Gravity center stabilizing structure based on omni-directional mobile robot

Abstract

The invention provides a gravity center stabilizing structure based on an omni-directional mobile robot, and belongs to the technical field of robots, the gravity center stabilizing structure comprises a robot body, a detection assembly, a counterweight assembly and a second driving assembly, the counterweight assembly is movably arranged at the center position of the inner side of the robot body, and the detection assembly is arranged on the detection assembly; the second driving assembly is installed on the top wall of the inner side of the robot body, and the detection assembly is arranged at the bottom of the inner side of the robot body and used for detecting the inclination state of the robot body. Compared with the prior art, when the robot body inclines due to the object placed on the upper portion of the robot body, the gravity center of the robot body can be automatically adjusted to the center position, so that the stability of the robot body during object carrying is guaranteed, and object damage caused by robot body rollover is avoided; and meanwhile, the service life of the robot body is prolonged.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a center of gravity stabilizing structure based on an omnidirectional mobile robot. Background Art

[0002] At present, the use of handling robots to transport objects can realize automated production, improve production efficiency, and greatly reduce labor costs.

[0003] In the prior art, when a transport robot is carrying an object, the robot's center of gravity is often shifted due to the placement of the object and the object's center of gravity. Once the robot's center of gravity is shifted, the robot is prone to tilt or even tip over during the subsequent process of carrying the object, causing the object to slip from the robot and hit the ground and be damaged. In addition, when the robot carries objects in a tilted posture for a long time, the various components inside the robot will also increase the degree of wear due to uneven force, resulting in a significant shortening of the robot's service life. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the embodiments of the present invention is to provide a center of gravity stabilizing structure based on an omnidirectional mobile robot.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] A center of gravity stabilization structure based on an omnidirectional mobile robot includes a robot body, a detection component, a counterweight component and a second drive component.

[0007] The counterweight assembly is movably arranged at the center of the inner side of the robot body.

[0008] The second driving assembly is mounted on the inner top wall of the robot body.

[0009] The detection component is arranged at the inner bottom of the robot body and is used to detect the tilt state of the robot body.

[0010] When the detection component detects that the robot body is tilted in one direction, the second driving component is used to drive the counterweight component to move in a direction opposite to the tilt direction of the robot body.

[0011] As a further improvement of the present invention: the detection assembly includes a guide plate, a detection sphere, a second support column, a support end plate and a pressure sensor,

[0012] The second support column is fixedly mounted on the inner bottom wall of the robot body, and the guide plates are provided in four groups, which are arranged at the upper end of the second support column and are distributed in an annular manner with respect to the second support column, and the four groups of guide plates are respectively directed to the front, back, left, and right directions of the robot body.

[0013] The detection sphere is placed on the upper end of the second support column, and four groups of support end plates are provided in a one-to-one correspondence with the guide plates. A group of support end plates is fixedly provided at one end of each group of guide plates away from the second support column, and a group of pressure sensors is fixedly provided on the side of each group of support end plates facing the second support column, and several of the pressure sensors are electrically connected to the second drive assembly.

[0014] As a further improvement of the present invention: the counterweight assembly includes four sets of counterweight blocks,

[0015] A set of sliding blocks is fixedly arranged on the upper part of each set of counterweight blocks.

[0016] The second driving assembly includes a screw rod and a second motor.

[0017] The screw rods and the second motors are provided with four groups corresponding to each other with the counterweights. The four groups of screw rods are rotatably arranged on the inner top wall of the robot body. The four groups of screw rods are distributed in a cross shape on the inner top wall of the robot body. The four groups of screw rods point to the front, back, left, and right directions of the robot body respectively.

[0018] The ends of each group of the screw rods are connected to a group of output ends of the second motor, and the sliding blocks on the upper parts of the four groups of the counterweight blocks are respectively matched with a group of the screw rod threads.

