The invention relates to a robot motion balance system and a robot, and belongs to the technical field of robots, the robot motion balance system comprises a ground contact detection switch array, a vacuum chuck array, at least one joint steering engine, a vacuum assembly and a motion balance control unit; the grounding detection switch array and the vacuum chuck array are arranged at the bottom of a foot plate of the robot, and at least one motion joint of the robot is provided with a joint steering engine; when the grounding detection switch array detects that the bottom of the foot plate is in contact with the ground, the motion balance control unit controls the joint steering engine to adjust the foot plate, so that the foot plate is parallel to the ground, and the vacuum assembly is controlled to enable the vacuum chuck array to generate vacuum degree, so that the foot plate and the ground generate adsorption force; when a foot lifting walking control instruction used for controlling the foot plate is received, the vacuum assembly is controlled to relieve the vacuum degree of the vacuum suction cup array on the foot plate so as to eliminate the adsorption force between the foot plate and the ground. According to the invention, the applicability of the robot can be improved while the motion balance of the robot is maintained.
本申请涉及一种机器人运动平衡系统及机器人,属于机器人技术领域,其包括触地检测开关阵列、真空吸盘阵列、至少一个关节舵机、真空组件以及运动平衡控制单元;触地检测开关阵列和真空吸盘阵列设置于机器人的脚板底部,机器人的至少一个运动关节处设置有关节舵机;当触地检测开关阵列检测到脚板底部与地面接触时,运动平衡控制单元控制关节舵机对脚板进行调整,使脚板与地面保持平行,并控制真空组件使真空吸盘阵列产生真空度,使脚板与地面产生吸附力;当接收到用于控制脚板的抬脚行走控制指令时,控制真空组件解除脚板上的真空吸盘阵列的真空度,以消除脚板与地面的吸附力。本申请能够在维持机器人运动平衡的同时,提高机器人的适用性。
Robot motion balancing system and robot
一种机器人运动平衡系统及机器人
2023-12-05
Patent
Electronic Resource
Chinese
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