected to the movable end of the second angle cylinder. The fixed end of the second angle cylinder is fixedly connected to one side of the movable block. The movable block is slidably connected to the first direction plate.

[0024] A first angle cylinder is movably connected to the surface of the first direction plate, and the movable end of the first angle cylinder is rotatably connected to the side of the second direction plate directly opposite it.

[0025] The top of the mounting base is fixedly connected to the fixed base.

[0026] A method for robot posture balance adjustment and control device, the method comprising:

[0027] System initialization and attitude calibration: After the robot is powered on and started, the first step is to initialize the balance system, complete the zero-bias calibration of the IMU inertial measurement unit, tilt sensor and accelerometer, and eliminate the initial measurement error; at the same time, establish the mapping relationship between the robot body coordinate system, the center of gravity coordinate system and the terrain coordinate system, and preset the balance threshold, adjust the speed and safety protection boundary.

[0028] Real-time acquisition and fusion of multi-source attitude data: Multi-dimensional attitude and environmental data are collected simultaneously through multiple sets of sensing units mounted on the fuselage.

[0029] The attitude deviation judgment and balance level classification compare the calculated real-time attitude data with the preset balance reference value, calculate the attitude deviation value and the center of gravity offset, and classify the balance level.

[0030] Dynamic center of gravity adjustment control prioritizes the activation of the center of gravity adjustment module in case of imbalance, and controls the robot's center of gravity adjustment mechanism to move according to the direction and magnitude of the posture deviation.

[0031] The chassis attitude closed-loop correction, combined with the center of gravity adjustment, is executed synchronously, and corresponding adjustment strategies are adapted to different terrains and imbalance types.

[0032] Load and actuator linkage balance compensation: For robots equipped with robotic arms and execution grippers, a linkage mechanism between posture balance and operation is established. When the robotic arm performs extension, grasping, and transfer actions, the torque change and center of gravity offset data are synchronized in real time. The balance control system outputs compensation signals in a synchronized manner to adjust the chassis posture and center of gravity position.

[0033] Imbalance protection and reset calibration: If severe imbalance is detected and the vehicle is close to the critical rollover state, the emergency balance protection mechanism will be triggered immediately.

[0034] The electronic device of the robot posture balance adjustment device includes an electronic device, which includes a processor, a non-volatile memory, a communication interface, a signal acquisition interface, a drive output interface, and a power management unit;

[0035] The memory is used to store the balance control program, attitude calibration parameters, control algorithm model, and operation log;

[0036] The processor is used to execute program instructions in memory, complete attitude calculation, deviation calculation, and instruction output, and realize all the steps of the above attitude balance adjustment and control method.

[0037] The communication interface and signal acquisition interface are responsible for connecting the sensing module and the overall system;

[0038] The drive output interface and the power management unit are directly connected to the balanced actuator. The power management unit provides a stable low-voltage power supply and has overcurrent and undervoltage protection functions.

[0039] The storage medium of the robot posture balance adjustment device includes a storage medium storing a computer program, which, when executed by a processor, implements the method of the robot posture balance adjustment device described above.

[0040] Compared with the prior art, the beneficial effects of the present invention are:

[0041] By incorporating a mobile mechanism, the entire device employs a multi-level imbalance judgment and emergency protection mechanism to fundamentally avoid the risks of tipping over and instability, ensuring equipment and operational safety, comprehensively improving the robot's operational safety, operational stability, and terrain adaptability, and preventing the robot from tipping over. Attached Figure Description

[0042] Figure 1 This is a side view of the present invention;

[0043] Figure 2 This is a side view of the clamping mechanism of the present invention;

[0044] Figure 3 This is a perspective view of the displacement mechanism of the present invention;

[0045] Figure 4 This is a side view of the moving mechanism of the present invention;

[0046] Figure 5 This is a flowchart of the present invention;

[0047] Figure 6 This is a schematic diagram of the architecture of the control device of the present invention.

