Intelligent robot capable of adjusting body balance

Abstract

The invention discloses an intelligent robot capable of adjusting machine body balance, and relates to the field of intelligent robotics.The intelligent robot comprises a base, a base and a mechanical arm body, a partition plate is arranged in the base, a plurality of supporting assemblies are installed on the partition plate and can obliquely rotate, one end of each supporting assembly is connected with the base, and the other end of each supporting assembly is connected with the mechanical arm body; a plurality of sets of buffering air bags are arranged at the positions, located on the top of the partition plate, in the base, the tops of the buffering air bags make contact with the bottom of the base, and meanwhile an elastic air bag is arranged at the bottom in the base. The balancing weight at the bottom end can be driven to slide towards the other side through the supporting assembly, the situation that the base turns over on one side is effectively prevented, damping is conveniently conducted on the base in the moving process under the action of the buffering air bag, the balancing weight can extrude the elastic air bag in the process that the balancing weight slides towards one side due to the supporting assembly, and the damping effect is improved. And the bearing capacity of the buffering air bag to the whole base is further improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent robots, in particular to an intelligent robot capable of adjusting the balance of the body. BACKGROUND

[0002] With the development of automation technology and computer technology, the work that the intelligent robot can do is more and more, and the cost is lower and lower, and it has begun to be used on a large scale. The intelligent robot is a machine that can perform tasks such as work or movement through programming and automatic control. The intelligent robot is a machine system that simulates a person in perception, thinking, and effect. The appearance is not necessarily human-shaped, including mechanical arms, drones, and cruise cars. The most important thing is that such machines can perform actions arranged for a purpose. Because of this, we say that such machines are truly robots, although their appearance may differ.

[0003] The existing intelligent robot used in the factory car is usually high in height to facilitate the loading and unloading of workpieces on the shelf. Different tools are worn on the output end of the intelligent robot to load and unload the workpieces on the shelf. Because the intelligent robot is high in height, the center of gravity of the robot will also shift upward. During the workpiece carrying process, the workpiece is usually at the front end of the robot. Because the robot structure is complex and has many joints, friction and resistance are easily generated during movement. In addition, the uneven weight distribution of the workpiece will cause the center of gravity of the robot to shift forward, which will affect the stability of the robot during work and easily cause the robot to roll over.

[0004] In summary, the uneven weight distribution of the workpiece during the carrying process of the intelligent robot will cause the center of gravity of the robot to shift forward, which will affect the stability of the robot during work and easily cause the robot to roll over. SUMMARY

[0005] Therefore, the purpose of the present application is to provide an intelligent robot capable of adjusting the balance of the body to solve the technical problem that the uneven weight distribution of the workpiece during the carrying process of the intelligent robot will cause the center of gravity of the robot to shift forward, which will affect the stability of the robot during work and easily cause the robot to roll over.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme: an intelligent robot capable of adjusting the balance of the body, comprising a base, a base, and a mechanical arm body, the top of the base is connected with the base, the top of the base is connected with the mechanical arm body, the base is provided with a partition plate, a plurality of support assemblies are installed on the partition plate, the support assemblies can be inclined and rotated, one end of the support assembly is connected with the base, and the other end is connected with a counterweight through the partition plate. The top of the partition in the base is provided with a plurality of buffer air bags, the top of the buffer air bag is in contact with the bottom of the base, and the bottom of the base is provided with an elastic air bag on one side of the counterweight.

[0007] By adopting the above technical scheme, when the base is tilted forward during movement, the supporting assembly drives the counterweight at the bottom to slide to the other side, the gravity on the other side of the base is increased by the counterweight, the base is effectively prevented from rolling over, the base during movement is easily damped by the buffer air bag, and the side of the counterweight is provided with the elastic air bag, the elastic air bag is extruded during sliding of the supporting assembly to one side, at this time, the elastic air bag sends the gas in the elastic air bag to the buffer air bag through the exhaust pipe, and the carrying capacity of the buffer air bag for the base is further improved.

[0008] The supporting assembly comprises a guide column, a spherical block, an arc surface and a universal shaft, the upper and lower ends of the guide column are respectively provided with the spherical block and the universal shaft, and the connecting positions of the two ends of the guide column and the spherical block and the universal shaft are provided with the arc surface.

