CN210910089U - Robot balancing device and robot comprising same - Google Patents
Robot balancing device and robot comprising same Download PDFInfo
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- CN210910089U CN210910089U CN201920574747.6U CN201920574747U CN210910089U CN 210910089 U CN210910089 U CN 210910089U CN 201920574747 U CN201920574747 U CN 201920574747U CN 210910089 U CN210910089 U CN 210910089U
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Abstract
The utility model relates to the technical field of robot, a robot balancing unit and contain its robot is disclosed. This balancing unit of robot includes: the attitude sensor is used for detecting the attitude information of the robot in real time; the control unit is in communication connection with the attitude sensor and is used for generating a gravity center compensation instruction according to the attitude information; and the gravity center adjusting mechanism is connected with the control unit and is used for performing gravity center compensation on the robot according to the gravity center compensation command. The utility model discloses embodiment passes through the focus of dynamic adjustment robot, can be under the prerequisite that need not to increase robot chassis weight and size by a wide margin for the robot has better flexibility and stability.
Description
Technical Field
The utility model relates to a robotechnology field, in particular to balancing unit of robot and contain its robot.
Background
At present, robots are widely applied to occasions of life, work and the like, most of common security robots and welcome robots are wheel robots which move through wheels at the bottom. The robot is relatively high in gravity center and relatively poor in stability, and is easy to topple and fall under the conditions of sudden stop, turning, ascending, descending, obstacle passing and the like, so that the robot is possibly damaged, the safety risk is generated, and the like. At present, the stability of the robot is mainly improved in the mode of increasing the chassis of the robot or increasing the size of the chassis of the robot and the like.
The inventors found that at least the following problems exist in the related art:
the method comprises the following steps that (1) the stability improvement effect of the robot is limited by simply increasing the weight and the size of a chassis;
increasing the weight of the chassis can greatly increase the weight of the robot and reduce the flexibility of the robot movement;
thirdly, the weight of the chassis is increased, so that the power consumption is increased, the battery endurance time is reduced, and the working time of the robot is shortened;
and (IV) the size of the chassis is increased, so that the robot requires a larger activity space, the flexibility of the robot is reduced, and the applicable scene of the robot is unnecessarily limited.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a balancing unit of robot and contain its robot, through dynamic adjustment robot focus, can be under the prerequisite that need not to increase robot chassis weight and size by a wide margin for the robot has better flexibility and stability.
In order to solve the above technical problem, an embodiment of the present invention provides a robot balancing device, including: the attitude sensor is used for detecting the attitude information of the robot in real time; the control unit is in communication connection with the attitude sensor and is used for generating a gravity center compensation instruction according to the attitude information; and the gravity center adjusting mechanism is connected with the control unit and is used for performing gravity center compensation on the robot according to the gravity center compensation command.
The utility model discloses an embodiment still provides a robot, include: the robot balancing device comprises a shell and the robot balancing device, wherein the robot balancing device is arranged in the shell.
The utility model discloses embodiment is for prior art, because robot balancing unit includes attitude sensor, the control unit and focus adjustment mechanism, wherein, attitude sensor is used for the attitude information of real-time detection robot, and the control unit is used for generating the focus compensation instruction according to attitude information, and focus adjustment mechanism is used for carrying out the focus compensation to the robot according to the focus compensation instruction. Therefore, the gravity center of the robot can be dynamically compensated according to the motion posture of the robot, so that the robot keeps balance in various working conditions, and the robot is prevented from toppling or falling; in addition, the embodiment can avoid greatly increasing the weight or the size of the robot, so that the robot has better flexibility and applicability and longer working time.
As an embodiment, the center of gravity adjusting mechanism includes: the device comprises a bracket, two motors, two pull ropes and a balancing weight; the bracket is arranged on a shell of the robot; the two motors are both arranged on the bracket; the two motors are respectively connected with the balancing weight through the pull rope, and the motors are further connected with the control unit and used for adjusting the retracting length of the pull rope according to the gravity compensation instruction so as to change the position of the balancing weight in the robot to perform gravity compensation. The gravity center adjusting mechanism not only can meet the requirement of gravity center dynamic compensation, but also has simple structure and is easy to realize.
As an embodiment, the gravity center adjusting mechanism further comprises a hanging rod; the balancing weight is hung on the shell through the hanging rod. Therefore, the position of the balancing weight can be kept under the balance state of the robot, and the configuration block is prevented from swinging.
As an embodiment, the gravity center adjusting mechanism further comprises two motor bases, and the two motor bases and the bracket are of an integrally formed structure; the two motors are respectively arranged on the two motor bases.