[0048] In the diagram: 1. Fixed base; 2. Servo motor; 3. Rotating shaft; 4. Turntable; 5. Displacement mechanism; 51. Height plate; 52. Vertical plate; 53. Push cylinder; 54. Sliding block; 55. Limiting plate; 56. Sliding table; 57. Reinforcing plate; 6. Clamping mechanism; 61. Clamping frame; 62. Clamping table; 63. Clamping cylinder; 64. Connecting table; 65. First direction seat; 66. Clamping plate; 67. Pull rod; 7. Moving mechanism; 701. Mounting base; 702. Second direction seat; 703. First direction plate; 704. Second direction plate; 705. First angle cylinder; 706. Movable block; 707. Second angle cylinder; 708. Angle plate; 709. Moving groove; 710. Spring shock absorber; 711. Moving block; 712. Moving wheel. Detailed Implementation

[0049] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0050] Humanoid robots possess powerful intelligent navigation capabilities, allowing them to perceive their surroundings in real time and pinpoint their location accurately. They automatically plan the optimal route based on the destination, avoiding congested areas and ensuring users arrive on time. This intelligent navigation not only saves travel time but also makes users more confident in unfamiliar environments, eliminating worries about getting lost or experiencing traffic delays. For frequent business travelers, tourists, or commuters in large cities, this is one of the most attractive advantages of humanoid robots.

[0051] Existing robots have the following drawbacks:

[0052] Existing robots exhibit tilting, swaying, tipping over, and instability when navigating uneven surfaces, slopes, steps, and complex terrains, as well as during the extension of their robotic arms and load switching processes, due to poor balance.

[0053] Figure 1This is a schematic structural diagram of a robot using the control method provided in the embodiments of this application. Figure 1 The robot includes a fixed base 1, a servo motor 2, a rotating shaft 3, a turntable 4, a displacement mechanism 5, a clamping mechanism 6, and two moving mechanisms 7. The top of the fixed base 1 is fixedly connected to the bottom of the servo motor 2, the output end of the servo motor 2 is fixedly connected to the bottom of the rotating shaft 3, the top of the rotating shaft 3 is fixedly connected to the bottom of the turntable 4, the top of the turntable 4 is fixedly connected to the bottom of the displacement mechanism 5, the bottom of the displacement mechanism 5 is fixedly connected to the top of the clamping mechanism 6, and the two sides of the bottom of the fixed base 1 are respectively fixedly connected to the tops of the two moving mechanisms 7.

[0054] Figure 2 yes Figure 1 See the side view of the clamping mechanism 6. Figure 2 The clamping mechanism 6 includes a clamping frame 61, a clamping table 62, a clamping cylinder 63, a connecting table 64, two first direction seats 65, two clamping plates 66, and two pull rods 67.

[0055] The bottom end of the clamping frame 61 is fixedly connected to the top end of the clamping platform 62, and the two sides of the bottom end of the clamping platform 62 are rotatably connected to the top ends of the two first direction seats 65 respectively. The bottom ends of the two first direction seats 65 are fixedly connected to the top ends of the two clamping plates 66 respectively.

[0056] The middle part of the bottom end of the clamping frame 61 is fixedly connected to the fixed end of the clamping cylinder 63, the movable end of the clamping cylinder 63 is fixedly connected to the top of the connecting platform 64, the two ends of the connecting platform 64 are respectively rotatably connected to one end of the two pull rods 67, and the other ends of the two pull rods 67 are respectively movably connected to the side of the two first direction seats 65 facing each other.

[0057] One side of the clamping frame 61 is fixedly connected to the displacement mechanism 5.

[0058] by Figure 2 For example, the clamping cylinder 63 extends and retracts, pushing the connecting platform 64 from the top. The connecting platform 64 drives the pull rod 67 to move synchronously. The pull rod 67 pushes the first direction seat 65 to deflect at an angle relative to the clamping platform 62, adjusting the direction of the clamping plate 66. The two clamping plates 66 cooperate to clamp and fix the product.

[0059] Figure 3 yes Figure 1 See the side view of the middle displacement mechanism 5. Figure 3 The displacement mechanism 5 includes a height plate 51, a vertical plate 52, a push cylinder 53, a sliding block 54, a limit plate 55, a sliding table 56, and a reinforcing plate 57.

[0060] The top of one side of the height plate 51 is fixedly connected to one end of the sliding platform 56, one side of the top of the sliding platform 56 is fixedly connected to the bottom of the limiting plate 55, and the middle part of the sliding platform 56 is slidably connected to the inner side of the sliding block 54.

[0061] The top end of the height plate 51 is fixedly connected to the bottom end of the vertical plate 52, one side of the vertical plate 52 is fixedly connected to the fixed end of the push cylinder 53, and the movable end of the push cylinder 53 is fixedly connected to the side of the sliding block 54 facing it.

[0062] A reinforcing plate 57 is fixedly installed at the connection between the height plate 51 and the sliding platform 56. The bottom end of the height plate 51 is fixedly connected to the turntable 4, and the bottom end of the sliding block 54 is fixedly connected to the clamping mechanism 6.

