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CN-116160438-B - Robot and robot control method

CN116160438BCN 116160438 BCN116160438 BCN 116160438BCN-116160438-B

Abstract

The present disclosure relates to a robot and a robot control method to consider both shock absorbing performance of a robot chassis and stability of a robot main body. The robot comprises a robot main body, a chassis main body, a moving assembly and a controller, wherein the robot main body is provided with a gesture detector, the chassis main body is arranged at the bottom of the robot main body, the moving assembly is connected with the robot main body through a suspension shock absorber and is also connected with a controllable damping rotating shaft and is in rotating connection with the chassis main body through the controllable damping rotating shaft, and the controller is electrically connected with the gesture detector and the controllable damping rotating shaft and is used for controlling the controllable damping rotating shaft to change rotating resistance according to gesture information of the robot detected by the gesture detector.

Inventors

  • LIU YUNFEI

Assignees

  • 北京有竹居网络技术有限公司

Dates

Publication Date
20260512
Application Date
20211125

Claims (7)

  1. 1. A robot comprising a robot body, a robot body and a robot body, characterized by comprising the following steps: a robot main body on which an attitude detector is mounted; the chassis main body is arranged at the bottom of the robot main body; The moving assembly is connected with the robot main body through a suspension shock absorber, is also connected with a controllable damping rotating shaft and is rotationally connected with the chassis main body through the controllable damping rotating shaft; The controller is electrically connected with the gesture detector and the controllable damping rotating shaft and is used for controlling the controllable damping rotating shaft to change the rotating resistance according to the gesture information of the robot detected by the gesture detector; The controllable damping rotating shaft comprises a rotating damping control device and a rotating shaft, the rotating damping control device is electrically connected with the controller, and the rotating shaft is connected with the moving assembly through a connecting rod; The rotary damping control device comprises a direct current motor, wherein a frequency switch is connected in series in a power line of the direct current motor, and the end part of an output shaft of the direct current motor is fixedly connected with the end part of the rotating shaft; The movable assembly comprises a driving wheel and a balance wheel, wherein the driving wheel and the balance wheel are connected with the robot main body through a suspension shock absorber, and the balance wheel is rotatably connected with the chassis main body through a controllable damping rotating shaft.
  2. 2. The robot of claim 1, wherein the rotational damping control device comprises a direct current motor, an electric control resistor is connected in series in a power line of the direct current motor, and an end of an output shaft of the direct current motor is fixedly connected with an end of the rotating shaft.
  3. 3. The robot of claim 1, wherein the rotational damping control device comprises a magnetic field excitation device and a magnetorheological material disposed in a gap between the shaft and a shaft bore in which the shaft is disposed.
  4. 4. The robot of claim 1 wherein the drive wheel is rotatably coupled to the chassis body by the controllable damping spindle.
  5. 5. The robot of claim 1, wherein the number of driving wheels is 2, and the number of the balancing wheels is 2, and the driving wheels are respectively arranged on two sides of the chassis main body in a first direction, and the first direction is perpendicular to the second direction.
  6. 6. A robot control method, applied to the robot of any one of claims 1 to 5, comprising: The gesture detector arranged on the robot main body detects gesture information of the robot and sends the gesture information to the controller; the controller processes the attitude information, generates control information and sends the control information to a controllable damping rotating shaft; The controllable damping rotating shaft controls the rotating resistance based on the control information.
  7. 7. The method of claim 6, wherein the gesture information comprises a gesture oscillation amplitude, the controller processing the gesture information to generate control information, comprising: the controller determines a target amplitude range corresponding to the gesture swing amplitude; and the controller determines the control information corresponding to the target amplitude range according to the preset corresponding relation between the amplitude range and the control information.

Description

Robot and robot control method Technical Field The disclosure relates to the technical field of robots, and in particular relates to a robot and a robot control method. Background With the rapid development of hardware and control technology, robots are increasingly applied to daily work and life of people. Damping performance and stability have to be considered when the robot is running. In the related art, vibration of the robot chassis can be reduced by providing a suspension damper, however, this arrangement cannot be made compatible with the vibration damping performance of the robot chassis and the stability of the robot body. Disclosure of Invention This content section is provided to introduce concepts in a simplified form that are further described below in the detailed description section. This section of content is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter. In a first aspect, the present disclosure provides a robot comprising: a robot main body on which an attitude detector is mounted; the chassis main body is arranged at the bottom of the robot main body; The moving assembly is connected with the robot main body through a suspension shock absorber, is also connected with a controllable damping rotating shaft and is rotationally connected with the chassis main body through the controllable damping rotating shaft; And the controller is electrically connected with the gesture detector and the controllable damping rotating shaft and is used for controlling the controllable damping rotating shaft to change the rotating resistance according to the gesture information of the robot detected by the gesture detector. In a second aspect, the present disclosure provides a robot control method applied to the robot provided in the first aspect, the method comprising: The gesture detector arranged on the robot main body detects gesture information of the robot and sends the gesture information to the controller; the controller processes the attitude information, generates control information and sends the control information to a controllable damping rotating shaft; The controllable damping rotating shaft controls the rotating resistance based on the control information. Through the robot of this disclosed embodiment, because when the robot main part takes place the swing, can provide the effort opposite with the robot main part swing direction jointly by controllable damping pivot and suspension bumper shock absorber, consequently, even set up less suspension rigidity, also can guarantee the stability of robot main part to compromise the shock-absorbing capacity of robot chassis and the stability of robot main part, in addition, because the gesture that utilizes the passive stable robot of rotation resistance, consequently, the energy consumption is low. Additional features and advantages of the present disclosure will be set forth in the detailed description which follows. Drawings The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. The same or similar reference numbers will be used throughout the drawings to refer to the same or like elements. It should be understood that the figures are schematic and that elements and components are not necessarily drawn to scale. In the drawings: FIG. 1 is a schematic view of a robot according to an exemplary embodiment of the present disclosure; FIG. 2 is a schematic diagram illustrating a connection structure of a variable damping shaft according to an exemplary embodiment of the present disclosure; FIG. 3 is a schematic diagram of a connection structure of another variable damping shaft according to an exemplary embodiment of the present disclosure; FIG. 4 is a schematic diagram illustrating a relationship between a magnetorheological material and a spindle in accordance with an exemplary embodiment of the present disclosure; FIG. 5 is a schematic diagram illustrating a distribution of mobile components according to an exemplary embodiment of the present disclosure; fig. 6 is a flowchart illustrating a robot control method according to an exemplary embodiment of the present disclosure. Reference numerals illustrate: 10-robot main body, 20-chassis main body, 30-moving assembly, 31-driving wheel, 32-balance wheel, 40-gesture detector, 50-suspension shock absorber, 60-controllable damping rotating shaft, 61-direct current motor, 62-direct current motor output shaft, 63-rotating shaft, 64-magneto-rheological material, 71-electric control resistor, 72-frequency switch and 80-connecting rod. Detailed Description Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present di