[0019] As a further improvement of the present invention: a first support column is fixedly provided at the center of the inner top wall of the robot body.

[0020] The second driving assembly also includes four sets of guide rods and four sets of second bracket plates.

[0021] Four groups of the second bracket plates are fixedly mounted on the inner top wall of the robot body, four groups of the second motors are respectively fixedly mounted on the side walls of the four groups of the second bracket plates, and four groups of the screw rods respectively penetrate the four groups of the second bracket plates and rotate in conjunction with the four groups of the second bracket plates.

[0022] The four groups of guide rods are respectively located on one side of the four groups of screw rods, one end of the four groups of guide rods is fixedly connected to the first support column, and the other end is respectively fixedly connected to a group of the second bracket plates, and the four groups of sliding rods are respectively movably mounted on the outside of the four groups of guide rods.

[0023] As a further improvement of the present invention: the four groups of guide plates are hingedly connected to the second support column,

[0024] A first driving assembly is also provided inside the robot body, and the first driving assembly is used to drive the four groups of guide plates to rotate up and down relative to the second support column.

[0025] As a further improvement of the present invention: the bottoms of the plurality of guide plates are connected to the second support column via a group of first elastic members, wherein the first elastic members are used to provide elastic tension to the guide plates.

[0026] The first driving assembly includes a push ring, a lifting rod, a rack, an incomplete gear, a first motor, a first bracket plate, a positioning sleeve and a second elastic member.

[0027] The first bracket plate and the positioning sleeve are fixedly mounted on the inner bottom wall of the robot body, the lifting rod is movably inserted into the upper end of the positioning sleeve, the pushing ring is fixedly arranged on the upper end of the lifting rod, the pushing ring acts on the bottom of the guide plates, and the rack is fixedly arranged on the side wall of the lifting rod.

[0028] The first motor is fixedly arranged on one side of the first bracket plate, the incomplete gear is installed at the output end of the first motor and can mesh with the rack, and the second elastic member is arranged inside the positioning sleeve to provide elastic support for the lifting rod.

[0029] As a further improvement of the present invention: the first elastic member and the second elastic member are springs or metal springs.

[0030] As a further improvement of the present invention: the guide plate has a semicircular structure.

[0031] As a further improvement of the present invention: the guide plate is in a U-shaped structure.

[0032] As a further improvement of the present invention: a plurality of universal running wheels are arranged at the bottom of the robot body.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] In the embodiment of the present invention, initially, the counterweight assembly is located at the center position of the inner side of the robot body, so that the center of gravity of the robot body is located at the center of the robot body. When the robot body needs to be used to carry and transfer an object, the object can be placed on the upper part of the robot body. During this process, the detection assembly is used to detect the tilt state of the robot body. When the object is placed on the upper part of the robot body and deviates from the center position, the center of gravity of the robot body is offset, thereby causing the robot body to tilt in one direction. The detection assembly detects the tilt state of the robot body, and then drives the second drive assembly to drive the counterweight assembly to move in the direction opposite to the tilt direction of the robot body, thereby readjusting the center of gravity of the robot body to the center position of the robot body, so that the robot body can remain stable during the subsequent transfer of the object, preventing the robot body from tipping over due to the shift in the center of gravity, thereby avoiding damage to the object. Compared with the prior art, when the object placed on the upper part of the robot body causes the robot body to tilt, the center of gravity of the robot body can be automatically adjusted to the center position, thereby ensuring the stability of the robot body when carrying the object, avoiding damage to the object caused by the tipping of the robot body, and extending the service life of the robot body. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of a gravity center stable structure based on an omnidirectional mobile robot Figure 1 ;

[0036] Figure 2 A schematic diagram of a gravity center stable structure based on an omnidirectional mobile robot Figure 2 ;

[0037] Figure 3 It is a structural schematic diagram of a detection component in a gravity center stabilization structure based on an omnidirectional mobile robot;

