CN219257541U - Gravity-center-adjustable robot chassis - Google Patents

Abstract

The utility model relates to the technical field of automatic control of robots and discloses a gravity center adjustable robot chassis, which comprises a fixed plate, wherein the top of the fixed plate is fixedly connected with a hopper, the bottom of the fixed plate is fixedly connected with a supporting leg, the bottom of the supporting leg is fixedly connected with a universal wheel, the bottom of the fixed plate is provided with an adjusting mechanism, and a detaching mechanism is arranged in the adjusting mechanism. This robot chassis with adjustable focus, through the adjustment mechanism who sets up, the staff only needs to start biax motor and drives worm pivot and carry out the rotation of positive and negative two directions, can drive to place the case and control the removal of two directions in the fixed plate bottom, make the balancing weight that sets up in placing the incasement follow and place the case and remove can accomplish the regulation work to this chassis focus, easy operation is convenient for the staff to use, the travel range of balancing weight is restricted in the fixed plate bottom, make this chassis can not make this chassis lead to turning on one's side because of the focus skew is too much when carrying out the displacement.

Description

Gravity-center-adjustable robot chassis

Technical Field

The utility model relates to the technical field of automatic control of robots, in particular to a gravity center adjustable robot chassis.

Background

In recent years, service robots are increasingly developed and used, and the product requirements of the service robots are also increasing. At present, the service robots commonly found in the market mainly can realize functions of autonomous cruising, man-machine interaction, bill printing and the like. The autonomous cruising function of the robot is the basis for the product to realize various accessory functions. The service robot is mostly divided into a chassis and an upper body. The key to determining autonomous cruise performance is the robot chassis part. At present, most robot chassis can realize functions such as autonomous path planning, autonomous obstacle avoidance, autonomous charging and the like, and can realize flexible steering and autonomous operation.

A center-of-gravity adjustable robot chassis (grant bulletin number: CN112977646A; application number: 201911283267.5) is disclosed in the national patent network, according to the description in the above application: however, the traditional chassis can only realize functions such as driving and steering, the chassis structure is always fixed, and most of the robot chassis and the upper body are rigidly connected, so that the position of the upper body relative to the chassis cannot be adjusted, and the center of gravity of the robot cannot be adjusted. Because the service robot can be developed secondarily according to different use requirements, the gravity center is changed. Service robots tend to have a high center of gravity and are more sensitive to center of gravity changes when the robot is in operation. When the robot runs on bumpy road or the gravity center of the robot is changed due to secondary development of the robot, the running stability of the robot is seriously affected, and the robot is liable to topple over during serious conditions. Adjusting the center of gravity by a counterweight in turn causes the robot to increase in weight. In addition, the conventional gravity center changing mode is mostly a simulation design, a gravity center position is calculated or a counterweight is added to realize the balance gravity center. This approach tends to be subject to errors that adversely affect the final implementation. The gravity center adjusting device in the above application accomplishes the gravity center adjusting work of the robot chassis by moving the chassis moving platform 4 'left and right above the chassis fixed platform 2', when the chassis moving platform 4 'moves to one side to a limit distance, the contact between the chassis moving platform 4' and the chassis fixed platform 2 'is reduced, and the protrusion of the chassis moving platform 4' increases the possibility of rollover of the robot during running.

Disclosure of Invention

The utility model aims to provide a gravity center adjustable robot chassis to solve the problems in the background technology.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a robot chassis with adjustable focus, includes the fixed plate, fixed plate top fixedly connected with car hopper, fixed plate bottom fixedly connected with landing leg, landing leg bottom fixedly connected with universal wheel, the fixed plate bottom is provided with adjustment mechanism, be provided with disassembly body in the adjustment mechanism.

The adjusting mechanism comprises a driving assembly, a transmission assembly, a supporting assembly and a moving assembly, wherein the driving assembly is arranged on the left side of the bottom of the fixed plate, the transmission assembly is arranged on the front side and the rear side of the bottom of the fixed plate, the supporting assembly is arranged on the left side and the right side of the transmission assembly, and the moving assembly is arranged on the inner side of the transmission assembly.

The dismounting mechanism comprises a counterweight component and a fixing component, wherein the counterweight component is arranged in the moving component, and the fixing component is arranged at the bottom of the moving component.

