CN201736232U - Automatic balancing device - Google Patents

Abstract

An automatic balancing device disclosed by the utility model includes a trigger system and a transmission mechanism, and is characterized in that the trigger system includes a contact switch (417) arranged at the end of the groove (410) and a contact switch (417) in the groove (410). The rolling roller (411); the transmission mechanism includes a motor (415), a worm gear mechanism, and the output shaft end of the motor (415) is fixedly connected to the gear A (413), and the gear A (413) is connected to the worm end gear B (416) The contact switch (417) is connected with the motor (415) by wire; the automatic balancing device described in the utility model can be combined with different types of robots. When the robot is inclined, the roller action of the trigger system triggers the contact switch, and the contact The switch triggers the action of the motor, the motor drives the gears to mesh, the worm and worm gear mechanism moves, and the worm gear drives the corresponding components to move in coordination, so as to realize the self-balancing problem when the robot moves.

Description

an automatic balancing device

technical field

The utility model relates to a transmission device, in particular to an automatic balancing device which can coordinate the movements of various parts by transmitting the movement according to the signal action transmitted by the working environment.

Background technique

Autonomous mobile self-balancing handling robots are widely used in jobs with poor working environment, heavy workload, long working hours, high labor intensity and high risk; in addition, due to the particularity and danger of some types of work, the The working environment is relatively complex and changeable. For example, in the fields of warehousing handling, automobile assembly, mining operations, steel smelting, medical care, interstellar exploration, etc., it is necessary to use autonomous mobile automatic balancing handling robots to replace manpower to improve the reliability of these types of work. operability.

In recent years, both autonomous mobile robots and handling robots have mature products; and with the development and innovation of science and technology, autonomous mobile automatic balancing handling robots have begun to appear and have been improved. For example, Chinese patent ZL200510029904.8 discloses a wheel driven by a respective motor with a reducer, a flywheel inside the fuselage composed of a major axis and a disc centered on the center of the major axis, and different drives that drive the flywheel to rotate. Flywheel motor with reducer; the wheels are symmetrically arranged at both ends of the lower part of the flywheel; by setting the movement mode and speed value of the two wheels and the flywheel, the flywheel can generate a large enough reaction torque, so that the body of the two-wheel mobile robot can gradually change from The horizontal position is erected, so as to achieve the purpose of realizing self-erect. This technology only solves the problem that the two-wheeled mobile robot will stand upright after being overturned by an external force, and cannot guarantee that the two-wheeled mobile robot will automatically maintain balance according to changes in road conditions when walking.

Another example is the invention patent 200810123354.x published on November 25, 2009, which proposes a kind of application on the rocker robot, through the gear type differential balance mechanism to play the role of differential balance on the main body of the robot; but the differential wheel The structure of the system is complicated, it is difficult to set up, and it cannot be flexibly adjusted according to the road conditions encountered when the rocker robot walks, so that the self-balancing of the rocker robot cannot be guaranteed.

Contents of the invention

The technical problem to be solved by the utility model is to propose an automatic balancing device. After the device is combined with a robot, it can satisfy the requirement that the robot can automatically maintain balance when walking according to changes in road conditions.

In order to achieve the above-mentioned purpose of the invention, the utility model adopts the following technical solutions:

An automatic balancing device, including a trigger system and a transmission mechanism, wherein the trigger system includes a contact switch arranged at the end of the groove and a roller rolling in the groove; the transmission mechanism includes a motor, a worm gear mechanism, and the output shaft end of the motor is fixed The gear is connected with the gear at the end of the worm; the contact switch is connected with the wire of the motor.

Further, the turbine is set as an incomplete turbine, for example, the circumferential angle of the turbine is set to 160-180°.

Further, the groove is set as a cross-shaped groove.

Furthermore, the bottom of the cross-shaped groove is set as a slope inclined to the center of the groove.

The rollers of the trigger system start and close the contact switch by rolling in the groove, the contact switch controls the operation of its corresponding motor, drives the gear meshing and the transmission of the worm turbine, and drives the relevant components through the movement of the turbine, thereby adjusting each component coordination and balance.

When the automatic balancing device is combined with the robot, the automatic balancing device is set between the robot body and the running mechanism, and one or two sets of automatic balancing devices are set as required; when two sets of automatic balancing devices are set, one set realizes For the front and rear balance of the robot, one set realizes the left and right balance of the robot; these two sets of balance devices can work independently or at the same time.

The specific structure of the combination of the automatic balancing device and the robot is as follows: the transmission mechanism of one set of automatic balancing device is separated from the transmission mechanism of the other set of automatic balancing device by a balance plate, and the two sets of transmission mechanisms share a trigger system; one of the transmission mechanisms The worm I is placed in the balance board bracket and fixed, and the turbine I meshing with the worm I is fixedly connected with the balance weight shaft I and the fuselage; the motor output end parallel to the worm I is fixedly connected to the gear in the balance board bracket, The gear meshes with the gear arranged at the same end of the worm I; the worm II of the other transmission mechanism is fixed on the inner bracket of the fuselage, and the turbine II meshing with the worm II is fixedly connected with the balance weight shaft II and the fuselage above it. Together; the motor output parallel to the worm II is arranged in the fuselage and the gear is fixedly connected, and the gear is meshed with the gear arranged at the same end of the worm II; wherein, the axis of the turbine II and the axis of the turbine I are interlaced in space, and the shaft angle is 90° ; The trigger system is set in the fuselage.

