Robot

Abstract

The utility model discloses a robot which comprises a robot body, a mechanical arm, a chassis and a counterweight device. The robot body is provided with a controller, the mechanical arm is movably connected to the robot body and electrically connected with the controller, and the controller is used for controlling the mechanical arm to move. The chassis is arranged at the bottom of the robot body and electrically connected with the controller, and the controller is further used for controlling the chassis to move so as to drive the robot to advance. The counterweight device is arranged on the chassis and electrically connected with the controller, and the controller is further used for controlling the counterweight device to move when the mechanical arm moves and / or the chassis moves so as to adjust the gravity center of the robot, so that the gravity center of the robot is always kept at a proper position, and the robot is prevented from toppling over in the working process. The movement of the mechanical arm, the chassis and the counterweight device is controlled through the same controller, so that the robot can adjust the gravity center of the robot in time according to the movement state of the mechanical arm and / or the chassis, and the toppling risk is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent devices, and in particular to a robot. Background Art

[0002] With technological advancements, the use of robots is becoming increasingly widespread. Robots with robotic arms are particularly popular in the automation field. However, when a robot with a robotic arm is operating, its center of gravity shifts with the movement of the arm, posing a risk of tipping over and affecting its usability. Utility Model Content

[0003] In view of this, the present application proposes a robot which, through the provision of a counterweight device, can adjust the center of gravity according to the movement of the robot to prevent the robot from tipping over during operation.

[0004] This application proposes a robot, comprising:

[0005] a body, provided with a controller;

[0006] a robotic arm, movably connected to the body, the robotic arm being electrically connected to the controller, the controller being used to control the movement of the robotic arm;

[0007] A chassis is provided at the bottom of the body, the chassis is electrically connected to the controller, and the controller is further used to control the movement of the chassis to drive the robot to move;

[0008] A counterweight device is provided on the chassis and is electrically connected to the controller. The controller is also used to control the movement of the counterweight device when the robotic arm moves and / or the chassis moves, so as to adjust the center of gravity of the robot.

[0009] In some embodiments, the counterweight device includes a first counterweight assembly, which includes: a first guide member extending along a first direction, where the first direction is the forward and backward direction of the robot; a first counterweight block movably connected to the first guide member; and a first drive assembly connected to the first counterweight block, where the first drive assembly is used to drive the first counterweight block to move along the first guide member to adjust the center of gravity of the robot.

[0010] In some embodiments, the robotic arm is configured to swing forward and backward relative to the fuselage; the controller is used to control the first drive assembly to drive the first counterweight block to move backward along the first guide member when the robotic arm swings forward relative to the fuselage to adjust the center of gravity of the robot; the controller is also used to control the first drive assembly to drive the first counterweight block to move forward along the first guide member when the robotic arm swings backward relative to the fuselage to adjust the center of gravity of the robot; and / or, the controller is also used to control the first drive assembly to drive the first counterweight block to move forward along the first guide member when the robot climbs a slope or crosses an obstacle to adjust the center of gravity of the robot.

[0011] In some embodiments, the counterweight device includes a second counterweight assembly, which includes: a second guide member extending along a second direction, the second direction being perpendicular to the forward and backward direction of the robot, and the second direction being perpendicular to the height direction of the robot; a second counterweight block movably connected to the second guide member; and a second drive assembly connected to the second counterweight block, the second drive assembly being used to drive the second counterweight block to move along the second guide member to adjust the center of gravity of the robot.

[0012] In some embodiments, the robotic arm is configured to swing left and right relative to the fuselage; the controller is used to control the second drive assembly to drive the second counterweight block to move rightward along the second guide member when the robotic arm swings to the left relative to the fuselage, so as to adjust the center of gravity of the robot; the controller is also used to control the second drive assembly to drive the second counterweight block to move leftward along the second guide member when the robotic arm swings to the right relative to the fuselage, so as to adjust the center of gravity of the robot.

