CN108927789A - A kind of robot base support device - Google Patents

Abstract

The invention discloses a kind of robot base support devices, robot base support device of the invention, it can be very good that robot thereon is kept to be in equilibrium state, prevent robot from toppling, improve robot monitoring, the performances such as rescue, it cooperates running gear to have preferable state, it uses gyroscope to be controlled, and complex equilibrium adjusts component and elastic connecting component is adjusted, accommodation accuracy is high, it is easy to adjust, by the way that elastic connecting component is arranged, it can to adjust more flexible, the very soft balance to robot is corrected, guarantee to adjust stationarity, balance adjustment component flexible adjustment of the invention, the stability and flexibility of robot support is effectively ensured, in order to which robot adapts to various adverse circumstances.

Description

A robot base support device

technical field

The invention relates to a robot base support device, which belongs to the technical field of robot equipment.

Background technique

At present, with the continuous development of intelligent manufacturing technology, the application of robots is becoming more and more extensive. Among them, one of the important uses of robots is rescue and exploration in harsh environments. For robots, the walking status of robots and their Important, especially in the case of harsh terrain, the robot only relies on crawler tracks, walking wheels and other structures. In harsh terrain, it is easy to have problems such as tilting and tilting of the robot. Therefore, how to improve the stability of the robot and the environment Walking adaptability plays an important role in the application of robots.

Aiming at the above problems, the present invention provides a robot base support device to improve the stability and self-adaptive performance of the robot.

Contents of the invention

In order to achieve the above object, the present invention provides the following technical solutions: a robot base support device, which includes a mounting chassis, a rotating support assembly, a balance adjustment assembly, an elastic support assembly, a balance plate, a gyroscope, a robot installation connection assembly and a controller, It is characterized in that the bottom of the installation chassis is connected with the walking assembly of the robot, and the center of the upper end of the installation chassis is connected with the balance plate by the rotating support assembly, and the balance plate can be rotated in the Under the rotation of the support assembly, it rotates relative to the central vertical line of the installation chassis; the bottom circumference array of the balance plate is provided with a plurality of elastic support assemblies, and the upper end surface of the installation chassis is set corresponding to the position of the elastic support assembly There are a plurality of balance adjustment assemblies arranged in a circular array; the lower end of the elastic support assembly is connected to the upper end of the balance adjustment assembly; the center bottom of the balance plate is installed with a gyroscope using a gyroscope mounting sleeve, and the The gyroscope and the balance adjustment assembly are all connected to the controller; the controller makes the balance plate keep parallel to the horizontal plane as much as possible through the gyroscope and the balance adjustment assembly, so that the robot can The horizontal direction is always in balance.

Further, preferably, the rotating support assembly includes a lower bracket, a lower supporting ball seat, a wear-resistant convex ball cap, a wear-resistant concave ball cap, an upper supporting ball seat and an upper bracket, and the lower bracket is fixedly arranged on the installation chassis center, the top of the lower bracket is fixedly connected with the lower support ball seat, the top convex ball seat of the lower support ball seat is fixedly connected with the wear-resistant convex ball cap, and the center bottom of the balance plate An upper bracket is connected, the bottom of the upper bracket is connected to the upper supporting ball seat, the concave ball seat at the bottom of the upper supporting ball seat is fixedly connected with the wear-resistant concave ball cap, and the wear-resistant concave ball The ball cap and the wear-resistant convex ball cap are rotatably supported.

Further, preferably, the elastic support assembly includes a telescopic adjustment member, an upper connection support, an upper connection flange, a lower connection flange, an elastic rod frame and a lower connection support, and the bottom of the balance plate is adjusted through the telescopic The parts are connected with an upper connection support, and the bottom of the upper connection support is provided with a plurality of elastic rods in a circumferential array. The lower end of the elastic rods is connected to the upper connection flange, and the upper connection flange is connected The lower connecting flanges are connected together, and the bottom of the lower connecting flange is also provided with a plurality of elastic rod frames in a circumferential array, and the lower end of the elastic rod frame located below is connected to the lower connecting support .

Further, preferably, the elastic frame rod is an arc-shaped elastic rod structure.