Preferably, the drive assembly includes biax motor, biax motor fixed connection is in fixed plate bottom left side, both sides fixedly connected with worm pivot around the biax motor, worm pivot outer lane is kept away from biax motor one side and is rotated and be connected with first support rotary drum, first support rotary drum top fixedly connected with first linking arm, first linking arm fixed connection is in the fixed plate bottom, and first support rotary drum is fixed in the fixed plate bottom through first linking arm and supports the worm pivot, has increased the stability when the worm pivot is rotatory.

Preferably, the drive assembly includes the threaded rod, the threaded rod sets up in front and back both sides worm pivot below, threaded rod left and right sides fixedly connected with spacing ring, spacing ring outside fixedly connected with dead lever, the left side dead lever outer lane fixedly connected with worm wheel, worm wheel engagement is in worm pivot outer lane bottom, and spacing ring fixedly connected with carries out spacingly to the screw thread section of thick bamboo in threaded rod left and right sides, makes the screw thread section of thick bamboo can not break away from the relation of connection with the screw thread pole when removing, has increased the stability of structure, and the screw thread pivot passes through the worm wheel and drives the threaded rod and rotate.

Preferably, the support assembly comprises a second support rotary drum, the second support rotary drum is rotationally connected to the outer ring of the fixing rod, the second support rotary drum is fixedly connected with a second connecting arm at the top of the second support rotary drum, the second connecting arm is fixedly connected to the bottom of the fixing plate, and the second support rotary drum is fixedly connected to the bottom of the fixing plate through the second connecting arm and supports the threaded rod through the fixing rod.

Preferably, the moving assembly comprises a threaded cylinder, the threaded cylinder is in threaded connection with the outer ring of the threaded rod, the connecting rod is fixedly connected with the inner side of the threaded cylinder, the placing box is fixedly connected with the inner side of the connecting rod, the reinforcing fins are fixedly connected with the outer side of the connecting rod and are fixedly connected with the front side and the rear side of the placing box, the threaded cylinder drives the placing box to move through the connecting rod, and the structural strength of the connecting rod is increased by the reinforcing fins.

Preferably, the counter weight subassembly includes the balancing weight, the balancing weight cup joints in placing the incasement, balancing weight right side fixedly connected with limiting plate is the limiting plate left side and places the laminating mutually on case right side, limiting plate right side fixedly connected with moving handle, and the staff drives the balancing weight through moving handle and removes the dismantlement and the installation work of accomplishing the balancing weight.

Preferably, the fixed subassembly includes a fixed spiral shell section of thick bamboo, a fixed spiral shell section of thick bamboo fixed connection is in placing case bottom right side, a fixed spiral shell section of thick bamboo inner circle threaded connection has positioning bolt, positioning bolt upwards passes to place the case joint in the balancing weight bottom, positioning bolt through with a fixed spiral shell section of thick bamboo threaded connection be fixed in place case bottom position joint in the balancing weight bottom accomplish the positioning work to the balancing weight.

Compared with the prior art, the utility model provides the gravity center adjustable robot chassis, which has the following beneficial effects:

1. this robot chassis with adjustable focus, through the adjustment mechanism who sets up, the staff only needs to start biax motor drive worm pivot and carry out the rotation of positive and negative two directions, can drive to place the case and control the removal of two directions in the fixed plate bottom, make the balancing weight that sets up in placing the incasement follow and place the case and remove can accomplish the regulation work to this chassis focus, easy operation is convenient for the staff use, simultaneously because this chassis is going on through the displacement of the balancing weight of bottom when carrying out centrobaric regulation, the car hopper at this chassis top can not change the positional relationship between with the fixed plate, and the range of motion of balancing weight is limited in the fixed plate bottom, make this chassis can not make this chassis lead to turning on one's side because of the focus skew is too much when carrying out the displacement, the stability of this chassis has been increased.

2. This robot chassis with adjustable focus through the disassembly body who sets up, positioning bolt is fixed in through with fixed spiral shell section of thick bamboo threaded connection and places the case bottom position joint and accomplish the location work to the balancing weight in balancing weight bottom, the staff only need rotatory positioning bolt when needs change the balancing weight dismantle and install it can accomplish the dismantlement and the installation work to the balancing weight, the detachable balancing weight makes the staff change the balancing weight as required, change the effect of this chassis when carrying out focus offset work through changing the balancing weight of different masses, the suitability of the device has been increased.

