CN216543332U - Active balancing module and service robot - Google Patents
Active balancing module and service robot Download PDFInfo
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- CN216543332U CN216543332U CN202123255330.XU CN202123255330U CN216543332U CN 216543332 U CN216543332 U CN 216543332U CN 202123255330 U CN202123255330 U CN 202123255330U CN 216543332 U CN216543332 U CN 216543332U
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Abstract
The utility model discloses an active balancing module and a service robot. The cover shell has a first orientation and a second orientation offset relative to the base. The first drive device includes a first driver and a first link member. The first driving part is installed on the base and located in the first direction, the first connecting rod component is connected to the first driving part in a driving mode, and the first connecting rod component is in butt joint with the cover shell. The second drive device includes a second driver and a second link member. The second driving piece is installed on the base and located in the second direction, the second connecting rod component is in driving connection with the second driving piece, and the second connecting rod component is in butt joint with the cover shell. In this patent, the initiative balancing module can ensure that service robot is not influenced by the ground undulation and can be adapted to different types of ground at the in-process of transporting article, and the guarantee is sent the article and can be in steady state all the time.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to an active balancing module and a service robot.
Background
The kinds of robots include various kinds, such as service robots, entertainment robots, agricultural robots, military robots, and the like. In the field of service robots, no matter a distribution robot, a shopping guide robot or a disinfection robot, in terms of overall structural layout, the service robot comprises a moving chassis and a functional part fixed on the chassis, wherein the functional part can comprise a distribution bin, an interaction module, a disinfection component and the like.
The service robot has the advantages that the functional parts of the service robot are directly fixed with the chassis, and the balance of the functional parts in the operation process can be directly influenced by the chassis. At present, the chassis is generally suspended by springs to relieve the shaking and unbalance of the robot in operation. The disadvantages of this construction are: on one hand, the chassis only has a spring mechanism but not a damping mechanism, so that vibration cannot be effectively absorbed, and the functional part can repeatedly shake due to the elastic action of the spring; on the other hand, because suspension mechanisms such as springs are mechanical and cannot effectively adapt to different ground conditions, a chassis of a common service robot is mainly designed for indoor smooth ground, when the applied scene of the robot is uneven ground, for example, a plurality of bulges or depressions of about 2-3 cm are distributed on the ground, the robot inevitably shakes violently, and at the moment, if an object needing to be kept in a standing position is placed on the robot, the object cannot be toppled. Meanwhile, it is known that the conventional service robot cannot stably and reliably transport a non-sealed liquid container such as tea water.
Based on the defects in the prior art, the technical staff in the field are dedicated to creating a service robot through continuous exploration and research for many years, and can ensure that the delivered objects placed on the robot are always kept in a stable state in the moving process of the robot.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an active balancing module and a service robot, wherein the active balancing module can ensure that the service robot is not influenced by the fluctuation of the ground in the process of conveying articles, can adapt to different types of grounds, and can ensure that the articles to be conveyed can be always in a stable state.
The technical scheme provided by the utility model is as follows:
the present invention provides in a first aspect an active balancing module comprising:
a base;
the cover shell is movably covered on the base;
the cover shell has a first direction and a second direction offset relative to the base;
the first direction and the second direction are arranged on the same plane and are perpendicular to each other;
a first drive device including a first driver and a first link member;
the first driving piece is mounted on the base and located in the first direction, the first connecting rod component is connected to the first driving piece in a driving mode and is in butt joint with the cover shell, and the first driving piece is used for driving the first connecting rod component to move up and down so as to adjust the balance degree of the cover shell and the base in the first direction;
a second drive device including a second driver and a second link member;
the second driving piece is installed on the base and located in the second direction, the second connecting rod component is in driving connection with the second driving piece, the second connecting rod component is in butt joint with the cover shell, and the second driving piece is used for driving the second connecting rod component to move up and down so as to adjust the balance degree of the cover shell and the base in the second direction.
