CN212766516U

CN212766516U - A counter weight is adjusted structure for from walking equipment

Info

Publication number: CN212766516U
Application number: CN202021852038.9U
Authority: CN
Inventors: 成孟哲; 卢成林; 周国扬; 刘楷; 汪洋; 王近; 王夕雯
Original assignee: Nanjing Sumec Intelligent Technology Co Ltd
Current assignee: Nanjing Sumec Intelligent Technology Co Ltd
Priority date: 2020-08-31
Filing date: 2020-08-31
Publication date: 2021-03-23
Anticipated expiration: 2030-08-31

Abstract

The utility model discloses a structure is adjusted to counter weight for from walking equipment, the structure is adjusted to counter weight includes counter weight adjustment mechanism, counter weight adjustment mechanism can be based on from the focus position of walking equipment's fuselage every single move angle adjusting equipment, counter weight adjustment mechanism includes balancing weight, moving part and angle sensor, the balancing weight can be in the changing position under the drive of moving part. The utility model discloses according to the angle numerical value that fuselage angle sensor recorded, judge whether be in from the walking equipment, the downhill path state, when being in from the walking equipment, the counterweight is adjusted the structure and is advanced through adjustment balancing weight position adjustment complete machine focus, reduces the possibility that equipment tumbled.

Description

A counter weight is adjusted structure for from walking equipment

Technical Field

The utility model belongs to the technical field of from the walking equipment, concretely relates to a counter weight is adjusted structure for from walking equipment.

Background

In order to stabilize the machine body, a balance weight is usually arranged on the machine body to increase the weight of the whole machine, so that the equipment can run more stably. Meanwhile, after the counterweight component is installed on the self-walking equipment, the gravity center of the equipment needs to be ensured to be positioned at the central position of the whole machine, the running stability of the whole machine is ensured, and the situation that the machine body overturns when running on a bumpy and fluctuated road surface is avoided. Because the balance weight structure is installed and fixed, the gravity center of the whole walking device is fixed, when the self-walking device goes up a slope, the horizontal distance between the gravity center of the whole walking device and a driving wheel (usually a rear wheel) is shortened, and when the angle of the slope is larger, the self-walking device is easy to roll backwards to cause an accident.

Some models provide a counterweight at the rear wheel of the body in order to prevent the drive wheels (typically the rear wheels) of the equipment from slipping, and the center of gravity of such a counterweight is typically located above or coincident with the drive wheel axis. When the center of gravity of the counterweight is above the wheel axle of the drive wheel, the center of gravity of the counterweight may move to the rear of the wheel axle of the drive wheel when the equipment is on an uphill slope, increasing the risk of the equipment tipping over backwards. When the gravity center of the balance weight is coincident with the axis of the driving wheel, the anti-skidding effect of the equipment is good when the equipment runs on a flat road, but under the condition of an uphill slope, the weight at the position of the rear wheel shaft is possibly too concentrated, and the risk that the equipment is overturned is also caused.

SUMMERY OF THE UTILITY MODEL

For the problem of solving easy turnover (easy backward turnover when going uphill, easy downward turnover when going downhill) when traveling on the ramp from walking equipment, the utility model provides a counter weight is adjusted structure for walking equipment.

The technical solution for achieving the above purpose is as follows:

a counterweight adjustment structure for a self-propelled device, the counterweight adjustment structure comprising a counterweight adjustment mechanism, the counterweight adjustment mechanism capable of adjusting a position of a center of gravity of the device according to a pitch angle of a fuselage of the self-propelled device.

Further, the counterweight adjusting mechanism comprises a counterweight block and a moving part, and the counterweight block can change position under the driving of the moving part.

Furthermore, the counterweight adjusting mechanism is movable, the moving part is a hydraulic push rod or a lead screw, a guide structure is arranged between the counterweight block and the machine body, and the counterweight block can move back and forth under the driving of the hydraulic push rod or the lead screw.

Further, counter weight adjustment mechanism is portable, the motion part is for removing the slip table, the balancing weight can be under the drive of removing the slip table back-and-forth movement.

Further, counter weight adjustment mechanism is the rotary type, the one end and the fuselage of balancing weight are articulated, the moving part can drive the balancing weight rotates around the pin joint.

Further, counter weight adjustment mechanism is the rotary type, the one end of balancing weight is gear structure, the moving part is the motor, the output of motor include with the gear structure meshing's of balancing weight one end gear, the motor rotates and can drives the balancing weight and rotate.

Further, the balancing weight is of a symmetrical structure.

Further, the self-walking device is a mowing robot.

Further, the robot further comprises an angle sensor, the angle sensor is used for detecting the pitching angle of the fuselage, and the moving component moves according to the angle detected by the angle sensor.