[0038] Figure 4 It is a structural schematic diagram of a first driving component in a gravity center stabilization structure based on an omnidirectional mobile robot;

[0039] Figure 5 for Figure 3 A magnified schematic diagram of the middle A area;

[0040] Figure 6 for Figure 3 A magnified schematic diagram of the middle B area;

[0041] Figure 7 for Figure 3 Enlarged schematic diagram of the middle C area;

[0042] In the figure: 10-robot body, 101-universal walking wheel, 102-first support column, 20-detection assembly, 201-guide plate, 202-detection sphere, 203-first elastic member, 204-second support column, 205-support end plate, 206-pressure sensor, 30-first drive assembly, 301-push ring, 302-lifting rod, 303-rack, 304-incomplete gear, 305-first motor, 306-first bracket plate, 307-positioning column, 308-second elastic member, 40-counterweight assembly, 401-slider, 402-counterweight block, 50-second drive assembly, 501-guide rod, 502-screw, 503-second bracket plate, 504-second motor. DETAILED DESCRIPTION

[0043] The technical solution of the present invention is further described in detail below in conjunction with specific implementation methods.

[0044] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0045] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0046] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense, for example, they can be fixedly connected or set, or detachably connected or set, or integrally connected or set. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] See also Figure 1 as well as Figure 2The present embodiment provides a center of gravity stabilization structure based on an omnidirectional mobile robot, including a robot body 10, a detection component 20, a counterweight component 40 and a second drive component 50. The counterweight component 40 is movably arranged at the inner center position of the robot body 10. The second drive component 50 is installed on the inner top wall of the robot body 10. The detection component 20 is arranged at the inner bottom of the robot body 10 for detecting the tilt state of the robot body 10. When the detection component 20 detects that the robot body 10 is tilted in one direction, the second drive component 50 is used to drive the counterweight component 40 to move in a direction opposite to the tilt direction of the robot body 10.

[0048] Initially, the counterweight assembly 40 is located at the center position of the inner side of the robot body 10, so that the center of gravity of the robot body 10 is located at the center of the robot body 10. When the robot body 10 needs to be used to carry and transfer an object, the object can be placed on the upper part of the robot body 10. During this process, the detection assembly 20 is used to detect the tilt state of the robot body 10. When the object is placed on the upper part of the robot body 10 and deviates from the center position, the center of gravity of the robot body 10 shifts, causing the robot body 10 to tilt in one direction. The detection assembly 20 detects the tilt state of the robot body 10, and then drives the second drive assembly 50 to drive the counterweight assembly 40 to move in the direction opposite to the tilt direction of the robot body 10, thereby readjusting the center of gravity of the robot body 10 to the center position of the robot body 10, so that the robot body 10 can remain stable during the subsequent transfer of the object, preventing the robot body 10 from tipping over due to the shift in the center of gravity, thereby avoiding damage to the object.

[0049] See also Figure 2 , Figure 3 , Figure 6 as well as Figure 7In one embodiment, the detection assembly 20 includes a guide plate 201, a detection sphere 202, a second support column 204, a support end plate 205 and a pressure sensor 206. The second support column 204 is fixedly mounted on the inner bottom wall of the robot body 10. The guide plates 201 are provided in four groups. The four groups of guide plates 201 are arranged at the upper end of the second support column 204 and are distributed in a ring-shaped interval about the second support column 204. The four groups of guide plates 201 point to the front, back, left and right directions of the robot body 10 respectively. The detection sphere 202 is placed on the upper end of the second support column 204. The support end plates 205 are provided in four groups corresponding to the guide plates 201 one by one. A group of support end plates 205 is fixedly arranged at one end of each group of guide plates 201 away from the second support column 204. A group of pressure sensors 206 is fixedly arranged on the side of each group of support end plates 205 facing the second support column 204. A plurality of pressure sensors 206 are electrically connected to the second drive assembly 50.

