Inclination-resistant device for chassis of feeding robot
By leveraging the synergistic effect of magnetic dampers, universal joints, and counterweight adjustment components, the feeding robot achieves dynamic balance control in complex environments, solving the problems of food spillage and tilting caused by chassis tilting, and improving the stability and safety of the feeding process.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-17
- Publication Date
- 2026-03-20
AI Technical Summary
The tilting chassis of the feeding robot causes liquid food to spill or solid food to shift, making it unable to maintain a horizontal position. It is also prone to tilting upon collision, posing a safety hazard.
The system employs a combination of magnetic dampers, universal joints, and counterweight adjustment components. The magnetic dampers convert vibration energy, the universal joints change the direction of power transmission, and the counterweights compensate for tilt in real time. Combined with adsorption components and anti-tipping braces, it achieves active balance control.
It effectively reduces amplitude, adapts to complex environments, improves the stability and safety of the feeding process, reduces spillage rate to below 2%, and significantly improves the robot's environmental adaptability and reliability.
Smart Images
Figure CN224012389U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot technical field especially relates to a feeding robot chassis anti -tilting device. BACKGROUND
[0002] Feeding robot is a kind of intelligent auxiliary equipment specially for specific group, applicable to the old people caused by stroke, Parkinson's disease, multiple sclerosis, muscle atrophy etc. Hand or body activity is limited, help them to realize self-feeding, it is also applicable to the disabled, postoperative rehabilitation patient etc., solve the feeding difficulty problem caused by the limited limb movement.
[0003] Feeding robot actually exists following problems: (1) the vibration generated by motor drive and mechanical arm movement can be transmitted to the dinner plate, liquid food is splashed or solid food is displaced, affect feeding precision;(2) when uneven ground is encountered, the chassis is easy to tilt, so that the robot cannot keep horizontal state, leading to built-in gyroscope misjudgment and triggering emergency brake;(3) when sudden collision occurs in nursing scene, the dinner plate and feeding robot will tilt instantaneously more than 15 ° due to inertia effect, and there is a security risk.
[0004] Therefore, aiming at the problems that the chassis tilt of prior art can cause liquid food to splash or solid food to displace, the feeding robot cannot keep horizontal state, and is easy to tilt when being impacted, a feeding robot chassis anti-tilting device can be designed, dynamic balance under complex ground environment is realized through active balance control, and the robot can be effectively prevented from tilting on uneven ground or under external force impact. UTILITY MODEL CONTENTS
[0005] In order to overcome the problems that the chassis tilt of prior art can cause liquid food to splash or solid food to displace, the feeding robot cannot keep horizontal state, and is easy to tilt when being impacted.
[0006] The technical scheme of the utility model is as follows: a feeding robot chassis anti-tilting device, comprising a base, a mounting platform and a counterweight adjusting assembly, a magnetic damper connected with the mounting platform is fixedly connected at the upper end of the base, a universal joint connected with the mounting platform is arranged at the middle of the upper end of the base, receiving grooves are arranged at the left and right ends of the mounting platform, a push-out mechanism is installed in the receiving groove, an anti-toppling support plate is rotatably connected to the push-out mechanism, a suction assembly is installed in the base, a counterweight adjusting assembly is installed at the lower end of the mounting platform, the counterweight adjusting assembly comprises a side plate, a ball screw is rotatably connected between the side plate and another side plate, a screw pair moving along the longitudinal direction is arranged outside the ball screw, a replaceable counterweight block is installed at the lower end of the screw pair, and a locking assembly is symmetrically arranged at the lower end of the mounting platform.
[0007] Preferably, the feeding robot is fixedly installed on the installation platform, and then the base is placed in a stable position, the adsorption assembly further fixes the base, and corresponding feeding operation is performed through the feeding robot. In use, vibration is inevitably generated. The magnetic damper generates ampere force hindering the movement of the conductor through electromagnetic induction, converts kinetic energy into electric energy or heat energy to achieve vibration reduction. The universal joint can change the direction of power transmission, so that the connected base and the installation platform can freely rotate within a certain range to adapt to changes in various angles and shapes. When the feeding robot is inclined forward and backward, the ball screw between the side plates and the other side plate rotates to drive the screw pair to move forward and backward. The counterweight is adjusted to the appropriate position according to the calculation of the external control system, so as to continue to level the installation platform. When the feeding robot is inclined left and right, the locking assembly releases the locking of the push-out mechanism in the storage slot. Under the action of the push-out mechanism, the anti-toppling support plate is pushed out and rotates downward to support and prevent tilting.