In this patent, when service robot walking ground is unstable, because of receiving the skew that takes place to incline between base and the lid shell because of vibrations, motion detection device can be used to detect the slope range between base and the lid shell to with this slope range decomposition for along the slope range in first direction and the second direction. The inclination amplitude in the first direction and the distance from the first driving device to the center of the service robot can be converted into the distance from the base and the cover shell to offset in the vertical direction in the first direction by the motion detection device, and then the motion detection device controls the first driving piece to operate, so that the first connecting rod component drives the cover shell to move oppositely in the first direction to offset the condition of offset unbalance between the base and the cover shell in the first direction; correspondingly, the inclination amplitude in the second direction and the distance from the second driving device to the center of the service robot can be converted into the distance from the base and the cover shell in the second direction to the vertical direction by the motion detection device, and then the motion detection device controls the second driving piece to operate, so that the second connecting rod component drives the cover shell to perform opposite motion in the second direction to counteract the condition of unbalance between the base and the cover shell in the second direction. Meanwhile, the motion detection device detects the inclination change between the base and the cover shell in real time to further control the operation of the first driving piece and the second driving piece, so that the base and the cover shell can be always in a balanced state.
Further preferably, the first driving member includes a first motor and a first lead screw, the first motor is mounted on the base through a first mounting seat, the first lead screw is connected to the first motor in a driving manner, a free end of the first lead screw is mounted on the base through a first bearing seat, and the first lead screw is arranged vertically to the first direction; the first connecting rod component comprises a first support arm, a second support arm and a first sliding block, the first sliding block is fixedly connected to the cover shell, the first support arm and the second support arm are respectively hinged to two opposite ends of the first sliding block, a first nut seat is installed at one end, far away from the first sliding block, of the first support arm, and the first nut seat is sleeved on the first screw rod; a second nut seat is arranged at one end, far away from the first sliding block, of the second support arm, and the second nut seat is sleeved on the first screw rod; the first driving piece drives the first screw rod to rotate so as to drive the first support arm and the second support arm to synchronously move in a face-to-face or back-to-back mode, and therefore the first sliding block drives the cover shell to move up and down so as to adjust the balance degree of the cover shell and the base in the first direction.
Further preferably, the second driving member includes a second motor and a second lead screw, the second motor is mounted on the base through a second mounting seat, the second lead screw is connected to the second motor in a driving manner, a free end of the second lead screw is mounted on the base through a second bearing seat, and the second lead screw is perpendicular to the second direction; the second connecting rod component comprises a third support arm, a fourth support arm and a second sliding block, the second sliding block is fixedly connected to the cover shell, the third support arm and the fourth support arm are respectively hinged to two opposite ends of the second sliding block, a third nut seat is installed at one end, far away from the second sliding block, of the third support arm, and the third nut seat is sleeved on the second screw rod; a fourth nut seat is mounted at one end, far away from the second sliding block, of the fourth support arm, and the fourth nut seat is sleeved on the second screw rod; the second driving piece drives the second screw rod to rotate so as to drive the third support arm and the fourth support arm to synchronously move in a face-to-face or back-to-back manner, so that the second sliding block drives the cover shell to move up and down so as to adjust the balance degree of the cover shell and the base in the second direction.
Further preferably, a universal joint connecting rod for butting the cover shell is installed at the center of the base.
Further preferably, the motion detection device includes a gyroscope and a control main board, and the control main board is in signal connection and/or electrical connection with the gyroscope, the first driving element and the second driving element; the gyroscope is mounted on the control mainboard, and one end face, back to the base, of the cover shell is provided with a mounting groove for mounting the gyroscope and the control mainboard; and a first bin cover used for sealing the gyroscope and the control main board is arranged at an opening of the mounting groove.
Further preferably, the method further comprises the following steps: a distance measuring device mounted to the base and/or the cover housing for measuring a distance between the base and the cover housing.
Further preferably, the distance measuring device comprises a first laser distance meter and a second laser distance meter; the first laser range finder and the second laser range finder are both arranged at one end, facing the base, of the cover shell; the first laser range finder is used for measuring the distance between the cover shell and the base in the first direction, and the second laser range finder is used for measuring the distance between the cover shell and the base in the second direction.