As an embodiment, the distance between the two motor bases is the maximum distance between any two points on the bracket. Thereby can provide bigger activity space for the balancing weight, improve focus compensation ability.
As one example, the weight is spherical. Thereby facilitating the space design inside the robot.
As one embodiment, the attitude sensor is any one of: a gyroscope, an angular velocity sensor, or an acceleration sensor.
As an embodiment, the attitude sensor and the control unit are both provided on a main board of the robot.
Drawings
Fig. 1 is a schematic structural view of a robot balancing device according to a first embodiment of the present invention;
fig. 2 is a schematic structural view of a robot balancing device according to a second embodiment of the present invention;
fig. 3 is a schematic view of a gravity center balance state of the robot according to the embodiment of the present invention;
FIG. 4 is a schematic view of the center of gravity balance of the robot shown in FIG. 3 when tilted forward;
fig. 5 is a schematic view showing a state of a center of gravity balance when the robot shown in fig. 3 tilts backward.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the following will explain in detail each embodiment of the present invention with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that in various embodiments of the invention, numerous technical details are set forth in order to provide a better understanding of the present application. However, the technical solutions claimed in the claims of the present application can be implemented without these technical details and with various changes and modifications based on the following embodiments.
A first embodiment of the present invention relates to a robot balancing device suitable for a robot that is easy to topple over due to a high center of gravity, including but not limited to a wheeled robot. As shown in fig. 1, the robot balancing device of the present embodiment includes: an attitude sensor 10 for detecting attitude information of the robot in real time; a control unit 20 communicatively connected to the attitude sensor 10 for generating a center of gravity compensation command based on the attitude information; and a center of gravity adjusting mechanism 30 connected to the control unit 20 for performing center of gravity compensation on the robot according to the center of gravity compensation command. Therefore, the gravity center of the robot can be dynamically compensated according to the motion posture of the robot, so that the robot keeps balance in various working conditions, and the robot is prevented from toppling or falling.
Specifically, the attitude sensor 10 may employ a gyroscope, an angular velocity sensor, an acceleration sensor, or the like. The control unit 20 may be a separate processing unit. The center of gravity adjusting mechanism 30 may include: the balancing weight and the balancing weight driving mechanism are used for changing the position of the balancing weight in the robot. In practical applications, the attitude sensor 10 and the control unit 20 may be integrated on the main board of the robot. The control unit 20 may be connected to the center of gravity adjusting mechanism 30 via a cable. Attitude sensor 10 real-time detection robot's attitude information, control unit 20 calculates the real-time focus position of robot according to the real-time attitude information of robot, and reachs the real-time focus position of robot focus trend of change according to the real-time focus position of robot, thereby according to the focus trend of change generation focus compensation instruction of robot focus, and with focus compensation instruction transmission to focus adjustment mechanism 30, balancing weight actuating mechanism drives the balancing weight motion according to focus compensation instruction in order to change the position of balancing weight in the robot, and then the focus of dynamic adjustment robot, make the focus of robot keep balance. The manner in which the attitude sensor 10 collects the attitude information of the robot and the control unit 20 generates the gravity center compensation command according to the attitude information may be implemented by using known knowledge or technology, and will not be described herein again.
Compared with the prior art, the embodiment discards the scheme of increasing the chassis weight or the chassis size of the robot to improve the stability of the robot, the posture information of the robot is detected in real time through the posture sensor, the gravity center compensation instruction is generated according to the real-time posture information of the robot through the control unit, then the gravity center adjusting mechanism is controlled to dynamically compensate the gravity center of the robot, so that the robot has better stability, and the weight of the chassis of the robot and the chassis size of the robot are increased, the weight of the gravity center adjusting mechanism can be smaller, the space occupation can be smaller, the flexibility of the robot can be improved, the applicability and the working time of the robot can be prolonged, and the practical value of the robot is improved.
The utility model discloses a second embodiment relates to a balancing unit of robot. The second embodiment further provides an implementation manner of the gravity center adjusting mechanism on the basis of the first embodiment, which not only can meet the requirement of gravity center dynamic compensation, but also has a simple structure and is easy to implement.
