CN213381638U - Gravity center adjusting mechanism of robot - Google Patents

Abstract

The utility model provides a focus adjustment mechanism of robot belongs to the robotechnology field. It has solved the current robot and has loaded big problem to drive assembly when adjusting the focus. It includes that one end is worn to establish can wind self axis pivoted axle of verting in first backup pad, fix and vert epaxial counterweight and be used for the drive and vert the axle around self axis pivoted drive assembly, the axle that verts is worn to establish in the second backup pad along horizontal extension and the other end, when the counterweight does not rotate around the axis of verting the axle its focus is located directly over the axle axis of verting, be equipped with in first backup pad and the second backup pad and be used for supporting the supporting component of counterweight after the counterweight rotates. The utility model discloses a set up supporting component, can effectively reduce drive assembly's burden, reliability and stability are good.

Description

Gravity center adjusting mechanism of robot

Technical Field

The utility model belongs to the technical field of the robot, a focus adjustment mechanism of robot, especially a two-wheeled robot is related to.

Background

At present, the full-automatic transport robot's application is more and more extensive, and its advantage is: the multifunctional electric vehicle can replace higher and higher labor cost, has high durability and no fatigue feeling, can execute tasks in polluted environments and dangerous environments, and can replace manual execution of tasks which are harmful to human bodies. The existing transportation robot is mostly driven by four wheels or driven by auxiliary driving wheels of universal wheels, the chassis is large in size, high in manufacturing cost and large in required walking space, and the robot is not convenient to move and transfer.

Therefore, the chinese patent discloses a two-wheeled self-balancing service robot with an automatic swing arm [ with an authorization publication number of CN107186736B ], which comprises a vehicle body, two support plates fixed on the vehicle body at a vertical interval, and a rotating shaft with two ends connected to the two support plates respectively, and further comprises an upper swing arm, a lower swing arm and a controller; one end of the upper swing arm and one end of the lower swing arm are respectively and rotatably connected with the rotating shaft; when the upper swing arm rotates, the controller controls the lower swing arm to rotate in the direction opposite to the rotating direction of the upper swing arm, and then the lower swing arm drives the heavy hammer to rotate so as to adjust the gravity center of the two-wheeled self-balancing service robot, so that the two-wheeled self-balancing service robot realizes self-balancing.

Although the robot can realize self-balancing by controlling the rotation of the upper swing arm and the lower swing arm, in the swinging process of the upper swing arm and the lower swing arm, the motor for driving the robot to rotate needs to overcome the gravity of the upper swing arm and the lower swing arm, the burden of the motor is large, and the reliability and the stability are poor.

SUMMERY OF THE UTILITY MODEL

The utility model aims at having the above-mentioned problem to current technique, provided a focus adjustment mechanism of little robot of burden.

The purpose of the utility model can be realized by the following technical proposal:

the focus adjustment mechanism of robot, on locating the base of robot, be fixed with first backup pad and the second backup pad that sets up relatively with first backup pad on the base, focus adjustment mechanism includes that one end is worn to establish can be around self axis pivoted axle of verting in first backup pad, fix and vert epaxial counterweight and be used for driving and vert the axle around self axis pivoted drive assembly, the axle of verting wear to establish in the second backup pad along horizontal extension and the other end, its focus is located directly over/under verting the axle axis when the counterweight does not rotate around the axle of verting, first backup pad and/or second backup pad on be equipped with the supporting component who is used for supporting the counterweight after the counterweight rotates.

In the focus adjustment mechanism of foretell robot, the counter weight body include that one end is fixed and is verted epaxial first swing arm, one end and fix at the epaxial second swing arm of verting and link firmly the horizontal pole at the first swing arm other end, first swing arm and second swing arm set up relatively, the other end of horizontal pole links firmly with the other end of second swing arm, first swing arm with vert the axle perpendicular and be close to first backup pad setting, the second swing arm with vert the axle perpendicular and be close to the second backup pad setting.