[0013] In some embodiments, the robotic arm includes a first robotic arm and a second robotic arm, the first robotic arm and the second robotic arm are arranged on both sides of the fuselage along the second direction, and the first robotic arm and the second robotic arm are configured to be able to pick up and place materials at preset positions; the controller is used to control the second drive component to drive the second counterweight block to move along the fuselage toward the second robotic arm when the load weight of the first robotic arm exceeds the load weight of the second robotic arm, so as to adjust the center of gravity of the robot; the controller is also used to control the second drive component to drive the second counterweight block to move along the fuselage toward the first robotic arm when the load weight of the second robotic arm exceeds the load weight of the first robotic arm, so as to adjust the center of gravity of the robot.

[0014] In some embodiments, the counterweight device includes a first counterweight assembly and a second counterweight assembly, the first counterweight assembly is used to move along a first direction to adjust the center of gravity of the robot in the first direction, and the second counterweight assembly is used to move along a second direction to adjust the center of gravity of the robot in the second direction, the first direction is perpendicular to the second direction, and the first direction and the second direction are both perpendicular to the height direction of the robot; wherein, the first counterweight assembly and the second counterweight assembly are arranged in a cross structure on the chassis.

[0015] In some embodiments, a avoidance cavity is provided at the connection between the body and the chassis, which passes through the forward and backward direction of the robot, the first guide member is passed through the avoidance cavity, and the first drive assembly can drive the first counterweight block to pass through the avoidance cavity and move to a preset position of the first guide member.

[0016] In some embodiments, the first drive assembly includes: a first drive member; a first transmission structure, connected to the first drive member, and the first transmission structure is parallel to the first guide member and is passed through the avoidance cavity; wherein, the first counterweight block is connected to the first transmission structure, and the first drive member is used to drive the first transmission structure to move, so as to drive the first counterweight block to move along the first guide member.

[0017] In some embodiments, the chassis includes: a base plate having a first side and a second side relative to each other, the fuselage and the counterweight device are arranged on the first side; a moving wheel assembly including a driving wheel and a driven wheel, the driving wheel and the driven wheel are connected to the base plate to support the base plate and drive the base plate to move, thereby driving the robot to move; a battery assembly, electrically connected to the driving wheel, and the battery assembly is arranged on the second side.

[0018] As can be seen from the above technical solution, the robot proposed in this application can adjust the center of gravity of the robot according to the motion state of the robotic arm and / or chassis through the provision of a counterweight device, so that the center of gravity of the robot is always maintained in an appropriate position, thereby preventing the robot from tipping over during operation. By controlling the movement of the robotic arm, chassis, and counterweight device through the same controller, the robot can adjust the center of gravity of the robot in a timely manner according to the motion state of the robotic arm and / or chassis, thereby reducing the risk of tipping over. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained from these drawings without any creative work.

[0020] Figure 1 It is a schematic diagram of the structure of the robot proposed in this application;

[0021] Figure 2 This is a schematic diagram of the structure of the robot proposed in this application when crossing an obstacle;

[0022] Figure 3 This is a schematic diagram of the structure of the robot proposed in this application when climbing a slope;

[0023] Figure 4 This is a schematic structural diagram of the first counterweight assembly proposed in this application being arranged on the chassis from a first perspective;

[0024] Figure 5 This is a schematic diagram of the structure of the first counterweight assembly proposed in this application being arranged on the chassis from a second perspective;

[0025] Figure 6 This is a schematic diagram of the position of the first counterweight assembly proposed in this application on the chassis;

[0026] Figure 7 This is a schematic diagram of the positions of the first counterweight assembly and the second counterweight assembly proposed in this application on the chassis;

[0027] Figure 8 This is a schematic diagram of the positions of the mobile wheel assembly and the battery assembly under the chassis proposed in this application.

