CN205969120U - Robot balanced system - Google Patents
Robot balanced system Download PDFInfo
- Publication number
- CN205969120U CN205969120U CN201620847662.7U CN201620847662U CN205969120U CN 205969120 U CN205969120 U CN 205969120U CN 201620847662 U CN201620847662 U CN 201620847662U CN 205969120 U CN205969120 U CN 205969120U
- Authority
- CN
- China
- Prior art keywords
- robot
- sole
- balance system
- sliding shoe
- robot according
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a robot balanced system, including sliding block, the sensor of the unbalance state of inspection robot, basis unbalance state provide drive signal control module and according to drive signal control the sliding block is on a parallel with the sole concertina movement's of robot driving motor, after this system detects the unbalance state of robot, will this unbalance state turn into driving motor's control signal, be on a parallel with by the corresponding sliding block of this driving motor control concertina movement is made to the sole of robot, can effectual realization walking robot in the motion, balance under the state of standing, simple structure is feasible.
Description
Technical field
This utility model is related to motion planning and robot control technical field, more particularly to a kind of robot balance system.
Background technology
In recent years, the research and development of many countries numerous and confused input intelligent robot, thus the application model of intelligent robot
Enclose also increasingly wider, robot development has a critical problem, how to maintain in robot kinematics and remains flat
Weighing apparatus, will not be from, and for this problem although various countries all try one's best in structure, each side such as center of gravity have carried out a lot of improvement, but
All it is unable to essence and solve this problem.
At present, the mode controlling robot balance has two kinds：One kind balances for counterweight mode, and this method has increased machine
The weight of people itself, for unbalance larger in the case of just lose effect, implement also more complicated；Another way is damping
Formula balances, and it is effective for the robot of pulley motion, but then cannot realize balancing for walking robot.
Utility model content
Based on this it is necessary to provide a kind of robot balance system, can effectively realize the balance of walking robot,
Structure simple possible.
A kind of robot balance system, including sliding shoe, the sensor of detection robot imbalance state, according to described unbalance
State provides the control module of drive signal and controls described sliding shoe parallel to described robot according to described drive signal
The motor of sole stretching motion.
Wherein in an embodiment, described sliding shoe has four, is separately positioned on the forefoot of described robot, after foot
Outside in the middle part of, sole inside middle portion and sole.
Wherein in an embodiment, described motor has four, is respectively used to control and is arranged on described robot
In the middle part of forefoot, heel, sole inside middle portion and sole, the sliding shoe in outside is parallel to the flexible fortune of sole of described robot
Dynamic.
Wherein in an embodiment, described sensor includes gravity sensor, and described gravity sensor is arranged on described
In the master board of robot.
Wherein in an embodiment, the instep that also includes be arranged on described robot supports upright spherical of robot
Post.
Wherein in an embodiment, described sensor includes pressure transducer, is arranged on the side of described spherical post.
Wherein in an embodiment, described pressure transducer has four, is separately positioned on described spherical post side with it
Four symmetrical positions all around centered on axis.
Wherein in an embodiment, also include screw rod, bearing holder (housing, cover) and fixture, described screw rod passes through bearing holder (housing, cover) and described
Motor connects, and described screw rod is fixedly connected with described sliding shoe by described fixture.
Wherein in an embodiment, also include wheel, described wheel is arranged on the lower section of described sliding shoe, described wheel
The strong point and described sole foot plate surface in same level.
Wherein in an embodiment, also include turnbuckle and the parallel guide pillar being fixedly installed on described sole, described
Turnbuckle is fixed on described parallel guide pillar near the side of described sliding shoe, and described screw rod and described turnbuckle spiral connect, institute
State screw rod to be arranged in described parallel guide pillar.
Above-mentioned robot balance system, after the imbalance state of robot is detected, this imbalance state is converted into driving electricity
The control signal of machine, makees stretching motion by this motor corresponding sliding shoe of control parallel to the sole of described robot, can
Effectively to realize walking robot in motion, the balance under standing state, structure simple possible.
Brief description
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
In description the accompanying drawing of required use be briefly described it should be apparent that, drawings in the following description are only that this practicality is new
Some embodiments of type, for those of ordinary skill in the art, on the premise of not paying creative work, can also root
Obtain the accompanying drawing of other embodiment according to these accompanying drawings.
Fig. 1 is a kind of longitudinal section figure of robot balance system in an embodiment；
Fig. 2 is a kind of top view of robot balance system in an embodiment；
Fig. 3 is a kind of top view of robot balance system in another embodiment；
Fig. 4 is a kind of signal processing block diagram of robot balance system in an embodiment.
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.It should be appreciated that specific embodiment described herein is only in order to explain
This utility model, is not used to limit this utility model.