[0009] As preferred, under the action of the spherical block and the universal shaft, the supporting assembly can support the base regardless of the direction of the inclination of the base, the inclination angle of the base is limited by the through slot on the base and the partition, the over-tilting of the base is effectively prevented, and the stability of the device during the carrying of the workpiece is further improved.

[0010] The counterweight is provided with a shaft slot for inserting the universal shaft, and the inner wall of the shaft slot is smooth.

[0011] As preferred, when the guide column is tilted, the universal shaft can be turned in the shaft slot, the guide column prevents the counterweight from being tilted upward, the guide column can drive the counterweight to slide in the base, and the smooth setting effectively reduces the friction between the two, and the stability of the turning of the universal shaft in the shaft slot is further improved.

[0012] The bottom of the base is symmetrically provided with a plurality of universal wheels, and the universal wheel is provided with a self-locking mechanism.

[0013] As preferred, the universal wheel is a core component of the intelligent robot, the universal wheel drives the whole device to move, realizes the carrying and placing of the workpiece in different areas, and the self-locking mechanism prevents the robot from moving due to slipping when the intelligent robot is stopped.

[0014] The base is internally provided with an inner groove, one end of the support assembly penetrates into the inner groove, and the partition plate and the inner groove are both provided with a through groove for the inclined rotation of the support assembly.

[0015] As preferred, the inner groove is provided to facilitate the penetration of one end of the support assembly, and the through groove allows the support assembly to be inclined and rotated, facilitating the adjustment of the position of the counterweight block in cooperation with the base.

[0016] The application further provides that the two ends of the through groove are provided in an open manner, and the arc surface is engaged with the opening.

[0017] As preferred, the open setting greatly improves the contact area between the support assembly and the through groove, reducing the small area contact that causes the spherical block to wear.

[0018] The application further provides that the two ends of the exhaust pipe are sealed at the connection between the elastic air bag and the buffer air bag.

[0019] As preferred, the sealing prevents gas leakage during ventilation, ensuring that the buffer air bag and the elastic air bag still have the effect of shock absorption and support after long-term use, improving the overall service life of the device.

[0020] The application further provides that the top of the buffer air bag is provided with an extruded rubber sheet, and the top of the extruded rubber sheet is provided in a rough manner with the contact surface of the base.

[0021] As preferred, the extruded rubber sheet prevents the base from being tilted and damaging the buffer air bag, and the rough setting increases the sliding friction between the extruded rubber sheet and the base, ensuring that the base does not move horizontally during movement.

[0022] The application further provides that the spherical block and the universal shaft are both provided with two groups, the partition plate is between the two groups of universal shafts, and the through groove at the inner groove is between the two groups of spherical blocks.

[0023] As preferred, the upper universal shaft and the spherical block are in contact with the through groove, and the limiting between the two ensures that the base does not slide vertically during movement due to vibration, further limiting the position of the base in the base.

[0024] The application further provides that the outer wall of the guide column is provided with a smooth surface.

[0025] As preferred, the smooth surface is arranged to reduce the friction between the guide pillar and the through groove, so that the guide pillar can quickly respond during the tilting of the base, improving the stability of the self-regulation.

