CN214823700U

CN214823700U - Mobile robot with adjustable gravity center

Info

Publication number: CN214823700U
Application number: CN202120574487.XU
Authority: CN
Inventors: 董承儒
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-03-22
Filing date: 2021-03-22
Publication date: 2021-11-23
Anticipated expiration: 2031-03-22

Abstract

The utility model relates to a focus adjustable mobile robot, including removing chassis, damper, casing and two sets of focus adjustment mechanism, wherein damper locates on removing the chassis, damper is all located to casing and two sets of focus adjustment mechanism, and in a set of focus adjustment mechanism located the casing front end, in another set of focus adjustment mechanism located the casing rear end, focus adjustment mechanism includes drive assembly, removes seat and counter weight piece, removes the seat and passes through the drive assembly drive and remove, is equipped with bracing piece and a plurality of counter weight groove in removing the seat, and the bracing piece passes each counter weight groove, and the counter weight piece is arranged corresponding counter weight inslot in and is arranged in on the bracing piece, damper includes last mounting panel and lower mounting panel through the elastic support piece connection, just the equal symmetry in front end and the rear end of lower mounting panel is equipped with range finding sensor. The utility model discloses can select the counter weight piece of suitable quantity to be used for the focus adjustment according to the whole condition of mobile robot, use more nimble and adjust the accuracy.

Description

Mobile robot with adjustable gravity center

Technical Field

The utility model belongs to the technical field of the robot and specifically relates to a focus adjustable mobile robot.

Background

With the development of science and technology, mobile robots have been widely used in various fields, such as electric wire inspection, cargo handling, and the like. The mobile robot generally comprises a mobile chassis, a casing and other structures, wherein a battery pack and various control units can be loaded in the casing, a camera, a detection sensor, a lighting lamp and other devices can be installed on the upper side of the casing, for example, a transformer substation inspection robot is disclosed in the Chinese invention patent with the publication number of CN111906796A, a cradle head is arranged on the upper side of the casing, a high-definition camera, an infrared camera, a lighting lamp and other devices are arranged on the cradle head, a container and other structures can be arranged in the casing or on the upper side of the casing for carrying the robot, for example, a pharmacy robot device is disclosed in the Chinese invention patent with the publication number of CN111846721A, a medicine warehouse and other structures are arranged on the mobile chassis, and the medicine warehouse of the patent comprises a left medicine cabinet and a right medicine cabinet. Therefore, the mobile robot has various structural layouts on the upper side of the mobile chassis due to different applications.

In order to ensure the stable movement of the robot, the center of gravity of the mobile robot should be located on the center line of the mobile chassis, but because the module parts on the mobile chassis are different in size and mostly have asymmetric structures, the overall layout of the mobile robot is difficult to ensure that the center of gravity is located on the center line of the chassis, so that a plurality of center of gravity adjusting mechanisms appear in the prior art, wherein the center of gravity adjusting mechanism driving the counterweight sliding block to move is more common, for example, a multi-freedom-degree variable center-of-gravity two-wheel robot is disclosed in the Chinese patent with the publication number of CN102923204A, two degrees of freedom are added on the mobile chassis for changing the center of gravity, one degree of freedom is a bearing sliding block arranged on the robot, the patent carrying platform is provided with a motor, a gear, a rack, a sliding block, a guide rod and the like, the motor drives the sliding block to move along the guide rod through the rack and the gear to realize the center of gravity adjustment, and for example, a security protection robot and a center of gravity adjusting device are disclosed in the Chinese utility model with the publication number of CN207710824U, it includes upper and lower two-layer and is first regulation portion and the second regulation portion that the cross form was arranged, and every regulation portion all is equipped with and is used for adjusting the focus through electric putter driven balancing weight, again as the chinese utility model patent of grant bulletin number CN208715747U discloses a goods handling robot focus stable structure, and it makes through cooperation such as dead lever, telescopic link, stopper, expanding spring, adjusts passively to the focus of backup pad is automatic when the focus of backup pad takes place to squint to resume robot's stability.

However, since the mobile robot has various functions and structures, and the volume and the number of the modules installed inside the casing are different, each gravity center adjusting mechanism can only realize the gravity center adjustment by controlling the moving distance of the balancing weight, or passively restore the gravity center, the weight of the balancing weight cannot be changed according to actual needs, and whether the gravity center of the robot is exactly positioned on the central line cannot be accurately judged, so that the accurate adjustment of the gravity center of the robot is difficult to realize according to the actual bearing condition of the chassis, and further improvement is needed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a focus adjustable mobile robot can select the counter weight piece of suitable quantity to install on focus guiding mechanism and be used for the focus adjustment according to the mobile robot overall situation, and adjusts the ranging sensor on the installation board under the damper assembly in time to send signal control accommodate motor to stop after targetting in place to guarantee that the focus is located and remove the chassis on-line.