Further, as a preference, the bottom connection of the lower connection support is provided with a balance adjustment fixture, the balance adjustment assembly includes an angle adjustment drive assembly, a balance adjustment rod and a balance slide seat, and the upper end surface of the installation chassis is provided with a With a plurality of balance chute extending radially, the balance slide seat guides and slides in the balance chute, the balance slider and the balance adjustment rod are rotatably hinged, and the top of the balance adjustment rod It is connected with the output end of the angle adjustment driving assembly, and the angle adjustment driving assembly is fixedly arranged on the balance adjustment fixing frame by using a seat cover.

Further, as a preference, the angle adjustment drive assembly includes an outer cylindrical seat, an inner cylindrical seat, an inner slide rail, an inner sliding sleeve, an intermediate gear one, an intermediate gear two, a balance driving gear and a guide sliding sleeve, and the outer cylindrical seat is fixed Set on the seat cover, the outer cylindrical seat is a through-hole structure, and the two ends of the outer cylindrical seat are fixedly connected with end caps, the outer cylindrical seat is arranged on the inner cylindrical seat, and the inner cylindrical seat The two ends of the seat are positioned and fixed on the end cover, a circular guide cavity groove is formed between the outer cylindrical seat and the inner cylindrical seat, the guide sliding sleeve is fixed on the output shaft, and the The guide sliding sleeve guides and slides in the groove of the guide cavity, and the inner slide rail is coaxially arranged in the inner cylindrical seat, and the inner slide rail is fixed on the end cover, and the rotatable inner slide rail is The inner sliding sleeve is sleeved, the output shaft is fixed on the inner sliding sleeve, and the output shaft protrudes along the radial direction of the outer cylindrical seat, and the inner sliding sleeve is rotatable , and the inner ring wall of the inner sliding sleeve is provided with teeth, and the inner side of the inner sliding sleeve is provided with the first intermediate gear, the second intermediate gear and the balance drive gear that mesh with the teeth on the inner side of the sleeve, and the balance drive gear and The stepping motor drives the rotation, and the balance drive gear drives the inner sliding sleeve to rotate, thereby realizing the drive to rotate the balance adjustment rod.

Further, preferably, the robot mounting connection assembly includes a robot bracket and a robot mounting base, the robot bracket is connected and fixed on the balance plate, the robot mounting base is connected to the robot bracket, and the robot body is supported and connected to on the robot mount.

Further, as a preference, the telescopic adjustment member adopts a telescopic rod and a telescopic cylinder for adjustment and cooperation.

Further, preferably, a locking assembly is provided on the inner teeth of the inner sliding sleeve, and the locking assembly is fixed on the end cover.

Compared with prior art, the beneficial effect of the present invention is:

The robot base support device of the present invention can well keep the robot on it in a balanced state, prevent the robot from overturning, and improve the performance of robot monitoring and rescue. It has a better state with the walking device, and it is controlled by a gyroscope. It is adjusted with the balance adjustment component and the elastic connection component. The adjustment accuracy is high and the adjustment is convenient. By setting the elastic connection component, the adjustment can be made more flexible, and the balance of the robot can be corrected very softly to ensure the stability of the adjustment. The invented balance adjustment component can be adjusted flexibly, effectively ensuring the stability and flexibility of the robot support, so that the robot can adapt to various harsh environments.

Description of drawings

Fig. 1 is the structural representation of a kind of robot base supporting device of the present invention;

Fig. 2 is a structural schematic diagram of a balance adjustment assembly of a robot base support device of the present invention;

Fig. 3 is a structural schematic diagram of an elastic connection assembly of a robot base support device of the present invention;

