Collaborative robot and composite robot self-adaptive chassis balance jacking structure

Abstract

The invention discloses a collaborative robot and a composite robot self-adaptive chassis balance jacking structure, and relates to the technical field of collaborative robots, the collaborative robot and composite robot self-adaptive chassis balance jacking structure comprises a front bottom plate and a rear bottom plate, and the front bottom plate and the rear bottom plate are used for supporting equipment; the driving mechanism is used for driving the collaborative robot to move on the ground, and by arranging the driving mechanism, forward or backward driving force can be applied to the collaborative robot during working, so that the front bottom plate and the rear bottom plate can move; the front universal wheels are used for moving and steering the front bottom plate and the rear bottom plate and are fixedly connected with the front bottom plate, and by arranging the front universal wheels, when the driving direction of the collaborative robot needs to be changed, the collaborative robot can rotate, and then the direction of the collaborative robot can be changed; and the rear universal wheel set is used for being matched with the front universal wheels and enabling the collaborative robot to move and steer and is fixedly connected with the rear bottom plate, and the effect that the collaborative robot stably runs on the bumpy road surface is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of collaborative robots, and particularly to a collaborative robot and an adaptive chassis balance lifting structure for a composite robot. Background Art

[0002] With the rapid development of the AGV industry, AGVs are no longer only engaged in simple handling operations, but are gradually developing towards the fully automated field of high-precision docking. At present, the AGV chassis mainly adopts a suspended drive structure and a bridge drive structure. The main principle of these two types of drive structures is to make the drive wheels and universal wheels (load-bearing wheels) all touch the ground through springs or articulated bridges. The main purpose is to solve the problem that the drive wheels cannot grip the ground properly and the wheels slip when the road surface is uneven, resulting in abnormal driving.

[0003] However, the above two types of AGV chassis have the following deficiencies and defects: when the AGV body of this type of chassis walks on an uneven road surface, the AGV body will tilt; in high-precision docking, there will be deviations, and even production accidents may occur; the handling and pulling work rely heavily on the ground flatness. Summary of the Invention

[0004] To achieve the above objectives, the present invention is realized through the following technical solutions: A collaborative robot includes a front bottom plate and a rear bottom plate for supporting the equipment;

[0005] A drive mechanism for driving the collaborative robot to move on the ground. By setting the drive mechanism, a forward or backward driving force can be applied to the collaborative robot during work, so that the front bottom plate and the rear bottom plate can move;

[0006] Front universal wheels for the movement and steering of the front bottom plate and the rear bottom plate, fixedly connected to the front bottom plate. By setting the front universal wheels, the collaborative robot can rotate when it needs to change the driving direction, and then the collaborative robot can change its direction;

[0007] A rear universal wheel set for cooperating with the front universal wheels and enabling the collaborative robot to move and steer, fixedly connected to the rear bottom plate. By setting the rear universal wheel set, it can cooperate with the front universal wheels, and then the collaborative robot can change its direction;

[0008] A top shell, the bottom of which is fixedly connected to the upper surface of the front bottom plate;

[0009] The first support plate, one end of the first support plate is fixedly connected to the surface of the front bottom plate, the other end of the first support plate is fixedly connected with a first limiting tube, a first rotating column is rotatably connected to the inner cavity of the first limiting tube, a second support plate is fixedly connected to the outer surface of the first rotating column, and the end of the second support plate is fixedly connected to the outer surface of the rear bottom plate. By providing the first limiting tube, the first rotating column can be limited, so that the first rotating column can rotate stably in the inner cavity of the first limiting tube, and further a stable angle change can occur between the front bottom plate and the rear bottom plate.

[0010] Preferably, the driving mechanism includes a fixed box and a first limiting frame. The fixed box is fixedly connected to the side of the upper surface of the rear bottom plate. The outer surface of the fixed box is penetrated by a ventilation net. A fixed frame is fixedly connected to the inner wall of the fixed box. A double-headed motor is fixedly connected to the inner wall of the fixed frame. Both output ends of the double-headed motor are installed with a first rotating rod through a coupling.

[0011] Preferably, the end of the first rotating rod is fixedly connected with a rotating cylinder. The first limiting frame is fixedly connected to the side of the upper surface of the rear bottom plate. The rotating cylinder is rotatably connected to the inner cavity of the first limiting frame. A first toothed ring is rotatably connected to the inner cavity of the rotating cylinder. A rotating shaft is fixedly connected to the side of the rotating cylinder away from the first rotating rod. A driving wheel is fixedly connected to the end of the rotating shaft.