The horizontal pole is used for connecting first swing arm and second swing arm, makes both ability simultaneous movement. Separately set up first swing arm and second swing arm, be favorable to setting up the goods shelves of robot between first swing arm and second swing arm to can guarantee that the focus of the counter weight body is located the centre line that extends around the robot, when the counter weight body swings round the axis of the axle that verts, the both sides atress of robot is even, and difficult emergence is heeled.

In the above-mentioned center of gravity adjustment mechanism of the robot, the center of gravity of the counterweight body is higher than the central axis of the tilting shaft. The lower extreme of first swing arm links firmly with the axle that verts promptly, and the lower extreme of second swing arm links firmly with the axle that verts, and the horizontal pole is located the upper end of first swing arm and second swing arm. When the counterweight body does not rotate around the central axis of the tilting shaft, the gravity center of the counterweight body is positioned right above the central axis of the tilting shaft, and for the balance of the robot, the tilting shaft is arranged right above or below the central axis of the wheels of the robot.

In the above-mentioned centre of gravity adjustment mechanism of robot, first backup pad and second backup pad on all be equipped with supporting component: locate first supporting component in first backup pad and locate the second supporting component in the second backup pad, first supporting component and second supporting component symmetry set up.

In the focus adjustment mechanism of foretell robot, first supporting component including articulate the first backup pad and keep away from the first bracing piece of second backup pad one side and locate first swing arm on and the perpendicular to first guide slot that the axle set up that verts, the pin joint of first bracing piece and first backup pad is located the axle that verts under, the depth direction of first guide slot extends along the length direction who verts the axle, the upper end of first bracing piece links firmly the first gag lever post that stretches into first guide slot, first gag lever post with vert the axle parallel, first gag lever post and vert and be equipped with first elastic component between the axle.

First bracing piece passes through the articulated shaft and is articulated with first backup pad, and this articulated shaft is parallel with the axle that verts. When the counterweight body did not rotate around the axis of the axle that verts, first swing arm, first guide slot, first bracing piece and the vertical setting of first elastic component. When first swing arm verts under drive assembly's effect, drive first bracing piece syntropy through first guide slot and first gag lever post and vert, first elastic component is stretched. After first swing arm rotated to target in place, made first gag lever post location at the current position under the effect of first elastic component, backup pad, first swing arm and first bracing piece constitute a triangle-shaped, have the characteristics of stability according to triangle-shaped, support first swing arm through first bracing piece to reduce drive assembly's burden.

In the center of gravity adjusting mechanism of the robot, the first limiting rod is provided with a first limiting part which is coaxially arranged and is in sliding fit with the first guide groove, and the outer diameter of the first limiting part is equal to the width of the first guide groove.

In the focus adjustment mechanism of foretell robot, the second supporting component including articulate the second backup pad and keep away from the second bracing piece of first backup pad one side and locate the second swing arm on and the perpendicular to second guide slot that the axle set up that verts, the pin joint of second bracing piece and second backup pad is located the axle that verts under, the depth direction of second guide slot extends along the length direction who verts the axle, the upper end of second bracing piece links firmly the second gag lever post that stretches into the second guide slot, the second gag lever post parallel with the axle that verts, the second gag lever post and vert and be equipped with the second elastic component between the axle.

The second bracing piece is articulated through articulated shaft and second backup pad, and this articulated shaft is parallel with the axle that verts. When the counterweight body does not rotate around the central axis of the tilting shaft, the second swing arm, the second guide groove, the second support rod and the second elastic piece are vertically arranged. When the second swing arm verts under drive assembly's effect, drive the second bracing piece syntropy through second guide slot and second gag lever post and vert, the second elastic component is stretched. After the second swing arm rotates to the position, make the second gag lever post location at the current position under the effect of second elastic component, backup pad, second swing arm and second bracing piece constitute a triangle-shaped, have the characteristics of stability according to triangle-shaped, support the second swing arm through the second bracing piece to reduce drive assembly's burden.