The purpose of the utility model is realized through the following technical scheme:

a mobile robot with adjustable gravity center comprises a mobile chassis, a shock absorption component, a shell and two groups of gravity center adjusting mechanisms, wherein the damping component is arranged on the movable chassis, the casing and the two groups of gravity center adjusting mechanisms are both arranged on the damping component, one group of gravity center adjusting mechanism is arranged in the front end of the machine shell, the other group of gravity center adjusting mechanism is arranged in the rear end of the machine shell, the gravity center adjusting mechanism comprises a driving component, a moving seat and a counterweight weight block, the moving seat is driven to move by the driving component, a support rod and a plurality of counterweight grooves are arranged in the movable seat, the support rod passes through each counterweight groove, counterweight block arranges corresponding counter weight inslot in and arranges in on the bracing piece, damper includes last mounting panel and lower mounting panel through a plurality of elastic support piece connection, just the equal symmetry in front end and the rear end of lower mounting panel is equipped with range sensor.

The driving assembly in the gravity center adjusting mechanism comprises an adjusting motor, a lead screw and a nut, the adjusting motor, the lead screw and the moving seat are all arranged on a base, the base is installed on the damping assembly, the lead screw passes through the adjusting motor to drive and rotate, the moving seat is internally provided with the nut which is sleeved on the lead screw, and the moving seat is connected with the base in a sliding mode.

The base is provided with a guide rod parallel to the lead screw, one side of the moving seat is provided with a guide plate sleeved on the guide rod, in addition, the base is provided with a slide rail, and the lower side of the moving seat is provided with a slide block matched with the slide rail.

The counter weight piece downside is equipped with the opening, just the opening is detained and is arranged in on the bracing piece that corresponds the counter weight inslot.

The counterweight weight block is in an inverted concave shape.

The height of the counterweight weight block is greater than the depth of the counterweight groove on the movable seat.

And the front end and the rear end of the shell are respectively provided with a door for taking and placing the counterweight weight block.

The movable chassis comprises a bearing plate, driving wheels, driving motors and driven wheels, wherein the two driving wheels are respectively arranged on two sides of one end of the bearing plate, the two driving motors are arranged in the middle of one end of the bearing plate, the driving wheels are driven to rotate through the corresponding driving motors, and the two driven wheels are arranged at the other end of the bearing plate.

The utility model discloses an advantage does with positive effect:

1. the utility model discloses a focus adjustment mechanism drives counter weight piece through removing the seat and removes adjustment robot focus to can select the counter weight piece of suitable quantity according to the whole condition of mobile robot, use more in a flexible way.

2. The utility model discloses utilize range sensor real-time detection on the mounting panel under the damper and go up the distance between the mounting panel, two range sensor detection distance values when the symmetry equal means robot both sides balance promptly to ensure that the robot focus is located and removes on the chassis midline.

3. The utility model discloses respectively be equipped with a set of focus adjustment mechanism in the front end of casing and in the rear end to guarantee that robot front end and rear end are balanced, further ensure that focus adjustment is accurate.

4. The utility model discloses all be equipped with the door and conveniently get and put counter weight piece around the casing.

5. The utility model discloses a focus adjustment mechanism wholly locates on a base, makes things convenient for the integral erection, also makes things convenient for whole dismantlement to shift when not needing.

Drawings

Figure 1 is an overall schematic view of the present invention,

figure 2 is a schematic view of the mobile chassis of figure 1,

figure 3 is a schematic view of the arrangement of the center of gravity adjusting mechanism inside the housing of figure 1,

figure 4 is a front view of the center of gravity adjustment mechanism of figure 3,

figure 5 is a top view of the center of gravity adjustment mechanism of figure 4,

figure 6 is a front view of the counterweight block of figure 4,

FIG. 7 is a schematic view of the center of gravity adjusting mechanism moving base of FIG. 3 with a snap-fit cover,

figure 8 is a schematic view of the shock absorbing assembly of figure 1,

figure 9 is a front view of the shock assembly of figure 8.

The device comprises a movable chassis 1, a bearing plate 101, a driving wheel 102, a driving motor frame 103, a driving motor 104, a driven wheel 105, a damping component 2, an upper mounting plate 201, a lower mounting plate 202, an elastic support 203, a distance measuring sensor 204, a damping support 205, a housing 3, a gravity center adjusting mechanism 4, an adjusting motor 401, a lead screw 402, a movable seat 403, a counterweight groove 4031, a guide plate 4032, a base 404, a counterweight weight block 405, an opening 4051, a supporting rod 406, a guide rod 407 and a buckling gland 408.