[0063] by Figure 3 For example, the cylinder 53 is pushed to extend and retract, and the cylinder 53 pushes the sliding block 54 to slide along the sliding table 56, thereby adjusting the position of the clamping mechanism 6.

[0064] Figure 4 yes Figure 1 Side view of China Mobile's structure 7, see reference. Figure 4 Both moving mechanisms 7 include a mounting base 701, a second direction base 702, a first direction plate 703, a second direction plate 704, a first angle cylinder 705, a movable block 706, a second angle cylinder 707, an angle plate 708, a spring shock absorber 710, a movable block 711, and a moving wheel 712.

[0065] One side of the bottom end of the mounting base 701 is fixedly connected to the top end of the second direction base 702. The bottom end of the second direction base 702 is rotatably connected to the top end of the first direction plate 703. The bottom end of the first direction plate 703 is rotatably connected to the top end of the second direction plate 704. The bottom end of the second direction plate 704 is provided with a moving groove 709. The inside of the moving groove 709 is fixedly connected to one end of the spring shock absorber 710. The other end of the spring shock absorber 710 is fixedly connected to the top end of the moving block 711. The moving block 711 is slidably connected to the moving groove 709. The bottom end of the moving block 711 is fixedly connected to the moving wheel 712.

[0066] An angle plate 708 is fixedly installed on the other side of the bottom end of the mounting base 701. One side of the angle plate 708 is rotatably connected to the movable end of the second angle cylinder 707. The fixed end of the second angle cylinder 707 is fixedly connected to one side of the movable block 706. The movable block 706 is slidably connected to the first direction plate 703.

[0067] A first angle cylinder 705 is movably connected to the surface of the first direction plate 703, and the movable end of the first angle cylinder 705 is rotatably connected to the side of the second direction plate 704 that is directly opposite to it.

[0068] The top of the mounting base 701 is fixedly connected to the fixed base 1.

[0069] by Figure 4 For example, the second angle cylinder 707 performs a telescopic movement, pushing the movable block 706 to slide along the first direction plate 703. The first direction plate 703 deflects at an angle relative to the second direction seat 702. The first angle cylinder 705 performs a telescopic movement, pushing the second direction plate 704 to deflect at an angle relative to the first direction plate 703, thus adjusting the angle of movement. The spring damper 710 weakens the vibration force on the movable block 711, facilitating the smooth movement of the moving mechanism 7.

[0070] Figure 5 This is a schematic flowchart of the control method provided in the embodiments of this application.

[0071] Step 1: System Initialization and Attitude Calibration. After the robot is powered on, the balance system is initialized first, and the zero-bias calibration of the IMU inertial measurement unit, tilt sensor, and accelerometer is completed to eliminate initial measurement errors. At the same time, the mapping relationship between the robot body coordinate system, center of gravity coordinate system, and terrain coordinate system is established, and the balance threshold, speed adjustment, and safety protection boundary are preset. For different models, the corresponding initial balance parameters are loaded to complete the initial attitude reset of the chassis, robotic arm, and load mechanism, ensuring that the initial state is at the balance reference position.

[0072] Step 2: Real-time acquisition and fusion of multi-source attitude data. Multiple sensing units mounted on the robot simultaneously collect multi-dimensional attitude and environmental data. Key components include: an IMU inertial sensor to collect angular velocity and linear acceleration data; a dual-axis tilt sensor to collect forward / backward and left / right tilt angles; a center of gravity sensor to detect the real-time center of gravity position; wheel encoders and leg displacement sensors to collect chassis displacement and grounding status; a terrain sensor to detect road slope, unevenness, and obstacle height; and a load sensor to collect data on the robot arm's load weight and the load torque corresponding to its extension position. A Kalman filter algorithm is used to fuse the multi-source data, removing noise and interference, and calculating the robot's precise real-time attitude angles, center of gravity coordinates, tilt rate, and disturbance intensity, providing reliable data support for balance adjustment.

[0073] Step 3: Attitude deviation judgment and balance level classification. The calculated real-time attitude data is compared with the preset balance benchmark value to calculate the attitude deviation value and center of gravity offset, and the balance level is classified as: normal balance state, slight imbalance state, moderate imbalance state, and severe imbalance warning. At the same time, the disturbance trend is predicted, and feedforward adjustment signals are generated in advance for active disturbances such as robot arm movement, road bumps, and sudden load changes to avoid the imbalance from aggravating, thus realizing the combination of passive correction and active prediction.