Drawings

For a clearer description of the technical solutions of the embodiments of the present utility model, the drawings that are needed in the description of the embodiments will be briefly described below, it will be apparent that the drawings in the description below are only some embodiments of the present utility model, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art:

FIG. 1 is a schematic front view of the present utility model;

FIG. 2 is a schematic view of the bottom structure of the fixing plate;

FIG. 3 is a schematic view of an adjusting mechanism;

FIG. 4 is a schematic view of a part of the structure of the adjusting mechanism;

FIG. 5 is a schematic view of a portion of a moving assembly;

fig. 6 is a sectional view showing the internal structure of the placement box.

In the figure: 1. an adjusting mechanism; 11. a drive assembly; 1101. a biaxial motor; 1102. a worm shaft; 1103. a first support drum; 1104. a first connecting arm; 12. a transmission assembly; 1201. a threaded rod; 1202. a limiting ring; 1203. a fixed rod; 1204. a worm wheel; 13. a support assembly; 1301. a second support drum; 1302. a second connecting arm; 14. a moving assembly; 1401. a thread cylinder; 1402. a connecting rod; 1403. placing a box; 1404. reinforcing the fins; 2. a dismounting mechanism; 21. a counterweight assembly; 2101. balancing weight; 2102. a limiting plate; 2103. moving the handle; 22. a fixing assembly; 2201. fixing the screw cylinder; 2202. positioning bolts; 3. a fixing plate; 4. a hopper; 5. a support leg; 6. and a universal wheel.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

The utility model provides a technical scheme that:

example 1

Referring to fig. 1 to 6, a gravity center adjustable robot chassis comprises a fixed plate 3, wherein the top of the fixed plate 3 is fixedly connected with a car hopper 4, the bottom of the fixed plate 3 is fixedly connected with a supporting leg 5, the bottom of the supporting leg 5 is fixedly connected with a universal wheel 6, the bottom of the fixed plate 3 is provided with an adjusting mechanism 1, and a dismounting mechanism 2 is arranged in the adjusting mechanism 1.

The adjusting mechanism 1 comprises a driving assembly 11, a transmission assembly 12, a supporting assembly 13 and a moving assembly 14, wherein the driving assembly 11 is arranged on the left side of the bottom of the fixed plate 3, the transmission assembly 12 is arranged on the front side and the rear side of the bottom of the fixed plate 3, the supporting assembly 13 is arranged on the left side and the right side of the transmission assembly 12, and the moving assembly 14 is arranged on the inner side of the transmission assembly 12.

The drive assembly 11 includes biax motor 1101, biax motor 1101 fixedly connected with worm pivot 1102 in the left side of fixed plate 3 bottom, biax motor 1101 front and back both sides fixedly connected with worm pivot 1102, the worm pivot 1102 outer lane is kept away from biax motor 1101 one side and is rotated and be connected with first support rotary drum 1103, first support rotary drum 1103 top fixedly connected with first linking arm 1104, first linking arm 1104 fixedly connected with fixed plate 3 bottom, drive assembly 12 includes threaded rod 1201, threaded rod 1201 sets up in front and back both sides worm pivot 1102 below, threaded rod 1201 both sides fixedly connected with spacing ring 1202, spacing ring 1202 outside fixedly connected with dead lever 1203, left side dead lever 1203 outer lane fixedly connected with worm wheel 1204, worm wheel 1204 meshes in worm pivot 1102 outer lane bottom, support assembly 13 includes second support rotary drum 1301, second support rotary drum 1301 outer lane is rotated and is connected with in dead lever 1203 outer lane, second support rotary drum 1301 top fixedly connected with second linking arm 1302, second linking arm 1302 fixedly connected with fixed plate 3 bottom, moving assembly 14 includes threaded rod 1401, threaded rod 1401 is connected with 1201 outer lane, threaded rod inside fixedly connected with connecting rod 1402, connecting rod 1402 is fixed connection with the fin is fixed connection is outside the fin is fixed connection is placed in the front of the both sides of the connecting rod 1403.