Compared with the prior art, the beneficial effects of the utility model are that:

(1) the utility model judges whether the self-walking equipment is in an uphill state or a downhill state according to the angle value measured by the body angle sensor, when the self-walking equipment is in the uphill state, the counterweight adjusting structure adjusts the gravity of the whole machine to move towards the head of the equipment by adjusting the position of the counterweight block, and when the self-walking equipment is in the downhill state, the counterweight adjusting structure adjusts the gravity of the whole machine to move towards the tail of the equipment by adjusting the position of the counterweight block, thereby reducing the possibility of equipment turnover;

(2) the utility model discloses according to fuselage angle of elevation numerical value that fuselage angle sensor recorded, adjust the balancing weight position, make the balancing weight focus be located rear wheel axis the place ahead all the time, when guaranteeing that the balancing weight plays the effect of preventing the rear wheel from skidding, reduce the possibility of overturning from the walking equipment.

Drawings

FIG. 1 is a schematic view of a self-propelled apparatus with a counterweight adjustment mechanism.

Fig. 2 is a first schematic view of a counterweight adjustment mechanism according to embodiment 1.

Fig. 3 is an enlarged view of a weight adjusting mechanism according to embodiment 1.

FIG. 4 is a diagram showing a state of use of the weight adjusting mechanism according to embodiment 1.

Fig. 5 is a schematic view of a counterweight adjustment mechanism according to embodiment 1.

Fig. 6 is a first schematic view of a counterweight adjustment mechanism according to embodiment 2.

FIG. 7 is a diagram showing a state in which the weight adjusting mechanism of embodiment 2 is used.

Fig. 8 is an enlarged view of the use state of the counterweight adjustment mechanism according to embodiment 2.

Fig. 9 is a second schematic view of the counterweight adjustment mechanism of embodiment 2.

In the figure, 1, a fuselage; 2. a drive wheel; 3. a cutting unit; 4. a counterweight adjustment mechanism; 5. an angle sensor; 6. a main control unit; 401a is a first balancing weight; 401b is a second counterweight; 402a, 402b, 402c, and 402d are the first, second, third, and fourth moving members, respectively.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The utility model provides a counterweight adjusting structure for self-walking equipment, as shown in figure 1, the self-walking equipment comprises a machine body 1, a driving unit and a main control unit 6; the drive unit comprises a drive wheel 2 driven by a power means. Be provided with counter weight adjustment mechanism 4 in the fuselage 1, counter weight adjustment mechanism 4 includes balancing weight and moving part, and the balancing weight can remove in fuselage 1 under the moving part drives, and adjustment complete machine weight distribution adjusts its focus position. Still be provided with angle sensor 5 in the fuselage 1 and be used for detecting 1 every single move angle of fuselage, the moving part moves according to angle sensor 5 detects numerical value, changes the balancing weight position.

In the following examples, a mowing robot is exemplified.

Example 1

A robot lawnmower as shown in fig. 1 and 2, comprising a main body 1, a drive unit, a cutting unit 3, and a main control unit 6; the drive unit comprises a drive wheel 2 driven by a power means. A counterweight adjusting mechanism 4 is arranged in the machine body 1, the counterweight adjusting mechanism 4 includes a first counterweight block 401a and a first moving part 402a, as shown in fig. 3, the first moving part 402a is a hydraulic push rod, and can push the first counterweight block 401a to move back and forth. In the actual use process, when the mowing robot is on a flat road surface, the first balancing weight 401a is located at the first position, and when the mowing robot is in an uphill state, as shown in fig. 4, the first balancing weight 401a is driven by the first moving component 402a to move to the second position, and the second position is closer to the head of the mowing robot than the first position, so that the center of gravity of the mowing robot moves forwards, and the horizontal distance between the center of gravity after the mowing robot moves forwards and the driving wheel 2 is increased, so that the whole mowing robot is not prone to backward overturn, and the mowing robot can move forwards on a slope more stably.

In order to facilitate the movement of the first weight block 401a, as shown in fig. 3, a guide structure such as a rail may be disposed between the first weight block 401a and the body 1. The moving part may also be other structures that can drive the object to move, such as a moving sliding table, a screw structure, etc., for example, a center of gravity adjusting mechanism shown in fig. 5, the second moving part 402b is a mechanical sliding table disposed on the machine body 1, and the first weight block 401a can move back and forth under the driving of the mechanical sliding table.