Further preferably, the base is a disc-shaped structure, and the contour of the cover shell is matched with that of the base; the edge of one end, facing the cover shell, of the base is provided with a plurality of limiting bosses arranged at intervals, and the cover shell is provided with shock pads matched with the limiting bosses in position and quantity; when the cover shell is deviated relative to the base, the shock pad is matched with the limiting bosses in a one-to-one action mode.
The utility model also provides a service robot in a second aspect, which comprises a chassis, a distribution device, an active balancing module and a cup holder device, wherein the active balancing module is the active balancing module; the distribution device is fixedly arranged on the base plate, the base is fixedly arranged on the distribution device, and the cup holder device is fixedly arranged on the cover shell.
Further preferably, a threading groove is formed in the distribution device, and the threading groove is used for allowing a line connected to the active balancing module and the chassis to pass through so as to enable the active balancing module and the chassis to be electrically connected; and/or the distribution device is provided with at least one distribution bin door; and/or the chassis is provided with a charging interface; and/or one end of the chassis, which is back to the distribution device, is provided with at least two driving wheels and at least two universal wheels.
The utility model has the technical effects that:
1. in this patent, when service robot walking ground is unstable, because of receiving the skew that takes place to incline between base and the lid shell because of vibrations, motion detection device can be used to detect the slope range between base and the lid shell to with this slope range decomposition for along the slope range in first direction and the second direction. The inclination amplitude in the first direction and the distance from the first driving device to the center of the service robot can be converted into the distance from the base and the cover shell to offset in the vertical direction in the first direction by the motion detection device, and then the motion detection device controls the first driving piece to operate, so that the first connecting rod component drives the cover shell to move oppositely in the first direction to offset the condition of offset unbalance between the base and the cover shell in the first direction; correspondingly, the inclination amplitude in the second direction and the distance from the second driving device to the center of the service robot can be converted into the distance from the base and the cover shell in the second direction to the vertical direction by the motion detection device, and then the motion detection device controls the second driving piece to operate, so that the second connecting rod component drives the cover shell to perform opposite motion in the second direction to counteract the condition of unbalance between the base and the cover shell in the second direction. Meanwhile, the motion detection device detects the inclination change between the base and the cover shell in real time to further control the operation of the first driving piece and the second driving piece, so that the base and the cover shell can be always in a balanced state.
2. In this patent, can regard as the supplementary feedback of base and lid shell vertical distance change in the first direction through setting up first laser range finder, can regard as the supplementary feedback of base and lid shell vertical distance change in the second direction through setting up second laser range finder.
3. In this patent, the base is equipped with a plurality of spacing bosss that are the interval setting towards the edge of the one end of lid shell, and the lid shell is equipped with the position with spacing boss and the shock pad of quantity looks adaptation, so, takes place the skew for the base when the lid shell, and inclination is too big, but shock pad and spacing boss act on the cooperation one by one, as the spacing of balanced stroke between base and the lid shell.
Drawings
The utility model is described in further detail below with reference to the following figures and detailed description:
FIG. 1 is an exploded perspective view of a service robot of the present invention in one state;
FIG. 2 is an exploded perspective view of a service robot of the present invention in another state;
FIG. 3 is a schematic view of the base of FIG. 1 mounted to a dispensing device;
FIG. 4 is a schematic view of the base shown in FIG. 3;
FIG. 5 is an exploded perspective view of the active balancing module shown in FIG. 1;
fig. 6 is an exploded perspective view of the first driving device shown in fig. 5.