[0008] Preferably, the lower end of the installation platform is also provided with a gyroscope, an accelerometer and an inclination sensor, and the lower end of the anti-toppling support plate is provided with a soft pad.
[0009] Preferably, the push-out mechanism comprises a movable plate, a plurality of insertion rods are inserted into the movable plate, a anti-escape baffle is fixedly connected to the outer side end of the movable plate, springs are sleeved on the outer sides of the insertion rods, the insertion rods are fixedly connected in the storage slot, the springs are fixedly connected between the storage slot and the movable plate, and the anti-toppling support plate is rotationally connected to the lower end of the movable plate.
[0010] Preferably, the adsorption assembly comprises a lifting cylinder, the lifting cylinder is fixedly connected to the upper end of the base, the lower side telescopic ends of the lifting cylinder and another lifting cylinder are fixedly connected through the base, a suction disc is fixedly connected to the lower end of the base, a sealing ring is fixedly connected to the lower end of the suction disc, a vacuum pump is fixedly connected to the upper end of the suction disc, and a pipeline is arranged between the vacuum pump and the suction disc.
[0011] Preferably, the locking assembly comprises a fixed plate, a plurality of guide rods are symmetrically arranged between the fixed plate and another fixed plate, a locking seat is slidably connected to the outer sides of the two guide rods, a locking plug is inserted into the locking seat, a plurality of pull plates are symmetrically arranged and fixedly connected to the outer sides of the locking plug, and the locking plug is inserted into the installation platform.
[0012] Preferably, a positioning groove in engagement with the locking plug is formed in the lower surface of the anti-toppling support plate, and an adjustable foot cup is fixedly connected to each corner of the lower end of the base.
[0013] Preferably, the counterweight adjusting assembly further comprises a motor fixedly connected to the inner side of the side plate, a synchronous wheel is arranged on the outer side of the motor and the ball screw, and a synchronous belt is meshingly connected to the outer sides of the synchronous wheels.
[0014] The utility model discloses a beneficial effect: through the synergies of magnetic damper, universal joint and counterweight adjusting assembly, realize the dynamic balance control of feeding robot under complex environment, the magnetic damper of four corners distribution can convert mechanical vibration energy into heat energy, reduce more than 90% amplitude, the universal joint allows the installation platform to be in the range of ± 15 degrees adaptive deflection, cooperate the movement of counterweight block of ball screw drive, realize the real -time compensation of front and back inclination, when the inclination sensor detects that the left and right inclination is more than 5 degrees, the spring drive's anti -tilt support plate is unfolded in 0.5 seconds, and the soft pad contact surface can bear 50N lateral impact force, and the sucker assembly generates -80kPa vacuum adsorption force simultaneously, prevent the chassis displacement, and the gyroscope and accelerometer data pass through the PID algorithm dynamic regulation motor speed, make counterweight block positioning error less than 1%, and the replaceable counterweight design adapts to different load demand, and the guide rod structure of locking assembly ensures that the anti -tilt support plate unfolding track is stable, and the adjustable foot cup supports ± 10mm height fine adjustment, and the non -flat ground is adapted, and the traditional passive anti -tilt is converted into active balance control, and the anti -tilt effect is better, makes the spilling rate of feeding process to reduce to 2% below, and the environmental adaptability and reliability of nursing robot are improved significantly. BRIEF DESCRIPTION OF DRAWINGS
[0015] Figure 1 The utility model discloses a feeding robot chassis anti -tilt device first three -dimensional structure schematic diagram shows.
[0016] Figure 2 The utility model discloses a feeding robot chassis anti -tilt device and feeding robot installation three -dimensional structure schematic diagram shows.
[0017] Figure 3 The utility model discloses a feeding robot chassis anti -tilt device counterweight adjusting assembly and installation platform three -dimensional structure schematic diagram shows.
[0018] Figure 4 The utility model discloses a feeding robot chassis anti -tilt device and feeding robot installation three -dimensional structure schematic diagram shows.
[0019] Figure 5 The utility model discloses a feeding robot chassis anti -tilt device and feeding robot installation three -dimensional structure schematic diagram shows.