[0074] Step 4: Dynamic center of gravity adjustment control. In case of imbalance, the center of gravity adjustment module is activated first. According to the direction and magnitude of the posture deviation, the robot's center of gravity adjustment mechanism is controlled to move: wheeled and tracked robots adjust the height and level of the body through the chassis lifting mechanism and the side tilt adjustment mechanism; legged robots optimize the support surface range by adjusting the landing position, support height and support span of each leg; robots equipped with robotic arms counteract the center of gravity shift caused by the load by fine-tuning the joint angle and extension length of the robotic arms, and quickly pull the body's center of gravity back to the stable support area, eliminating the cause of imbalance from the root. The center of gravity adjustment has a fast response speed and accurate positioning, avoiding large-scale body swaying.

[0075] Step 5: Closed-loop chassis attitude correction, in conjunction with center of gravity adjustment, synchronously executes closed-loop chassis attitude correction, adapting corresponding adjustment strategies for different terrains and imbalance types: on sloping roads, the left and right wheels of the chassis, track differential, and suspension extension are controlled to offset the slope angle and maintain the machine body level; on uneven roads, the independent suspension adaptively raises and lowers to compensate for the road height difference and ensure the machine body stability; during high-speed movement, the chassis drive torque and steering angle are adjusted in real time according to the tilt rate to suppress body roll and pitch oscillations. The PID+LQR linear quadratic optimal control algorithm is used to achieve smooth chassis attitude correction and avoid over-adjustment leading to secondary imbalance;

[0076] Step 6: Load and actuator linkage balance compensation. For robots equipped with robotic arms and grippers, a linkage mechanism between posture balance and operation is established. When the robotic arm performs extension, grasping, and transfer actions, the torque change and center of gravity offset data are synchronized in real time. The balance control system outputs compensation signals in sync, and adjusts the chassis posture and center of gravity position in sync to achieve synchronous execution of "operation action - balance adjustment" and eliminate the risk of body tilting and tipping caused by robotic arm movements. When the load changes suddenly, torque compensation and posture locking are quickly triggered to ensure instantaneous stability of the body, taking into account both operation efficiency and balance safety.

[0077] Step 7: Imbalance Protection and Reset Calibration. If severe imbalance is detected and the system is close to the critical rollover state, the emergency balance protection mechanism is immediately triggered: the high-power drive output is cut off, the chassis brake is locked, and the robotic arm and center of gravity adjustment mechanism are quickly reset to a stable posture to minimize the risk of rollover. After the imbalance is resolved, the system automatically performs posture reset calibration, recalibrates the balance reference, and restores the normal operation mode. The cause of imbalance, adjustment process and protection actions are recorded throughout the process to facilitate subsequent parameter optimization.

[0078] Figure 6 This is a schematic diagram of the control device provided in the real-time example of this application.

[0079] The main balance control module, as the core computing unit for attitude balance adjustment, adopts a high real-time embedded motion control chip or DSP digital signal processor. It is equipped with multi-source data fusion algorithm, attitude calculation algorithm, and LQR optimal balance control algorithm. It is responsible for real-time processing of attitude perception data, judging the imbalance state, generating adjustment commands, and linkage control of various actuators. At the same time, it realizes imbalance early warning and emergency protection. It has multi-threaded parallel computing capability to ensure millisecond-level response of adjustment commands. It is the computing core of the entire balance device.

[0080] The attitude perception module is responsible for acquiring multi-dimensional attitude and environmental data. Its core hardware integrates a high-precision six-axis and nine-axis IMU inertial measurement unit, a dual-axis digital tilt sensor, a center of gravity pressure sensor, a terrain detection sensor, a load torque sensor, a wheel speed sensor, and a displacement sensor. Combined with signal conditioning and filtering circuits, it completes the acquisition, amplification, and noise reduction of multi-source data and transmits it to the balance main control module in real time. It has anti-vibration and anti-electromagnetic interference characteristics, is suitable for complex industrial and outdoor scenarios, and has high measurement accuracy and strong stability.

[0081] The center of gravity adjustment execution module is used to realize the active adjustment of the robot's center of gravity. The core components include servo electric cylinders, chassis lifting suspension, tilt adjustment mechanism, and foot support adjustment components. According to the instructions of the main control module, it precisely controls the extension, lifting and displacement of the adjustment mechanism, quickly adjusts the position of the robot's center of gravity, and adjusts the stroke and force to match the robot's load and size. The action response is fast, the positioning accuracy is high, and there is no jamming or lag.