[0028] Description of reference numerals:

[0029] 100. Robot; 10. Body; 11. Avoidance chamber; 20. Robotic arm; 21. First robot arm; 22. Second robot arm; 30. Chassis; 31. Bottom plate; 311. First side; 312. Second side; 32. Moving wheel assembly; 321. Driving wheel; 322. Driven wheel; 33. Battery assembly; 40. Counterweight device; 40a. First counterweight assembly; 41. First guide member; 42. First counterweight block; 43. First drive assembly; 431. First drive member; 432. First transmission structure; 4321. Screw; 433. Bearing seat; 40b. Second counterweight assembly; 44. Second guide member; 45. Second counterweight block; 46. Second drive assembly; 200. Obstacle. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0031] It should be understood that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0032] It should also be understood that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element through an intervening element.

[0033] The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this application. For example, the terms "first," "second," and so on are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, the term "first" or "second" may explicitly or implicitly include at least one of the features.

[0034] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0035] See also Figures 1 to 3 The embodiment of the present application proposes a robot 100, comprising a body 10, a robotic arm 20, a chassis 30, and a counterweight device 40. The body 10 is provided with a controller, the robotic arm 20 is movably connected to the body 10, the robotic arm 20 is electrically connected to the controller, and the controller is used to control the movement of the robotic arm 20. The chassis 30 is provided at the bottom of the body 10, the chassis 30 is electrically connected to the controller, and the controller is also used to control the movement of the chassis 30 to drive the robot 100 to move. The counterweight device 40 is provided on the chassis 30, and the counterweight device 40 is electrically connected to the controller. The controller is also used to control the movement of the counterweight device 40 when the robotic arm 20 moves and / or the chassis 30 moves, so as to adjust the center of gravity of the robot 100.

[0036] The robot 100 of the embodiment of the present application, through the provision of the counterweight device 40, can adjust the center of gravity of the robot 100 according to the motion state of the robotic arm 20 and / or chassis 30, so that the center of gravity of the robot 100 is always maintained in an appropriate position, thereby preventing the robot 100 from tipping over during operation. By controlling the movement of the robotic arm 20, chassis 30, and counterweight device 40 by the same controller, the robot 100 can adjust the center of gravity of the robot 100 in a timely manner according to the motion state of the robotic arm 20 and / or chassis 30, thereby reducing the risk of tipping over.

[0037] For example, the controller may control the counterweight device 40 to move to adjust the center of gravity of the robot 100 to remain at the center of the chassis 30 , so that the robot 100 always maintains balance during movement and avoids tipping over.

[0038] See also Figures 4 to 6 In some embodiments, the counterweight device 40 includes a first counterweight assembly 40a, the first counterweight assembly 40a includes a first guide member 41, a first counterweight block 42 and a first drive assembly 43, the first guide member 41 extends along a first direction, and the first direction is the forward and backward direction of the robot 100 (such as Figures 1 to 3 As shown). The first counterweight 42 is movably connected to the first guide member 41. The first drive assembly 43 is connected to the first counterweight 42, and the first drive assembly 43 is used to drive the first counterweight 42 to move along the first guide member 41 to adjust the center of gravity of the robot 100. Thus, the movement trajectory of the first counterweight 42 can be guided by the setting of the first guide member 41, and the controller drives the first counterweight 42 to move along the first guide member 41 by controlling the first drive assembly 43, thereby facilitating the adjustment of the center of gravity of the robot 100, so that the center of gravity of the robot 100 is always maintained in a suitable position, thereby preventing the robot 100 from tipping over during operation. Among them, the first counterweight assembly 40a has a simple structure and a small size, which can realize the convenient adjustment of the center of gravity of the robot 100, and the balance of the robot 100 can be maintained without increasing the volume or weight of the chassis 30.

