CN217456149U

CN217456149U - Gravity center adjusting device, robot chassis and robot

Info

Publication number: CN217456149U
Application number: CN202220591948.9U
Authority: CN
Inventors: 邹群
Original assignee: Shenzhen Pudu Technology Co Ltd
Current assignee: Shenzhen Pudu Technology Co Ltd
Priority date: 2022-03-18
Filing date: 2022-03-18
Publication date: 2022-09-20
Anticipated expiration: 2032-03-18

Abstract

The utility model relates to a focus adjusting device, robot chassis and robot. The gravity center adjusting device is used for being installed on the robot and comprises a driving mechanism and an eccentric gravity pendulum, the eccentric gravity pendulum is connected with the driving mechanism, and the eccentric gravity pendulum can swing under the driving of the driving mechanism. When the center of gravity of the robot deviates, the driving mechanism drives the eccentric gravity pendulum to swing according to the load information and the posture information of the robot, the center of gravity of the robot is adjusted to a proper position, the robot keeps balance, the motion stability of the robot is improved, the adaptability of the robot to the load is improved, and the food delivery quality can be improved while the food delivery efficiency of the robot is ensured. In addition, the driving mechanism is adopted to drive the eccentric gravity pendulum to swing, so that the gravity center adjustment range is wide, the response is fast, and the cost is low.

Description

Gravity center adjusting device, robot chassis and robot

Technical Field

The utility model relates to a mobile robot technical field especially relates to a focus adjusting device, robot chassis and robot.

Background

With the rapid development of robot technology, mobile robots are gradually applied to mass service scenes, for example, mobile robots provide delivery services in restaurants, office buildings, hotels and other places. In order to conveniently execute distribution tasks, the mobile robot is provided with the tray, the gravity center of the mobile robot can change along with the total amount and the placing position of dishes, so that the balance of the mobile robot is poor, the motion performance is weakened, the dishes are easy to spill, and even potential safety hazards appear.

SUMMERY OF THE UTILITY MODEL

Therefore, it is necessary to provide a gravity center adjusting device, a robot chassis and a robot, which can improve the stability of the robot motion and the food delivery quality.

A center of gravity adjusting apparatus for mounting on a robot, the center of gravity adjusting apparatus comprising:

a drive mechanism; and

the eccentric gravity pendulum is connected with the driving mechanism and can swing under the driving of the driving mechanism so as to adjust the gravity center of the robot.

In one embodiment, the driving mechanism comprises a speed reducing component and a driving motor, and the driving motor is connected with the eccentric gravity pendulum through the speed reducing component.

In one embodiment, the speed reducing assembly includes a synchronous belt, a first synchronous wheel and a second synchronous wheel, the first synchronous wheel is mounted on the output shaft of the driving motor, the second synchronous wheel is connected with the eccentric gravity pendulum, and the synchronous belt surrounds the outer peripheral surfaces of the first synchronous wheel and the second synchronous wheel.

In one embodiment, the second synchronizing wheel is provided with a mounting part which rotates along with the second synchronizing wheel; the gravity center adjusting device further comprises a bearing seat, a bearing cover and a bearing, the bearing comprises a bearing inner ring and a bearing outer ring matched with the bearing inner ring, and the bearing inner ring is sleeved outside the mounting part and is respectively and fixedly connected with the mounting part and the eccentric gravity pendulum; the bearing pedestal is provided with a fixing groove for installing the bearing outer ring, and the bearing cover covers the groove opening of the fixing groove and is used for fixing the bearing outer ring in the fixing groove.

In one embodiment, the eccentric gravity pendulum includes a weight block and a swing arm, the swing arm extends from the weight block toward the driving mechanism, and an end of the swing arm away from the weight block is connected to the driving mechanism.

A robot chassis comprises a chassis body, a controller and a gravity center adjusting device arranged in the chassis body, wherein the gravity center adjusting device comprises a driving mechanism and an eccentric gravity pendulum, the eccentric gravity pendulum is connected with the driving mechanism, and the eccentric gravity pendulum can swing under the driving of the driving mechanism; the controller is in communication connection with the driving mechanism, and adjusts the swinging position of the eccentric gravity pendulum through the driving mechanism so as to adjust the gravity center of the robot chassis.