Among them, 1. Installation chassis, 2. Lower bracket, 3. Lower supporting ball seat, 4. Wear-resistant convex ball cap, 5. Wear-resistant concave ball cap, 6. Upper supporting ball seat, 7. Upper bracket, 8. Gyro Instrument installation sleeve, 9, gyroscope, 10, balance plate, 11, telescopic adjustment piece, 12, upper connection support, 13, upper connection flange, 14, lower connection flange, 15, elastic rod frame, 16, lower Connecting support, 17, balance adjustment fixed frame, 18, balance adjustment assembly, 19, balance adjustment rod, 20, balance slide seat, 21, robot bracket, 22, robot mounting seat, 23, outer cylinder seat, 24, inner cylinder Seat, 25, seat cover, 26, inner slide rail, 27, inner sliding sleeve, 28, intermediate gear one, 29, intermediate gear two, 30, balance driving gear, 31, locking assembly, 32, guide sliding sleeve.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Please refer to Figures 1-3, the present invention provides a technical solution: a robot base support device, which includes a mounting chassis 1, a rotating support assembly, a balance adjustment assembly 18, an elastic support assembly, a balance plate 10, a gyroscope 9, a robot Install the connection assembly and the controller, and it is characterized in that the bottom of the installation chassis 1 is connected with the walking assembly of the robot, and the upper center of the installation chassis 1 is connected with the balance plate 10 by using the rotating support assembly , the balance plate 10 can rotate relative to the central vertical line of the installation chassis under the rotation of the rotation support assembly; the bottom circumference array of the balance plate 10 is provided with a plurality of elastic support assemblies, and the installation chassis The upper end surface of 1 is provided with a plurality of balance adjustment assemblies 18 arranged in a circumferential array corresponding to the position of the elastic support assembly; the lower end of the elastic support assembly is connected with the upper end of the balance adjustment assembly 18; the balance plate 10 The center bottom of the center adopts the gyroscope mounting sleeve 8 to be installed with a gyroscope 9, and the gyroscope 9 and the balance adjustment assembly are all connected to the controller; the controller makes the gyroscope and the balance adjustment assembly The balance plate is always kept parallel to the horizontal plane as much as possible, so that the robot is always in a balanced state in the direction of the horizontal plane.

In this embodiment, the rotating support assembly includes a lower bracket 2, a lower supporting ball seat 3, a wear-resistant convex ball cap 4, a wear-resistant concave ball cap 5, an upper supporting ball seat 6 and an upper bracket 7, the lower bracket 2 fixedly arranged at the center of the installation chassis 1, the top of the lower bracket 2 is fixedly connected with the lower support ball seat 3, and the top convex ball seat of the lower support ball seat 3 is fixedly connected with the resistant Grinding the convex ball cap 4, the center bottom of the balance plate 10 is connected with an upper bracket 7, the bottom of the upper bracket is connected to the upper support ball seat 6, and the concave ball seat at the bottom of the upper support ball seat 6 The wear-resistant concave ball cap 5 is fixedly connected, and the wear-resistant concave ball cap 5 and the wear-resistant convex ball cap 4 are rotatably supported.

The elastic support assembly includes a telescopic adjustment member 11, an upper connection support 12, an upper connection flange 13, a lower connection flange 14, an elastic rod frame 15 and a lower connection support 16, and the bottom of the balance plate 10 passes through the The telescoping adjuster is connected with an upper connecting support 12, and the bottom circumferential array of the upper connecting support 12 is provided with a plurality of elastic rod frames 15, and the lower end of the elastic rod frame is connected and arranged on the upper connecting flange 13, so that The upper connecting flange 13 is connected with the lower connecting flange 14, and the bottom of the lower connecting flange is also provided with a plurality of elastic rod frames 15 in a circumferential array, and the lower end of the elastic rod frame located below is Connected to the lower connecting support 16. As a more preferred embodiment, the elastic frame rod is an arc-shaped elastic rod structure.

Wherein, the bottom of the lower connection support is connected with a balance adjustment fixture 17, the balance adjustment assembly includes an angle adjustment drive assembly, a balance adjustment rod 19 and a balance slide 20, and the upper end surface of the installation chassis 10 is provided with A plurality of balance chute extending radially along it, the balance slide seat 20 guides and slides in the balance chute, the balance slide block and the balance adjustment rod 19 are rotatably hingedly arranged, the balance adjustment The top of the rod 19 is connected to the output end of the angle adjustment drive assembly, and the angle adjustment drive assembly is fixedly arranged on the balance adjustment fixing frame 17 by using a seat cover.

