A robot self-balancing structure

Abstract

The utility model discloses a robot self-balancing structure, which relates to the technical field of self-balancing structures. It comprises a connecting frame, a mounting groove is provided at the top center of the connecting frame, a transmission groove is provided at the inner center of the connecting frame, fixed grooves are provided on both sides of the transmission groove, a balancing component is arranged inside the transmission groove, and the balancing component comprises a self-locking motor. The utility model starts the self-locking motor to drive the driving bevel gear, the driven bevel gear and the screw to rotate, and the screw with the same rotation direction drives the counterweight block to slide in the same direction along the fixed plate, and at the same time, the center of gravity of the vehicle frame is offset in this direction, so as to achieve the balance adjustment of the vehicle frame as a whole, and secondly, the counterweight block is controlled to move closer to (or away from) the fixed plate by the screw with the opposite rotation direction, so as to achieve the balance adjustment of the height of the center of gravity of the vehicle frame as a whole, and improve the flexibility of the device.

Description

Technical Field

[0001] The utility model relates to the technical field of self-balancing structures, in particular to a robot self-balancing structure. Background Art

[0002] The self-balancing structure can make the robot or other equipment automatically maintain balance when it is stationary or moving without external intervention. The existing self-balancing wheel system structure of a parking robot (Announcement No.: CN208530166U) has at least the following defects in use:

[0003] When the device is in use, although the front-end wheel train balancing structure can ensure that the wheel train mechanism can work normally, the overall balance of the vehicle body frame cannot be flexibly adjusted, which reduces the flexibility of the device. Utility Model Content

[0004] The main purpose of the utility model is to provide a robot self-balancing structure, which can effectively solve the problems in the background technology.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A robot self-balancing structure comprises a connecting frame, a mounting groove is provided at the top center of the connecting frame, a transmission groove is provided at the inner center of the connecting frame, fixing grooves are provided on both sides of the transmission groove, a balancing assembly is arranged inside the transmission groove, and the balancing assembly comprises a self-locking motor, the self-locking motor is fixed to the mounting groove, a driving bevel gear is fixedly connected to the output end of the self-locking motor, driven bevel gears are meshed at both ends of the driving bevel gear, a lead screw is fixedly connected to the opposite end of the driven bevel gear, a counterweight is threadedly connected to the outer wall of the lead screw, fixing plates are slidably connected to the two sides of the counterweight, and the fixing plates are fixed to the fixing grooves.

[0007] Preferably, the two sides of the connecting frame are fixedly connected to the vehicle body frame, and the connecting frame is fixed to the centers of the two sides inside the vehicle body frame.

[0008] Preferably, the driving bevel gear and the driven bevel gear are both arranged inside the transmission groove, and the screw rod passes through the connecting frame and is rotationally connected thereto.

[0009] Preferably, one opposite end of the screw rod is rotatably connected to two ends inside the vehicle body frame, and two ends of the fixing plate are fixed to two ends inside the vehicle body frame.

[0010] Preferably, the threads on the outer wall of the screw rod rotate in the same direction.

[0011] Preferably, the threads on the outer wall of the screw rod rotate in opposite directions.

[0012] Compared with the prior art, the utility model has the following beneficial effects:

[0013] The utility model starts a self-locking motor to drive the driving bevel gear, the driven bevel gear and the screw rod to rotate. The screw rods with the same rotation direction drive the counterweight block to slide in the same direction along the fixed plate, and at the same time, the center of gravity of the vehicle body frame is offset in that direction, thereby achieving the balance adjustment of the vehicle body frame as a whole. Secondly, the screw rods with opposite rotation directions are used to control the counterweight block to move closer to (or away from) the fixed plate, thereby achieving the balance adjustment of the height of the center of gravity of the vehicle body frame as a whole, thereby improving the flexibility of use of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is an axial view of the utility model;

[0015] Figure 2 It is a partial exploded view of the utility model;

[0016] Figure 3 It is a partial cross-sectional view of the utility model;

[0017] Figure 4 This is a structural diagram of the balancing component of the utility model;

[0018] Figure 5 This is a structural diagram of the second embodiment of the present utility model.

[0019] In the figure: 1, vehicle body frame; 2, connecting frame; 3, mounting slot; 4, transmission slot; 5, fixing slot; 6, balancing assembly; 601, self-locking motor; 602, driving bevel gear; 603, driven bevel gear; 604, screw rod; 605, counterweight block; 606, fixing plate. DETAILED DESCRIPTION

[0020] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0021] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0022] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] In the process of using the robot, a self-balancing structure needs to be used. The utility model provides a robot self-balancing structure, which is specially used for the balance adjustment operation of the robot.