[0082] The chassis balance execution module is an execution unit for chassis attitude correction. It includes an independent suspension drive motor, differential controller, suspension telescopic driver, and brake locking mechanism. According to the correction command issued by the main control module, it controls the adaptive telescopic extension of each suspension of the chassis, wheel differential adjustment, and brake locking to adapt to the attitude stability requirements of different terrains. It achieves adaptive balance for slopes, uneven roads, and bumpy sections to ensure that the body is always within a safe attitude range.

[0083] The linkage communication and early warning module supports CAN bus, Ethernet, and serial communication modes, enabling data exchange with the robot collaborative control system, robotic arm grasping control system, and main control system. It synchronously receives operation action signals and performs balance compensation in advance. It has audible and visual early warning and data upload functions. When imbalance occurs, it issues an early warning signal in real time and synchronously uploads attitude data and fault information. It supports remote monitoring and parameter debugging, realizing the coordinated linkage between the balance system and the whole system.

[0084] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robot posture balance adjustment and control device, comprising a device, characterized in that, The device is applied to a robot, which includes a fixed base (1), a servo motor (2), a rotating shaft (3), a turntable (4), a displacement mechanism (5), a clamping mechanism (6), and two moving mechanisms (7). The top end of the fixed base (1) is fixedly connected to the bottom end of the servo motor (2), the output end of the servo motor (2) is fixedly connected to the bottom end of the rotating shaft (3), the top end of the rotating shaft (3) is fixedly connected to the bottom end of the turntable (4), the top end of the turntable (4) is fixedly connected to the bottom end of the displacement mechanism (5), the bottom end of the displacement mechanism (5) is fixedly connected to the top end of the clamping mechanism (6), and the two sides of the bottom end of the fixed base (1) are respectively fixedly connected to the top ends of the two moving mechanisms (7). The device includes a balance control module, an attitude sensing module, a center of gravity adjustment execution module, a chassis balance execution module, and a linkage communication and early warning module. The main control module for balance is the core computing unit for attitude balance adjustment. The attitude perception module is responsible for acquiring multi-dimensional attitude and environmental data. The center of gravity adjustment execution module is used to enable the robot's center of gravity to be actively adjusted. Chassis balancing execution module, an execution unit for chassis attitude correction; The linkage communication and early warning module supports CAN bus, Ethernet and serial communication modes, and can communicate with the robot collaborative control system, the robotic arm grasping control system and the main control system of the whole machine to synchronously receive operation action signals.

2. The robot attitude balance adjustment and control device according to claim 1, characterized in that: The clamping mechanism (6) includes a clamping frame (61), a clamping platform (62), a clamping cylinder (63), a connecting platform (64), two first direction seats (65), two clamping plates (66), and two pull rods (67). The bottom end of the clamping frame (61) is fixedly connected to the top end of the clamping platform (62), and the two sides of the bottom end of the clamping platform (62) are rotatably connected to the top ends of the two first direction seats (65), and the bottom ends of the two first direction seats (65) are fixedly connected to the top ends of the two clamping plates (66). The middle part of the bottom end of the clamping frame (61) is fixedly connected to the fixed end of the clamping cylinder (63), the movable end of the clamping cylinder (63) is fixedly connected to the top end of the connecting platform (64), the two ends of the connecting platform (64) are respectively rotatably connected to one end of the two pull rods (67), and the other ends of the two pull rods (67) are respectively movably connected to the side of the two first direction seats (65) facing each other. One side of the clamp (61) is fixedly connected to the displacement mechanism (5).

3. The robot attitude balance adjustment and control device according to claim 1, characterized in that: The displacement mechanism (5) includes a height plate (51), a vertical plate (52), a push cylinder (53), a sliding block (54), a limiting plate (55), a sliding table (56), and a reinforcing plate (57). The top of one side of the height plate (51) is fixedly connected to one end of the sliding platform (56), one side of the top of the sliding platform (56) is fixedly connected to the bottom end of the limiting plate (55), and the middle part of the sliding platform (56) is slidably connected to the inner side of the sliding block (54). The top of the height plate (51) is fixedly connected to the bottom of the vertical plate (52), one side of the vertical plate (52) is fixedly connected to the fixed end of the push cylinder (53), and the movable end of the push cylinder (53) is fixedly connected to the side of the sliding block (54) facing it. A reinforcing plate (57) is fixedly installed at the connection between the height plate (51) and the sliding platform (56). The bottom end of the height plate (51) is fixedly connected to the turntable (4), and the bottom end of the sliding block (54) is fixedly connected to the clamping mechanism (6).