In one embodiment, a bottom plate is arranged in the chassis body, and the gravity center adjusting device is installed on the bottom plate.

In one embodiment, the swing arm of the eccentric gravity pendulum is parallel to the base plate.

In one embodiment, the driving motor and the eccentric gravity pendulum are both arranged on the same side of the bottom plate, and the driving motor is fixed on the bottom plate; one side of the bottom plate, which deviates from the eccentric gravity pendulum, is provided with a mounting structure, and the speed reduction assembly is arranged in the mounting structure.

A robot comprises a supporting structure and a robot chassis, wherein the supporting structure is arranged on the robot chassis; the robot also comprises a sensor, wherein the sensor is arranged on the supporting structure and is used for acquiring load information and/or attitude information of the robot; the controller is in communication connection with the sensor, and can calculate the current gravity center position of the robot according to the load information and/or the attitude information and adjust the swing position of the eccentric gravity pendulum according to the current gravity center position so as to adjust the gravity center of the robot.

Foretell focus adjusting device, robot chassis and robot, when the focus of robot appeared squinting, actuating mechanism drove eccentric gravity pendulum according to the load information and the gesture information of robot and swings, adjusts the focus of robot to suitable position, makes the robot keep balance, improves the stationarity of robot motion, improves the adaptability of robot to the load simultaneously, when guaranteeing the robot efficiency of food delivery, can also improve the food delivery quality like this. In addition, the driving mechanism is adopted to drive the eccentric gravity pendulum to swing, so that the gravity center adjustment range is wide, the response is fast, and the cost is low.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic view of an internal structure of a robot chassis according to an embodiment of the present invention;

FIG. 2 is a cross-sectional view of the robot chassis shown in FIG. 1;

fig. 3 is a schematic structural view of a gravity center adjusting apparatus according to an embodiment of the present invention;

fig. 4 is a sectional view of the center of gravity adjusting apparatus shown in fig. 3.

The reference numbers illustrate: 10. a center of gravity adjusting device; 11. a drive mechanism; 111. a drive motor; 112. a speed reduction assembly; 1121. a synchronous belt; 1122. a first synchronizing wheel; 1123. a second synchronizing wheel; 1124. an installation part; 12. an eccentric gravity pendulum; 121. a balancing weight; 122. swinging arms; 13. a bearing; 131. a bearing inner race; 132. an outer race of the bearing; 133. a bearing seat; 134. a bearing cap; 20. a chassis body; 21. an obstacle avoidance sensor; 22. A base plate; 23. and (7) mounting the structure.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

Referring to fig. 1 and 3, a center of gravity adjusting device according to an embodiment of the present invention is installed on a robot. The gravity center adjusting device 10 comprises a driving mechanism 11 and an eccentric gravity pendulum 12, the eccentric gravity pendulum 12 is connected with the driving mechanism 11, and the eccentric gravity pendulum 12 can swing under the driving of the driving mechanism 11 to adjust the gravity center of the robot.

The gravity center adjusting device has the advantages that when the gravity center of the robot deviates, the driving mechanism 11 drives the eccentric gravity pendulum 12 to swing according to the load information and the posture information of the robot, the gravity center of the robot is adjusted to a proper position, the robot keeps balance, the moving stability of the robot is improved, the adaptability of the robot to the load is improved, and the food delivery quality can be improved while the food delivery efficiency of the robot is ensured. In addition, the driving mechanism 11 is adopted to drive the eccentric gravity pendulum 12 to swing, so that the gravity center adjusting range is wide, meanwhile, the response is fast, and the cost is low.

In one embodiment, referring to fig. 3 and 4, the driving mechanism 11 includes a speed reduction assembly 112 and a driving motor 111, and the driving motor 111 is connected to the eccentric gravity pendulum 12 through the speed reduction assembly 112. Specifically, the speed reduction assembly 112 is connected to the output shaft of the driving motor 111 and the eccentric gravity pendulum 12, respectively. When the skew appears in the focus of robot, driving motor 111 starts, driving motor 111 gives speed reduction assembly 112 with power transmission, speed reduction assembly 112 gives eccentric gravity pendulum 12 with power speed reduction transmission, swing in order to drive eccentric gravity pendulum 12, adjust the suitable position with the focus of robot, make the robot keep balance, improve the stationarity of robot motion, improve the adaptability of robot to the load simultaneously, when guaranteeing the food delivery efficiency of robot like this, can also improve the food delivery quality.

