Search

CN-122009360-A - Distributed cooperative walking control mechanism of robot

CN122009360ACN 122009360 ACN122009360 ACN 122009360ACN-122009360-A

Abstract

The invention relates to the technical field of robots and discloses a distributed cooperative walking control mechanism of a robot, which comprises a machine body, a balance unit and a cooperative unit, wherein the balance unit and the cooperative unit are arranged in the machine body, the surface of the machine body is rectangular, the installation part is arranged in the installation part, the machine body is provided with a supporting leg through the installation part, and the balance unit and the cooperative unit are integrated in the machine body, so that a piston plate can be directly driven to move by utilizing electromagnetic force generated by an electromagnet, thereby pushing cooling liquid to flow, reducing the abrasion of intermediate parts, combining the directional rotation of a rotating plate with the accurate butt joint of a conical valve core, realizing the directional movement of the cooling liquid between a machine body and the supporting leg, expanding the gravity center adjusting range from the machine body to the supporting leg area, enabling the robot to finish gravity center adjustment under complex road conditions such as climbing, rolling and the like, and avoiding the problem of rollover or tumbling caused by gravity center offset.

Inventors

  • ZHAO JING
  • SUN BO
  • Fu Haoli
  • DING Yinyu

Assignees

  • 北京海百川科技有限公司

Dates

Publication Date
20260512
Application Date
20260225

Claims (8)

  1. 1. The distributed cooperative walking control mechanism for the robot is characterized by comprising a machine body (1), and a balance unit (2) and a cooperative unit (3) which are arranged in the machine body (1), wherein the surface of the machine body (1) is rectangular and provided with an installation part (102), the cooperative unit (3) is arranged in the installation part (102), and the machine body (1) is provided with a supporting leg (4) through the installation part (102); The utility model discloses a motor drive unit for a motor vehicle, including engine body (1), drive storehouse (101) has been seted up to engine body (1) inside, balanced unit (2) including setting up inside rotor plate (201) of drive storehouse (101) and setting up in inside electro-magnet (203) of rotor plate (201), electro-magnet (203) one side is provided with magnetic block (204), magnetic block (204) side is fixed with piston plate (205), piston plate (205) are inside drive storehouse (101) through electro-magnet (203) and magnetic block (204) activity, rotor plate (201) one end still overlaps and is equipped with movable sleeve (206), movable sleeve (206) side is fixed with toper piece (207), toper piece (207) laminating mutually with drive storehouse (101) inner wall.
  2. 2. The distributed collaborative walking control mechanism of a robot of claim 1, wherein a placement bin (202) is formed in the rotating plate (201), an electromagnet (203) is fixedly installed in the placement bin (202), the electromagnet (203) is arranged at the center of the placement bin (202), the piston plate (205) is attached to the inner wall of the placement bin (202), the placement bin (202) is communicated with a movable sleeve (206), the placement bin (202) and the movable sleeve (206) are buckled to form a sealed first liquid storage cavity, and cooling liquid is stored in the first liquid storage cavity.
  3. 3. The distributed collaborative walking control mechanism of a robot according to claim 2, wherein the mounting portion (102) is provided with a mounting groove (104) on the side face, the collaborative unit (3) comprises a conical valve core (301) fixed on the inner wall of the mounting groove (104), the conical block (207) is matched with the conical valve core (301), the side face of the mounting portion (102) is fixedly provided with a fixing sleeve (304), the fixing sleeve (304) is communicated with the mounting groove (104), and the mounting groove (104) is communicated with the first liquid storage cavity through the conical block (207) and the conical valve core (301).
  4. 4. The distributed collaborative walking control mechanism of a robot according to claim 3, wherein a partition plate (302) is movably arranged in the installation groove (104), limiting plates (303) are further fixed on the inner wall of the installation groove (104), the limiting plates (303) are arranged on two sides of the partition plate (302), the upper surface and the lower surface of the partition plate (302) are respectively attached to the inner wall of the installation groove (104), a movable plate (306) is arranged in the fixed sleeve (304), the upper surface and the lower surface of the movable plate (306) are respectively attached to the inner wall of the fixed sleeve (304), and the movable plate (306), the fixed sleeve (304), the installation groove (104) and the partition plate (302) form a second liquid storage cavity.
  5. 5. The distributed collaborative walking control mechanism of a robot according to claim 1, wherein a fixed plate (208) is fixed on the side face of the rotating plate (201), a first telescopic rod (209) is fixed on the side face of the fixed plate (208), the other end of the first telescopic rod (209) is fixed on the side face of the movable sleeve (206), a first spring (210) is sleeved on the periphery of the first telescopic rod (209), two ends of the first spring (210) are respectively fixed on the side face of the movable sleeve (206) and the side face of the fixed plate (208), and the movable sleeve (206) and the conical block (207) are movably arranged inside the transmission bin (101) through the first telescopic rod (209) and the first spring (210).
  6. 6. The distributed collaborative walking control mechanism of a robot according to claim 4, wherein a second telescopic rod (305) is fixed on the inner wall of the fixed sleeve (304), one end of the second telescopic rod (305) is fixed on the side face of the movable plate (306), a second spring (307) is sleeved on the periphery of the second telescopic rod (305), two ends of the second spring (307) are respectively fixed on the side face of the movable plate (306) and the inner wall of the fixed sleeve (304), and the movable plate (306) is movable inside the fixed sleeve (304) through the second telescopic rod (305) and the second spring (307).
  7. 7. The distributed collaborative walking control mechanism of a robot according to claim 1, wherein balancing weights (211) are symmetrically fixed on two sides of the rotating plate (201), cooling liquid with the same weight as that of the first liquid storage cavity is filled in the balancing weights (211), a supporting plate (212) is further fixed on the side face of the rotating plate (201), a motor (213) is fixed on the surface of the supporting plate (212), a bevel gear (214) is fixed at the output end of the motor (213), a toothed ring (103) meshed with the bevel gear (214) is embedded in the bottom wall of the transmission bin (101), and the rotating plate (201) rotates inside the transmission bin (101) through the motor (213), the bevel gear (214) and the toothed ring (103).
  8. 8. The distributed collaborative walking control mechanism of a robot of claim 7, wherein a power supply module (5) is further fixed on the surface of the supporting plate (212), a control module and a vision module are further integrated inside the machine body (1), and the power supply module (5) is electrically connected with the machine body (1), the motor (213), the electromagnet (203) and the supporting leg (4) respectively.