[0050] Initially, since the upper part of the robot body 10 is not placed with an object, the robot body 10 is in a horizontal state as a whole, and the detection sphere 202 is stably placed on the upper end of the second support column 204. As the object is placed on the upper part of the robot body 10, the robot body 10 is pressed. If the object causes the robot body 10 to tilt to the left at this time, the center of gravity of the robot body 10 will shift to the left, causing the robot body 10 to tilt to the left as a whole, thereby driving the second support column 204 and the plurality of guide plates 201 to tilt to the left as a whole. At this time, the detection sphere 202 on the upper end of the second support column 204 is pressed. Gravity affects the upper part of the guide plate 201 that rolls to the left and continues to roll downward along the upper part of the guide plate 201. When the detection ball 202 rolls to the end of the guide plate 201 away from the second support column 204, it can act on the corresponding pressure sensor 206. The pressure sensor 206 is pressurized and drives the second drive component 50 to drive the counterweight component 40 to move from the center position of the robot body 10 to the right, thereby readjusting the center of gravity of the robot body 10 that was originally offset to the left to its center position, so that the robot body 10 maintains balance, thereby smoothly transferring the object; on the contrary, if the object The robot body 10 tilts to the right, which will cause the center of gravity of the robot body 10 to shift to the right, so that the robot body 10 tilts to the right as a whole, thereby driving the second support column 204 and the plurality of guide plates 201 to tilt to the right as a whole. At this time, the detection ball 202 at the upper end of the second support column 204 rolls to the upper part of the guide plate 201 at the right position under the influence of gravity and continues to roll downward along the upper part of the guide plate 201. When the detection ball 202 rolls to the end of the guide plate 201 away from the second support column 204, it can act on the corresponding pressure sensor 206, and the pressure sensor 206 is pressurized. This then drives the second drive component 50 to drive the counterweight component 40 to move from the center position of the robot body 10 to the left, and then readjusts the center of gravity of the robot body 10 that was originally offset to the right to its center position, so that the robot body 10 remains balanced, thereby smoothly transferring the object; similarly, when the object causes the robot body 10 to tilt forward or backward, the detection sphere 202 will roll along the upper part of the guide plate 201 in the forward and backward direction, and then act on the pressure sensor 206 in the forward and backward direction, and the second drive component 50 drives the counterweight component 40 to move forward and backward, thereby realizing the forward and backward adjustment of the center of gravity of the robot body 10.

[0051] See also Figure 4In one embodiment, the counterweight assembly 40 includes four groups of counterweight blocks 401, each group of the counterweight blocks 401 is fixedly provided with a group of sliders 402 on the top, the second drive assembly 50 includes a screw rod 502 and a second motor 504, the screw rod 502 and the second motor 504 are provided with four groups corresponding to the counterweight blocks 401, the four groups of the screw rods 502 are rotatably arranged on the inner top wall of the robot body 10, the four groups of the screw rods 502 are distributed in a cross shape on the inner top wall of the robot body 10, the four groups of the screw rods 502 point to the front, back, left and right directions of the robot body 10 respectively, the end of each group of the screw rods 502 is connected to a group of output ends of the second motor 504, and the sliders 402 on the top of the four groups of the counterweight blocks 401 are respectively threadedly matched with a group of the screw rods 502.