Detailed Description

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

As shown in fig. 1 to 9, the present invention comprises a mobile chassis 1, a shock absorbing component 2, a housing 3 and two sets of gravity center adjusting mechanisms 4, wherein the shock absorbing component 2 is disposed on the mobile chassis 1, the housing 3 and the two sets of gravity center adjusting mechanisms 4 are disposed on the shock absorbing component 2, one set of gravity center adjusting mechanisms 4 is disposed in the front end of the housing 3, the other set of gravity center adjusting mechanisms 4 is disposed in the rear end of the housing 3, as shown in fig. 4 to 6, the gravity center adjusting mechanism 4 comprises a driving component, a moving seat 403 and a counterweight weight block 405, the moving seat 403 is driven to move by the driving component, a support rod 406 and a plurality of counterweight grooves 4031 are disposed in the moving seat 403, the support rod 406 passes through each counterweight groove 4031, the counterweight weight block 405 is in an inverted concave shape as a whole, an opening 4051 is disposed on the lower side thereof, the counterweight weight block 405 is disposed in the corresponding counterweight groove 4031, and the opening 4051 is fastened on the support rod 406, as shown in fig. 8 to 9, the shock-absorbing assembly 2 includes an upper mounting plate 201 and a lower mounting plate 202, the upper mounting plate 201 is connected to the lower mounting plate 202 through a plurality of elastic supporting members 203, the center-of-gravity adjusting mechanism 4 and the housing 3 are both mounted on the upper mounting plate 201, and two distance measuring sensors 204 are symmetrically disposed at the front end and the rear end of the lower mounting plate 202 by using the center line of the mobile chassis 1 as the symmetry axis.

As shown in fig. 4, in this embodiment, the driving assembly in the gravity center adjusting mechanism 4 includes an adjusting motor 401, a lead screw 402 and a nut, wherein the adjusting motor 401, the lead screw 402 and the moving seat 403 are all disposed on a base 404, the base 404 is mounted on the upper mounting plate 201 of the shock absorbing assembly 2, the lead screw 402 is driven to rotate by the adjusting motor 401, the nut is disposed in the moving seat 403 and sleeved on the lead screw 402, and the moving seat 403 is slidably connected to the base 404. When the mechanism works, the adjusting motor 401 drives the screw 402 to rotate, and then drives the moving seat 403 to move, when the two distance measuring sensors 204 at the front end of the lower mounting plate 202 detect that the distances h1 and h2 are equal to the distances h1 and h2 from the upper mounting plate 201, and simultaneously the two distance measuring sensors 204 at the rear end detect that the distances h2 are also equal to the distances h 201 from the upper mounting plate, the control system receives a signal to control the adjusting motor 401 to stop.

As shown in fig. 5, the base 404 is provided with a guide bar 407 parallel to the screw 402, and a guide plate 4032 is provided on one side of the movable base 403 and is fitted on the guide bar 407, thereby realizing the movable guide of the movable base 403. In addition, a slide rail is arranged on the base 404, a slide block is arranged on the lower side of the movable seat 403 and is matched with the slide rail, so that the movable seat 403 and the base 404 can be slidably connected, and meanwhile, the movable seat 403 can be assisted to move and guide, and the linear movement of the movable seat 403 is further ensured.

As shown in fig. 4, the height of the counterweight weight block 405 is greater than the depth of the counterweight groove 4031 in the mobile seat 403, so that the raised portion of the upper end of the counterweight weight block 405 is easily accessible to the operator. Each weight block 405 may be designed to have the same weight or may be designed to have different specifications similar to a balance weight. In addition, in order to avoid the situation that the weight block 405 jumps out of the weight groove 4031 due to poor road surface conditions and excessive bumps, as shown in fig. 7, a snap-fit gland 408 may be additionally disposed on the moving seat 403 as needed to cover the weight block 405 to prevent the weight block from jumping out, in this embodiment, one end of the snap-fit gland 408 is hinged to the moving seat 403, and the other end is fixedly connected to the moving seat 403 by means of bolts and nuts, but the jump-out situation cannot occur due to the weight limit of the weight block 405 during normal road driving.

As shown in fig. 2, in this embodiment, the moving chassis 1 includes a supporting plate 101, two driving wheels 102, two driving motors 104 and two driven wheels 105, wherein the two driving wheels 102 are respectively disposed at two sides of one end of the supporting plate 101, the two driving motors 104 are disposed at a middle portion of one end of the supporting plate 101, and the driving wheels 102 are driven to rotate by the corresponding driving motors 104.

As shown in fig. 8-9, a plurality of sets of shock absorbing supporters 205 are disposed in the middle of the lower mounting plate 202 of the shock absorbing assembly 2 to achieve better shock absorbing effect, and the shock absorbing assembly 2 in this embodiment is the same as the shock absorbing device in the patent with the publication number of CN 211343849U.