[0012] Preferably, the front universal wheel includes a fixed column. The fixed column is fixedly connected to the upper surface of the front bottom plate. A connecting rod is fixedly connected to the upper surface of the fixed column. The end of the connecting rod is fixedly connected with a top plate. A first limiting ring is fixedly connected to the lower surface of the top plate. A ball is slidably connected to the lower surface of the first limiting ring. The lower surface of the ball is rotatably connected to a second limiting ring. A clamping frame is fixedly connected to the outer surface of the second limiting ring. The clamping frame is frictionally adapted to the outer surface of the first limiting ring. A rotating plate is fixedly connected to the lower surface of the second limiting ring. A second limiting frame is fixedly connected to the lower surface of the rotating plate. A rotating frame is rotatably connected to the inner cavity of the second limiting frame. An anti-slip wheel is fixedly connected to the end of the rotating frame.

[0013] A composite robot adaptive chassis balance lifting structure. The composite robot adaptive chassis balance lifting structure includes the above-mentioned collaborative robot, including a balance unit. The balance unit is used to enable the collaborative robot to travel on a pitted road surface. The balance unit includes a lifting mechanism, an adjusting mechanism and a detecting mechanism. The lifting mechanism includes a first fixing frame. The first fixing frame is fixedly connected to the upper surface of the fixed box. A limiting rod is fixedly connected to the inner wall of the first fixing frame. A first rotating arm is rotatably connected to the outer surface of the limiting rod.

[0014] Preferably, a semi-circular gear disc is fixedly connected to the top end of the first rotating arm. A first track groove is fixedly connected to the end of the limiting rod away from the first fixing frame. A rolling bearing is rotatably connected to the inner wall of the first rotating arm. A second rotating arm is fixedly connected to the inner ring of the rolling bearing. A first sliding frame is fixedly connected to the top end of the second rotating arm. The first sliding frame is slidably connected to the inner wall of the first track groove. A second sliding frame is fixedly connected to the bottom end of the second rotating arm. The outer surface of the second sliding frame is slidably connected to a second track groove. A limiting sleeve is fixedly connected to the end of the first rotating arm away from the semi-circular gear disc. A sliding sleeve is rotatably connected to the inner cavity of the limiting sleeve. The sliding sleeve is slidably connected to the outer surface of the second track groove.

[0015] Preferably, a connecting plate is fixedly connected to the end of the second track groove. A limiting ball is fixedly connected to the outer surface of the connecting plate. A rotating sleeve is rotatably connected to the outer surface of the limiting ball. A sliding column is slidably connected to the inner cavity of the rotating sleeve. A first spring is sleeved on the outer surface of the sliding column. A second spring is fixedly connected to the bottom end of the sliding column. The bottom end of the second spring is fixedly connected to the corner of the upper surface of the rear bottom plate.

[0016] Preferably, the adjusting mechanism includes a second fixing frame and a second limiting tube. The second fixing frame is fixedly connected to the upper surface of the fixing box. A second rotating rod is rotatably connected to the inner cavity of the second fixing frame. A gear is fixedly connected to the end of the second rotating rod. The gear meshes with the semi-circular gear disc. A first roller is fixedly connected to the outer surface of the second rotating rod. The second limiting tube is fixedly connected to the outer side of the fixing box.

[0017] Preferably, a sliding rod is slidably connected to the inner cavity of the second limiting tube. A third spring is fixedly connected to the lower surface of the sliding rod. A support rod is fixedly connected to the top end of the sliding rod. A limiting block is fixedly connected to the end of the support rod. A rotating ring is rotatably connected to the outer surface of the limiting block. A second roller is fixedly connected to the outer surface of the rotating ring. The first roller and the second roller are connected by a belt. A second tooth ring is fixedly connected to the outer surface of the second roller. The second tooth ring meshes with the first tooth ring. The adjusting mechanism further includes a third fixing frame. The third fixing frame is fixedly connected to the outer surface of the fixing box. A hydraulic press is fixedly connected to the end of the third fixing frame. The output end of the hydraulic press is fixedly connected to a pressing frame. The end of the pressing frame is fixedly connected to the top end of the sliding rod.

[0018] Preferably, the detection mechanism includes a central processor and a fixed tube. The central processor is fixedly connected to the upper surface of the front bottom plate. The fixed tube penetrates through the corner of the upper surface of the front bottom plate. A variable resistance coil is arranged on the inner wall of the fixed tube. A moving column is slidably connected in the inner cavity of the fixed tube. A spherical ball is fixedly connected to the bottom end of the moving column. A fourth spring is sleeved on the outer surface of the bottom of the moving column. The top end of the fourth spring is fixedly connected to the lower surface of the fixed tube. A wire is arranged at the input end of the central processor. The end of the wire is connected to the variable resistance coil.

[0019] The present invention provides a collaborative robot and an adaptive chassis balance lifting structure for a composite robot. It has the following beneficial effects:

[0020] First, for the collaborative robot and the adaptive chassis balance lifting structure of the composite robot, by setting the driving mechanism, a driving force for moving forward or backward can be applied to the collaborative robot during operation, so that the front bottom plate and the rear bottom plate can move.