[0039] In some embodiments, the robotic arm 20 is configured to swing forward and backward relative to the body 10. The controller is configured to control the first drive assembly 43 to drive the first counterweight 42 to move backward along the first guide member 41 when the robotic arm 20 swings forward relative to the body 10, thereby adjusting the center of gravity of the robot 100. The controller is also configured to control the first drive assembly 43 to drive the first counterweight 42 to move forward along the first guide member 41 when the robotic arm 20 swings backward relative to the body 10, thereby adjusting the center of gravity of the robot 100. Thus, the controller can adjust the position of the first counterweight 42 according to the forward and backward movement of the robotic arm 20. When the robotic arm 20 swings forward, the center of gravity of the robot 100 deviates to the front, so the first counterweight 42 is controlled to move backward. When the robotic arm 20 swings backward, the center of gravity of the robot 100 deviates to the rear, so the first counterweight 42 is controlled to move forward to adjust the center of gravity of the robot 100, thereby maintaining the balance of the robot 100.

[0040] In some embodiments, the controller is also used to control the robot 100 when it climbs a slope or crosses an obstacle 200 (e.g. Figure 2 and Figure 3As shown in FIG2 , the first drive assembly 43 is controlled to drive the first counterweight 42 to move forward along the first guide member 41 to adjust the center of gravity of the robot 100. Thus, the position of the first counterweight 42 can be adjusted according to the motion state of the chassis 30. Since the robot 100 tilts backward relative to the horizontal plane when climbing a slope or crossing an obstacle 200, the first counterweight 42 is controlled to move forward to adjust the center of gravity of the robot 100, thereby maintaining the balance of the robot 100.

[0041] See also Figure 7 In some embodiments, the counterweight device 40 includes a second counterweight assembly 40b, which includes a second guide member 44, a second counterweight block 45, and a second drive assembly 46. The second guide member 44 extends along a second direction, which is perpendicular to the forward and backward directions of the robot 100 and perpendicular to the height direction of the robot 100 (e.g., Figure 1 (As shown, the second direction is the left-right direction of the robot 100). A second counterweight 45 is movably connected to the second guide member 44. A second drive assembly 46 is connected to the second counterweight 45 and is configured to drive the second counterweight 45 along the second guide member 44 to adjust the center of gravity of the robot 100. Thus, the second guide member 44 can guide the movement trajectory of the second counterweight 45. The controller controls the second drive assembly 46 to drive the second counterweight 45 along the second guide member 44, thereby facilitating adjustment of the center of gravity of the robot 100, ensuring that the center of gravity of the robot 100 is always maintained in a suitable position, thereby preventing the robot 100 from tipping over during operation.

[0042] In some embodiments, the robotic arm 20 is configured to swing left and right relative to the body 10. The controller is configured to control the second drive assembly 46 to drive the second counterweight 45 to move rightward along the second guide member 44 when the robotic arm 20 swings leftward relative to the body 10, thereby adjusting the center of gravity of the robot 100. The controller is also configured to control the second drive assembly 46 to drive the second counterweight 45 to move leftward along the second guide member 44 when the robotic arm 20 swings rightward relative to the body 10, thereby adjusting the center of gravity of the robot 100. Thus, the controller can adjust the position of the second counterweight 45 based on the left-right movement of the robotic arm 20. When the robotic arm 20 swings leftward, the center of gravity of the robot 100 shifts to the left, so the second counterweight 45 is controlled to move rightward. When the robotic arm 20 swings rightward, the center of gravity of the robot 100 shifts to the right, so the second counterweight 45 is controlled to move leftward to adjust the center of gravity of the robot 100, thereby maintaining the balance of the robot 100.

[0043] See also Figure 1 and Figure 7In some embodiments, the robot arm 20 includes a first robot arm 21 and a second robot arm 22, which are disposed on either side of the body 10 along the second direction. The first robot arm 21 and the second robot arm 22 are configured to pick up and place materials at predetermined locations. The controller is configured to control the second drive assembly 46 to drive the second counterweight 45 to move along the body 10 toward the second robot arm 22 to adjust the center of gravity of the robot 100 when the load weight of the first robot arm 21 exceeds the load weight of the second robot arm 22. The controller is also configured to control the second drive assembly 46 to drive the second counterweight 45 to move along the body 10 toward the first robot arm 21 to adjust the center of gravity of the robot 100 when the load weight of the second robot arm 22 exceeds the load weight of the first robot arm 21. Thus, the controller can control the movement of the second counterweight 45 based on the load conditions of the first and second robot arms 21, thereby maintaining the balance of the robot 100.