Further: the first support rotary drum 1103 is fixed in fixed plate 3 bottom through first linking arm 1104 and supports worm pivot 1102, stability when having increased worm pivot 1102 rotation, spacing ring 1202 fixed connection is spacing to screw thread section of thick bamboo 1401 in threaded rod 1201 left and right sides, make screw thread section of thick bamboo 1401 unable break away from the relation of connection with threaded rod 1201 when removing, structural stability has been increased, worm pivot 1102 drives threaded rod 1201 through worm wheel 1204 and rotates, the second support rotary drum 1301 supports threaded rod 1201 through second linking arm 1302 fixed connection in fixed plate 3 bottom through dead lever 1203, screw thread section of thick bamboo 1401 drives through connecting rod 1402 and places the case 1403 and remove, reinforcing fin 1404 has increased the structural strength of connecting rod 1402.

Example two

Referring to fig. 5 and 6, and further to the first embodiment, the dismounting mechanism 2 includes a weight assembly 21 and a fixed assembly 22, wherein the weight assembly 21 is disposed in the moving assembly 14, and the fixed assembly 22 is disposed at the bottom of the moving assembly 14.

The counter weight subassembly 21 includes balancing weight 2101, balancing weight 2101 cup joints in placing case 1403, balancing weight 2101 right side fixedly connected with limiting plate 2102, is that limiting plate 2102 left side is laminated mutually with placing case 1403 right side, limiting plate 2102 right side fixedly connected with moving handle 2103, and fixed subassembly 22 includes fixed spiral shell section of thick bamboo 2201, and fixed spiral shell section of thick bamboo 2201 fixedly connected with is placed case 1403 bottom right side, and fixed spiral shell section of thick bamboo 2201 inner circle threaded connection has positioning bolt 2202, and positioning bolt 2202 upwards passes to place case 1403 joint in balancing weight 2101 bottom.

Further: the staff drives balancing weight 2101 through moving handle 2103 and removes completion to balancing weight 2101's dismantlement and installation work, and positioning bolt 2202 is fixed in the location joint of placing case 1403 bottom position in balancing weight 2101 bottom through with fixed spiral shell section of thick bamboo 2201 screw connection and accomplishes the positioning work to balancing weight 2101.

In the actual operation process, when the gravity center of the chassis needs to be adjusted, firstly, a double-shaft motor 1101 is started, the double-shaft motor 1101 starts to drive a front worm shaft 1102 and a rear worm shaft 1102 to rotate, the front worm shaft 1102 and the rear worm shaft 1204 are driven to rotate, the front worm shaft 1204 and the rear worm shaft 1204 are driven to rotate, the front fixing rod 1203 and the rear fixing rod 1203 are driven to rotate through a limiting ring 1202, the front threaded rod 1201 and the rear threaded rod 1201 are driven to synchronously move left or right, the front threaded barrel 1401 and the rear threaded barrel 1401 are driven to move left and right through a connecting rod 1402, a placing box 1403 is driven to move left and right at the bottom of a fixing plate 3, the placing box 1403 moves to drive an internal balancing weight 2101 to move left and right, and the balancing weight 2101 moves left and right at the bottom of the fixing plate 3 to complete the movement of the gravity center of the chassis;

when the balancing weight 2101 needs to be disassembled, the positioning bolt 2202 is rotated firstly, the positioning bolt 2202 is rotated in the fixed screw barrel 2201 to move downwards to be separated from the connection relation with the balancing weight 2101, the limit of the balancing weight 2101 is released, at the moment, a worker can pull the balancing weight 2101 to the right through the moving handle 2103 to drive the balancing weight 2101 to separate from the connection relation with the placing box 1403 to complete the disassembly work of the balancing weight 2101, when the balancing weight 2101 needs to be installed, the balancing weight 2101 is placed in the placing box 1403 until the left side of the limiting plate 2102 is attached to the right side of the placing box 1403, and then the positioning bolt 2202 is rotatably installed in the fixed screw barrel 2201 to enable the positioning bolt 2202 to move upwards to be clamped in the bottom of the balancing weight 2101, and at the moment, the installation work of the balancing weight 2101 is completed.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

Claims (7)