[0020] Explanation of reference signs: 1, base; 2, mounting platform; 3, magnetic damper; 4, universal joint; 5, storage groove; 6, push-out mechanism; 601, movable plate; 602, insertion rod; 603, anti-falling baffle; 604, spring; 7, anti-toppling support plate; 8, adsorption assembly; 801, lifting cylinder; 802, suction cup; 803, sealing ring; 804, vacuum pump; 805, pipeline; 9, counterweight adjusting assembly; 901, side plate; 902, ball screw; 903, screw pair; 904, counterweight block; 905, motor; 906, synchronous wheel; 907, synchronous belt; 10, locking assembly; 101, fixed plate; 102, guide rod; 103, locking seat; 104, locking insertion block; 105, pull plate; 11, positioning groove; 12, adjustable foot cup; 13, feeding robot. DETAILED DESCRIPTION
[0021] The utility model is further explained in connection with the drawings and examples.
[0022] Please refer to Figures 1-5 The utility model provides a kind of feeding robot chassis anti-inclination device, including base 1, still including mounting platform 2 and counterweight adjusting assembly 9, the magnetic damper 3 being connected with mounting platform 2 is fixedly connected in the upper end four corners of base 1, the universal joint 4 being connected with mounting platform 2 is set in the upper end middle part of base 1, mounting platform 2 left and right two ends are all set with storage groove 5, push-out mechanism 6 is installed in storage groove 5, anti-toppling support plate 7 is rotatably connected on push-out mechanism 6, adsorption assembly 8 is installed in base 1, counterweight adjusting assembly 9 is installed in the lower end of mounting platform 2, counterweight adjusting assembly 9 includes side plate 901, ball screw 902 is rotatably connected between side plate 901 and another side plate 901, screw pair 903 that moves along longitudinal direction is set on the outside of ball screw 902, replaceable counterweight block 904 is installed in the lower end of screw pair 903, locking assembly 10 that is left-right symmetrical distribution is installed in the lower end of mounting platform 2.
[0023] Please refer to Figure 1 And Figures 4-5In the embodiment, the lower end of the installation platform 2 is also provided with a gyroscope, an accelerometer and an inclination sensor, the lower end of the anti-toppling support plate 7 is provided with a soft pad, the push-out mechanism 6 comprises a movable plate 601, equidistantly distributed plug rods 602 are inserted into the movable plate 601, the outer side end of the movable plate 601 is fixedly connected with an anti-escape baffle 603, springs 604 are sleeved on the outer sides of the plug rods 602, the plug rods 602 are fixedly connected in the storage groove 5, the springs 604 are fixedly connected between the storage groove 5 and the movable plate 601, the anti-toppling support plate 7 is rotationally connected to the lower end of the movable plate 601, the adsorption assembly 8 comprises lifting cylinders 801, the lifting cylinders 801 are fixedly connected to the upper end of the base 1, the lower side telescopic ends of the lifting cylinders 801 and another lifting cylinder 801 are fixedly connected with suction discs 802 through the base 1, the lower end of each suction disc 802 is fixedly connected with a sealing ring 803, the upper end of each suction disc 802 is fixedly connected with a vacuum pump 804, and a pipeline 805 is arranged between the vacuum pump 804 and the suction disc 802.
[0024] Please refer to Figures 2-4 In the embodiment, the locking assembly 10 comprises fixed plates 101, front and rear symmetrically distributed guide rods 102 are fixedly connected between the fixed plates 101 and another fixed plate 101, locking seats 103 are slidingly connected to the outer sides of the two guide rods 102, locking plug blocks 104 are inserted into the locking seats 103, front and rear symmetrically distributed pull plates 105 are fixedly connected to the outer sides of the locking plug blocks 104, the locking plug blocks 104 are inserted into the installation platform 2, the lower surface of the anti-toppling support plate 7 is provided with positioning grooves 11 in clamping connection with the locking plug blocks 104, adjustable foot cups 12 are fixedly connected to the four corners of the lower end of the base 1, the counterweight adjusting assembly 9 further comprises a motor 905 fixedly connected to the inner side of the side plate 901, synchronous wheels 906 are mounted on the outer sides of the motor 905 and the ball screw 902, and a synchronous belt 907 is meshingly and connectingly arranged on the outer sides of the two synchronous wheels 906.