[0052] When an object is placed on the upper part of the robot body 10 causing the robot body 10 to tilt to the left, the detection sphere 202 rolls from the upper end of the second support column 204 to the upper part of the guide plate 201 at the left position of the upper end of the second support column 204 and rolls downward along the upper part of the guide plate 201. When the detection sphere 202 acts on the end of the left guide plate 201 away from the second support column 204, it hits the corresponding pressure sensor 206. When the pressure sensor 206 is pressurized, a signal is sent to the second motor 504 at the end of the screw rod 502 at the right side. The second motor 504 drives the right side screw rod 502 to rotate, and the corresponding counterweight block 401 is driven to move rightward along the screw rod 502 through the threaded cooperation between the right side screw rod 502 and the corresponding slider 402, thereby adjusting the center of gravity of the robot body 10 to the right to the center position; when an object is placed on the upper part of the robot body 10 causing the robot body 10 to tilt to the right, the detection sphere 202 rolls from the upper end of the second support column 204 to the upper part of the second support column 204. The upper part of the guide plate 201 at the right side of the upper end of the column 204 rolls downward along the upper part of the guide plate 201, and when the detection ball 202 acts on the end of the right guide plate 201 away from the second support column 204, it hits the corresponding pressure sensor 206. When the pressure sensor 206 is pressurized, a signal is sent to the second motor 504 at the end of the screw rod 502 at the left side, and the second motor 504 drives the left side screw rod 502 to rotate, and through the threaded cooperation between the left side screw rod 502 and the corresponding slider 402, it drives the corresponding counterweight block 401 to move rightward along the screw rod 502, and then adjusts the center of gravity of the robot body 10 to the left to the center position; similarly, when an object causes the robot body 10 to tilt forward and backward, the detection ball 202 will roll along the upper part of the guide plate 201 in the front-to-back direction, and then act on the pressure sensor 206 in the front-to-back direction, and the second motor 504 in the front-to-back direction drives the counterweight assembly 40 to move forward and backward, thereby realizing the front-to-back adjustment of the center of gravity of the robot body 10.

[0053] See also Figure 2 as well as Figure 4In one embodiment, a first support column 102 is fixedly provided at the center position of the inner top wall of the robot body 10, and the second driving assembly 50 also includes four groups of guide rods 501 and four groups of second bracket plates 503, the four groups of second bracket plates 503 are fixedly installed on the inner top wall of the robot body 10, and the four groups of second motors 504 are respectively fixedly installed on the side walls of the four groups of second bracket plates 503, the four groups of screw rods 502 respectively penetrate the four groups of second bracket plates 503 and rotate with the four groups of second bracket plates 503, the four groups of guide rods 501 are respectively located on one side of the four groups of screw rods 502, one end of the four groups of guide rods 501 is fixedly connected to the first support column 102, and the other end is respectively fixedly connected to a group of second bracket plates 503, and the four groups of sliding rods 402 are respectively movably sleeved on the outside of the four groups of guide rods 501.

[0054] Through the active cooperation of the four groups of guide rods 501 and the four groups of sliders 402, when the screw rod 502 rotates, the slider 402 can be smoothly and steadily driven to move along the length direction of the screw rod 502, and then the counterweight block 401 can be smoothly driven to move, so as to adjust the center of gravity of the robot body 10.

[0055] See also Figure 2 as well as Figure 3 In one embodiment, the four groups of guide plates 201 are hingedly connected to the second support column 204, and a first driving component 30 is also provided inside the robot body 10, and the first driving component 30 is used to drive the four groups of guide plates 201 to rotate up and down compared to the second support column 204.

[0056] When the robot body 10 is not loaded with an object, the first driving component 30 drives the guide plates 201 to rotate upward compared to the second support column 204, so that the guide plates 201 are tilted upward, and the detection sphere 202 is confined to the upper end of the second support column 204 to prevent the detection sphere 202 from rolling to the upper part of the guide plate 201 as the robot body 10 moves. When the robot body 10 is loaded with an object and moves, the first driving component 30 drives the guide plates 201 to rotate downward to a horizontal state compared to the second support column 204, so that when the robot body 10 carrying the object is tilted, the detection sphere 202 can roll to the upper part of the corresponding guide plate 201, and then touch the corresponding pressure sensor 206, so that the corresponding second motor 504 works, so as to adjust the center of gravity of the robot body 10.