[0026] In summary, the present application mainly has the following beneficial effects: 1、The present application is characterized by the following: the base is fixedly provided with a partition plate, one end of the support assembly penetrates the partition plate, the other end is inserted into the base, and the end penetrating the partition plate is further connected with a counterweight, the counterweight is located at the middle position in the base in the conventional state, in the case that the base is tilted forward during the movement of the mechanical arm body, the support assembly will be arranged in an inclined manner, so that the support assembly drives the counterweight at the bottom to slide to the other side, the gravity on the other side of the base is increased by the counterweight, the gravity center of the whole device is lowered, the side turning of the base is effectively prevented, the balance of the base during the movement of the device is automatically adjusted, and the stability of the whole movement is improved. 2、The present application is characterized by the following: the top of the partition plate is provided with a buffer air bag, the base during the movement is cushioned by the buffer air bag, the gravity center deviation due to the vibration of the base is reduced, the bottom of the base is supported during the tilting of the base, the stress of the support assembly in the tilted state is reduced, the bearing capacity of the whole device is improved, one side of the counterweight is provided with an elastic air bag, the elastic air bag is pressed during the sliding of the support assembly to one side, the gas in the elastic air bag is transported to the inside of the buffer air bag through the exhaust pipeline at this time, the bearing capacity of the buffer air bag to the whole base is further improved, and the breakage of the support assembly is effectively prevented. 3、The present application is characterized by the following: the two ends of the support assembly are respectively provided with spherical blocks and universal shafts, the universal shafts and the counterweights are connected through shaft grooves, the support assembly can bear and support the base no matter which direction the base tilts under the action of the spherical blocks and the universal shafts, the tilting angle of the base is limited by matching the through grooves on the base and the partition plate, the over-tilting of the base is effectively prevented, and the stability of the device during the carrying of the workpiece is further improved. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a perspective view of the present application; Figure 2 It is a sectional view of the present application; Figure 3 It is an enlarged view of A in the present application; Figure 2 Figure 4 It is an inside view of the base and the base of the present application; Figure 5 It is an exploded view of the present application; ​Figure 6 A schematic diagram of the buffer air bag structure of the present application; Figure 7 A schematic diagram of the elastic air bag structure of the present application; Figure 8 A schematic diagram of the exhaust duct structure of the present application; Figure 9 A schematic diagram of the counterweight structure of the present application; Figure 10 A schematic diagram of the present application Figure 9 An enlarged view of B in the present application; Figure 11 A schematic diagram of the partial structure of the second embodiment of the present application.

[0028] Explanation of reference numerals: 1, base; 2, base; 3, mechanical arm body; 4, universal wheel; 5, support assembly; 501, guide column; 502, spherical block; 503, arc surface; 504, universal shaft; 6, elastic air bag; 7, buffer air bag; 8, partition; 9, counterweight; 10, through slot; 11, exhaust duct; 12, shaft slot; 13, inner slot. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. The embodiments described below with reference to the drawings are exemplary and are used only to explain the present application, and cannot be understood as a limitation of the present application.

[0030] The embodiments of the present application will be described below according to the overall structure of the present application.

[0031] Embodiment one: please refer to Figures 1-10 An intelligent robot capable of adjusting the balance of the fuselage shown in the drawing, comprising a base 1, a base 2, a mechanical arm body 3, a counterweight assembly, a sliding mechanism and an adjusting mechanism, a worker installs a special tool on the output end of the mechanical arm body 3, then takes it through the tool, at this time the universal wheel 4 drives the base 1 to move and carry the workpiece, a partition 8 is arranged in the base 1, a plurality of counterweights 9 are arranged at the bottom of the partition 8, the counterweights 9 are located at the middle position in the normal state and do not affect the movement of the base 2, at the same time a plurality of buffer air bags 7 are arranged at the top of the partition 8 in the base 1, the top of the buffer air bag 7 is in contact with the bottom of the base 2, the base 2 is easily damped in the movement process under the action of the buffer air bag 7, and the condition of gravity center deviation due to its own vibration is reduced; Furthermore, a compression film is provided on the top of the airbag 7. The contact surface between the top of the compression film and the base 2 is roughened. The compression film prevents the base 2 from damaging the airbag 7 when it tilts. The roughened surface also increases the sliding friction between the compression film and the base 2, ensuring that the base 2 does not move forward horizontally during movement. During movement, if the base 2 causes the robotic arm body 3 to tilt due to the inclined road surface or vibration, the support components 5 installed on the partition 8 can tilt and rotate. One end of the support component 5 is connected to the base 2, and the other end passes through the partition 8 and is connected to a counterweight 9. When the robotic arm body 3 causes the base 2 to tilt forward, the support component 5 will be tilted, causing the support component 5 to slide the counterweight 9 at the bottom to the other side. The counterweight 9 increases the gravity on the other side of the base 1 and lowers the center of gravity of the device, effectively preventing the base 1 from tipping over. This ensures that the balance of the base 1 can be automatically adjusted during the movement of the device, improving the overall stability of the movement. Furthermore, an elastic airbag 6 is provided at the bottom of the base 1 on one side of the counterweight 9, and an exhaust pipe 11 is connected between the elastic airbag 6 and the buffer airbag 7 at an oblique angle. Furthermore, during the process of the counterweight 9 supporting the component 5 moving to one side, it will compress the elastic airbag 6. At this time, the elastic airbag 6 will transport the internal gas to the buffer airbag 7 through the exhaust pipe 11. The buffer airbag 7 can support the bottom of the base 2, further improving the overall load-bearing capacity of the buffer airbag 7 on the base 2, and effectively preventing the support component 5 from breaking due to excessive force. The elastic airbag 6 and the buffer airbag 7 are a composite system of elastic polymer substrate and fiber reinforcement layer, which makes it have the advantages of impact resistance, fatigue resistance and strong stability. The specific materials are prior art to those skilled in the art, so they are not described in detail in this application.