1. The utility model provides a robot chassis with adjustable focus, includes fixed plate (3), its characterized in that: the vehicle body is characterized in that a hopper (4) is fixedly connected to the top of the fixed plate (3), a supporting leg (5) is fixedly connected to the bottom of the fixed plate (3), a universal wheel (6) is fixedly connected to the bottom of the supporting leg (5), an adjusting mechanism (1) is arranged at the bottom of the fixed plate (3), and a detaching mechanism (2) is arranged in the adjusting mechanism (1);

the adjusting mechanism (1) comprises a driving assembly (11), a transmission assembly (12), a supporting assembly (13) and a moving assembly (14), wherein the driving assembly (11) is arranged on the left side of the bottom of the fixed plate (3), the transmission assembly (12) is arranged on the front side and the rear side of the bottom of the fixed plate (3), the supporting assembly (13) is arranged on the left side and the right side of the transmission assembly (12), and the moving assembly (14) is arranged on the inner side of the transmission assembly (12);

the dismounting mechanism (2) comprises a counterweight component (21) and a fixing component (22), wherein the counterweight component (21) is arranged in the moving component (14), and the fixing component (22) is arranged at the bottom of the moving component (14).

2. The center of gravity adjustable robotic chassis of claim 1, wherein: the driving assembly (11) comprises a double-shaft motor (1101), the double-shaft motor (1101) is fixedly connected to the left side of the bottom of the fixed plate (3), worm shafts (1102) are fixedly connected to the front side and the rear side of the double-shaft motor (1101), one side of the outer ring of the worm shaft (1102) away from the double-shaft motor (1101) is rotationally connected with a first supporting rotary drum (1103), the top of the first supporting rotary drum (1103) is fixedly connected with a first connecting arm (1104), and the first connecting arm (1104) is fixedly connected to the bottom of the fixed plate (3).

3. The center of gravity adjustable robotic chassis of claim 1, wherein: the transmission assembly (12) comprises a threaded rod (1201), the threaded rod (1201) is arranged below the worm rotating shafts (1102) on the front side and the rear side, limiting rings (1202) are fixedly connected to the left side and the right side of the threaded rod (1201), fixing rods (1203) are fixedly connected to the outer sides of the limiting rings (1202), worm wheels (1204) are fixedly connected to the outer rings of the fixing rods (1203), and the worm wheels (1204) are meshed to the bottoms of the outer rings of the worm rotating shafts (1102).

4. The center of gravity adjustable robotic chassis of claim 1, wherein: the support assembly (13) comprises a second support rotary drum (1301), the second support rotary drum (1301) is rotationally connected to the outer ring of the fixing rod (1203), a second connecting arm (1302) is fixedly connected to the top of the second support rotary drum (1301), and the second connecting arm (1302) is fixedly connected to the bottom of the fixing plate (3).

5. The center of gravity adjustable robotic chassis of claim 1, wherein: the movable assembly (14) comprises a threaded cylinder (1401), the threaded cylinder (1401) is in threaded connection with an outer ring of a threaded rod (1201), a connecting rod (1402) is fixedly connected with the inner side of the threaded cylinder (1401), a placing box (1403) is fixedly connected with the inner side of the connecting rod (1402), reinforcing fins (1404) are fixedly connected with the front side and the rear side of the placing box (1403), and the reinforcing fins (1404) are fixedly connected with the outer side of the connecting rod (1402).

6. The center of gravity adjustable robotic chassis of claim 1, wherein: the counterweight assembly (21) comprises a counterweight block (2101), the counterweight block (2101) is sleeved in the placement box (1403), a limiting plate (2102) is fixedly connected to the right side of the counterweight block (2101), the left side of the limiting plate (2102) is attached to the right side of the placement box (1403), and a movable handle (2103) is fixedly connected to the right side of the limiting plate (2102).

7. The center of gravity adjustable robotic chassis of claim 1, wherein: the fixing assembly (22) comprises a fixing screw barrel (2201), the fixing screw barrel (2201) is fixedly connected to the right side of the bottom of the placing box (1403), a positioning bolt (2202) is connected to the inner ring of the fixing screw barrel (2201) in a threaded mode, and the positioning bolt (2202) upwards penetrates through the placing box (1403) to be clamped in the bottom of the balancing weight (2101).

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