The reference numbers illustrate:
an active balancing module 1; a first direction 101; a second direction 102; a base 11; a limiting boss 111; a cover case 12; a mounting groove 121; a first bin cover 122; a second lid 123; a shock-absorbing pad 124; a first drive device 13; a first driving member 131; a first motor 1311; a first lead screw 1312; a first mount 1313; a first bearing seat 1314; a first link member 132; a first arm 1321; first hinged end 13211; a first driver end 13212; a first nut seat 13213; a second support arm 1322; second hinged end 13221; a second driver end 13222; a second nut seat 13223; a first slide 1323; a second drive device 14; the second driving member 141; a second electric machine 1411; a second lead screw 1412; a second mount 1413; a second bearing housing 1414; the second link member 142; a third support arm 1421; a fourth support arm 1422; a second slider 1423; a gimbal link 15; a motion detection device 16; a distance measuring device 17; a first laser range finder 171; a second laser range finder 172; a chassis 2; a charging interface 21; a universal wheel 22; a drive wheel 23; a delivery device 3; a threading groove 31; a delivery bin gate 32; a cup holder device 4; a cup holder base 41; a cup holder upper cover 42.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In this context, it is to be understood that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, in the description of the present application, the terms "first," "second," and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
According to an embodiment of the present invention, as shown in fig. 1 to 6, in a first aspect, the present invention provides an active balancing module 1, which includes a base 11, a cover 12, a first driving device 13 and a second driving device 14. The cover shell 12 is movably covered on the base 11. The cover shell 12 has a first direction 101 and a second direction 102 offset with respect to the base 11. The first direction 101 and the second direction 102 are disposed coplanar and perpendicular to each other. The first driving device 13 includes a first driver 131 and a first link member 132. The first driving member 131 is installed on the base 11 and located in the first direction 101, the first link member 132 is connected to the first driving member 131 in a driving manner, the first link member 132 is abutted to the cover shell 12, and the first driving member 131 is used for driving the first link member 132 to move up and down to adjust the balance degree of the cover shell 12 and the base 11 in the first direction 101. The second driving device 14 includes a second driver 141 and a second link member 142. The second driving element 141 is installed on the base 11 and located in the second direction 102, the second link member 142 is connected to the second driving element 141 in a driving manner, the second link member 142 is abutted to the cover shell 12, and the second driving element 141 is used for driving the second link member 142 to move up and down to adjust the balance degree of the cover shell 12 and the base 11 in the second direction 102. The motion detection device 16 is mounted on the cover 12 and is connected to the first driving member 131 and the second driving member 141 by signals and/or electrically.
In this embodiment, the active balance module 1 can ensure that the service robot is not affected by the fluctuation of the ground and can be adapted to different types of ground in the process of transporting articles in real time, thereby ensuring that the articles to be transported can be always in a stable state.
The utility model also provides in a second aspect a service robot comprising a chassis 2, a dispensing device 3, an active balancing module 1 and a cup holder device 4. The dispensing device 3 is fixedly mounted on the chassis 2, the base 11 is fixedly mounted on the dispensing device 3, and the cup holder device 4 is fixedly mounted on the cover shell 12. In particular, referring to fig. 1, the chassis 2 is used for supporting the whole of the service robot, and at least two driving wheels 23 and at least two universal wheels 22 may be installed at an end of the chassis 2 facing away from the dispensing device 3. The driving wheels 23 are used to implement a function of traveling of the service robot so that the service robot can automatically move to a designated place. The universal wheels 22 may be used to reverse the direction of the service robot during travel. The universal wheels 22 can also be used for bypassing obstacles, so that the service robot can smoothly arrive at a designated place, the time is saved, the efficiency is improved, and the service robot is more intelligent in the using process. Further, a charging interface 21 may be further disposed on the chassis 2 for performing operations such as charging the service robot.
Further, referring to fig. 1, the dispensing device 3 may be used to load articles, preferably in the form of a hollow cylindrical structure, and at least one dispensing door 32 may be provided on the dispensing device 3 for accessing and maintaining the articles in a closed condition. Preferably, the number of the dispensing gates 32 may be two, and the two gates are disposed to correspond to each other, but is not limited thereto.
Further, referring to fig. 1, the base 11 of the active balancing module 1 is fixedly installed at an end of the distribution device 3 opposite to the chassis 2, and a threading groove 31 may be formed in the distribution device 3, where the threading groove 31 is used for a circuit connecting the active balancing module 1 and the chassis 2 to pass through, so that the active balancing module 1 and the chassis 2 are electrically connected. It should be noted that the threading slot 31 may be directly disposed on the inner wall surface of the dispensing device 3, and extend to the upper and lower ends of the dispensing device 3, and may be in a linear direction or a curved direction, which is not limited herein and may be specifically set according to actual requirements.