The front end and the rear end of the casing 3 are respectively provided with a door, when the doors are opened, the counterweight weight block 405 can be taken and placed on the gravity center adjusting mechanism 4 on the corresponding side, and then the doors are closed and locked.

The utility model discloses a theory of operation does:

the utility model discloses during operation, at first according to the module condition in the casing 3 and the structural aspect of casing 3 upside select the counter weight piece 405 of suitable quantity, each counter weight piece 405 can design into same weight, also can design into different specification weights like similar balance weight, all is equipped with the door that opens around casing 3 at both ends, opens the door, can get on the focus adjustment mechanism 4 of corresponding side and put counter weight piece 405, closes the door after counter weight piece 405 puts, then adjusting motor 401 in the focus adjustment mechanism 4 starts the drive and removes seat 403 and remove the adjustment robot focus.

As shown in fig. 3, the utility model discloses a respectively be equipped with a set of focus adjustment mechanism 4 in casing 3 front end and rear end, in order to guarantee that robot front end and rear end all reach the balance, in addition the utility model discloses a similar balance's principle ensures that the robot focus is on the central line, as shown in fig. 8, two range sensors 204 of lower mounting panel 202 front end when damper 2 detect with last mounting panel 201 apart from h1, h2 equals, two range sensors 204 of rear end detect when also equaling with last mounting panel 201 distance, robot front end and rear end both sides weight reach the balance this moment, the robot focus is located removal chassis 1 on-line promptly, range sensor 204 signals gives control system, control system control accommodate motor 401 stall.

Claims

1. The utility model provides a focus adjustable mobile robot which characterized in that: comprises a movable chassis (1), a shock absorption component (2), a casing (3) and two groups of gravity center adjusting mechanisms (4), wherein the shock absorption component (2) is arranged on the movable chassis (1), the casing (3) and the two groups of gravity center adjusting mechanisms (4) are arranged on the shock absorption component (2), one group of gravity center adjusting mechanisms (4) are arranged in the front end of the casing (3), the other group of gravity center adjusting mechanisms (4) are arranged in the rear end of the casing (3), the gravity center adjusting mechanisms (4) comprise a driving component, a movable seat (403) and counterweight weight blocks (405), the movable seat (403) is driven to move by the driving component, a support rod (406) and a plurality of counterweight grooves (4031) are arranged in the movable seat (403), the support rod (406) passes through each counterweight groove (4031), the counterweight block (405) is arranged in the corresponding counterweight groove (4031) and is arranged on the support rod (406), damper (2) are including last mounting panel (201) and lower mounting panel (202) connected through a plurality of elastic support piece (203), just the equal symmetry of front end and the rear end of lower mounting panel (202) is equipped with range sensor (204).

2. The mobile robot having an adjustable center of gravity according to claim 1, wherein: drive assembly in focus adjustment mechanism (4) includes accommodate motor (401), lead screw (402) and screw, just accommodate motor (401), lead screw (402) and remove seat (403) and all locate on a base (404), base (404) are installed on damper (2), lead screw (402) pass through accommodate motor (401) drive rotates, it suit to be equipped with the screw suit in to remove seat (403) on lead screw (402), just remove seat (403) with base (404) sliding connection.

3. The center-of-gravity adjustable mobile robot according to claim 2, wherein: the base (404) is provided with a guide rod (407) parallel to the lead screw (402), one side of the moving seat (403) is provided with a guide plate (4032) sleeved on the guide rod (407), in addition, the base (404) is provided with a slide rail, and the lower side of the moving seat (403) is provided with a slide block matched with the slide rail.

4. The mobile robot having an adjustable center of gravity according to claim 1, wherein: an opening (4051) is arranged on the lower side of the counterweight weight block (405), and the opening (4051) is buckled on the support rod (406) in the corresponding counterweight groove (4031).

5. The mobile robot having an adjustable center of gravity according to claim 4, wherein: the counterweight weight block (405) is in an inverted concave shape.

6. The mobile robot having an adjustable center of gravity according to claim 1, wherein: the height of the counterweight block (405) is greater than the depth of the counterweight groove (4031) on the mobile seat (403).

7. The mobile robot having an adjustable center of gravity according to claim 1, wherein: the front end and the rear end of the shell (3) are respectively provided with a door for taking and placing the counterweight weight block (405).

8. The mobile robot having an adjustable center of gravity according to claim 1, wherein: the movable chassis (1) comprises a bearing plate (101), driving wheels (102), driving motors (104) and driven wheels (105), wherein the two driving wheels (102) are respectively arranged on two sides of one end of the bearing plate (101), the two driving motors (104) are arranged in the middle of one end of the bearing plate (101), the driving wheels (102) are driven to rotate through the corresponding driving motors (104), and the two driven wheels (105) are arranged at the other end of the bearing plate (101).