Unless otherwise defined, all of technology used herein and scientific terminology are led with belonging to technology of the present utility model
The implication that the technical staff in domain is generally understood that is identical.In term used in the description of the present utility model it is simply herein
The purpose of description specific embodiment is it is not intended that in limiting this utility model.Term as used herein " and/or " include
The arbitrary and all of combination of one or more related Listed Items.
Referring to Fig. 1 and Fig. 2, Fig. 1 is a kind of longitudinal section figure of robot balance system in an embodiment, and Fig. 2 is an enforcement
The top view of a kind of robot balance system in example.
The robot balance system of this enforcement, including sliding shoe, the sensor 11 of detection robot imbalance state, according to institute
State imbalance state to provide the control module 12 of drive signal and control sliding shoe 1 parallel to described machine according to described drive signal
The sliding shoe 1 described in motor 13 of the sole stretching motion of people is arranged on the forefoot of described robot.Jiao Shi robot ties up
Maintain an equal level the significant points weighing, and the primary structure of this robot balance system is arranged on the foot of robot.
The robot of walking walking or during standing the moment need to keep balance, when this robot be in unbalance
During state, typically there is following several situation, lean forward, swing back, left-leaning and Right deviation, wherein lean forward and layback is that this robot more often goes out
Existing imbalance state, when this robot is in the imbalance state leaning forward or swinging back, its angle of inclination reaches certain inclination angle
Degree threshold value, can detect its angle of inclination corresponding correlation behavior ginseng by detecting the sensor 11 of robot imbalance state
Number, control module 12 is analyzed to the imbalance state of this correlation behavior parameter and processes, and obtains the imbalance state ginseng of robot
Count, and control sliding shoe 1 is provided according to this imbalance state parameter and arrive parallel to the control signal of the sole stretching motion of robot
Motor 13, drives this sliding shoe 1 to move by motor 13, thus keeping the balance of robot.
For example, if control module 12 is according to inclining that the correlation behavior parameter that sensor 11 detects has obtained that robot leans forward
Rake angle, this angle of inclination has exceeded the angle of inclination threshold value under poised state, judges that robot is in the imbalance state leaning forward,
Control module 12 provides, according to this angle of inclination, the control signal controlling the 1 piece of sole parallel to robot that slides to forward extend out,
Controlling motor 13 to drive the protruding corresponding length of sliding shoe 1, increasing length and the area of sole, thus ensureing machine
People will not dump forward, and maintains its poised state.
Wherein in an embodiment, referring to Fig. 3, above-mentioned sliding shoe 1 has four, before being separately positioned on described robot
Outside in the middle part of sole, heel, sole inside middle portion and sole, corresponding motor 13 has four, is respectively used to control and sets
The sliding shoe 1 putting outside in the middle part of the forefoot of described robot, heel, sole inside middle portion and sole is parallel to described machine
The sole stretching motion of device people.
The situation of its balance when robot hypsokinesis is serious, can not be maintained by shrinking the sliding shoe 1 being arranged on forefoot
Under, control the sliding shoe 1 being arranged at heel to stretch out backward, thus keeping the balance of robot.
During robot moves in single foot, it is susceptible to the situation of swaying style, now by gravity sensor
And/or pressure transducer detects its angle of inclination corresponding correlation behavior parameter, given by analyzing and processing by control module 12
Go out control be arranged in the middle part of robot sole inside middle portion or sole the sliding shoe 1 in outside parallel to sole foot plate surface make about
Stretching motion, to control robot that swaying style will not occur.
Additionally, robot motion, such as run, turn-take during action various, its imbalance state is also multiple to having,
As left front incline, right hypsokinesis etc., likewise, after control module 12 gets the angle of inclination of robot in real time, to this inclination angle
Degree is analyzed however, it is determined that robot is in imbalance state, provides the control letter of four motors 13 according to this angle of inclination
Number, control corresponding sliding shoe 1 move, to realize balance in motor process for the robot, if robot there occurs left front
The imbalance state inclining, controls the sliding shoe 1 being arranged on outside in the middle part of robot forefoot and sole protruding, to realize machine
The balance of people.
Wherein in an embodiment, sensor 11 is gravity sensor 111, and described gravity sensor 111 is arranged on institute
State in the master board of robot.
Robot in walking or during standing, when it is in different kinestates and attitude, gravity sensor
The change of robot acceleration can be detected, robot inclination angle with respect to the horizontal plane can be calculated by this acceleration
Degree.