[0032] For details regarding the above embodiments, please refer to [link / reference]. Figure 2 The base 1 has a set of symmetrical casters 4 at its bottom. The casters 4 are equipped with a self-locking mechanism. The casters 4 are core components of the intelligent robot. The casters 4 facilitate the movement of the entire device, enabling the workpiece to be transported and placed in different areas. The self-locking mechanism prevents the robot from slipping and shifting when it is stopped.

[0033] For details regarding the above embodiments, please refer to [link / reference]. Figure 3 and Figure 9The inner groove 13 is arranged in the base 2, one end of the support assembly 5 penetrates into the inner groove 13, and the through groove 10 is arranged at the partition plate 8 and the inner groove 13, and the support assembly 5 is inclined to rotate in the through groove 10. The inner groove 13 is arranged to limit one end of the support assembly 5, and the through groove 10 allows the support assembly 5 to be inclined to rotate, which is convenient for adjusting the position of the counterweight 9 in cooperation with the base 2. The two ends of the through groove 10 are arranged in an open manner, and the two ends of the support assembly 5 are combined with the openings. The open arrangement greatly increases the contact area between the support assembly 5 and the through groove 10, and reduces the wear of the support assembly 5 caused by small-area contact.

[0034] Embodiment two: please refer to Figure 11 The support assembly 5 includes a guide column 501, a spherical block 502, an arc surface 503, and a universal shaft 504. The spherical block 502 and the universal shaft 504 are arranged at the upper and lower ends of the guide column 501, respectively. The arc surface 503 is arranged at the connection between the two ends of the guide column 501 and the spherical block 502 and the universal shaft 504. Under the action of the spherical block 502 and the universal shaft 504, the base 2 can be supported by the support assembly 5 no matter which direction it is inclined. The inclination angle of the base 2 is limited by the through groove 10 on the base 2 and the partition plate 8, which effectively prevents the base 2 from being excessively inclined and further improves the stability of the device during the transportation of the workpiece. The universal shaft 504 is inserted into the shaft groove 12 arranged on the counterweight 9. The inner wall of the shaft groove 12 is arranged in a smooth manner. When the guide column 501 is inclined, the universal shaft 504 can be turned in the shaft groove 12, which prevents the guide column 501 from applying an inclined force to the counterweight 9. The guide column 501 can drive the counterweight 9 to slide in the base 1. The smooth arrangement effectively reduces the friction between the two, further improves the stability of the universal shaft 504 turning in the shaft groove 12, and the arrangement of the arc surface 503 facilitates the maximum contact with the through groove 10, further improving the carrying capacity of the support assembly 5.

[0035] In the specific work, the dedicated tool is arranged at the front end of the mechanical arm body 3, the workpiece is clamped by the tool, then the workpiece is carried under the cooperation of the base 1 and the base 2, in the conventional state, the counterweight 9 in the base 1 is at the middle position, and the base 1 is not affected during movement, when the base 2 drives the mechanical arm body 3 to incline due to the inclined road surface or vibration during carrying, the support assembly 5 at the bottom of the base 2 is arranged to incline, the counterweight 9 slides to the other side in the base 1 under the action of the support assembly 5, the gravity of the other side of the base 1 is increased by the counterweight 9, the gravity center of the device is reduced, and the side turning of the base 1 is effectively prevented; Meanwhile, the buffer air bag 7 is arranged at the top of the partition plate 8 in the base 1, the base 2 is buffered by the buffer air bag 7 in the conventional state, the gravity center of the base 2 is not offset due to vibration during movement, and the buffer air bag 7 at the bottom is extruded during the inclination of the base 2, the buffer air bag 7 supports the base 2, the stress of the support assembly 5 in the inclined state is reduced, one side of the counterweight 9 is provided with the elastic air bag 6, the elastic air bag 6 is extruded during the sliding of the support assembly 5 to one side, the gas in the elastic air bag 6 is transported to the buffer air bag 7 through the exhaust pipeline 11, the bearing capacity of the buffer air bag 7 to the base 2 is further improved, and the fracture of the support assembly 5 due to excessive stress is effectively prevented.