As shown in Figure 2, the angle adjustment drive assembly includes an outer cylindrical seat 23, an inner cylindrical seat 24, an inner slide rail 26, an inner sliding sleeve 27, an intermediate gear 1 28, an intermediate gear 2 29, a balance drive gear 30 and a guide sliding sleeve 32 , the outer cylindrical seat 23 is fixedly arranged on the seat cover, the outer cylindrical seat 23 is a through-hole structure, and the two ends of the outer cylindrical seat are fixedly connected with end caps (not shown in the figure), the outer cylindrical seat The cylindrical seat is arranged on the inner cylindrical seat 24, the two ends of the inner cylindrical seat 24 are positioned and fixed on the end cover, and the outer cylindrical seat and the inner cylindrical seat are configured as circular Guide cavity groove, the guide sliding sleeve 32 is fixed on the output shaft, and the guide sliding sleeve 32 guides and slides in the guide cavity groove, and the inner slide rail 26 is coaxially arranged in the inner cylindrical seat , the inner sliding rail 26 is fixed on the end cover, the inner sliding sleeve 27 is rotatably sleeved on the inner sliding rail 26, the output shaft is fixed on the inner sliding sleeve, and the output The shaft protrudes along the radial direction of the outer cylindrical seat, the inner sliding sleeve 27 is rotatable, and the inner ring wall of the inner sliding sleeve 27 is provided with teeth, and the inner side of the inner sliding sleeve is provided with The intermediate gear 1 28, intermediate gear 2 29 and balance drive gear 30 matched with the tooth meshing transmission on it, the balance drive gear and the stepper motor are driven to rotate, and the balance drive gear drives the inner sliding sleeve to rotate, thereby realizing The drive for the rotation of the balance adjustment lever.

In addition, the robot mounting connection assembly includes a robot bracket 21 and a robot mounting base 22, the robot bracket 21 is connected and fixed on the balance plate 10, the robot mounting base is connected to the robot bracket, and the robot body supports and connects on the robot mount. The telescopic adjusting member adopts a telescopic rod and a telescopic cylinder for adjustment and cooperation. The inner teeth of the inner sliding sleeve are also equipped with a locking assembly, and the locking assembly is fixed on the end cover.

The robot base support device of the present invention can well keep the robot on it in a balanced state, prevent the robot from overturning, and improve the performance of robot monitoring and rescue. It has a better state with the walking device, and it is controlled by a gyroscope. It is adjusted with the balance adjustment component and the elastic connection component. The adjustment accuracy is high and the adjustment is convenient. By setting the elastic connection component, the adjustment can be made more flexible, and the balance of the robot can be corrected very softly to ensure the stability of the adjustment. The invented balance adjustment component can be adjusted flexibly, effectively ensuring the stability and flexibility of the robot support, so that the robot can adapt to various harsh environments.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.

Claims (9)

1. a kind of robot base support device comprising installation chassis, rotational support component, balance adjustment component, elasticity branch Support component, balancing frame, gyroscope, robot installation connection component and controller, which is characterized in that the bottom of the installation chassis Link together with the walking component of robot, the upper end center of the installation chassis using the rotational support component with it is described Balancing frame links together, and the balancing frame can be under the rotation of the rotational support component relative to the installation chassis Central vertical line rotation；The lower circumference array of the balancing frame is provided with multiple resilient support assemblies, the installation chassis The position of the corresponding resilient support assemblies in upper surface is provided with the balance adjustment component of multiple circumference array arrangements；The bullet The lower end of property support component and the upper end of the balance adjustment component link together；The centre bottom of the balancing frame uses top Spiral shell instrument installation set installation settings has gyroscope, and the gyroscope and the balance adjustment component are connect with the controller；Institute It states controller and by gyroscope and the balance adjustment component most remain to greatest extent of the balancing frame is parallel to The state of horizontal plane, to make robot remain equilibrium state in horizontal plane direction.