The hinge shaft of the second support rod is coaxial with the hinge shaft of the first support rod, the first limiting rod is coaxial with the second limiting rod, the first elastic part and the second elastic part are symmetrically arranged, and the first support rod and the second support rod are symmetrically arranged.

In the above gravity center adjusting mechanism for the robot, the second limiting rod is provided with a second limiting part which is coaxially arranged and is in sliding fit with the second guide groove, and the outer diameter of the second limiting part is equal to the width of the second guide groove.

In the above mechanism for adjusting the center of gravity of the robot, the first elastic member is a spring, and the second elastic member is a spring. The upper end of the first elastic part acts on the first limiting rod, and the lower end of the first elastic part acts on the tilting shaft; the upper end of the second elastic piece acts on the second limiting rod, and the lower end of the second elastic piece acts on the tilting shaft.

In the gravity center adjusting mechanism of the robot, the driving assembly comprises a driving motor fixed on the base, a driving wheel driven by the driving motor and a driven wheel connected with the driving wheel in a transmission manner, and the driven wheel is coaxially and fixedly connected to the tilting shaft.

The driving wheel and the driven wheel are belt pulleys and are in transmission connection through a transmission belt. Or the driving wheel and the driven wheel are chain wheels and are in transmission connection through chains. Or the driving wheel and the driven wheel are gears which are meshed.

In the gravity center adjusting mechanism of the robot, the cross rod is provided with a balancing weight. The balancing weight can be a camera/sensor/lighting source/traction interface/visual operation panel, and can realize operations such as camera shooting, gas detection, cable traction, illumination and the like.

Compared with the prior art, the utility model has the advantages of it is following:

because the support assembly is arranged, the counterweight body can be supported after the counterweight body is inclined, the load of the driving assembly is lightened to a certain extent, and the reliability and the stability of the driving assembly are improved; the structural design is reasonable, the arrangement is easy, the balance robot can be arranged on various balance robots, and the application range is wide.

Drawings

Fig. 1 is a schematic structural diagram of a gravity center adjusting mechanism provided by the present invention.

Fig. 2 is an installation schematic diagram of the gravity center adjusting mechanism provided by the present invention.

Fig. 3 is a schematic structural diagram of a robot equipped with a center-of-gravity adjusting mechanism according to the present invention.

In the figure, 1, a tilting shaft; 2. a counterweight body; 21. a first swing arm; 22. a second swing arm; 23. a cross bar; 24. a balancing weight; 3. a drive assembly; 31. a drive motor; 32. a driving wheel; 33. a driven wheel; 41. a first support assembly; 411. a first support bar; 412. a first guide groove; 413. a first limit rod; 414. a first elastic member; 415. a first limiting part; 42. a second support assembly; 421. a second support bar; 422. a second guide groove; 423. a second limiting rod; 424. a second elastic member; 425. a second limiting part; a. a base; b. a first support plate; c. a second support plate; d. a wheel; e. a connecting frame; f. a shelf; g. a hanging rack.

Detailed Description

The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

As the centre of gravity adjustment mechanism of robot shown in fig. 1, locate the base an of robot on, be fixed with first backup pad b and the second backup pad c that sets up relatively with first backup pad b on the base a, centre of gravity adjustment mechanism includes that one end is worn to establish can be around self axis pivoted axle 1 that verts in first backup pad b, fix the counter weight body 2 on 1 that verts and be used for driving to vert axle 1 around self axis pivoted drive assembly 3. As shown in fig. 1, the tilting shaft 1 extends horizontally and the other end of the tilting shaft penetrates through the second support plate c, and when the counterweight body 2 does not rotate around the central axis of the tilting shaft 1, the center of gravity of the counterweight body is located right above the central axis of the tilting shaft 1.