Description

Distributed cooperative walking control mechanism of robot Technical Field The invention relates to the technical field of robots, in particular to a distributed cooperative walking control mechanism of a robot. Background The robot has wide application prospect in the fields of climbing rescue, high-altitude operation, spacecraft cabin walking and the like, and generally, the robot can only move on an upper plane or a gentle slope, and is difficult to stably stay or move on a steep slope, a vertical plane or an inclined plane and the like. And during walking, the robot often encounters obstacles or undulating terrain, which also form an obstacle to the walking of the robot. The prior patent (bulletin number: CN 119590529B) discloses a leg walking mechanism of a robot and a quadruped robot, which comprises a plurality of large arms, wherein one side of each large arm is connected with a floating assembly, the floating assembly comprises a connecting box and an air bag, the connecting box is fixedly connected with one side of the large arm, a placing groove is formed in one side, far away from the large arm, of the connecting box, the air bag is fixedly connected in the placing groove, one side of the large arm is sequentially connected with an inflation assembly, a deflation assembly and an air injection assembly from top to bottom, and one side of the connecting box is connected with a closing assembly. Although this application utilizes the showy subassembly to avoid fuselage to dip in water completely, has reduced the risk that the camera lens was stained with water, ensure the quality and the accuracy of real-time image transmission, thereby provide clear field of vision and stable walking ability for the quadruped robot, help reducing visual erroneous judgement or distortion, improve the accuracy and the efficiency of inspection task, but this application can not adjust self focus according to road conditions, when facing complicated topography, be difficult to keep stable walking gesture, especially on rugged or inclined road surface, turn on one's side or fall down because of the focus skew easily, can damage robot itself, still probably influence the continuity and the accuracy of inspection task. Disclosure of Invention The invention aims to provide a distributed cooperative walking control mechanism for a robot, which aims to solve the problems in the background technology. The robot distributed cooperative walking control mechanism comprises a machine body, a balancing unit and a cooperative unit, wherein the balancing unit and the cooperative unit are arranged in the machine body, the surface of the machine body is rectangular, the cooperative unit is arranged in the mounting part, and the machine body is provided with supporting legs through the mounting part; The machine body is internally provided with a transmission bin, the balance unit comprises a rotating plate arranged in the transmission bin and an electromagnet arranged in the rotating plate, a magnetic block is arranged on one side of the electromagnet, a piston plate is fixed on the side face of the magnetic block, the piston plate is movably arranged in the transmission bin through the electromagnet and the magnetic block, one end of the rotating plate is further sleeved with a movable sleeve, a conical block is fixed on the side face of the movable sleeve, and the conical block is attached to the inner wall of the transmission bin. Preferably, the rotating plate is internally provided with a placing bin, the electromagnet is fixedly arranged inside the placing bin, the electromagnet is arranged at the center of the placing bin, the piston plate is attached to the inner wall of the placing bin, the placing bin is communicated with the moving sleeve, the placing bin and the moving sleeve are buckled to form a sealed first liquid storage cavity, and cooling liquid is stored in the first liquid storage cavity. Preferably, the mounting groove has been seted up to the installation department side, cooperate the unit to include the toper case of fixing at the mounting groove inner wall, toper piece and toper case looks adaptation, the installation department side is fixed with fixed cover, fixed cover is linked together with the mounting groove, the mounting groove is linked together with first stock solution chamber through toper piece and toper case. Preferably, the inside activity of mounting groove is provided with the baffle, the mounting groove inner wall still is fixed with the limiting plate, the limiting plate sets up in the baffle both sides, all laminate mutually with the inner wall of mounting groove below the baffle, fixed cover inside is provided with the movable plate, all laminate mutually with the inner wall of fixed cover below the movable plate, fixed cover, mounting groove and baffle constitute the second stock solution chamber, and second stock solution intracavity portion is provided with the coolant liquid the same