[0057] See also Figure 3 as well as Figure 5In one embodiment, the bottoms of the plurality of guide plates 201 are connected to the second support column 204 through a group of first elastic members 203, the first elastic members 203 are used to provide elastic tension to the guide plates 201, the first driving assembly 30 comprises a push ring 301, a lifting rod 302, a rack 303, an incomplete gear 304, a first motor 305, a first bracket plate 306, a positioning sleeve 307 and a second elastic member 308, the first bracket plate 306 and the positioning sleeve 307 are fixedly mounted on the inner bottom wall of the robot body 10, the lifting rod 302, a rack 303, an incomplete gear 304, a first motor 305, a first bracket plate 306, a positioning sleeve 307 and a second elastic member 308, the first bracket plate 306 and the positioning sleeve 307 are fixedly mounted on the inner bottom wall of the robot body 10, and the lifting rod 302 is used to provide elastic tension to the guide plates 201. 02 is movably inserted at the upper end of the positioning sleeve 307, the pushing ring 301 is fixedly arranged at the upper end of the lifting rod 302, the pushing ring 301 acts on the bottom of the guide plates 201, the rack 303 is fixedly arranged on the side wall of the lifting rod 302, the first motor 305 is fixedly arranged on one side of the first bracket plate 306, the incomplete gear 304 is installed at the output end of the first motor 305 and can engage with the rack 303, and the second elastic member 308 is arranged inside the positioning sleeve 307 to provide elastic support for the lifting rod 302.

[0058] Initially, the second elastic member 308 is in an extended state, so that the push ring 301 acts on the bottom of the plurality of guide plates 201 and drives the plurality of guide plates 201 to be tilted upward compared to the second support column 204, so as to limit the detection sphere 202 at the upper end of the second support column 204. When the object is placed on the upper part of the robot body 10, the first motor 305 is started, and the first motor 305 drives the incomplete gear 304 to rotate, and the lifting rod 302 is driven downward through the meshing action of the unsafe gear 304 and the rack 303. The second elastic member 308 is compressed, and the push ring 301 is driven downward when the lifting rod 302 moves downward. The plurality of first elastic members 203 pull the plurality of guide plates 201 to rotate downward compared to the second support column 204. When the plurality of guide plates 201 rotate to be relatively horizontal with the second support column 204, if the robot body 10 is affected by the object, When the robot body 10 is tilted, the detection ball 202 will roll from the upper end of the second support column 204 to the upper part of the corresponding guide plate 201 and roll downward along the upper part of the corresponding guide plate 201, thereby acting on the corresponding pressure sensor 206, so that the corresponding second motor 504 drives the corresponding screw rod 502 to rotate, and then drives the corresponding counterweight block 401 to move, so as to adjust the center of gravity of the robot body 10. After the center of gravity of the robot body 10 is adjusted, the incomplete gear 304 is disengaged from the rack 303, and the second elastic member 308 pushes the lifting rod 302 to move the lifting rod 302 upward, thereby driving the push ring 301 to move upward, and the push ring 301 pushes the tow rod guide plate 201 to rotate upward compared to the second support column 204 to a tilted state. At this time, the detection ball 202 on the upper part of a certain group of guide plates 201 rolls in the opposite direction to the upper end of the second support column 204, so as to reset the detection ball 202.

[0059] In one embodiment, the first elastic member 203 and the second elastic member 308 may be springs or metal springs, which are not limited herein.

[0060] See also Figure 3 In one embodiment, the guide plate 201 has a semicircular structure or a U-shaped structure. When the detection ball 202 rolls along the upper part of the guide plate 201, the guide plate 201 with the semicircular structure or the U-shaped structure can provide a guiding effect for the rolling of the detection ball 202, thereby preventing the detection ball 202 from rolling out from the side of the guide plate 201.

[0061] See also Figure 1 In one embodiment, a plurality of universal wheels 101 are provided at the bottom of the robot body 10 .