As shown in fig. 1, the driving assembly 3 includes a driving motor 31 fixed on the base a, a driving wheel 32 driven by the driving motor 31, and a driven wheel 33 in transmission connection with the driving wheel 32, the driven wheel 33 is coaxially connected to the tilting shaft 1, wherein the driving wheel 32 and the driven wheel 33 are belt pulleys, axes of the driving wheel 32 and the driven wheel 33 are parallel, and the driving wheel 32 and the driven wheel are in transmission connection through a transmission belt. The driving motor 31 drives the driving wheel 32 to rotate when working, and the driving wheel 32 drives the driven wheel 33 to rotate through the transmission belt, so as to drive the tilting shaft 1 to rotate, and finally, the counterweight body 2 rotates. When the balance weight body 2 rotates to the right position, the balance weight body 2 is kept at the current position through the self-locking of the driving motor 31. When the tilting angle of the weight body 2 is larger, the burden of the driving motor 31 is larger, and in order to reduce the burden of the driving motor 31, the first support plate b and the second support plate c are both provided with support components.

As shown in fig. 1, the counterweight body 2 includes that one end is fixed at the epaxial first swing arm 21 that verts, one end is fixed at the epaxial second swing arm 22 that verts and links firmly the horizontal pole 23 at the first swing arm 21 other end, first swing arm 21 sets up with second swing arm 22 relatively, the other end of horizontal pole 23 links firmly with the other end of second swing arm 22, first swing arm 21 with vert 1 perpendicular and be close to first backup pad b setting of axle, second swing arm 22 with vert 1 perpendicular and be close to second backup pad c setting of axle. The cross bar 23 is used for connecting the first swing arm 21 and the second swing arm 22, so that the two can move synchronously. Separately set up first swing arm 21 and second swing arm 22, be favorable to setting up the goods shelves f of robot between first swing arm 21 and second swing arm 22 to can guarantee that the focus of the weight 2 is located the central line that extends around the robot, when the weight 2 during around the axis swing of axle 1 that verts, the both sides atress of robot is even, and difficult emergence is leaned on. As shown in fig. 1, a counterweight 24 is disposed on the cross bar 23, and the counterweight 24 may be a camera/sensor/illumination source/traction interface/visual operation panel, which can implement operations such as image pickup, gas detection, cable traction, illumination, and the like.

A first supporting component 41 is arranged on the first supporting plate b, a second supporting component 42 is arranged on the second supporting plate c, and the first supporting component 41 and the second supporting component 42 are symmetrically arranged.

As shown in fig. 1, the first supporting assembly 41 includes a first supporting rod 411 hinged on the first supporting plate b far away from one side of the second supporting plate c and a first guide groove 412 arranged on the first swing arm 21 and perpendicular to the tilting shaft 1, a hinge point of the first supporting rod 411 and the first supporting plate b is located under the tilting shaft 1, a depth direction of the first guide groove 412 extends along a length direction of the tilting shaft 1, an upper end of the first supporting rod 411 is fixedly connected with a first limiting rod 413 extending into the first guide groove 412, the first limiting rod 413 is parallel to the tilting shaft 1, and a first elastic member 414 is arranged between the first limiting rod 413 and the tilting shaft 1.

The first support rod 411 is hinged to the first support plate b through a hinge shaft parallel to the tilting shaft 1. When the weight body 2 does not rotate about the central axis of the tilting shaft 1, the first swing arm 21, the first guide groove 412, the first support rod 411, and the first elastic member 414 are vertically disposed. When the first swing arm 21 tilts under the action of the driving assembly 3, the first guide groove 412 and the first limiting rod 413 drive the first supporting rod 411 to tilt in the same direction, and the first elastic member 414 is stretched. After the first swing arm 21 rotates to the right position, the first limiting rod 413 is positioned at the current position under the action of the first elastic element 414, the supporting plate, the first swing arm 21 and the first supporting rod 411 form a triangle, and according to the characteristic that the triangle has stability, the first swing arm 21 is supported by the first supporting rod 411, so that the burden of the driving assembly 3 is reduced.