Owing to adopting above-mentioned technical scheme, the beneficial effect of the utility model is:

1. When the robot moves forward normally, the roller of the trigger system is in the arc-shaped groove in the middle of the cross-shaped groove; and the bottom of the groove is set as a slope inclined to the center of the groove, which is convenient for the roller to roll. Any angle deviation of the robot body, the roller breaks away from the arc groove in the middle and rolls along the groove to trigger the corresponding contact switch, the transmission system moves to adjust the balance of the body, and the trigger system functions as a universal adjustment; thus Realize the automatic maintenance of balance when the robot walks.

2. The gears and worm turbines used in the automatic balancing device of the present utility model are commonly used mechanical transmission parts, with simple structure, and through the cooperation and coordination of two pairs of space-staggered worm gear and worm mechanisms, the balance problem when walking in the robot field is realized, and the balance problem is avoided. Use complex techniques or cumbersome program controls.

Description of drawings

Figure 1 is a schematic diagram of the normal operation of an autonomous mobile handling robot equipped with an automatic balancing device;

Fig. 2 is the top view of Fig. 1;

Fig. 3 is the internal structural diagram of this automatic balancing device;

Figure 4. The state of the fuselage of the autonomous mobile handling robot equipped with an automatic balancing device when it encounters obstacles and balances back and forth;

Figure 5 is the state of the fuselage of the autonomous mobile handling robot equipped with an automatic balancing device when it encounters obstacles and balances left and right;

Fig. 6 is the left view of Fig. 3;

Fig. 7 is a structural schematic diagram of two sets of automatic balancing devices configured in an autonomous mobile handling robot;

Fig. 8 is a schematic structural diagram of the working principle of the trigger system;

Fig. 9 is a schematic diagram of groove structure;

In the picture:

1-head; 101-left balance indicator light; 102-power indicator light; 103-warning light; 104-rear balance indicator light; 105-front balance indicator light; 106-industrial computer indicator light; 107-right balance indicator light ;

2 - fuselage;

3- mechanical arm;

4-automatic balance system; 401-waist turntable; 402-bearing cover; 403-worm I; 404-worm gear I; 405-balance weight shaft I; ;409-worm II; 410-groove; 411-roller; 412-tapered roller bearing; 413-gear A; 414-balance plate; 415-motor; 416-gear B; 417-contact switch; 418-up build;

5- walking mechanism;

Detailed ways

The following describes in more detail the preferred embodiment of the combination of the automatic balancing device of the present invention and the autonomous mobile handling robot. It should be noted that the present invention is not limited to this embodiment.

In Fig. 1, a kind of self-moving automatic balancing handling robot comprises robot body 2, the head 1 on the body 2, the mechanical arm 3 on both sides of the body 2, the automatic balancing device 4 of the bottom of the body 2 and the walking mechanism 5; the automatic balancing device 4 is connected with the walking mechanism 5 through the waist turntable 401 . Each joint part has its corresponding motor drive.

In Fig. 2, the left balance indicator light 101, the right balance indicator light 107, the front balance indicator light 105, the rear balance indicator light 104, the power indicator light 102, and the industrial computer working indicator light 106 are respectively installed at the head 1 of the robot. And the warning light 103, as the panel of man-machine information exchange, makes the working status of the robot appear in front of the operator at a glance.

In Fig. 4 and Fig. 5, when the robot is driving on a climbing road or a seriously inclined road from left to right, the transmission adjustment of the automatic balancing device 4 drives the fuselage 2 to keep the fuselage 2 perpendicular to the ground, while ensuring the stability of the robot when walking. Automatic balance, will not face the overturning of the fuselage 2 at any time due to changes in road conditions, which is conducive to the normal work of the robot.

In Fig. 1, Fig. 3, and Fig. 6, the transmission mechanisms of the two sets of automatic balancing devices share a trigger system and are arranged between the robot body 2 and the running mechanism 5, and the transmission mechanism of one set of automatic balancing devices is connected with the other set of automatic balancing devices. The transmission mechanism of the device is separated by a balance plate 414; the worm screw I403 of one set of transmission mechanism is placed in the balance plate bracket 406 and fixed, and the two ends of the worm screw I403 are sequentially symmetrically provided with a tapered roller bearing 412, a bearing cover 402, and one end of the worm screw I403 Fixedly connected gear B416; the turbine I404 meshed with the worm screw I is fixedly connected with the balance weight shaft I405 and the fuselage; the output end of the motor 415 parallel to the worm screw I403 in the balance plate support 406 is fixedly connected with the gear A413, and the gear A413 It meshes with the gear B416 set at the same end of the worm I403; the worm II409 of another transmission mechanism is fixed on the inner bracket of the fuselage 2, and the turbine II408 meshing with the worm II409 is fixedly connected with the balance weight shaft II407 and the fuselage above ; The fixed-connected gear at the output end of the motor parallel to the worm II409 is arranged in the fuselage, and the gear is meshed with the gear arranged at the same end of the worm II; wherein, the axis of the turbine II408 is interlaced with the axis of the turbine I404, and the angle of intersection of the axes is 90°; The trigger system is arranged in the fuselage 2 .