[0062] In one embodiment, the number of the guide plates 201, the screw rods 502, the second motors 504 and the counterweights 401 may be greater than four groups, for example, six groups or eight groups. When the robot body 10 tilts in directions other than front, back, left and right, the guide plates 201, the screw rods 502, the second motors 504 and the counterweights 401 in other directions may be adjusted in the opposite direction with respect to the center of gravity of the robot body 10, thereby increasing the range of the center of gravity adjustment and improving the stability of the robot body 10 when carrying objects.

[0063] In the embodiment of the present invention, initially, the counterweight assembly 40 is located at the center of the inner side of the robot body 10, so that the center of gravity of the robot body 10 is located at the center of the robot body 10. When the robot body 10 needs to be used to carry and transfer an object, the object can be placed on the upper part of the robot body 10. During this process, the detection assembly 20 is used to detect the tilt state of the robot body 10. When the object is placed on the upper part of the robot body 10 and deviates from the center position, the center of gravity of the robot body 10 is offset, thereby causing the robot body 10 to tilt in one direction. The detection assembly 20 detects the tilt state of the robot body 10, and then drives the second drive assembly 50 to drive the counterweight assembly 40 to move the robot body 10 to the center of the robot body 10. The heavy component 40 moves in a direction opposite to the tilt direction of the robot body 10, thereby readjusting the center of gravity of the robot body 10 to the center position of the robot body 10, so that the robot body 10 can remain stable during the subsequent transfer of objects, preventing the robot body 10 from tipping over due to the shift of the center of gravity, thereby avoiding damage to the object. Compared with the prior art, when an object placed on the upper part of the robot body 10 causes the robot body 10 to tilt, the center of gravity of the robot body 10 can be automatically adjusted to the center position, thereby ensuring the stability of the robot body 10 when carrying objects, avoiding damage to the object caused by the robot body 10 tipping over, and extending the service life of the robot body 10.

[0064] The preferred embodiments of the present invention are described in detail above, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in this field without departing from the purpose of the present invention.

Claims

1. A center of gravity stabilization structure based on an omnidirectional mobile robot, characterized in that: The robot comprises a robot body (10), a detection component (20), a counterweight component (40), and a second drive component (50). The counterweight assembly (40) is movably arranged at the center position inside the robot body (10). The second driving assembly (50) is mounted on the inner top wall of the robot body (10). The detection component (20) is arranged at the inner bottom of the robot body (10) and is used to detect the tilt state of the robot body (10). When the detection component (20) detects that the robot body (10) is tilted in one direction, the second driving component (50) is used to drive the counterweight component (40) to move in a direction opposite to the tilt direction of the robot body (10).

2. A center of gravity stabilizing structure based on an omnidirectional mobile robot according to claim 1, characterized in that: The detection assembly (20) comprises a guide plate (201), a detection sphere (202), a second support column (204), a support end plate (205), and a pressure sensor (206). The second support column (204) is fixedly mounted on the inner bottom wall of the robot body (10); the guide plates (201) are provided in four groups; the four groups of guide plates (201) are arranged at the upper end of the second support column (204) and are distributed in a ring-shaped manner with respect to the second support column (204); the four groups of guide plates (201) are respectively directed to the front, back, left, and right directions of the robot body (10); The detection sphere (202) is placed on the upper end of the second support column (204), and four groups of the support end plates (205) are provided in a one-to-one correspondence with the guide plates (201). A group of the support end plates (205) is fixedly provided at one end of each group of guide plates (201) away from the second support column (204), and a group of the pressure sensors (206) is fixedly provided on the side of each group of the support end plates (205) facing the second support column (204), and a plurality of the pressure sensors (206) are electrically connected to the second drive assembly (50).