As shown in fig. 1, the first limiting rod 413 has a first limiting portion 415 coaxially disposed and slidably engaged with the first guiding groove 412, and an outer diameter of the first limiting portion 415 is equal to a width of the first guiding groove 412.

As shown in fig. 1, the second support assembly 42 includes a second support rod 421 hinged on the second support plate c and far away from one side of the first support plate b and a second guide groove 422 arranged on the second swing arm 22 and perpendicular to the tilting shaft 1, a hinge point of the second support rod 421 and the second support plate c is located under the tilting shaft 1, a depth direction of the second guide groove 422 extends along a length direction of the tilting shaft 1, the upper end of the second support rod 421 is fixedly connected with a second limit rod 423 extending into the second guide groove 422, the second limit rod 423 is parallel to the tilting shaft 1, and a second elastic member 424 is arranged between the second limit rod 423 and the tilting shaft 1.

The second support rod 421 is hinged to the second support plate c through a hinge shaft, which is parallel to the tilting shaft 1. When the weight body 2 does not rotate around the central axis of the tilting shaft 1, the second swing arm 22, the second guide groove 422, the second support rod 421 and the second elastic member 424 are vertically disposed. When the second swing arm 22 tilts under the action of the driving assembly 3, the second support rod 421 is driven by the second guide groove 422 and the second limiting rod 423 to tilt in the same direction, and the second elastic member 424 is stretched. After the second swing arm 22 rotates to the right position, the second limit rod 423 is positioned at the current position under the action of the second elastic element 424, the support plate, the second swing arm 22 and the second support rod 421 form a triangle, and the second swing arm 22 is supported by the second support rod 421 according to the characteristic that the triangle has stability, so that the burden of the driving assembly 3 is reduced.

The hinge shaft of the second support rod 421 is coaxial with the hinge shaft of the first support rod 411, the first limiting rod 413 is coaxial with the second limiting rod 423, the first elastic component 414 is symmetrically arranged with the second elastic component 424, and the first support rod 411 is symmetrically arranged with the second support rod 421. The first elastic member 414 is a spring, and an upper end of the first elastic member 414 acts on the first stopper rod 413 and a lower end thereof acts on the tilt shaft 1. The second elastic member 424 is a spring, and the upper end of the second elastic member 424 acts on the second stopper rod 423 and the lower end thereof acts on the tilt shaft 1.

As shown in fig. 1, the second stopper rod 423 has a second stopper portion 425 coaxially provided and slidably fitted to the second guide groove 422, and the outer diameter of the second stopper portion 425 is equal to the width of the second guide groove 422.

As shown in fig. 2, when the center of gravity adjusting mechanism is installed, the tilting shaft 1 extends along the left and right directions of the robot, and the structure of the robot with the center of gravity adjusting mechanism installed is as shown in fig. 3, wherein wheels d of the robot are respectively fixed on a first supporting plate b and a second supporting plate c, and the two wheels d are coaxially arranged and driven by different in-wheel motors. As shown in fig. 3, a connecting frame e is respectively disposed on the first supporting plate b and the second supporting plate c, a shelf f is fixed on the connecting frame e, the first swing arm 21 is located on one side of the shelf f, and the second swing arm 22 is located on the other side of the shelf f. As shown in fig. 3, hangers g are provided on the front and rear sides of the base a, respectively, and a battery and an electric box are provided in the hangers g. As shown in fig. 3, the robot is symmetrically disposed in the left-right direction and also symmetrically disposed in the front-rear direction.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims (10)

1. The utility model provides a focus adjustment mechanism of robot, locates on base (a) of robot, be fixed with first backup pad (b) and second backup pad (c) that sets up relatively with first backup pad (b) on base (a), its characterized in that, focus adjustment mechanism include that one end is worn to establish in first backup pad (b) can be around self axis pivoted tilt axle (1), fix the counter weight (2) on tilting axle (1) and be used for the drive to tilt axle (1) around self axis pivoted drive assembly (3), tilt axle (1) wear to establish in second backup pad (c) along horizontal extension and the other end, when counter weight (2) do not rotate around the axis of tilting axle (1) its focus is located directly over/under the counter weight of tilting axle (1) axis, first backup pad (b) and/or second backup pad (c) on be equipped with and be used for supporting after rotating when counter weight (2) and support the counter weight (2) A support assembly.