[0021] Second, for the collaborative robot and the adaptive chassis balance lifting structure of the composite robot, by setting the front universal wheel, the collaborative robot can rotate when it needs to change the driving direction, so that the collaborative robot can change its direction.

[0022] Third, for the collaborative robot and the adaptive chassis balance lifting structure of the composite robot, by setting the balance unit, when the collaborative robot encounters a potholed road surface, it can automatically adapt to the potholed road surface and make both the front universal wheel and the rear universal wheel set contact the road surface. By setting the lifting mechanism, the rear bottom plate can be pulled, so that the angle between the rear bottom plate and the front bottom plate can be changed. By setting the limiting rod, the first rotating arm can be limited, so that the first rotating arm can rotate stably.

[0023] Fourth, for the collaborative robot and the adaptive chassis balance lifting structure of the composite robot, by setting the limiting ball, the rotating sleeve can rotate stably on the outer surface of the limiting ball. By setting the sliding column, a vertical up-and-down movement effect can be generated in the inner cavity of the rotating sleeve. By setting the first spring and the second spring, when the end of the second track groove rotates, the first spring and the second spring are pulled, so that an upward pulling force is applied to the rear bottom plate, and thus the angle is changed.

[0024] V. The adaptive chassis balance lifting structure of the collaborative robot and the composite robot can cooperate with the first toothed ring by setting the second toothed ring. When the first toothed ring rotates, the second toothed ring will rotate accordingly. By setting the hydraulic press, it can drive the pressing frame to move vertically up and down under control. By setting the pressing frame, the top of the sliding rod can be extruded, thereby changing the distance between the second toothed ring and the first toothed ring. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 FIG. is an external structural schematic diagram of an adaptive chassis balance lifting structure of a collaborative robot and a composite robot according to the present invention;

[0026] Figure 2 FIG. is a top view of an adaptive chassis balance lifting structure of a collaborative robot and a composite robot according to the present invention;

[0027] Figure 3 FIG. is a structural schematic diagram of a driving mechanism according to the present invention;

[0028] Figure 4 FIG. is of the present invention Figure 3 Schematic enlarged view of structure A;

[0029] Figure 5 FIG. is a partial structural schematic diagram of a driving mechanism according to the present invention;

[0030] Figure 6 FIG. is a partial sectional structural schematic diagram of a driving mechanism according to the present invention;

[0031] Figure 7 FIG. is a structural schematic diagram of a front universal wheel according to the present invention;

[0032] Figure 8 FIG. is a sectional structural schematic diagram of a front universal wheel according to the present invention;

[0033] Figure 9 FIG. is a partial structural schematic diagram of a front universal wheel according to the present invention;

[0034] Figure 10 FIG. is a structural schematic diagram of a balance unit according to the present invention;

[0035] Figure 11 FIG. is a structural schematic diagram of a lifting mechanism according to the present invention;

[0036] Figure 12 FIG. is a partial structural schematic diagram of a lifting mechanism according to the present invention;

[0037] Figure 13 FIG. is of the present invention Figure 11 Schematic enlarged view of structure B;

[0038] Figure 14 FIG. is a structural schematic diagram of an adjusting mechanism according to the present invention;

[0039] Figure 15 Schematic cross-sectional structure diagram of the adjustment mechanism of the present invention;

[0040] Figure 16 Schematic structure diagram of the detection mechanism of the present invention.

[0041] In the figure: 1, front bottom plate; 2, rear bottom plate; 3, first support plate; 4, first limiting tube; 5, second support plate; 6, first rotating column; 7, driving mechanism; 8, front universal wheel; 9, balance unit; 10, rear universal wheel group; 11, top shell; 71, fixed box; 72, ventilation net; 73, fixed frame; 74, double-headed motor; 75, first rotating rod; 76, first limiting frame; 77, rotating cylinder; 78, first toothed ring; 79, rotating shaft; 710, driving wheel; 81, fixed column; 82, connecting rod; 83, top plate; 84, first limiting ring; 85, ball; 86, second limiting ring; 87, clamping frame; 88, rotating plate; 89, second limiting frame; 810, rotating frame; 811, anti-slip wheel; 91, lifting mechanism; 92, adjustment mechanism; 93, detection mechanism; 911, first fixing frame; 912, limiting rod; 913, first rotating arm; 914, semi-circular toothed disc; 915, first track groove; 916, rolling bearing; 917, second rotating arm; 918, first sliding frame; 919, second sliding frame; 9110, limiting sleeve; 9111, sliding sleeve; 9112, second track groove; 9113, connecting plate; 9114, limiting ball; 9115, rotating sleeve; 9116, sliding column; 9117, first spring; 9118, second spring; 921, second fixing frame; 922, second rotating rod; 923, first roller; 924, gear; 925, second limiting tube; 926, sliding rod; 927, third spring; 928, support rod; 929, limiting block; 9210, rotating ring; 9211, second roller; 9212, second toothed ring; 9213, belt; 9214, third fixing frame; 9215, hydraulic press; 9216, pressing frame; 931, central processing unit; 932, wire; 933, fixed tube; 934, variable resistance coil; 935, moving column; 936, fourth spring; 937, spherical ball. Detailed implementation manners

[0042] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners. The examples of the present invention are given for the purpose of illustration and description, and are not exhaustive or limit the present invention to the disclosed form. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present invention, and enable those of ordinary skill in the art to understand the present invention and thus design various embodiments with various modifications suitable for specific purposes.