Alternatively, referring to fig. 3 and 4, the deceleration assembly 112 includes a timing belt 1121, a first synchronization wheel 1122, and a second synchronization wheel 1123. The first synchronizing wheel 1122 is mounted on the output shaft of the driving motor 111, the second synchronizing wheel 1123 is connected to the eccentric gravity pendulum 12, and the synchronizing belt 1121 surrounds the outer circumferential surfaces of the first synchronizing wheel 1122 and the second synchronizing wheel 1123. When the center of gravity of the robot deviates, the driving motor 111 is started to drive the first synchronous wheel 1122 to rotate, and the second synchronous wheel 1123 is driven by the synchronous belt 1121 to rotate, so as to drive the eccentric gravity pendulum 12 to swing. Thus, the synchronous belt 1121, the first synchronous wheel 1122 and the second synchronous wheel 1123 are matched to realize speed reduction transmission, and the synchronous belt has the advantages of low noise, low cost, high efficiency and the like.

Of course, in other embodiments, the speed reduction assembly 112 may also be a gear assembly mounted to the output shaft of the drive motor 111, and the eccentric gravity pendulum 12 is mounted to the gear assembly.

Further, referring to fig. 3 and 4, the second synchronizing wheel 1123 is provided with a mounting portion 1124 which rotates together with the second synchronizing wheel 1123. Optionally, the mounting portion 1124 includes a mounting post. The gravity center adjusting device 10 further includes a bearing seat 133, a bearing cover 134 and a bearing 13, the bearing 13 includes a bearing inner ring 131 and a bearing outer ring 132 matched with the bearing inner ring 131, the bearing inner ring 131 is sleeved outside the mounting portion 1124 and is respectively fixedly connected with the mounting portion 1124 and the eccentric gravity pendulum 12. The bearing housing 133 is provided with a fixing groove for mounting the bearing outer ring 132, and the bearing cover 134 covers a notch of the fixing groove for fixing the bearing outer ring 132 therein. In this way, the bearing outer ring 132 can be fixed to the chassis of the robot through the bearing seat 133 and the bearing cover 134, so as to implement installation of the gravity center adjusting device 10, and meanwhile, the bearing inner ring 131 is respectively and fixedly connected with the second synchronizing wheel 1123 and the eccentric gravity pendulum 12, so that the eccentric gravity pendulum 12 can swing under the driving of the second synchronizing wheel 1123, the gravity center of the robot is adjusted to a proper position, and the robot is kept balanced.

Optionally, the bearing 13 is an angular contact bearing. Of course, in other embodiments, the bearing 13 may be other types of bearings, and is not limited thereto.

In one embodiment, referring to fig. 3 and 4, eccentric gravity pendulum 12 includes a weight 121 and a swing arm 122. The swing arm 122 extends from the weight block 121 to the driving mechanism 11, and one end of the swing arm 122 away from the weight block 121 is connected to the driving mechanism 11. Therefore, the eccentric gravity pendulum 12 can swing conveniently, and the eccentric gravity pendulum 12 is prevented from generating motion interference with the driving mechanism 11.

Referring to fig. 1 and 2, the robot chassis according to an embodiment of the present invention includes a chassis body 20 and the gravity center adjusting device 10 according to any of the embodiments. The center of gravity adjusting device 10 is installed in the chassis body 20.

The robot chassis has the advantages that when the center of gravity of the robot deviates, the driving mechanism 11 drives the eccentric gravity pendulum 12 to swing according to load information and posture information of the robot, the center of gravity of the robot is adjusted to a proper position, the robot keeps balance, the moving stability of the robot is improved, the adaptability of the robot to loads is improved, and the food delivery quality can be improved while the food delivery efficiency of the robot is guaranteed. In addition, the driving mechanism 11 is adopted to drive the eccentric gravity pendulum 12 to swing, so that the gravity center adjustment range is wide, the response is fast, and the cost is low.