[0024] Among them, it should be emphasized that in the present application, the vehicle body frame 1 is the prior art disclosed in the announcement number: CN208530166U. At the same time, if necessary, the present device can also be installed with the front-end wheel system balancing device, steering wheel, spring shock-absorbing wheel, and universal wheel disclosed in the application to ensure the normal operation of the wheel system mechanism.

[0025] The self-locking motor 601 of the utility model is purchased on the market, and technicians in the industry only need to install and operate it according to the instruction manual attached thereto.

[0026] Example

[0027] See also Figure 1-Figure 4 , the utility model provides a technical solution:

[0028] A robot self-balancing structure includes a connecting frame 2, a mounting slot 3 is provided at the top center of the connecting frame 2, a transmission slot 4 is provided at the inner center of the connecting frame 2, fixing slots 5 are provided on both sides of the transmission slot 4, a balancing component 6 is arranged inside the transmission slot 4, and the balancing component 6 includes a self-locking motor 601, the self-locking motor 601 is fixed to the mounting slot 3, a driving bevel gear 602 is fixedly connected to the output end of the self-locking motor 601, both ends of the driving bevel gear 602 are meshed with driven bevel gears 603, and the opposite end of the driven bevel gear 603 is fixedly connected to a screw rod 604, and the outer wall of the screw rod 604 is threadedly connected to the screw rod 604. It is connected to a counterweight block 605, and both sides of the counterweight block 605 are slidably connected with fixed plates 606, and the fixed plates 606 are fixed to the fixed grooves 5. Both sides of the connecting frame 2 are fixedly connected to the vehicle body frame 1, and the connecting frame 2 and the centers of the two sides inside the vehicle body frame 1 are fixed. The driving bevel gear 602 and the driven bevel gear 603 are both arranged inside the transmission groove 4. The screw rod 604 passes through the connecting frame 2 and is rotatably connected thereto. The opposite end of the screw rod 604 is rotatably connected to the two ends inside the vehicle body frame 1, and the two ends of the fixed plate 606 are fixed to the two ends inside the vehicle body frame 1, and the threads on the outer wall of the screw rod 604 rotate in the same direction.

[0029] In the first embodiment, the self-locking motor 601 is started to drive the driving bevel gear 602, the driven bevel gear 603 and the screw 604 to rotate. The screw 604 with the same rotation direction drives the counterweight block 605 to slide in the same direction along the fixed plate 606, and at the same time, the center of gravity of the vehicle frame 1 is shifted in this direction, thereby achieving the overall balance adjustment of the vehicle frame 1 and improving the flexibility of use of the device.

[0030] The threads on the outer wall of the screw rod 604 rotate in opposite directions.

[0031] In the second embodiment, the counterweight block 605 is controlled to move toward (or away from) the fixing plate 606 by means of the screw rod 604 with opposite rotation directions, so as to adjust the balance of the overall center of gravity of the vehicle frame 1 and improve the flexibility of the device.

[0032] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A robot self-balancing structure, comprising a connecting frame (2), characterized in that: A mounting groove (3) is provided at the center of the top of the connecting frame (2), a transmission groove (4) is provided at the center of the interior of the connecting frame (2), fixing grooves (5) are provided on both sides of the transmission groove (4), a balancing assembly (6) is arranged inside the transmission groove (4), and the balancing assembly (6) comprises a self-locking motor (601), the self-locking motor (601) and the mounting groove (3) are fixed to each other, the output end of the self-locking motor (601) is fixedly connected to a driving bevel gear (602), both ends of the driving bevel gear (602) are meshed with driven bevel gears (603), the opposite end of the driven bevel gear (603) is fixedly connected to a screw rod (604), the outer wall of the screw rod (604) is threadedly connected to a counterweight block (605), and both sides of the counterweight block (605) are slidably connected to fixing plates (606), and the fixing plates (606) and the fixing groove (5) are fixed to each other.

2. A robot self-balancing structure according to claim 1, characterized in that: The two sides of the connecting frame (2) are fixedly connected to the vehicle body frame (1), and the centers of the two sides of the connecting frame (2) and the vehicle body frame (1) are fixed to each other.

3. A robot self-balancing structure according to claim 1, characterized in that: The driving bevel gear (602) and the driven bevel gear (603) are both arranged inside the transmission groove (4), and the screw rod (604) passes through the connecting frame (2) and is rotationally connected thereto.

4. A robot self-balancing structure according to claim 2, characterized in that: The opposite end of the screw rod (604) is rotatably connected to the two ends inside the vehicle body frame (1), and the two ends of the fixing plate (606) are fixed to the two ends inside the vehicle body frame (1).

5. A robot self-balancing structure according to claim 1, characterized in that: The threads on the outer wall of the screw rod (604) rotate in the same direction.

6. A robot self-balancing structure according to claim 1, characterized in that: The threads on the outer wall of the screw rod (604) rotate in opposite directions.

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