[0044] In some usage scenarios, when the first robotic arm 21 and / or the second robotic arm 22 swings forward and picks up an object, the controller needs to control the first drive assembly 43 to drive the first counterweight 42 to move backward to balance the weight, thereby adjusting the center of gravity of the robot 100. When the first robotic arm 21 and / or the second robotic arm 22 swings backward and picks up an object, the controller needs to control the first drive assembly 43 to drive the first counterweight 42 to move forward to balance the weight, thereby adjusting the center of gravity of the robot 100. Thus, the controller can selectively control the first counterweight 42 and / or the second counterweight 45 to move to appropriate positions based on the different motion states or load conditions of the first robotic arm 21 and / or the second robotic arm 22, thereby maintaining the balance of the robot 100.

[0045] In some embodiments, gravity sensors may be provided on the first robotic arm 21 and the second robotic arm 22 to detect the weight of the load and feed back to the controller.

[0046] In some embodiments, the ends of the first robotic arm 21 and the second robotic arm 22 are both provided with a clamping mechanism for clamping materials.

[0047] In some usage scenarios, the preset position can be a storage table for placing materials, and the height of the storage table is within the travel range of the robotic arm 20. The controller can control the first robotic arm 21 and / or the second robotic arm 22 to clamp the material through the clamping mechanism.

[0048] See also Figure 1 and Figure 7In some embodiments, the counterweight assembly 40 includes a first counterweight assembly 40a and a second counterweight assembly 40b. The first counterweight assembly 40a is configured to move in a first direction to adjust the center of gravity of the robot 100 in the first direction, and the second counterweight assembly 40b is configured to move in a second direction to adjust the center of gravity of the robot 100 in the second direction. The first direction is perpendicular to the second direction, and both the first direction and the second direction are perpendicular to the height direction of the robot 100. The first counterweight assembly 40a and the second counterweight assembly 40b are arranged in a cross-shaped structure on the chassis 30. Thus, the cross-shaped structure layout makes rational use of the space on the chassis 30, so that the counterweight assembly 40 is evenly distributed on the chassis 30. This enhances the adaptability and flexibility of the robot 100 in different directions, and allows the robot 100 to maintain good balance and stability regardless of whether the robot arm 20 moves left and right or forward and backward.

[0049] For example, the first direction is the front-to-back direction of the robot 100, and the second direction is the left-to-right direction of the robot 100. The first counterweight assembly 40a and the second counterweight assembly 40b can adjust the center of gravity of the robot 100 in the front-to-back and left-to-right directions to ensure that the robot 100 maintains balance in different motion states. The specific structures of the first counterweight assembly 40a and the second counterweight assembly 40b can be referred to in the above embodiment and will not be repeated here.

[0050] In some embodiments, the first guide member 41 of the first counterweight assembly 40a and the second guide member 44 of the second counterweight assembly 40b can be arranged in a cross-shaped structure, and the controller can respectively control the movement of the first counterweight block 42 and the second counterweight block 45 so as not to interfere with each other. Of course, in other embodiments, in order to better avoid mutual interference between the first counterweight assembly 40a and the second counterweight assembly 40b, one of the first counterweight assembly 40a and the second counterweight assembly 40b can be raised in height by a support seat. Specifically, two support seats relatively arranged on the chassis 30 can be respectively supported at both ends of the first guide member 41 or the second guide member 44, so that the first counterweight assembly 40a and the second counterweight assembly 40b are staggered in height, thereby achieving a balanced distribution on the chassis 30 while avoiding mutual interference.

[0051] It should be noted that the first counterweight assembly 40a and the second counterweight assembly 40b may not be arranged in a cross-shaped structure. For example, in other embodiments, the first counterweight assembly 40a and the second counterweight assembly 40b may also be arranged in a T-shaped structure or other arrangements, which can enable the first counterweight assembly 40a and the second counterweight assembly 40b to move independently to adjust the center of gravity of the robot 100 while avoiding mutual interference.