3. The center of gravity stabilizing structure based on an omnidirectional mobile robot according to claim 1, characterized in that: The counterweight assembly (40) comprises four sets of counterweight blocks (401). A group of sliding blocks (402) are fixedly arranged on the upper part of each group of counterweight blocks (401). The second driving assembly (50) comprises a screw rod (502) and a second motor (504). The screw rods (502) and the second motors (504) are provided in four groups in a one-to-one correspondence with the counterweights (401); the four groups of screw rods (502) are rotatably arranged on the inner top wall of the robot body (10); the four groups of screw rods (502) are distributed in a cross shape on the inner top wall of the robot body (10); the four groups of screw rods (502) point to the front, back, left, and right directions of the robot body (10), respectively. The end of each group of the screw rods (502) is connected to an output end of a group of the second motors (504), and the sliders (402) on the upper parts of the four groups of the counterweight blocks (401) are respectively threadedly matched with a group of the screw rods (502).

4. The center of gravity stabilizing structure based on an omnidirectional mobile robot according to claim 3, characterized in that: A first support column (102) is fixedly arranged at the center of the inner top wall of the robot body (10). The second driving assembly (50) further comprises four sets of guide rods (501) and four sets of second bracket plates (503). Four groups of the second bracket plates (503) are fixedly mounted on the inner top wall of the robot body (10); four groups of the second motors (504) are respectively fixedly mounted on the side walls of the four groups of the second bracket plates (503); four groups of the screw rods (502) respectively penetrate the four groups of the second bracket plates (503) and are rotatably matched with the four groups of the second bracket plates (503); The four groups of guide rods (501) are respectively located on one side of the four groups of screw rods (502); one end of the four groups of guide rods (501) is fixedly connected to the first support column (102), and the other end is respectively fixedly connected to a group of the second bracket plates (503); the four groups of sliding rods (402) are respectively movably sleeved on the outside of the four groups of guide rods (501).

5. The center of gravity stabilizing structure based on an omnidirectional mobile robot according to claim 2, characterized in that: The four groups of guide plates (201) are hingedly connected to the second support column (204). A first driving assembly (30) is also provided inside the robot body (10), and the first driving assembly (30) is used to drive the four groups of guide plates (201) to rotate up and down relative to the second support column (204).

6. The center of gravity stabilizing structure based on an omnidirectional mobile robot according to claim 5, characterized in that: The bottoms of the plurality of guide plates (201) are connected to the second support column (204) via a group of first elastic members (203), wherein the first elastic members (203) are used to provide elastic pulling force to the guide plates (201). The first driving assembly (30) comprises a pushing ring (301), a lifting rod (302), a rack (303), an incomplete gear (304), a first motor (305), a first bracket plate (306), a positioning sleeve (307) and a second elastic member (308). The first bracket plate (306) and the positioning sleeve (307) are fixedly mounted on the inner bottom wall of the robot body (10); the lifting rod (302) is movably inserted into the upper end of the positioning sleeve (307); the pushing ring (301) is fixedly arranged on the upper end of the lifting rod (302); the pushing ring (301) acts on the bottom of a plurality of the guide plates (201); and the rack (303) is fixedly arranged on the side wall of the lifting rod (302). The first motor (305) is fixedly arranged on one side of the first bracket plate (306), the incomplete gear (304) is installed at the output end of the first motor (305) and can mesh with the rack (303), and the second elastic member (308) is arranged inside the positioning sleeve (307) to provide elastic support for the lifting rod (302).

7. The center of gravity stabilizing structure based on an omnidirectional mobile robot according to claim 6, characterized in that: The first elastic member (203) and the second elastic member (308) are springs or metal springs.

8. The center of gravity stabilizing structure based on an omnidirectional mobile robot according to claim 2, characterized in that: The guide plate (201) has a semicircular structure.

9. The center of gravity stabilizing structure based on an omnidirectional mobile robot according to claim 2, characterized in that: The guide plate (201) has a U-shaped structure.

10. The center of gravity stabilizing structure based on an omnidirectional mobile robot according to claim 1, characterized in that: A plurality of universal running wheels (101) are arranged at the bottom of the robot body (10).

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