[0043] The first embodiment is as follows Figures 1 - 16 As shown, the present invention provides a technical solution: a collaborative robot, including a front bottom plate 1 and a rear bottom plate 2 for supporting the device;

[0044] A driving mechanism 7 for driving the collaborative robot to move on the ground. By setting the driving mechanism 7, a forward or backward driving force can be applied to the collaborative robot during work, so that the front bottom plate 1 and the rear bottom plate 2 can move;

[0045] A front universal wheel 8 for moving and steering the front bottom plate 1 and the rear bottom plate 2, fixedly connected to the front bottom plate 1. By setting the front universal wheel 8, the collaborative robot can rotate when it needs to change the driving direction, and then the collaborative robot can change its direction;

[0046] A rear universal wheel set 10 for cooperating with the front universal wheel 8 and enabling the collaborative robot to move and steer, fixedly connected to the rear bottom plate 2. By setting the rear universal wheel set 10, it can cooperate with the front universal wheel 8, and then the collaborative robot can change its direction;

[0047] A top shell 11, the bottom of the top shell 11 is fixedly connected to the upper surface of the front bottom plate 1;

[0048] A first support plate 3, one end of the first support plate 3 is fixedly connected to the surface of the front bottom plate 1, the other end of the first support plate 3 is fixedly connected with a first limiting tube 4, a first rotating column 6 is rotatably connected to the inner cavity of the first limiting tube 4, a second support plate 5 is fixedly connected to the outer surface of the first rotating column 6, and the end of the second support plate 5 is fixedly connected to the outer surface of the rear bottom plate 2. By setting the first limiting tube 4, the first rotating column 6 can be limited, so that the first rotating column 6 can rotate stably in the inner cavity of the first limiting tube 4, and then a stable angle change can occur between the front bottom plate 1 and the rear bottom plate 2.

[0049] The driving mechanism 7 includes a fixed box 71 and a first limiting frame 76. The fixed box 71 is fixedly connected to the side of the upper surface of the rear bottom plate 2. The outer surface of the fixed box 71 is penetrated by a ventilation net 72. A fixed frame 73 is fixedly connected to the inner wall of the fixed box 71. A double-headed motor 74 is fixedly connected to the inner wall of the fixed frame 73. First rotating rods 75 are installed at both output ends of the double-headed motor 74 through couplings. By providing the fixed box 71 and the ventilation net 72, the double-headed motor 74 can be wrapped, achieving the effects of protecting and wrapping the double-headed motor 74 and preventing damage to the double-headed motor 74 caused by external pressure. By providing the double-headed motor 74, when working, the two output ends of the double-headed motor 74 can drive the two first rotating rods 75 to rotate and can rotate at the same speed. The end of the first rotating rod 75 is fixedly connected to a rotating cylinder 77. The first limiting frame 76 is fixedly connected to the side of the upper surface of the rear bottom plate 2. The rotating cylinder 77 is rotatably connected to the inner cavity of the first limiting frame 76. A first toothed ring 78 is rotatably connected to the inner cavity of the rotating cylinder 77. A rotating shaft 79 is fixedly connected to the side of the rotating cylinder 77 away from the first rotating rod 75. The end of the rotating shaft 79 is fixedly connected to a driving wheel 710. By providing the first limiting frame 76, the rotating cylinder 77 can be limited, enabling the rotating cylinder 77 to rotate more stably. By providing the rotating shaft 79 and the driving wheel 710, when the first rotating rod 75 drives the rotating cylinder 77 to rotate, the rotating shaft 79 and the driving wheel 710 can rotate, thereby enabling the collaborative robot to move forward.