The attitude sensor and the control unit of the present embodiment correspond to those of the first embodiment, and are not described herein again. As shown in fig. 2, the center of gravity adjusting mechanism of the robot balancing device of the present embodiment specifically includes: bracket 31, two motors 32, two pull ropes 33 and a counterweight 34. Wherein, support 31 sets up on the casing 11 of robot, and two motors 32 all set up on support 11, and two motors 32 are connected with balancing weight 34 through a stay cord 33 respectively. Specifically, one end of the pulling rope 33 may be fixed to the rotating shaft of the motor 32, and the other end may be fixed to the weight 34. The motor 32 is operable to take up the length of the pull cord and when the pull cord is tightened, the weight 34 moves toward the motor 32. The pulling rope 33 may be a pulling rope having a large tensile force and a small elasticity, such as a nylon pulling rope or a metal pulling rope. The motor 32 is also connected to a control unit (not shown) and is used for adjusting the length of the pull rope 33 according to the gravity compensation command to change the position of the counterweight block 34 inside the robot for gravity compensation. Specifically, when the motor 32 receives the gravity compensation command sent by the control unit, the two motors 32 work synchronously, one motor 32 tensions the pull rope 33, and the other motor 32 releases the pull rope 33, so that the pull rope 33 pulls the counterweight block 34 to move to a certain position. The position of the balancing weight 34 is controlled by the retracting length of the pull rope 33, so that the gravity center of the robot can be adjusted by means of the position change of the balancing weight 34, the dynamic compensation of the gravity center of the robot is realized, the robot keeps the gravity center balance, the stability of the robot during movement is ensured, and the toppling is prevented.
In practical applications, the gravity center adjusting mechanism may further include a hanging rod 35, and the weight block 34 is hung on the robot housing 11 through the hanging rod 35. Thus, the counterweight 34 can be reliably positioned in the robot shell when the gravity center of the robot is balanced by the hanging rod 35 and the two pull ropes 33. However, the weight 34 may be disposed on a support plate or a rail, so as to position the weight 34.
In one example, the gravity center adjusting mechanism further includes two motor bases 36, the two motor bases 36 and the bracket 11 are integrally formed, and the two motors 32 are respectively mounted on the two motor bases 36. It is worth mentioning that the distance between the two motor mounts 36 may be the maximum distance between any two points on the bracket 11. For example, when the support is circular, the connection line of the two motor bases 36 can be on the diameter of the circular support, so that a larger moving space can be provided for the counterweight block 34, and the gravity center compensation capability is improved. The shape of the holder 11 is not particularly limited in the present embodiment.
In practical applications, the weight block 34 may be spherical, which is beneficial to the design of the inner space of the robot. However, the weight 34 may take other suitable shapes.
Compared with the prior art, the embodiment discards the scheme of increasing the chassis weight or the chassis size of the robot to improve the stability of the robot, the posture information of the robot is detected in real time through the posture sensor, the gravity center compensation instruction is generated according to the real-time posture information of the robot through the control unit, then the gravity center adjusting mechanism is controlled to dynamically compensate the gravity center of the robot, so that the robot has better stability, and the weight of the chassis of the robot and the chassis size of the robot are increased, the weight of the gravity center adjusting mechanism can be smaller, the space occupation can be smaller, the flexibility of the robot can be improved, the applicability and the working time of the robot can be prolonged, and the practical value of the robot is improved. In addition, in the embodiment, the gravity center adjusting mechanism not only can meet the requirement of gravity center dynamic compensation, but also has a simple structure and is easy to realize.
The third embodiment of the present invention relates to a robot, which includes a housing and a robot balancing device, wherein the robot balancing device may be the first or the second embodiment. Wherein, the robot balancing unit is arranged in the shell. The robot balancing device can be arranged as close to the bottom of the robot as possible, since the lower the center of gravity the more stable it is.
The following describes a process of compensating the center of gravity of the robot. Referring to fig. 3, in the balanced state of the robot 1, the center of gravity is at the middle position, and the counterweight 34, such as a counterweight hammer, is also at the middle position; referring to fig. 4, in a state that the robot is inclined forwards, the center of gravity of the robot moves forwards, and the counterweight hammer is pulled to a rear position by the pull rope, so that the center of gravity of the robot is balanced again; referring to fig. 5, when the robot tilts backward, the center of gravity of the robot moves backward, and the counterweight hammer is pulled to the front position by the pull rope, so that the center of gravity of the whole robot is balanced again.