2. The center of gravity adjustment mechanism of robot of claim 1, characterized in that, the weight body (2) include one end fix first swing arm (21) on tilting shaft (1), one end fix second swing arm (22) on tilting shaft (1) and link firmly horizontal pole (23) at the first swing arm (21) other end, first swing arm (21) set up with second swing arm (22) relatively, the other end of horizontal pole (23) links firmly with the other end of second swing arm (22), first swing arm (21) with tilt shaft (1) perpendicular and be close to first backup pad (b) and set up, second swing arm (22) with tilt shaft (1) perpendicular and be close to second backup pad (c) and set up.

3. The center of gravity adjustment mechanism of a robot according to claim 1 or 2, characterized in that the center of gravity of the counterweight body (2) is higher than the center axis of the tilt shaft (1).

4. The mechanism of claim 2, wherein the first support plate (b) and the second support plate (c) are provided with support components: locate first supporting component (41) on first backup pad (b) and locate second supporting component (42) on second backup pad (c), first supporting component (41) and second supporting component (42) symmetry set up.

5. The mechanism of the center of gravity of the robot according to claim 4, wherein the first support assembly (41) comprises a first support rod (411) hinged on the side of the first support plate (b) away from the second support plate (c) and a first guide groove (412) provided on the first swing arm (21) and arranged perpendicular to the tilting axis (1), the hinge point of the first supporting rod (411) and the first supporting plate (b) is positioned right below the tilting shaft (1), the depth direction of the first guide groove (412) extends along the length direction of the tilting shaft (1), the upper end of the first supporting rod (411) is fixedly connected with a first limiting rod (413) extending into the first guide groove (412), first gag lever post (413) with incline tilting shaft (1) parallel, first gag lever post (413) with incline tilting shaft (1) between be equipped with first elastic component (414).

6. The mechanism of claim 5, wherein the first limiting rod (413) has a first limiting portion (415) which is coaxially arranged and slidably fits the first guide groove (412), and an outer diameter of the first limiting portion (415) is equal to a width of the first guide groove (412).

7. The mechanism of the center of gravity of the robot according to claim 5, wherein the second support assembly (42) comprises a second support rod (421) hinged to the second support plate (c) on the side away from the first support plate (b) and a second guide groove (422) provided on the second swing arm (22) and arranged perpendicular to the tilting axis (1), the hinge point of the second support rod (421) and the second support plate (c) is positioned right below the tilting shaft (1), the depth direction of the second guide groove (422) extends along the length direction of the tilting shaft (1), the upper end of the second supporting rod (421) is fixedly connected with a second limiting rod (423) extending into the second guide groove (422), second gag lever post (423) with incline to incline the axle (1) parallel, second gag lever post (423) with incline to be equipped with second elastic component (424) between axle (1).

8. The mechanism of claim 7, wherein the second position-limiting rod (423) has a second position-limiting part (425) which is coaxially arranged and slidably fits the second guide groove (422), and the outer diameter of the second position-limiting part (425) is equal to the width of the second guide groove (422).

9. The mechanism as claimed in claim 8, wherein the first elastic member (414) is a spring, and the second elastic member (424) is a spring.

10. The mechanism of the center of gravity of the robot is adjusted according to claim 1, wherein the driving assembly (3) comprises a driving motor (31) fixed on the base (a), a driving wheel (32) driven by the driving motor (31), and a driven wheel (33) in transmission connection with the driving wheel (32), and the driven wheel (33) is coaxially connected to the tilting shaft (1).

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