[0050] The front universal wheel 8 includes a fixed column 81, the fixed column 81 is fixedly connected to the upper surface of the front bottom plate 1, a connecting rod 82 is fixedly connected to the upper surface of the fixed column 81, a top plate 83 is fixedly connected to the end of the connecting rod 82, a first limiting ring 84 is fixedly connected to the lower surface of the top plate 83, a ball 85 is slidably connected to the lower surface of the first limiting ring 84, a second limiting ring 86 is rotatably connected to the lower surface of the ball 85, a clamping frame 87 is fixedly connected to the outer surface of the second limiting ring 86, and the clamping frame 87 is frictionally adapted to the outer surface of the first limiting ring 84. By providing the first limiting ring 84, the second limiting ring 86 and the ball 85, when the top plate 83 and the rotating plate 88 rotate relative to each other, the ball 85 can rotate between the first limiting ring 84 and the second limiting ring 86, so that the top plate 83 and the rotating plate 88 can rotate stably. By providing the clamping frame 87, the first limiting ring 84 and the second limiting ring 86 can be prevented from separating. A rotating plate 88 is fixedly connected to the lower surface of the second limiting ring 86, a second limiting frame 89 is fixedly connected to the lower surface of the rotating plate 88, a rotating frame 810 is rotatably connected to the inner cavity of the second limiting frame 89, and an anti-slip wheel 811 is fixedly connected to the end of the rotating frame 810. By providing the second limiting frame 89, the rotating frame 810 can be limited, so that the rotating frame 810 can rotate stably in the inner cavity of the second limiting frame 89, and thus the anti-slip wheel 811 can rotate stably on the ground.

[0051] A self - adaptive chassis balance lifting structure for a composite robot, including a balance unit 9, which is used to enable the collaborative robot to travel on a pitted road surface. The balance unit 9 includes a lifting mechanism 91, an adjusting mechanism 92 and a detecting mechanism 93. The lifting mechanism 91 includes a first fixing frame 911, and the first fixing frame 911 is fixedly connected to the upper surface of the fixed box 71. A limiting rod 912 is fixedly connected to the inner wall of the first fixing frame 911, and a first rotating arm 913 is rotatably connected to the outer surface of the limiting rod 912. By setting the balance unit 9, when the collaborative robot encounters a pitted road surface, it can automatically adapt to the pitted road surface and make both the front universal wheel 8 and the rear universal wheel group 10 contact the road surface. By setting the lifting mechanism 91, the rear bottom plate 2 can be pulled, so that the angle between the rear bottom plate 2 and the front bottom plate 1 can be changed. By setting the limiting rod 912, the first rotating arm 913 can be limited, so that the first rotating arm 913 can rotate stably. The top end of the first rotating arm 913 is fixedly connected with a semi - circular gear disc 914, and one end of the limiting rod 912 far from the first fixing frame 911 is fixedly connected with a first track groove 915. A rolling bearing 916 is rotatably connected to the inner wall of the first rotating arm 913, and a second rotating arm 917 is fixedly connected to the inner ring of the rolling bearing 916. By setting the rolling bearing 916, the second rotating arm 917 and the first rotating arm 913 can rotate stably. The top end of the second rotating arm 917 is fixedly connected with a first sliding frame 918, and the first sliding frame 918 is slidably connected to the inner wall of the first track groove 915. The bottom end of the second rotating arm 917 is fixedly connected with a second sliding frame 919, and the outer surface of the second sliding frame 919 is slidably connected to a second track groove 9112. One end of the first rotating arm 913 far from the semi - circular gear disc 914 is fixedly connected with a limiting sleeve 9110, and a sliding sleeve 9111 is rotatably connected to the inner cavity of the limiting sleeve 9110. The sliding sleeve 9111 is slidably connected to the outer surface of the second track groove 9112. By setting the first track groove 915, the first sliding frame 918 can be limited, so that the first sliding frame 918 always moves horizontally in the inner cavity of the first track groove 915. By setting the second track groove 9112, when the second sliding frame 919 rotates with the second rotating arm 917, the second track groove 9112 can be pulled. By setting the limiting sleeve 9110, when the first rotating arm 913 rotates, the sliding sleeve 9111 will not rotate, but move horizontally on the outer surface of the second track groove 9112.

[0052] A connecting plate 9113 is fixedly connected to the end of the second track groove 9112. A limiting ball 9114 is fixedly connected to the outer surface of the connecting plate 9113. A rotating sleeve 9115 is rotatably connected to the outer surface of the limiting ball 9114. A sliding column 9116 is slidably connected to the inner cavity of the rotating sleeve 9115. A first spring 9117 is sleeved on the outer surface of the sliding column 9116. A second spring 9118 is fixedly connected to the bottom end of the sliding column 9116. The bottom end of the second spring 9118 is fixedly connected to the corner of the upper surface of the rear bottom plate 2. By providing the limiting ball 9114, the rotating sleeve 9115 can stably rotate on the outer surface of the limiting ball 9114. By providing the sliding column 9116, a vertical up-and-down movement effect can be generated in the inner cavity of the rotating sleeve 9115. By providing the first spring 9117 and the second spring 9118, when the end of the second track groove 9112 rotates, the first spring 9117 and the second spring 9118 are pulled, so that an upward pulling force is applied to the rear bottom plate 2, thereby generating an angular change.