Compared with the prior art, the embodiment discards the scheme of increasing the chassis weight or the chassis size of the robot to improve the stability of the robot, the posture information of the robot is detected in real time through the posture sensor, the gravity center compensation instruction is generated according to the real-time posture information of the robot through the control unit, then the gravity center adjusting mechanism is controlled to dynamically compensate the gravity center of the robot, so that the robot has better stability, and the weight of the chassis of the robot and the chassis size of the robot are increased, the weight of the gravity center adjusting mechanism can be smaller, the space occupation can be smaller, the flexibility of the robot can be improved, the applicability and the working time of the robot can be prolonged, and the practical value of the robot is improved. In addition, in the embodiment, the gravity center adjusting mechanism not only can meet the requirement of gravity center dynamic compensation, but also has a simple structure and is easy to realize.
It will be understood by those skilled in the art that the foregoing embodiments are specific examples of the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in its practical application.
Claims (8)
1. A robot balancing apparatus, comprising:
the attitude sensor is used for detecting the attitude information of the robot in real time;
the control unit is in communication connection with the attitude sensor and is used for generating a gravity center compensation instruction according to the attitude information;
the gravity center adjusting mechanism is connected with the control unit and is used for performing gravity center compensation on the robot according to the gravity center compensation command;
the center of gravity adjustment mechanism includes: the device comprises a bracket, two motors, two pull ropes, a balancing weight and a hanging rod;
the bracket is arranged on a shell of the robot;
the two motors are both arranged on the bracket;
the balancing weight is hung on the shell through the hanging rod;
the two motors are respectively connected with the balancing weight through the pull rope, and the motors are further connected with the control unit and used for adjusting the retracting length of the pull rope according to the gravity compensation instruction so as to change the position of the balancing weight in the robot to perform gravity compensation.
2. The robot balancing device of claim 1, wherein the center of gravity adjustment mechanism further comprises two motor mounts, the two motor mounts being integrally formed with the bracket;
the two motors are respectively arranged on the two motor bases.
3. The robotic balancing device of claim 2, wherein the distance between the two motor mounts is a maximum distance between any two points on the support.
4. The robotic balancing device of claim 1, wherein the clump weight is spherical.
5. The robot balancing device of claim 1, wherein the attitude sensor is any one of: a gyroscope, an angular velocity sensor, or an acceleration sensor.
6. The robot balancing device of claim 1, wherein the attitude sensor and the control unit are provided to a main board of the robot.
7. A robot, comprising: a housing and a robot balancing device according to any one of claims 1 to 6, disposed within the housing.
8. A robot as claimed in claim 7, characterized in that the robot is a wheeled robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920574747.6U CN210910089U (en) | 2019-04-24 | 2019-04-24 | Robot balancing device and robot comprising same |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920574747.6U CN210910089U (en) | 2019-04-24 | 2019-04-24 | Robot balancing device and robot comprising same |
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| CN210910089U true CN210910089U (en) | 2020-07-03 |
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| CN201920574747.6U Active CN210910089U (en) | 2019-04-24 | 2019-04-24 | Robot balancing device and robot comprising same |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111941434A (en) * | 2020-08-11 | 2020-11-17 | 行星算力(深圳)科技有限公司 | Multifunctional wheel type carrying robot |
| CN113103280A (en) * | 2021-03-25 | 2021-07-13 | 复旦大学 | Robot attitude stabilizer using parallel mechanism |
| CN113878614A (en) * | 2021-09-27 | 2022-01-04 | 山东新一代信息产业技术研究院有限公司 | Method and system for increasing gravity center balance of outdoor inspection robot |
| CN114633943A (en) * | 2022-02-17 | 2022-06-17 | 徐州华飞交通设备制造有限公司 | Transportation auxiliary assembly based on transportation equipment |
-
2019
- 2019-04-24 CN CN201920574747.6U patent/CN210910089U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111941434A (en) * | 2020-08-11 | 2020-11-17 | 行星算力(深圳)科技有限公司 | Multifunctional wheel type carrying robot |
| CN111941434B (en) * | 2020-08-11 | 2023-12-05 | 行星算力(深圳)科技有限公司 | Multifunctional wheel type carrying robot |
| CN113103280A (en) * | 2021-03-25 | 2021-07-13 | 复旦大学 | Robot attitude stabilizer using parallel mechanism |
| CN113878614A (en) * | 2021-09-27 | 2022-01-04 | 山东新一代信息产业技术研究院有限公司 | Method and system for increasing gravity center balance of outdoor inspection robot |
| CN113878614B (en) * | 2021-09-27 | 2024-05-24 | 山东新一代信息产业技术研究院有限公司 | Method and system for increasing center of gravity balance of outdoor inspection robot |
| CN114633943A (en) * | 2022-02-17 | 2022-06-17 | 徐州华飞交通设备制造有限公司 | Transportation auxiliary assembly based on transportation equipment |
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