In Fig. 7, the trigger system includes a contact switch 417 arranged at the end of the groove 410 and a roller 411 rolling in the groove, the groove is set as a cross-shaped groove, and the bottom of the cross-shaped groove is set to tend to the groove A slope structure in the center; an upper cover 418 is provided on the cross-shaped groove.

In Fig. 8, when the robot was traveling on a relatively flat road, that is, when the fuselage was in a horizontal state, the roller 411 of the trigger system was at the intersection of the two grooves, and the contact switch 417 was not activated; When driving on a road with many objects, under the action of the shock absorbing spring of the traveling mechanism 5, the inclination accuracy of the fuselage 2 is controlled between -2°-2°, that is, although the fuselage is slightly tilted, the roller 411 is not separated. The groove 410 and the contact switch 417 are not activated; when the robot is running in a relatively complex and changeable working environment, and the road is relatively rough, when the inclination angle of the body is greater than 2°, the roller 411 breaks away from the middle of the groove and moves along the groove. The groove rolls, the roller 411 presses the contact switch 417, and the contact switch sends a signal to the motor of the transmission system, and the motor 415 starts to start the motion transmission, and adjusts the balance of the fuselage 2 until the fuselage is coordinated with other parts; at this time, the roller returns to its original position .

In Fig. 4, when the inclination angle of the fuselage 2 in the front-back direction is relatively large, the roller 411 breaks away from the arc groove in the middle of the cross-shaped groove, and moves along the groove to trigger the contact switch 417, and the contact switch gives the motor a start signal, and the motor rotates , the gear B416 at the output shaft end of the motor drives the gear A413 to rotate, and at the same time the worm I403 rotates to drive the turbine I404 to rotate. Since the turbine I404 is fixedly connected with the balance weight shaft I405 and the body 2, it drives the entire body 2 of the robot to move forward, making the robot machine Body 2 keeps the vertical state and reaches balance with running gear 5 in the front-back direction, and now roller 411 got back to its original position.

In Fig. 5, when the inclination angle of the fuselage 2 in the left and right directions is relatively large, the working principle and process of the trigger system and transmission system are the same as when the fuselage 2 is tilted forward and backward. It should be noted that the rotation of the worm II409 drives the rotation of the turbine II408. The turbine II408 is fixedly connected with the balance weight shaft II407 and the above fuselage 2, and only drives the turbine II408 and the above fuselage 2 to move left.

The automatic balancing device described in the utility model can be combined with different types of robots to realize the self-balancing problem when the robot moves.

Claims (5)

1. an automatic balancing arrangement comprises triggering system, transmission mechanism, it is characterized in that, described triggering system comprises contact-making switch (417) that is arranged on groove (410) end and the roller (411) that rolls in groove (410); Transmission mechanism comprises motor (415), worm and worm gear, and motor (415) output axle head connects firmly gear A (413), and described gear A (413) is meshed with worm screw end tooth wheel B (416); Contact-making switch (417) is connected with motor (415) line.

2. automatic balancing arrangement according to claim 1 is characterized in that described worm gear is set to imperfect worm gear, is set to 160-180 ° as the worm gear angle of circumference.

3. automatic balancing arrangement according to claim 1 is characterized in that, described groove (410) is set to cross groove.

4. automatic balancing arrangement according to claim 3 is characterized in that, described cross groove bottom is set to tend to the slope at groove (410) center.

5. automatic balancing arrangement according to claim 1, it is characterized in that, described automatic balancing arrangement is arranged between robot fuselage (2) and the walking mechanism (5), the transmission mechanism of one cover automatic balancing arrangement and the transmission mechanism of another set of automatic balancing arrangement separate the shared triggering system of two sets of transmission mechanism with balance plate (414); Wherein the worm screw I (403) of a sets of transmission mechanism places in the balance plate support (406) and fixes, and the worm gear I (404) that meshes with worm screw I (403) connects firmly together with balance weight axle I (405) and fuselage; Be arranged on interior motor (415) output parallel with worm screw I (403) of balance plate support (406) and connect firmly gear A (413), described gear A (413) is meshed with the gear B (416) that is arranged on the same end of worm screw I (403); The worm screw II (409) of another set of transmission mechanism is fixed on the fuselage inner support, and the worm gear II (408) that meshes with worm screw II (409) connects firmly together with balance weight axle II (407) and above fuselage thereof; Be arranged on interior motor (415) output parallel with worm screw II (409) of fuselage and connect firmly gear A (413), described gear A (413) is meshed with the gear B (416) that is arranged on the same end of worm screw II (409); Wherein, worm gear II (408) axis and worm gear I (404) axis space are staggered, and crossed axis angle is 90 °; Triggering system is arranged in the fuselage.

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