[0053] The adjusting mechanism 92 includes a second fixing frame 921 and a second limiting tube 925. The second fixing frame 921 is fixedly connected to the upper surface of the fixing box 71. A second rotating rod 922 is rotatably connected to the inner cavity of the second fixing frame 921. An end of the second rotating rod 922 is fixedly connected to a gear 924. The gear 924 meshes with the semi-circular tooth disc 914. A first roller 923 is fixedly connected to the outer surface of the second rotating rod 922. The second limiting tube 925 is fixedly connected to the outer side surface of the fixing box 71. By providing the second fixing frame 921, the second rotating rod 922 can be limited, enabling the second rotating rod 922 to rotate stably within the inner cavity of the second fixing frame 921. By providing the gear 924, when the second rotating rod 922 rotates, the gear 924 can mesh with the semi-circular tooth disc 914, thereby causing the semi-circular tooth disc 914 to rotate. A sliding rod 926 is slidably connected to the inner cavity of the second limiting tube 925. A third spring 927 is fixedly connected to the lower surface of the sliding rod 926. A support rod 928 is fixedly connected to the top end of the sliding rod 926. A limiting block 929 is fixedly connected to the end of the support rod 928. A rotating ring 9210 is rotatably connected to the outer surface of the limiting block 929. A second roller 9211 is fixedly connected to the outer surface of the rotating ring 9210. The first roller 923 and the second roller 9211 are connected by a belt 9213. By providing the second limiting tube 925, the sliding rod 926 can be limited, enabling the sliding rod 926 to move vertically up and down stably within the inner cavity of the second limiting tube 925. By providing the limiting block 929, the rotating ring 9210 and the second roller 9211 can be limited, enabling the second roller 9211 to rotate stably. By providing the belt 9213, the second roller 9211 and the first roller 923 can be connected together, so that when the second roller 9211 rotates, it drives the first roller 923 and the second rotating rod 922 to rotate. A second tooth ring 9212 is fixedly connected to the outer surface of the second roller 9211. The second tooth ring 9212 meshes with the first tooth ring 78. The adjusting mechanism 92 further includes a third fixing frame 9214. The third fixing frame 9214 is fixedly connected to the outer surface of the fixing box 71. A hydraulic press 9215 is fixedly connected to the end of the third fixing frame 9214. An output end of the hydraulic press 9215 is fixedly connected to a pressing frame 9216. An end of the pressing frame 9216 is fixedly connected to the top end of the sliding rod 926. By providing the second tooth ring 9212, it can cooperate with the first tooth ring 78, so that when the first tooth ring 78 rotates, the second tooth ring 9212 rotates. By providing the hydraulic press 9215, under control, it can drive the pressing frame 9216 to move vertically up and down. By providing the pressing frame 9216, the top end of the sliding rod 926 can be squeezed, thereby changing the distance between the second tooth ring 9212 and the first tooth ring 78.

[0054] The detection mechanism 93 includes a central processing unit 931 and a fixed tube 933. The central processing unit 931 is fixedly connected to the upper surface of the front bottom plate 1. The fixed tube 933 penetrates through the corner of the upper surface of the front bottom plate 1. A variable resistance coil 934 is arranged on the inner wall of the fixed tube 933. A moving column 935 is slidably connected to the inner cavity of the fixed tube 933. A spherical ball 937 is fixedly connected to the bottom end of the moving column 935. A fourth spring 936 is sleeved on the outer surface of the bottom of the moving column 935. The top end of the fourth spring 936 is fixedly connected to the lower surface of the fixed tube 933. A wire 932 is arranged at the input end of the central processing unit 931. The end of the wire 932 is connected to the variable resistance coil 934. By arranging the central processing unit 931, an electrical signal can be sent to the hydraulic press 9215. By arranging the fixed tube 933 and the variable resistance coil 934, when the moving column 935 moves up and down, the amount of the variable resistance coil 934 connected to the circuit can be changed.

[0055] Working principle: When in use, when the collaborative robot moves on the ground, the operator connects the double-headed motor 74 to the power supply and turns on the switch, so that the first rotating rod 75 drives the rotating cylinder 77 to rotate, and then the rotating shaft 79 and the driving wheel 710 rotate, so that the driving wheel 710 travels on the ground; when encountering a pitted road surface during driving, under the influence of the elastic potential energy of the fourth spring 936, the moving column 935 makes the spherical ball 937 contact the ground. At this time, the moving column 935 is located at the bottom of the variable resistance coil 934, and then the resistance connected to the circuit becomes larger. At this time, the central processing unit 931 processes the data and sends an electrical signal to the hydraulic press 9215. The hydraulic press 9215 starts to work, and makes the pressing frame 9216 drive the sliding rod 926 to move downward in the inner cavity of the second limiting tube 925. At the same time, the second roller 9211 drives the second toothed ring 9212 to move downward and mesh with the first toothed ring 78. Finally, the second roller 9211 drives the first roller 923 and the belt 9213 to rotate. At this time, the second rotating rod 922 will drive the gear 924 to rotate and mesh with the semi-circular toothed disc 914; when the semi-circular toothed disc 914 rotates, the first rotating arm 913 will rotate, and the sliding sleeve 9111 will slide on the outer surface of the second track groove 9112, and then the end of the second track groove 9112 will move upward. At this time, the rotating sleeve 9115 drives the sliding column 9116, the first spring 9117 and the second spring 9118 to move, and finally the end of the rear bottom plate 2 is pulled. Under the action of the first limiting tube 4 and the first rotating column 6, the angle between the front bottom plate 1 and the rear bottom plate 2 changes, and finally the front universal wheels 8 and the rear universal wheel set 10 are in close contact with the ground.