[0052] See also Figure 4In some embodiments, the first drive assembly 43 includes a first drive member 431 and a first transmission structure 432. The first transmission structure 432 is connected to the first drive member 431 and is parallel to the first guide member 41. The first counterweight 42 is connected to the first transmission structure 432. The first drive member 431 is used to drive the first transmission structure 432 to move, thereby driving the first counterweight 42 to move along the first guide member 41. Thus, the driving force of the first drive member 431 is transmitted to the first counterweight 42 through the first transmission structure 432, driving the first counterweight 42 to move back and forth to adjust the center of gravity of the robot 100.

[0053] In some embodiments, the first transmission structure 432 includes a screw rod 4321 and a nut seat. The screw rod 4321 is connected to the first driving member 431, and the screw rod 4321 is parallel to the first guide member 41. The nut seat is connected to the first counterweight 42 or the nut seat forms the first counterweight 42. The first driving member 431 is used to drive the screw rod 4321 to rotate, thereby driving the first counterweight 42 to move along the first guide member 41. Exemplarily, the first driving member 431 can be a motor. Thus, a higher positioning accuracy can be achieved by driving the screw rod 4321 through the motor. The screw rod 4321 can effectively convert the rotational motion of the motor output shaft into linear motion with high conversion efficiency, which can improve overall performance and work efficiency.

[0054] See also Figure 1 and Figure 4 In some embodiments, a clearance cavity 11 is provided at the connection between the body 10 and the chassis 30, extending along the forward and backward directions of the robot 100. The first guide member 41 is disposed within the clearance cavity 11, and the first drive assembly 43 is capable of driving the first counterweight 42 disposed within the clearance cavity 11 to move to a predetermined position within the first guide member 41. When the body 10 is provided with the clearance cavity 11, disposing the first transmission structure 432 parallel to the first guide member 41 and extending through the clearance cavity 11 allows the first transmission structure 432 and the first guide member 41 to pass through the center of the robot 100, facilitating movement of the first counterweight 42 to a suitable position to adjust the center of gravity of the robot 100, improving space utilization, and reducing the size of the robot 100.

[0055] Illustratively, when the first transmission structure 432 drives the first counterweight 42 to move by means of a screw rod 4321 and a nut seat, the screw rod 4321 is parallel to the first guide member 41 and passes through the avoidance cavity 11 .

[0056] Of course, in other embodiments, the first drive component 43 can also use a motor to drive a rack and pinion transmission, a chain transmission, or a belt transmission to achieve linear motion, thereby adjusting the first counterweight block 42 to move to a suitable position to adjust the center of gravity of the robot 100.

[0057] It should be noted that the fuselage 10 of the embodiment of the present application may not be provided with the avoidance cavity 11. For example, in other embodiments, the first counterweight assembly 40a may be provided at other positions on the chassis 30 (such as the side of the fuselage 10 or the bottom of the chassis 30) to avoid the fuselage 10.

[0058] In some embodiments, the first drive assembly 43 further includes a bearing seat 433. The first drive member 431 and the bearing seat 433 are located on opposite sides of the avoidance chamber 11 along the forward and backward directions of the robot 100. The opposite ends of the screw rod 4321 are respectively connected to the drive member and the bearing seat 433. Thus, the bearing seat 433 can support the screw rod 4321 to a certain height and parallel to the first guide member 41 without affecting the rotation of the screw rod 4321, thereby facilitating the movement of the first counterweight 42 along the first guide member 41.