Further, referring to fig. 1, the cup holder device 4 may include a cup holder base 41 and a cup holder upper cover 42 mounted on the cup holder base 41. The cup holder base 41 is fixedly installed on the cover shell 12, and the cup holder upper cover 42 is provided with a plurality of cup holes for storing cups. The size and specific contour of the cup hole are not limited, and can be set according to actual requirements, and the cup hole is within the protection scope of the patent.
As a preferred example of this embodiment, referring to fig. 1, the base 11 may be a disc-shaped structure, and the contour of the cover 12 is adapted to the contour of the base 11, so that the base 11 and the cover 12 can be adapted to the contour of the dispensing device 3, thereby making the service robot more beautiful and space-saving.
Further, in this embodiment, for convenience of description of the structure of the present embodiment, the front-back direction in which the service robot travels may be set as the first direction 101, and the direction in which the service robot moves left and right may be set as the second direction 102. The chassis 2, the dispensing device 3 and the base 11 may be locked with each other by screws, for example, so that the three are in a fixed state. Correspondingly, the cup holder device 4 and the cover shell 12 can also be locked together, for example by screws, to form a single piece. Therefore, the service robot can realize the balance adjustment of the upper part and the lower part through the base 11 and the cover shell 12, can ensure that the service robot is not influenced by the fluctuation of the ground and can be adapted to different types of grounds in the moving process in real time, and ensures that the delivered objects can be always in a stable state.
Further, in the present embodiment, referring to fig. 5, a universal joint link 15 for abutting against the cover shell 12 is installed at the center of the base 11, and the universal joint link 15 can be used for connecting the base 11 and the cover shell 12 on the one hand, and can realize the tilt twisting of the base 11 and the cover shell 12 within a certain travel range on the other hand.
Further, in the present embodiment, referring to fig. 5, the first driving member 131 may include a first motor 1311 and a first lead screw 1312. The first motor 1311 can be installed on the base 11 through a first installation seat 1313, the first lead screw 1312 is drivingly connected to the first motor 1311, and a free end of the first lead screw 1312 is installed on the base 11 through a first bearing seat 1314, so that the first lead screw 1312 can be more stable in the rotating process, and the first lead screw 1312 and the first direction 101 are vertically arranged. Correspondingly, the first linkage member 132 may include a first arm 1321, a second arm 1322, and a first block 1323. The first sliding block 1323 is fixedly connected to the cover 12, and the first sliding block 1323 and the cover 12 may be fixed by, for example, a screw, but is not limited thereto. The first arm 1321 and the second arm 1322 are respectively hinged to two opposite ends of the first sliding block 1323, and a first nut seat 13213 is installed at one end of the first arm 1321 away from the first sliding block 1323, and the first nut seat 13213 is sleeved on the first lead screw 1312. One end of the second arm 1322 away from the first block 1323 is provided with a second nut seat 13223, and the second nut seat 13223 is also sleeved on the first lead screw 1312. Specifically, the first arm 1321 has a first hinged end 13211 and a first driving end 13212 opposite to each other, the first hinged end 13211 is hinged to one side end of the first sliding block 1323, and the first driving end 13212 is provided with a first nut seat 13213. The second arm 1322 has a second hinged end 13221 and a second driving end 13222 opposite to each other, the second hinged end 13221 is hinged to the other end of the first slide block 1323 opposite to each other, and the second driving end 13222 is provided with a second nut seat 13223. The first driving member 131 drives the first lead screw 1312 to rotate, so as to drive the first arm 1321 and the second arm 1322 to synchronously move toward or away from each other, so that the first sliding block 1323 drives the cover 12 to move up and down, thereby adjusting the balance between the cover 12 and the base 11 in the first direction 101.