Wherein in an embodiment, the instep that also includes be arranged on described robot supports upright spherical of robot
Post 2, spherical post 2 includes columnar part and the spherical part being connected with columnar part.This spherical post 2 is solid with the bottom of its spherical part
Determine fulcrum, can in certain space roll and pitch, thus supporting robot all around to move.
Wherein in an embodiment, described sensor 11 is pressure transducer 112, is arranged on the side of described spherical post 2
Face.During motion, the pressure transducer 112 being arranged on spherical post 2 side can detect this spherical post 2 side for robot
The pressure that face different parts bear, when robot is in poised state, the pressure that its side different parts bears is certain
In the range of fluctuate, when robot is in imbalance state, the pressure that its side local is born can exceed this scope.
Wherein in an embodiment, described pressure transducer 112 has four, is separately positioned on described spherical post 2 side
Four symmetrical positions all around centered on its axis.When detection robot is in four kinds of imbalance states respectively, spherical
The pressure that post 2 different parts bear, this pressure is linear with the angle of inclination of robot, can be obtained by this pressure value
The now angle of inclination of robot.
If judging that robot is in the imbalance state of layback according to above-mentioned angle of inclination, control module 12 is according to this inclination angle
Degree controls sliding shoe 1 to the corresponding length of after-contraction, reduces length and the area of sole, thus ensureing that robot will not retreat
Fall.
Wherein in an embodiment, this robot balance system also includes screw rod 4, bearing holder (housing, cover) 3 and fixture 6, described
Screw rod 4 passes through bearing holder (housing, cover) 3 and described motor 13 connects, and described screw rod 4 passes through described fixture 6 and described sliding shoe 1 is solid
Fixed connection.Sliding shoe 1 sole parallel to robot under the drive of motor 13 and screw rod 4 makees elastic motion.
Wherein in an embodiment, this robot balance system also includes wheel 7, and described wheel 7 is arranged on described cunning
The lower section of motion block 1, the strong point of described wheel 7 and the foot plate surface of described sole are in same level.Motor 13 drives
Sliding shoe 1 makees elastic motion in the presence of wheel 7.
Wherein in an embodiment, this robot balance system also includes turnbuckle 5 and is fixedly installed on described sole
On parallel guide pillar 8, turnbuckle 5 is fixed on the side near described sliding shoe 1 for the described parallel guide pillar 8, described screw rod 4 and described
Turnbuckle 5 spiral connects, and described screw rod 4 is arranged in described parallel guide pillar 8.
Wherein in an embodiment, referring to Fig. 3, above-mentioned screw rod 4, bearing holder (housing, cover) 3, fixture 6, wheel 7, turnbuckle 5 and
Corresponding four sliding shoes 1 of parallel guide pillar 8 and motor 13 are respectively arranged with four.
Referring to Fig. 4, Fig. 4 is a kind of signal processing block diagram of robot balance system in an embodiment.
Wherein in an embodiment, this robot balance system also includes signal amplifier 14, described signal amplifier
14 input connects described sensor 11, and the outfan of described signal amplifier 14 connects described control module 12.
Wherein in an embodiment, this robot balance system also includes analog-to-digital conversion module 15, described analog digital conversion
The input of module 15 connects the outfan of described signal amplifier 14, and the outfan connection of described analog-to-digital conversion module 15 is described
Control module 12.
After sensor 11, such as pressure transducer 112 detect the pressure that four positions of spherical post 2 are born, by this pressure
Corresponding pressure signal is sent to signal amplifier 14, is sent to analog-to-digital conversion module 15 and is converted into numeral letter after amplified process
Number, control module 12 receives this digital signal and is analyzed and processes, and obtains the inclination of the corresponding robot of this digital signal
Angle, if this angle of inclination has exceeded robot and has been in angle of inclination threshold value during poised state, judges that robot is in unbalance
State, and calculated as keeping robot to balance the length that its sole should elongate or shorten to different directions according to this angle of inclination
Degree, controls motor 13 to drive corresponding sliding shoe 1 protruding or shrink this length, keeps robot in motion, stands
Balance under state.
Each technical characteristic of embodiment described above can arbitrarily be combined, for making description succinct, not to above-mentioned reality
The all possible combination of each technical characteristic applied in example is all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all it is considered to be the scope of this specification record.
Embodiment described above only have expressed several embodiments of the present utility model, and its description is more concrete and detailed,
But therefore can not be interpreted as the restriction to utility model patent scope.It should be pointed out that the common skill for this area
For art personnel, without departing from the concept of the premise utility, some deformation can also be made and improve, these broadly fall into
Protection domain of the present utility model.Therefore, the protection domain of this utility model patent should be defined by claims.