[0059] In some embodiments, the components of the second drive assembly 46 may be the same as or different from those of the first drive assembly 43. That is, the second drive assembly 46 may include a second drive member and a second transmission structure, with the second counterweight 45 connected to the second transmission structure. The second drive member is used to drive the second transmission structure to move, thereby driving the second counterweight 45 to move along the second guide member 44. Specifically, linear motion can be achieved by using a motor-driven screw nut drive, a gear rack drive, a chain drive, or a belt drive, thereby adjusting the second counterweight 45 to a suitable position to adjust the center of gravity of the robot 100. The second drive member may be the same as or different from the first drive member 431, and the second transmission structure may be the same as or different from the first transmission structure 432.

[0060] See also Figure 4 、 Figure 5 and Figure 8 In some embodiments, the chassis 30 includes a base plate 31, a moving wheel assembly 32, and a battery assembly 33. The base plate 31 has a first side 311 and a second side 312 opposite each other. The body 10 and the counterweight device 40 are located on the first side 311. The moving wheel assembly 32 includes a driving wheel 321 and a driven wheel 322. The driving wheel 321 and the driven wheel 322 are connected to the base plate 31 to support the base plate 31 and drive the base plate 31 to move, thereby driving the robot 100 to move. The battery assembly 33 is electrically connected to the driving wheel 321 and is located on the second side 312. Thus, the controller can control the moving wheel assembly 32 to move forward and backward or turn left and right to control the movement or turning of the robot 100. Exemplarily, the first side 311 is the top of the base plate 31, and the second side 312 is the bottom of the base plate 31. Since the bottom of the base plate 31 faces the ground, the counterweight device 40 is set on the first side 311 of the base plate 31, which can reduce the height of the chassis 30 so that the chassis 30 can be closer to the ground, thereby improving the stability of the robot 100.

[0061] Of course, the position of the counterweight device 40 is not limited to the above-mentioned setting. For example, in other embodiments, the counterweight device 40 may also be set on the second side 312 .

[0062] See also Figure 8 In some embodiments, the moving wheel assembly 32 includes two sets of drive wheels 321 and a set of driven wheels 322. The two sets of drive wheels 321 are positioned opposite each other on the front side of the base plate 31, while the driven wheels 322 are positioned on the rear side of the base plate 31. The battery assembly 33 is positioned between the two sets of drive wheels 321. Thus, positioning the two sets of drive wheels 321 at either end of the front side of the base plate 31 evenly transmits power to the ground, ensuring that the robot 100 maintains stable driving force under various road conditions. Furthermore, positioning the battery assembly 33 between the two sets of drive wheels 321 further balances power distribution, resulting in more coordinated movement of the robot 100.

[0063] In some embodiments, the driven wheel 322 is located on the extension line of the center position of the two sets of driving wheels 321 to form a triangular support to improve stability.

[0064] Of course, the number and layout of the driving wheels 321 and the driven wheels 322 of the moving wheel assembly 32 are not limited to the above-described arrangements. For example, in other embodiments, the driven wheels 322 may be located at the front side of the base plate 31, and the driving wheels 321 may be located at the rear side of the base plate 31. For another example, in other embodiments, the number of the driven wheels 322 may be two groups, with the two groups of driving wheels 321 and the two groups of driven wheels 322 being located at the four corners of the chassis 30, respectively.

[0065] Those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples without mutual contradiction.

[0066] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A robot, characterized in that: include: a body, provided with a controller; a robotic arm, movably connected to the body, the robotic arm being electrically connected to the controller, the controller being used to control the movement of the robotic arm; A chassis is provided at the bottom of the body, the chassis is electrically connected to the controller, and the controller is further used to control the movement of the chassis to drive the robot to move; A counterweight device is provided on the chassis and is electrically connected to the controller. The controller is also used to control the movement of the counterweight device when the robotic arm moves and / or the chassis moves, so as to adjust the center of gravity of the robot.

2. The robot according to claim 1, wherein: The counterweight device includes a first counterweight assembly, and the first counterweight assembly includes: A first guide member extends along a first direction, where the first direction is a forward and backward direction of the robot; a first counterweight, movably connected to the first guide member; A first driving assembly is connected to the first counterweight block, and the first driving assembly is used to drive the first counterweight block to move along the first guide member to adjust the center of gravity of the robot.