In one embodiment, referring to fig. 1 and 2, a base plate 22 is provided in the chassis body 20, the gravity center adjusting device 10 is mounted on the base plate 22, and the axis of the swing arm 122 of the eccentric gravity pendulum 12 is parallel to the base plate 22. Therefore, the eccentric gravity pendulum 12 does swinging motion on a plane parallel to the bottom plate 22, the gravity center of the robot is adjusted to a proper position, the robot keeps balance, and the moving stability of the robot is improved.

Further, referring to fig. 1 and 2, the driving mechanism 11 includes a speed reduction assembly 112 and a driving motor 111, and the driving motor 111 is connected to the eccentric gravity pendulum 12 through the speed reduction assembly 112. The driving motor 111 and the eccentric gravity pendulum 12 are both disposed on the same side of the bottom plate 22, and the driving motor 111 is fixed to the bottom plate 22. The side of the bottom plate 22 facing away from the eccentric gravity pendulum 12 is provided with a mounting structure 23, and the reduction assembly 112 is disposed in the mounting structure 23. Specifically, the driving motor 111 and the bearing housing 133 are fixed to the base plate 22. Thus, the number of parts inside the chassis body 20 can be reduced, the structure of the chassis body 20 is more compact, the center of gravity can be lowered, and the stability is improved. In one embodiment, the robot chassis is a self-navigation chassis, so that the robot can adapt to the layout of different restaurants and deal with various different working environments.

Specifically, the power part of the chassis body 20 adopts a scheme of differential driving of a double-hub motor, and the adaptability of the chassis body 20 to the road surface is enhanced through an idler wheel and a suspension system. It should be noted that the differential driving, the idle wheel and the suspension system of the dual-hub motor are prior art and will not be described herein.

Further, the chassis body 20 is provided with an obstacle avoidance sensor 21, and the obstacle avoidance sensor 21 is used for acquiring obstacle information right in front of the chassis body 20. During distribution, the distribution robot moves, the obstacle avoidance sensor 21 automatically constructs a map of the surrounding environment, and data support is provided for navigation of the distribution robot. Optionally, the obstacle avoidance sensor 21 comprises a depth camera or a radar.

In this embodiment, the obstacle avoidance sensor 21 includes two depth cameras, and the two depth cameras are symmetrically disposed on the lateral portion of the chassis body 20 and are used for acquiring obstacle information right in front of the chassis body 20.

Referring to fig. 1 and 2, a robot according to an embodiment of the present invention includes a supporting structure and a robot chassis according to any of the embodiments. The support structure is mounted on the robot chassis. Further, the robot also comprises a controller and a sensor, wherein the sensor is used for acquiring the load information and/or the attitude information of the robot body. Specifically, the robot body comprises a mechanical arm, and the sensor is arranged on the mechanical arm. The controller is respectively in communication connection with the sensor and the driving mechanism 11, and the controller can calculate the current gravity center position of the robot according to the load information and/or the attitude information and adjust the swing position of the eccentric gravity pendulum according to the current gravity center position so as to adjust the gravity center of the robot. So, can adjust suitable position with the focus of robot, make the robot keep balance, improve the stationarity of robot motion, improve the adaptability of robot to the load simultaneously, when guaranteeing the robot efficiency of food delivery, can also improve the food delivery quality like this.

It should be noted that the robot body is responsible for carrying articles, and the mechanical arm is responsible for grabbing. Meanwhile, the mechanical arm is provided with a depth camera, so that interaction with the environment is realized, and full-automatic operation is realized.

In one embodiment, a gravity center adjusting device 10 is also installed in the supporting structure, and the swinging plane of the swinging arm 122 of the eccentric gravity pendulum 12 of the gravity center adjusting device 10 is perpendicular to the bottom plate of the chassis body 20. Note that the "swing plane of the swing arm 122" is a plane through which the axis of the swing arm 122 passes during the swing. Specifically, when the robot moves smoothly, swing arm 122 of eccentric gravity pendulum 12 is perpendicular to base plate 22. Therefore, the gravity center adjusting device 10 in the supporting structure is matched with the gravity center adjusting device 10 of the robot chassis, the gravity center of the robot is adjusted in multiple directions, and the moving stability of the robot is effectively improved.