Further, in the present embodiment, the second driving element 141 may include a second motor 1411 and a second lead screw 1412. The second motor 1411 can be mounted on the base 11 through a second mounting base 1413, the second lead screw 1412 is drivingly connected to the second motor 1411, and a free end of the second lead screw 1412 is mounted on the base 11 through a second bearing seat 1414, so that the second lead screw 1412 can be more stable during the rotation process, and the second lead screw 1412 is perpendicular to the second direction 102. Correspondingly, the second link 142 includes a third arm 1421, a fourth arm 1422 and a second slider 1423. The second slider 1423 is fixedly connected to the cover 12, the third arm 1421 and the fourth arm 1422 are respectively hinged to two opposite ends of the second slider 1423, and a third nut seat is installed at one end of the third arm 1421 far from the second slider 1423 and sleeved on the second lead screw 1412. A fourth nut seat is installed at one end of the fourth supporting arm 1422 away from the second slider 1423, and the fourth nut seat is sleeved on the second lead screw 1412. Specifically, the third support arm 1421 has a third hinge end and a third driving end, which are opposite to each other, the third hinge end is hinged to one side end of the second slider 1423, and the third driving end is provided with a third nut seat. The fourth arm 1422 has a fourth hinge end and a fourth driving end, the fourth hinge end is hinged to the other end of the second slider 1423, and the fourth driving end is provided with a fourth nut seat. The second driving element 141 drives the second lead screw 1412 to rotate, so as to drive the third support arm 1421 and the fourth support arm 1422 to synchronously move toward or away from each other, and thus the second slider 1423 drives the cover 12 to move up and down, so as to adjust the balance between the cover 12 and the base 11 in the second direction 102.
Further, in the present embodiment, referring to fig. 2, the motion detection device 16 may include a gyroscope and a control board. The control main board is connected with the gyroscope, the first driving element 131 and the second driving element 141 through signals and/or electrically. The gyroscope is installed on the control mainboard, a mounting groove 121 for installing the gyroscope and the control mainboard is formed in one end face, back to the base 11, of the cover shell 12, and a first bin cover 122 for sealing the gyroscope and the control mainboard is arranged at an opening of the mounting groove 121. It should be mentioned that a second bin cover 123 may be further disposed below the first bin cover 122, and the second bin cover 123 is used to fill the gap between the first bin cover 122 and the control main board and the gyroscope, so that the gyroscope and the control main board are more stable in structure during the operation process.
Further, in the present embodiment, the active balancing module 1 further includes a distance measuring device 17 mounted to the base 11 and/or the cover 12 for measuring a distance between the base 11 and the cover 12. As a preferred example of this embodiment, referring to fig. 2, the distance measuring device 17 may include a first laser distance meter 171 and a second laser distance meter 172. The first laser range finder 171 and the second laser range finder 172 are both mounted at one end of the cover case 12 facing the base 11. The first laser rangefinder 171 is used to measure the distance between the cover 12 and the base 11 in the first direction 101, and the second laser rangefinder 172 is used to measure the distance between the cover 12 and the base 11 in the second direction 102. In the present embodiment, the first laser distance meter 171 can be used as an auxiliary feedback for the vertical distance change of the cover 12 and the base 11 in the first direction 101, and the second laser distance meter 172 can be used as an auxiliary feedback for the vertical distance change of the cover 12 and the base 11 in the second direction 102, so that the balance adjustment of the service robot can be performed more precisely.
Further, in this embodiment, referring to fig. 2, when the service robot is shaken violently to cause an excessively large tilt range between the base 11 and the cover 12, in order to effectively prevent the service robot from toppling over due to an excessive misalignment between the base 11 and the cover 12, a plurality of limiting bosses 111 may be disposed at intervals on an edge of one end of the base 11 facing the cover 12, and a shock pad 124 may be disposed on the cover 12, the shock pad being adapted to the positions and the number of the limiting bosses 111. In this way, when the cover 12 is excessively offset relative to the base 11, the shock absorbing pads 124 can cooperate with the limit bosses 111 one by one to limit the balance stroke of the base 11 and the cover 12.