Claims (10)
1. a kind of robot balance system is it is characterised in that include sliding shoe, the sensor of detection robot imbalance state, root
Provide the control module of drive signal according to described imbalance state and according to the described drive signal described sliding shoe of control parallel to institute
State the motor of the sole stretching motion of robot.
2. robot according to claim 1 balance system, it is characterised in that described sliding shoe has four, is respectively provided with
Outside in the middle part of the forefoot of described robot, heel, sole inside middle portion and sole.
3. robot according to claim 2 balance system, it is characterised in that described motor has four, is used respectively
In controlling, the sliding shoe being arranged on outside in the middle part of forefoot, heel, sole inside middle portion and the sole of described robot is parallel
Sole stretching motion in described robot.
4. robot according to claim 1 balance system is it is characterised in that described sensor includes gravity sensor,
Described gravity sensor is arranged in the master board of described robot.
5. robot according to claim 1 balance system, the instep also including be arranged on described robot supports machine
The upright spherical post of device people.
6. robot according to claim 5 balance system is it is characterised in that described sensor includes pressure transducer,
It is arranged on the side of described spherical post.
7. robot according to claim 6 balance system, it is characterised in that described pressure transducer has four, is distinguished
It is arranged on four symmetrical positions all around centered on its axis for the described spherical post side.
8. robot according to claim 1 balance system, also includes screw rod, bearing holder (housing, cover) and fixture, and described screw rod leads to
Cross bearing holder (housing, cover) and described motor connects, described screw rod is fixedly connected with described sliding shoe by described fixture.
9. robot according to claim 1 balance system, also includes wheel, and described wheel is arranged on described sliding shoe
The foot plate surface of lower section, the strong point of described wheel and described sole is in same level.
10. robot according to claim 8 balance system, also includes turnbuckle and is fixedly installed on described sole
Parallel guide pillar, described turnbuckle is fixed on described parallel guide pillar near the side of described sliding shoe, described screw rod and described screw
Set spiral connects, and described screw rod is arranged in described parallel guide pillar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620847662.7U CN205969120U (en) | 2016-08-05 | 2016-08-05 | Robot balanced system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620847662.7U CN205969120U (en) | 2016-08-05 | 2016-08-05 | Robot balanced system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205969120U true CN205969120U (en) | 2017-02-22 |
Family
ID=58029446
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620847662.7U Withdrawn - After Issue CN205969120U (en) | 2016-08-05 | 2016-08-05 | Robot balanced system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205969120U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106042003A (en) * | 2016-08-05 | 2016-10-26 | 深圳市维兴顺科技有限公司 | Robot balancing system |
-
2016
- 2016-08-05 CN CN201620847662.7U patent/CN205969120U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106042003A (en) * | 2016-08-05 | 2016-10-26 | 深圳市维兴顺科技有限公司 | Robot balancing system |
| CN106042003B (en) * | 2016-08-05 | 2018-05-22 | 深圳市维兴顺科技有限公司 | Robot balance system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106042003B (en) | Robot balance system | |
| JP5982714B2 (en) | Apparatus and method for characterizing operation | |
| CN107174253A (en) | A kind of determination methods, the device and system of lower extremity movement posture | |
| KR101463684B1 (en) | Method for measuring abnormal waking step | |
| CN109641144A (en) | No-power treadmill | |
| CN102144248A (en) | Fall prevention system | |
| CN103927851A (en) | Individualized multi-threshold tumble detection method and system | |
| CN205969120U (en) | Robot balanced system | |
| CN1717580A (en) | Device for measuring the static and/or dynamic friction coefficient of a surface | |
| CN109394231B (en) | Standing motion balance monitoring and dynamics analysis system | |
| JP2007075428A5 (en) | ||
| US11097158B2 (en) | Gait training machine and method of using same | |
| CN113413141A (en) | Dynamic balance capacity measuring device and measuring method | |
| CN105329341A (en) | Bicycle falling-prevention system, method and device | |
| US20200368578A1 (en) | Step-counting treadmill | |
| CN109341916A (en) | A kind of automobile-used dynamometer machine of electrodynamic balance | |
| CN105510224B (en) | A kind of pavement slip-resistance tester device | |
| EP3743172A1 (en) | Uni-lateral sled | |
| CN112754474A (en) | Intelligent balance detection device | |
| JP4991224B2 (en) | Physical fitness judgment device | |
| CN205301148U (en) | Pavement antiskid capability test instrument | |
| Patterson et al. | A novel approach for assessing gait using foot mounted accelerometers | |
| CN2816776Y (en) | Measuring structure of measuring table for 6-D force | |
| CN107136650A (en) | A kind of climbing boot or Labor protection shoes detection means | |
| CN215191481U (en) | Dynamic balance ability measuring device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170222 Effective date of abandoning: 20180522 |