[0056] Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art and related fields based on the embodiments in the present invention without creative efforts shall fall within the scope of protection of the present invention. The structures, devices, and operation methods not specifically described and explained in the present invention shall be implemented by conventional means in the art unless otherwise specified and limited.

Claims

1. A collaborative robot, characterized in that: include: A front bottom plate (1) and a rear bottom plate (2) for supporting the equipment; A driving mechanism (7), used for driving the collaborative robot to move on the ground; A front universal wheel (8), used for moving and steering the front bottom plate (1) and the rear bottom plate (2), and fixedly connected to the front bottom plate (1); A rear universal wheel assembly (10), used to cooperate with the front universal wheel (8) and enable the collaborative robot to move and turn, and fixedly connected to the rear base plate (2); A top shell (11), the bottom of which is fixedly connected to the upper surface of the front bottom plate (1); A first support plate (3), one end of the first support plate (3) is fixedly connected to the surface of the front bottom plate (1), the other end of the first support plate (3) is fixedly connected to a first position limiting tube (4), the inner cavity of the first position limiting tube (4) is rotatably connected to a first rotating column (6), the outer surface of the first rotating column (6) is fixedly connected to a second support plate (5), and the end of the second support plate (5) is fixedly connected to the outer surface of the rear bottom plate (2).

2. A collaborative robot according to claim 1, characterized in that: The driving mechanism (7) comprises a fixed box (71) and a first limiting frame (76); the fixed box (71) is fixedly connected to the side of the upper surface of the rear bottom plate (2); a breathable net (72) runs through the outer surface of the fixed box (71); a fixed frame (73) is fixedly connected to the inner wall of the fixed box (71); a double-headed motor (74) is fixedly connected to the inner wall of the fixed frame (73); and both output ends of the double-headed motor (74) are equipped with a first rotating rod (75) via a coupling.

3. A collaborative robot according to claim 2, characterized in that: The end of the first rotating rod (75) is fixedly connected to a rotating cylinder (77); the first limiting frame (76) is fixedly connected to the side of the upper surface of the rear bottom plate (2); the rotating cylinder (77) is rotatably connected to the inner cavity of the first limiting frame (76); the inner cavity of the rotating cylinder (77) is rotatably connected to a first gear ring (78); the side of the rotating cylinder (77) away from the first rotating rod (75) is fixedly connected to a rotating shaft (79); the end of the rotating shaft (79) is fixedly connected to a driving wheel (710).

4. A collaborative robot according to claim 3, characterized in that: The front universal wheel (8) comprises a fixing column (81), wherein the fixing column (81) is fixedly connected to the upper surface of the front bottom plate (1), the upper surface of the fixing column (81) is fixedly connected to a connecting rod (82), the end of the connecting rod (82) is fixedly connected to a top plate (83), the lower surface of the top plate (83) is fixedly connected to a first limiting ring (84), the lower surface of the first limiting ring (84) is slidably connected to a ball (85), and the lower surface of the ball (85) is rotatably connected to a second limiting ring (84). 6), the outer surface of the second limiting ring (86) is fixedly connected to a positioning frame (87), the positioning frame (87) is frictionally matched with the outer surface of the first limiting ring (84), the lower surface of the second limiting ring (86) is fixedly connected to a rotating plate (88), the lower surface of the rotating plate (88) is fixedly connected to a second limiting frame (89), the inner cavity of the second limiting frame (89) is rotatably connected to a rotating frame (810), and the end of the rotating frame (810) is fixedly connected to an anti-slip wheel (811).

5. A composite robot adaptive chassis balance lifting structure, characterized by: The composite robot adaptive chassis balancing and lifting structure comprises a collaborative robot as described in any one of claims 1 to 4, comprising a balancing unit (9), wherein the balancing unit (9) is used to enable the collaborative robot to travel on a bumpy road surface, wherein the balancing unit (9) comprises a lifting mechanism (91), an adjusting mechanism (92) and a detecting mechanism (93), wherein the lifting mechanism (91) comprises a first fixed frame (911), wherein the first fixed frame (911) is fixedly connected to the upper surface of a fixed box (71), wherein a limiting rod (912) is fixedly connected to the inner wall of the first fixed frame (911), and wherein the outer surface of the limiting rod (912) is rotatably connected to a first rotating arm (913).