The working principle of the utility model is as follows:
when the service robot walks on the ground unevenly, the body of the service robot is unbalanced, so that the base 11 and the cover 12 are inclined and deviated due to vibration. The motion detection means 16 may be used to detect the magnitude of the tilt between the base 11 and the cover shell 12 and to decompose the magnitude of the tilt into magnitudes of the tilt in the first direction 101 and the second direction 102. Wherein the inclination amplitude in the first direction 101 and the distance from the center position of the service robot to the first driving device 13 can be converted into the distance that the base 11 and the cover 12 are offset in the vertical direction in the first direction 101 by the motion detection device 16, and then the motion detection device 16 controls the first driving member 131 to operate, so that the first link member 132 drives the cover 12 to perform an opposite motion in the first direction 101 to counteract the unbalanced offset condition between the base 11 and the cover 12 in the first direction 101, so that the base 11 and the cover 12 are restored to a balanced state in the first direction 101. Correspondingly, the inclination amplitude in the second direction 102 and the distance from the center of the service robot to the second driving device 14 can be converted into the distance that the base 11 and the cover 12 are offset in the vertical direction in the second direction 102 by the motion detection device 16, and then the motion detection device 16 controls the second driving member 141 to operate, so that the second link member 142 drives the cover 12 to perform an opposite motion in the second direction 102 to counteract the imbalance between the base 11 and the cover 12 in the second direction 102, so that the base 11 and the cover 12 are restored to the balanced state in the second direction 102. Meanwhile, the movement detecting device 16 detects a tilt change between the base 11 and the cover case 12 in real time, and the first laser range finder 171 detects a vertical distance change between the base 11 and the cover case 12 in the first direction 101 in real time, and the second laser range finder 172 detects a vertical distance change between the base 11 and the cover case 12 in the second direction 102 in real time, so as to improve the accuracy and efficiency of the balance adjustment between the base 11 and the cover case 12.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An active balancing module, comprising:
a base;
the cover shell is movably covered on the base;
the cover shell has a first direction and a second direction offset relative to the base;
the first direction and the second direction are arranged on the same plane and are perpendicular to each other;
a first drive device including a first driver and a first link member;
the first driving piece is mounted on the base and located in the first direction, the first connecting rod component is connected to the first driving piece in a driving mode and is in butt joint with the cover shell, and the first driving piece is used for driving the first connecting rod component to move up and down so as to adjust the balance degree of the cover shell and the base in the first direction;
a second drive device including a second driver and a second link member;
the second driving piece is mounted on the base and located in the second direction, the second connecting rod component is connected to the second driving piece in a driving mode and is in butt joint with the cover shell, and the second driving piece is used for driving the second connecting rod component to move up and down so as to adjust the balance degree of the cover shell and the base in the second direction;
and the motion detection device is arranged on the cover shell and is in signal connection and/or electric connection with the first driving piece and the second driving piece.
2. The active balancing module of claim 1,
the first driving piece comprises a first motor and a first screw rod, the first motor is mounted on the base through a first mounting seat, the first screw rod is connected to the first motor in a driving mode, the free end of the first screw rod is mounted on the base through a first bearing seat, and the first screw rod is perpendicular to the first direction; and
the first connecting rod component comprises a first support arm, a second support arm and a first sliding block, the first sliding block is fixedly connected to the cover shell, the first support arm and the second support arm are respectively hinged to two opposite ends of the first sliding block, a first nut seat is installed at one end, far away from the first sliding block, of the first support arm, and the first nut seat is sleeved on the first screw rod; a second nut seat is arranged at one end, far away from the first sliding block, of the second support arm, and the second nut seat is sleeved on the first screw rod;
the first driving piece drives the first screw rod to rotate so as to drive the first support arm and the second support arm to synchronously move in a face-to-face or back-to-back mode, and therefore the first sliding block drives the cover shell to move up and down so as to adjust the balance degree of the cover shell and the base in the first direction.