In one embodiment, the robot further comprises a tray mounted to the robot body. Therefore, the tray can provide a position for placing the dinner plate, and the robot can conveniently deliver the dinner plate.

Alternatively, the tray is made of high-strength engineering plastics or light alloy materials and is integrally formed through injection molding or die casting.

In the description of the present invention, it is to be understood that the terms "center of gravity," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientation or positional relationship as shown in the accompanying drawings, and are used merely for convenience of description and to simplify the description, but do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A center-of-gravity adjusting apparatus for mounting on a robot, comprising:

a drive mechanism; and

2. The apparatus of claim 1, wherein the driving mechanism comprises a speed reduction assembly and a driving motor, and the driving motor is connected to the eccentric gravity pendulum through the speed reduction assembly.

3. The apparatus of claim 2, wherein the deceleration assembly includes a timing belt, a first synchronizing wheel and a second synchronizing wheel, the first synchronizing wheel is mounted on the output shaft of the driving motor, the second synchronizing wheel is connected to the eccentric weight pendulum, and the timing belt is wound around the outer circumferential surfaces of the first synchronizing wheel and the second synchronizing wheel.

4. The center of gravity adjusting apparatus according to claim 3, wherein the second synchronizing wheel is provided with a mounting portion that rotates together with the second synchronizing wheel;

the gravity center adjusting device further comprises a bearing seat, a bearing cover and a bearing, wherein the bearing comprises a bearing inner ring and a bearing outer ring matched with the bearing inner ring, and the bearing inner ring is sleeved outside the mounting part and is respectively fixedly connected with the mounting part and the eccentric gravity pendulum; the bearing pedestal is provided with a fixing groove for installing the bearing outer ring, and the bearing cover covers the groove opening of the fixing groove and is used for fixing the bearing outer ring in the fixing groove.

5. The apparatus of any one of claims 1 to 4, wherein the eccentric weight pendulum comprises a weight block and a swing arm, the swing arm extends from the weight block toward the driving mechanism, and an end of the swing arm away from the weight block is connected to the driving mechanism.

6. A robot chassis is characterized by comprising a chassis body, a controller and a gravity center adjusting device arranged in the chassis body, wherein the gravity center adjusting device comprises a driving mechanism and an eccentric gravity pendulum, the eccentric gravity pendulum is connected with the driving mechanism, and the eccentric gravity pendulum can swing under the driving of the driving mechanism; the controller is in communication connection with the driving mechanism, and adjusts the swinging position of the eccentric gravity pendulum through the driving mechanism so as to adjust the gravity center of the robot chassis.

7. The robot chassis of claim 6, wherein the eccentric weight pendulum comprises a weight block and a swing arm, the swing arm extending from the weight block toward the drive mechanism, an end of the swing arm distal from the weight block being connected to the drive mechanism.

8. A robot chassis according to claim 7, wherein a base plate is provided within the chassis body, the centre of gravity adjustment means being mounted to the base plate.

9. A robot chassis according to claim 8, characterised in that the swing arm of the eccentric gravity pendulum is parallel to the base plate.

10. The robot chassis of claim 8, wherein the drive mechanism includes a speed reduction assembly and a drive motor, the drive motor being coupled to the eccentric gravity pendulum through the speed reduction assembly.

11. The robot chassis of claim 10, wherein the drive motor and the eccentric gravity pendulum are both disposed on the same side of the base plate, and the drive motor is fixed to the base plate; one side of the bottom plate, which deviates from the eccentric gravity pendulum, is provided with a mounting structure, and the speed reduction assembly is arranged in the mounting structure.

12. A robot comprising a support structure and a robot chassis according to any of claims 6 to 11, the support structure being mounted on the robot chassis;

the robot further comprises a sensor, wherein the sensor is arranged on the supporting structure and is used for acquiring load information and/or attitude information of the robot; the controller is in communication connection with the sensor, and the controller can calculate the current gravity center position of the robot according to the load information and/or the attitude information and adjust the swing position of the eccentric gravity pendulum according to the current gravity center position so as to adjust the gravity center of the robot.