2. a kind of robot base support device according to claim 1, it is characterised in that: the rotational support component packet Lower bracket, lower support ball seat, abrasion resistant convex ball cap, wear-resisting recessed ball cap, upper support ball seat and upper bracket are included, the lower bracket fixation is set It sets to be fixedly connected at the top of the center of the installation chassis, the lower bracket and is provided with the lower support ball seat, the lower branch It supports and is fixedly connected with the abrasion resistant convex ball cap on the convex ball seat in top of ball seat, the centre bottom of the balancing frame is connected with Bracket, the bottom of the upper bracket connect the upper support ball seat, fixed company on the recessed ball seat of the bottom of the upper support ball seat It connects and is provided with the wear-resisting recessed ball cap, the wear-resisting recessed ball cap and the abrasion resistant convex ball cap are that rotatable support is arranged.

3. a kind of robot base support device according to claim 2, it is characterised in that: the resilient support assemblies packet Include telescopic adjustment part, upper connecting support, upper connecting flange, lower connecting flange, elastic bridge and lower connecting support, the balancing frame Bottom upper connecting support is connected with by the telescopic adjustment part, the lower circumference array setting of the upper connecting support Have multiple elastic bridges, the lower end connection of the elasticity bridge is arranged on upper connecting flange, the upper connecting flange with it is described Lower connecting flange links together, and also circumference array is provided with multiple elastic bridges, position for the bottom of the lower connecting flange It is connected in the lower connecting support in the lower end of the elastic bridge of lower section.

4. a kind of robot base support device according to claim 3, it is characterised in that: the elasticity hack lever is arc Elastic rod structure.

5. a kind of robot base support device according to claim 3, it is characterised in that: the bottom of the lower connecting support Portion is connected with balance adjustment fixed frame, the balance adjustment component include angular adjustment driving assembly, balance adjustment bar and Slide is balanced, the upper surface of the installation chassis is provided with the multiple balance sliding slots radially extended along it, the balance slide Sliding is oriented in the balance sliding slot, the balance slide block and the balance adjustment bar can be rotated hinged setting, the balance The top of adjusting rod is connect with the output end of the angular adjustment driving assembly, and the angular adjustment driving assembly is solid using cover for seat It is fixed to be arranged on the balance adjustment fixed frame.

6. a kind of robot base support device according to claim 5, it is characterised in that: the angular adjustment driving group Part includes outer circle column base, interior cylindrical seat, interior sliding rail, inner sliding sleeve, intermediate gear one, intermediate gear two, balancer driven gear and leads To sliding sleeve, the outer circle column base is fixed in cover for seat, and the outer circle column base is through-hole structure, and the two of the outer circle column base End is fixedly connected with end cap, passes through setting in the outer circle column base in the interior cylindrical seat, the both ends of the interior cylindrical seat position It is fixed on the end cap, structure is set as circular guiding cavity groove, the guiding between the outer circle column base and the interior cylindrical seat Sliding sleeve is fixed on output shaft, and the guide sleeve is oriented to sliding in the guiding cavity groove, goes back in the interior cylindrical seat same Axis is provided with the interior sliding rail, and the interior sliding rail is fixed on end cap, and the interior cunning is rotatably arranged on the interior sliding rail Set, the output shaft are fixed on the inner sliding sleeve, and the output shaft is stretched out along the radial direction of the outer circle column base, institute Stating inner sliding sleeve is rotatably setting, and be arranged on the internal ring wall of the inner sliding sleeve it is with teeth, be provided on the inside of the inner sliding sleeve and its On tooth engagement transmission cooperation intermediate gear one, intermediate gear two and balancer driven gear, the balancer driven gear and step It is rotated into motor driven, the balancer driven gear drives the inner sliding sleeve rotation, and then realizes and turn to the balance adjustment bar Dynamic driving.

7. a kind of robot base support device according to claim 3, it is characterised in that: the robot installation connection Component includes robot bracket and robot mounting base, and the robot bracket is fastened on the balancing frame, the machine Device people's mounting base is connected on the robot bracket, and robot body support is connected in the robot mounting base.

8. a kind of robot base support device according to claim 3, it is characterised in that: the telescopic adjustment part uses Cooperation is adjusted in telescopic rod and retracting cylinder.

9. a kind of robot base support device according to claim 6, it is characterised in that: on the internal tooth of the inner sliding sleeve It is also equipped with latch assembly, the latch assembly is fixed on end cap.