3. The active balancing module of claim 1,
the second driving piece comprises a second motor and a second screw rod, the second motor is mounted on the base through a second mounting seat, the second screw rod is connected to the second motor in a driving mode, the free end of the second screw rod is mounted on the base through a second bearing seat, and the second screw rod is perpendicular to the second direction; and
the second connecting rod component comprises a third support arm, a fourth support arm and a second sliding block, the second sliding block is fixedly connected to the cover shell, the third support arm and the fourth support arm are respectively hinged to two opposite ends of the second sliding block, a third nut seat is installed at one end, far away from the second sliding block, of the third support arm, and the third nut seat is sleeved on the second screw rod; a fourth nut seat is mounted at one end, far away from the second sliding block, of the fourth support arm, and the fourth nut seat is sleeved on the second screw rod;
the second driving part drives the second screw rod to rotate so as to drive the third support arm and the fourth support arm to synchronously move in a face-to-face or back-to-back manner, so that the second sliding block drives the cover shell to move up and down so as to adjust the balance degree of the cover shell and the base in the second direction.
4. The active balancing module of claim 1,
and a universal joint connecting rod for butting the cover shell is arranged at the center of the base.
5. The active balancing module of any one of claims 1 to 4,
the motion detection device comprises a gyroscope and a control main board, and the control main board is in signal connection and/or electric connection with the gyroscope, the first driving piece and the second driving piece; wherein the content of the first and second substances,
the gyroscope is mounted on the control main board, and one end face, back to the base, of the cover shell is provided with a mounting groove for mounting the gyroscope and the control main board; and a first bin cover used for sealing the gyroscope and the control main board is arranged at an opening of the mounting groove.
6. The active balancing module of any one of claims 1 to 4,
further comprising: a distance measuring device mounted to the base and/or the cover housing for measuring a distance between the base and the cover housing.
7. The active balancing module of claim 6,
the distance measuring device comprises a first laser distance measuring device and a second laser distance measuring device;
the first laser range finder and the second laser range finder are both arranged at one end, facing the base, of the cover shell; the first laser range finder is used for measuring the distance between the cover shell and the base in the first direction, and the second laser range finder is used for measuring the distance between the cover shell and the base in the second direction.
8. The active balancing module of any one of claims 1 to 4,
the base is of a disc-shaped structure, and the outline of the cover shell is matched with that of the base;
the edge of one end, facing the cover shell, of the base is provided with a plurality of limiting bosses arranged at intervals, and the cover shell is provided with shock pads matched with the limiting bosses in position and quantity; when the cover shell is deviated relative to the base, the shock pad is matched with the limiting bosses in a one-to-one action mode.
9. A service robot comprising a chassis, a dispensing device, an active balancing module and a cup holder device, wherein the active balancing module is an active balancing module according to any one of claims 1 to 8;
the distribution device is fixedly arranged on the base plate, the base is fixedly arranged on the distribution device, and the cup holder device is fixedly arranged on the cover shell.
10. The service robot of claim 9,
a threading groove is formed in the distribution device and is used for allowing a line connected with the active balancing module and the chassis to pass through, so that the active balancing module and the chassis are electrically connected;
and/or the distribution device is provided with at least one distribution bin door;
and/or the chassis is provided with a charging interface;
and/or one end of the chassis, which is back to the distribution device, is provided with at least two driving wheels and at least two universal wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123255330.XU CN216543332U (en) | 2021-12-22 | 2021-12-22 | Active balancing module and service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123255330.XU CN216543332U (en) | 2021-12-22 | 2021-12-22 | Active balancing module and service robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216543332U true CN216543332U (en) | 2022-05-17 |
Family
ID=81544826
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123255330.XU Active CN216543332U (en) | 2021-12-22 | 2021-12-22 | Active balancing module and service robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216543332U (en) |
-
2021
- 2021-12-22 CN CN202123255330.XU patent/CN216543332U/en active Active
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Effective date of registration: 20220907 Address after: 201508 1st floor, No. 1000, Tingwei Road, Jinshan District, Shanghai (Bay area science and Innovation Center) Patentee after: Shanghai Hongxing Cloud Computing Technology Co.,Ltd. Address before: 5 / F, 277 Huqingping Road, Minhang District, Shanghai, 201100 Patentee before: SHANGHAI YUNSHEN INTELLIGENT TECHNOLOGY Co.,Ltd. |
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