[0036] Although the embodiments of the present application have been shown and described, the specific embodiments are only an explanation of the present application, and are not a limitation of the application, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner, and those skilled in the art can make modifications, replacements and variations of the embodiments without creative contribution after reading the specification, as long as the modifications, replacements and variations are within the scope of the claims of the present application.

Claims

1. An intelligent robot capable of adjusting the balance of the fuselage, comprising a base (1), a base (2) and a mechanical arm body (3), the top of the base (1) is connected with the base (2), and the top of the base (2) is connected with the mechanical arm body (3), characterized in that: The base (1) is provided with a partition plate (8), a plurality of support assemblies (5) are installed on the partition plate (8), the support assembly (5) can be inclined and rotated, one end of the support assembly (5) is connected with the base (2), and the other end penetrates through the partition plate (8) and is connected with a counterweight (9). ​ The base (1) is provided with a plurality of buffer air bags (7) at the top of the partition plate (8), the top of the buffer air bag (7) is in contact with the bottom of the base (2), and the bottom of the base (1) is provided with an elastic air bag (6) on one side of the counterweight (9), and the elastic air bag (6) and the buffer air bag (7) are diagonally connected with an exhaust pipe (11).

2. The intelligent robot capable of adjusting the balance of the fuselage according to claim 1, wherein: The support assembly (5) comprises a guide column (501), a spherical block (502), an arc surface (503) and a universal shaft (504), the upper and lower ends of the guide column (501) are respectively provided with the spherical block (502) and the universal shaft (504), and the connecting positions of the two ends of the guide column (501) with the spherical block (502) and the universal shaft (504) are provided with the arc surface (503).

3. The intelligent robot capable of adjusting the balance of the fuselage according to claim 2, characterized in that: The counterweight (9) is provided with a shaft groove (12) for inserting the universal shaft (504), and the inner wall of the shaft groove (12) is smooth.

4. The intelligent robot capable of adjusting the balance of the fuselage according to claim 1, wherein: A plurality of universal wheels (4) are symmetrically arranged on the bottom of the base (1), and the universal wheel (4) is provided with a self-locking mechanism.

5. The intelligent robot capable of adjusting the balance of the fuselage according to claim 1, characterized in that: An inner groove (13) is formed in the base (2), one end of the support assembly (5) penetrates into the inner groove (13), and a through groove (10) is formed in the partition plate (8) and the inner groove (13) for the inclined rotation of the support assembly (5).

6. The intelligent robot capable of adjusting the balance of the fuselage according to claim 5, characterized in that: Both ends of the through groove (10) are provided in an open manner, and the arc surface (503) is engaged with the opening.

7. The intelligent robot capable of adjusting the balance of the fuselage according to claim 1, characterized in that: Both ends of the exhaust pipe (11) are sealed at the connection positions of the elastic air bag (6) and the buffer air bag (7). 8.The intelligent robot capable of adjusting the balance of the fuselage according to claim 1, wherein: The top of the buffer air bag (7) is provided with an extruded rubber sheet, and the top of the extruded rubber sheet is provided in a rough manner with the contact surface of the base (2). 9.The intelligent robot capable of adjusting the balance of the fuselage according to claim 2, characterized in that: The spherical block (502) and the universal shaft (504) are both provided with two groups, the partition plate (8) is between the two groups of universal shafts (504), and the through groove (10) at the inner groove (13) is between the two groups of spherical blocks (502).

10. The intelligent robot capable of adjusting the balance of the fuselage according to claim 2, characterized in that: The outer wall of the guide column (501) is provided with a smooth surface.

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