6. The composite robot adaptive chassis balancing lifting structure according to claim 5, characterized in that: The top end of the first rotating arm (913) is fixedly connected to a semicircular toothed disc (914), the end of the limiting rod (912) away from the first fixed frame (911) is fixedly connected to a first track groove (915), the inner wall of the first rotating arm (913) is rotatably connected to a rolling bearing (916), the inner ring of the rolling bearing (916) is fixedly connected to a second rotating arm (917), the top end of the second rotating arm (917) is fixedly connected to a first sliding frame (918), and the first sliding frame (918) is slidably connected to the first rotating arm (917). At the inner wall of the first track groove (915), the bottom end of the second rotating arm (917) is fixedly connected to the second sliding frame (919), and the outer surface of the second sliding frame (919) is slidably connected to the second track groove (9112). The end of the first rotating arm (913) away from the semicircular gear plate (914) is fixedly connected to a limiting sleeve (9110), and the inner cavity of the limiting sleeve (9110) is rotatably connected to a sliding sleeve (9111), and the sliding sleeve (9111) is slidably connected to the outer surface of the second track groove (9112).

7. The composite robot adaptive chassis balancing lifting structure according to claim 6, characterized in that: The end of the second track groove (9112) is fixedly connected to a connecting plate (9113), the outer surface of the connecting plate (9113) is fixedly connected to a limiting ball (9114), the outer surface of the limiting ball (9114) is rotatably connected to a rotating sleeve (9115), the inner cavity of the rotating sleeve (9115) is slidably connected to a sliding column (9116), the outer surface of the sliding column (9116) is sleeved with a first spring (9117), the bottom end of the sliding column (9116) is fixedly connected to a second spring (9118), and the bottom end of the second spring (9118) is fixedly connected to the corner of the upper surface of the rear bottom plate (2).

8. The composite robot adaptive chassis balancing jacking structure according to claim 7, characterized in that: The adjusting mechanism (92) comprises a second fixing frame (921) and a second limiting tube (925); the second fixing frame (921) is fixedly connected to the upper surface of the fixing box (71); a second rotating rod (922) is rotatably connected to the inner cavity of the second fixing frame (921); a gear (924) is fixedly connected to the end of the second rotating rod (922); the gear (924) is meshed with a semicircular gear disk (914); a first roller (923) is fixedly connected to the outer surface of the second rotating rod (922); and the second limiting tube (925) is fixedly connected to the outer side surface of the fixing box (71).

9. The composite robot adaptive chassis balancing jacking structure according to claim 8, characterized in that: The inner cavity of the second limiting tube (925) is slidably connected to a sliding rod (926), the lower surface of the sliding rod (926) is fixedly connected to a third spring (927), the top of the sliding rod (926) is fixedly connected to a support rod (928), the end of the support rod (928) is fixedly connected to a limiting block (929), the outer surface of the limiting block (929) is rotatably connected to a rotating ring (9210), the outer surface of the rotating ring (9210) is fixedly connected to a second roller (9211), and a belt (9213) is provided between the first roller (923) and the second roller (9211). The second roller (9211) is connected to each other, the outer surface of the second roller (9211) is fixedly connected to the second gear ring (9212), the second gear ring (9212) is meshed with the first gear ring (78), the adjustment mechanism (92) also includes a third fixed frame (9214), the third fixed frame (9214) is fixedly connected to the outer surface of the fixed box (71), the end of the third fixed frame (9214) is fixedly connected to the hydraulic press (9215), the output end of the hydraulic press (9215) is fixedly connected to the pressing frame (9216), and the end of the pressing frame (9216) is fixedly connected to the top of the sliding rod (926).

10. The composite robot adaptive chassis balancing jacking structure according to claim 9, characterized in that: The detection mechanism (93) comprises a central processing unit (931) and a fixed tube (933), wherein the central processing unit (931) is fixedly connected to the upper surface of the front bottom plate (1), the fixed tube (933) passes through the corners of the upper surface of the front bottom plate (1), a variable resistance coil (934) is arranged on the inner wall of the fixed tube (933), a moving column (935) is slidably connected to the inner cavity of the fixed tube (933), a round ball (937) is fixedly connected to the bottom end of the moving column (935), a fourth spring (936) is sleeved on the bottom of the outer surface of the moving column (935), and the top end of the fourth spring (936) is fixedly connected to the lower surface of the fixed tube (933), and a wire (932) is arranged at the input end of the central processing unit (931), and the end of the wire (932) is connected to the variable resistance coil (934).

Images