3. The robot according to claim 2, wherein: The robotic arm is configured to be able to swing forward and backward relative to the fuselage; The controller is configured to control the first drive assembly to drive the first counterweight to move backward along the first guide member when the robot arm swings forward relative to the body, so as to adjust the center of gravity of the robot; the controller is further configured to control the first drive assembly to drive the first counterweight to move forward along the first guide member when the robot arm swings backward relative to the body, so as to adjust the center of gravity of the robot; and / or The controller is also used to control the first driving assembly to drive the first counterweight to move forward along the first guide member when the robot climbs a slope or crosses an obstacle, so as to adjust the center of gravity of the robot.

4. The robot according to claim 1, wherein: The counterweight device includes a second counterweight assembly, and the second counterweight assembly includes: a second guide member extending along a second direction, wherein the second direction is perpendicular to the forward and backward direction of the robot, and the second direction is perpendicular to the height direction of the robot; a second counterweight movably connected to the second guide member; The second driving assembly is connected to the second counterweight block, and the second driving assembly is used to drive the second counterweight block to move along the second guide member to adjust the center of gravity of the robot.

5. The robot according to claim 4, wherein: The robotic arm is configured to be able to swing left and right relative to the fuselage; The controller is configured to control the second driving assembly to drive the second counterweight to move rightward along the second guide member when the robot arm swings leftward relative to the body, so as to adjust the center of gravity of the robot; The controller is also used to control the second driving assembly to drive the second counterweight block to move leftward along the second guide member when the robotic arm swings to the right relative to the fuselage, so as to adjust the center of gravity of the robot.

6. The robot according to claim 4, wherein: The robotic arm includes a first robotic arm and a second robotic arm, the first robotic arm and the second robotic arm are arranged on both sides of the fuselage along the second direction, and the first robotic arm and the second robotic arm are configured to be able to pick up and place materials at a preset position; The controller is configured to control the second driving assembly to drive the second counterweight to move along the body toward the second robotic arm to adjust the center of gravity of the robot when the load weight of the first robotic arm exceeds the load weight of the second robotic arm; The controller is also used to control the second drive assembly to drive the second counterweight block to move along the fuselage toward the first robotic arm when the load weight of the second robotic arm exceeds the load weight of the first robotic arm, so as to adjust the center of gravity of the robot.

7. The robot according to claim 1, wherein: The counterweight device includes a first counterweight assembly and a second counterweight assembly, the first counterweight assembly is used to move along a first direction to adjust the center of gravity of the robot in the first direction, and the second counterweight assembly is used to move along a second direction to adjust the center of gravity of the robot in the second direction, the first direction is perpendicular to the second direction, and the first direction and the second direction are both perpendicular to the height direction of the robot; Wherein, the first counterweight assembly and the second counterweight assembly are arranged in a cross-shaped structure on the chassis.

8. The robot according to claim 2, wherein: A avoidance cavity is provided at the connection between the body and the chassis, which passes through the forward and backward direction of the robot. The first guide member is passed through the avoidance cavity, and the first driving component can drive the first counterweight block to pass through the avoidance cavity and move to a preset position of the first guide member.

9. The robot according to claim 8, wherein: The first drive assembly comprises: a first driving member; a first transmission structure connected to the first driving member, parallel to the first guide member, and passing through the avoidance cavity; The first counterweight is connected to the first transmission structure, and the first driving member is used to drive the first transmission structure to move, so as to drive the first counterweight to move along the first guide member.

10. The robot according to any one of claims 1 to 9, characterized in that: The chassis comprises: a bottom plate having a first side and a second side opposite to each other, the fuselage and the counterweight being disposed on the first side; a moving wheel assembly, comprising a driving wheel and a driven wheel, wherein the driving wheel and the driven wheel are connected to the base plate to support the base plate and drive the base plate to move, thereby driving the robot to move; A battery assembly is electrically connected to the driving wheel, and the battery assembly is arranged on the second side.

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