4. The robot attitude balance adjustment and control device according to claim 1, characterized in that: Both of the aforementioned moving mechanisms (7) include a mounting base (701), a second direction base (702), a first direction plate (703), a second direction plate (704), a first angle cylinder (705), a movable block (706), a second angle cylinder (707), an angle plate (708), a spring damper (710), a movable block (711), and a moving wheel (712); One side of the bottom end of the mounting base (701) is fixedly connected to the top end of the second direction base (702). The bottom end of the second direction base (702) is rotatably connected to the top end of the first direction plate (703). The bottom end of the first direction plate (703) is rotatably connected to the top end of the second direction plate (704). The bottom end of the second direction plate (704) is provided with a moving groove (709). The inside of the moving groove (709) is fixedly connected to one end of the spring shock absorber (710). The other end of the spring shock absorber (710) is fixedly connected to the top end of the moving block (711). The moving block (711) is slidably connected to the moving groove (709). The bottom end of the moving block (711) is fixedly connected to the moving wheel (712). An angle plate (708) is fixedly installed on the other side of the bottom end of the mounting base (701). One side of the angle plate (708) is rotatably connected to the movable end of the second angle cylinder (707). The fixed end of the second angle cylinder (707) is fixedly connected to one side of the movable block (706). The movable block (706) is slidably connected to the first direction plate (703). A first angle cylinder (705) is movably connected to the surface of the first direction plate (703), and the movable end of the first angle cylinder (705) is rotatably connected to the side of the second direction plate (704) facing it. The top of the mounting base (701) is fixedly connected to the fixed base (1).

5. The method of robot attitude balance adjustment and control device according to any one of claims 1-4, characterized in that: The method includes: System initialization and attitude calibration: After the robot is powered on and started, the first step is to initialize the balance system, complete the zero-bias calibration of the IMU inertial measurement unit, tilt sensor and accelerometer, and eliminate the initial measurement error; at the same time, establish the mapping relationship between the robot body coordinate system, the center of gravity coordinate system and the terrain coordinate system, and preset the balance threshold, adjust the speed and safety protection boundary. Real-time acquisition and fusion of multi-source attitude data: Multi-dimensional attitude and environmental data are collected simultaneously through multiple sets of sensing units mounted on the fuselage. The attitude deviation judgment and balance level classification compare the calculated real-time attitude data with the preset balance reference value, calculate the attitude deviation value and the center of gravity offset, and classify the balance level. Dynamic center of gravity adjustment control prioritizes the activation of the center of gravity adjustment module in case of imbalance, and controls the robot's center of gravity adjustment mechanism to move according to the direction and magnitude of the posture deviation. The chassis attitude closed-loop correction, combined with the center of gravity adjustment, is executed synchronously, and corresponding adjustment strategies are adapted to different terrains and imbalance types. Load and actuator linkage balance compensation: For robots equipped with robotic arms and execution grippers, a linkage mechanism between posture balance and operation is established. When the robotic arm performs extension, grasping, and transfer actions, the torque change and center of gravity offset data are synchronized in real time. The balance control system outputs compensation signals in a synchronized manner to adjust the chassis posture and center of gravity position. Imbalance protection and reset calibration: If severe imbalance is detected and the vehicle is close to the critical rollover state, the emergency balance protection mechanism will be triggered immediately.

6. The electronic device of the robot posture balance adjustment device according to any one of claims 1-5, characterized in that: The device includes an electronic device, which includes a processor, a non-volatile memory, a communication interface, a signal acquisition interface, a drive output interface, and a power management unit. The memory is used to store the balance control program, attitude calibration parameters, control algorithm model, and operation log; The processor is used to execute program instructions in memory, complete attitude calculation, deviation calculation, and instruction output, and realize all the steps of the above attitude balance adjustment and control method. The communication interface and signal acquisition interface are responsible for connecting the sensing module and the overall system; The drive output interface and the power management unit are directly connected to the balanced actuator. The power management unit provides a stable low-voltage power supply and has overcurrent and undervoltage protection functions.

7. The storage medium of the robot posture balance adjustment device according to any one of claims 1-5, characterized in that: It includes a storage medium storing a computer program that, when executed by a processor, implements the method of claim 5.

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