The method for adjusting the balance weight of the self-walking device of the embodiment comprises the following steps:

1. an angle sensor 5 is arranged on the self-walking equipment to detect the pitching angle of the machine body 1, and when the angle sensor 5 detects that the elevation angle of the machine body 1 is smaller than a preset threshold value (the value can be 0 or larger than 0), the counterweight block is driven by the moving part to be at a first position;

2. when the angle sensor 5 detects that the elevation angle of the machine body 1 is greater than or equal to a preset threshold value, it is set that the end, located at the highest height, of the mowing robot is the front end, the end, located at the lowest height, of the mowing robot is the rear end, the moving part drives the balancing weight to move to a second position, the second position is closer to the front end of the equipment than the first position, specifically, when the head and the tail of the robot are high and low on an uphill slope, the head is the front end, the tail is the rear end, and the second position is closer to the head of the robot than the first position; when the robot goes downhill, the head is low and the tail is high, the head is the rear end, the tail is the front end, and the second position is closer to the tail of the robot than the first position.

Example 2

As shown in fig. 6, a counterweight adjusting mechanism is arranged in the machine body 1, the counterweight adjusting mechanism includes a second counterweight block 401b and a third moving part 402c, one end of the second counterweight block 401b is hinged to the machine body 1, the third moving part 402c is an electric push rod, the second counterweight block 401b can be driven by the third moving part 402c to rotate, and when the second counterweight block 401b rotates, the position of the gravity center of the second counterweight block 401b changes. As shown in fig. 6, when the mowing robot is located on a flat road surface, the center of gravity of the second balancing weight 401b is located directly above the rear wheel axis. As shown in fig. 7 and 8, when the mowing robot is on an uphill, the second weight block 401b is pushed by the third moving member 402c to rotate, and the center of gravity of the second weight block 401b is maintained directly above the rear wheel axis.

The moving part can also be other structures that can drive the object to rotate, as shown in fig. 9, one end of the second balancing weight 401b is a gear structure, the fourth moving part 402d is a motor, the output end of the motor is located on a gear meshed with the end of the balancing weight, the motor rotates to drive the balancing weight to rotate, and the balancing weight rotates around the central shaft of the gear at the end.

The gravity center adjusting method of the self-walking equipment based on the counterweight adjusting mechanism comprises the following steps:

1. an angle sensor 5 is arranged on the self-walking equipment to detect the pitching angle of the machine body 1;

2. when the pitching angle of the self-walking equipment is 0, the gravity center of the balancing weight is positioned right above the axis of the rear wheel;

3. the moving part drives the balancing weight to rotate according to the elevation value of the self-walking equipment measured by the angle sensor 5, and the gravity center of the balancing weight is ensured to be always positioned right above the axis of the rear wheel.

In the practical application process, when the self-walking equipment is in an up-slope or down-slope state, in order to ensure the stable operation of the equipment and reduce the possibility that the equipment overturns backwards as much as possible, the gravity center of the balancing weight at the rear wheel is better and is positioned in front of the axis of the rear wheel and close to the middle position of the machine body 1. The following provides one embodiment:

as shown in fig. 6, a balance weight adjusting mechanism is arranged in the machine body 1, the balance weight adjusting mechanism includes a balance weight block and a moving part, one end of the balance weight block is hinged to the machine body 1, the moving part is an electric push rod, the balance weight block can be driven by the moving part to rotate, a hinged point of the balance weight block and the machine body 1 is located on a rear wheel axis, the balance weight block is of a symmetrical structure, and the center of gravity of the balance weight block is located on a central. The counterweight adjusting method based on the structure comprises the following steps:

3. the moving part drives the balancing weight to rotate according to the elevation angle value A of the self-walking equipment measured by the angle sensor 5, and the rotation angle of the balancing weight is A + B; and B is a compensation angle which can be set by man. The gravity center of the balancing weight is always positioned in front of the axis of the rear wheel, and the possibility of backward overturning of the self-walking equipment is reduced.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A counterweight adjustment structure for a self-propelled device, characterized in that the counterweight adjustment structure comprises a counterweight adjustment mechanism capable of adjusting a position of a center of gravity of the device in accordance with a pitch angle of a body of the self-propelled device,

the counterweight adjusting mechanism comprises a counterweight block and a moving part, the counterweight block can change position under the drive of the moving part,

the counter weight adjustment mechanism is the rotary type, the one end and the fuselage of balancing weight are articulated, the moving part can drive the balancing weight rotates around the pin joint.

2. The counterweight adjustment structure for a self-walking apparatus of claim 1 wherein said counterweight is a symmetrical structure.

3. The counterweight adjustment structure for a self-walking apparatus according to claim 1, characterized in that the self-walking apparatus is a mowing robot.

4. The counterweight adjustment structure for self-walking equipment according to claim 1, further comprising an angle sensor for detecting a pitch angle of the body, wherein the moving member moves according to the angle detected by the angle sensor.