[0025] In the work, the feeding robot 13 is fixedly installed on the installation platform 2, and then the base 1 is placed in a stable position, leveled by the adjustable foot cup 12, the lifting cylinder 801 is extended downward until the sealing ring 803 at the lower end of the suction cup 802 completely matches the ground or table surface, the vacuum pump 804 and the pipeline 805 are used in cooperation, when the air inside the suction cup 802 is discharged by the vacuum pump 804, the adsorption effect is generated, and the base 1 is further fixed, and the corresponding feeding operation is carried out by the feeding robot 13, in use, vibration is inevitable, the magnetic damper 3 generates ampere force hindering the movement of the conductor through electromagnetic induction, converts kinetic energy into electric energy or heat energy to realize vibration reduction, the universal joint 4 can change the direction of power transmission, so that the connected base 1 and the installation platform 2 can freely rotate within a certain range, adapt to changes of various angles and shapes, when the feeding robot 13 appears front and rear inclination, the motor 905 is started, under the action of the synchronous wheel 906 and the synchronous belt 907, power is transmitted to the ball screw 902 between the side plate 901 and the other side plate 901, the ball screw 902 rotates, drives the screw pair 903 to move forward and backward, the counterweight 904 is adjusted to the appropriate position according to the calculation of the external control system, so as to continue to level the installation platform 2, when the feeding robot 13 appears left and right inclination, the locking seat 103 slides outside the guide rod 102 between the fixed plate 101 and the other fixed plate 101, the locking block 104 is inserted into the locking seat 103, the locking block 104 unlocks the locking of the movable plate 601, the spring 604 pushes the movable plate 601 to slide outside the inserting rod 602 until the movable plate 601 matches the anti-falling baffle 603, the anti-falling support plate 7 is pushed out and rotates downward, which plays a supporting and anti-inclination role, when it is needed to retract the anti-falling support plate 7, the anti-falling support plate 7 is put into the storage slot 5, the lifting plate 105 is moved upward, the locking block 104 is inserted into the movable plate 601, and the locking seat 103 is pushed inward at the same time, to ensure the stability of the movable plate 601.
[0026] Through the above steps, through the synergy of the magnetic damper 3, the universal joint 4 and the counterweight adjusting assembly 9, the dynamic balance control of the feeding robot 13 in a complex environment is realized, the four-corner distributed magnetic damper 3 can convert mechanical vibration energy into heat energy, and the amplitude is reduced by more than 90%, the universal joint 4 allows the installation platform 2 to adaptively deflect within ±15°, cooperates with the movement of the counterweight block 904 driven by the ball screw 902 to realize real-time compensation of forward and backward inclination, when the inclination sensor detects that the left and right inclination exceeds 5°, the anti-toppling support plate 7 driven by the spring 604 is unfolded within 0.5 seconds, the soft cushion contact surface can withstand a 50N lateral impact force, and the sucker 802 assembly generates a-80kPa vacuum adsorption force, prevents the chassis from displacement, the gyroscope and accelerometer data are dynamically adjusted by the PID algorithm The rotation speed of the motor 905 makes the positioning error of the counterweight block 904 less than 1%, the replaceable counterweight design adapts to different load requirements, the guide rod 102 structure of the locking assembly 10 ensures that the unfolding trajectory of the anti-toppling support plate 7 is stable, the adjustable foot cup 12 supports ±10mm height fine adjustment, adapts to uneven ground, changes the traditional passive anti-tilting to active balance control, and the anti-tilting effect is better, so that the spilling rate in the feeding process is reduced to below 2%, and the environmental adaptability and reliability of the nursing robot are significantly improved;To solve the problem that the chassis inclination of the prior art causes liquid food splashing or solid food displacement, the feeding robot 13 cannot maintain a horizontal state, and is prone to tilting after being hit.
[0027] The embodiments of the utility model are described in detail above in combination with the drawings, but the utility model is not limited to the above-mentioned embodiments, and various changes can be made within the knowledge range of those skilled in the art without departing from the purpose of the utility model.
Claims
1. A tilt-resistant device for a feeding robot chassis, comprising a base (1), characterized in that: It also includes an installation platform (2) and a counterweight adjustment assembly (9). Magnetic dampers (3) connected to the installation platform (2) are fixedly connected to the four corners of the upper end of the base (1). A universal joint (4) connected to the installation platform (2) is provided in the middle of the upper end of the base (1). Storage slots (5) are provided at both ends of the installation platform (2). A push-out mechanism (6) is installed in the storage slot (5). An anti-tipping support plate (7) is rotatably connected to the push-out mechanism (6). An adsorption assembly (9) is installed inside the base (1). 8) A counterweight adjustment assembly (9) is installed at the lower end of the installation platform (2). The counterweight adjustment assembly (9) includes a side plate (901). A ball screw (902) is rotatably connected between the side plate (901) and another side plate (901). A screw pair (903) that moves longitudinally is provided on the outside of the ball screw (902). A replaceable counterweight block (904) is installed at the lower end of the screw pair (903). Locking assemblies (10) that are symmetrically distributed on the left and right sides are installed at the lower end of the installation platform (2).
2. The anti-tilt device for the chassis of a feeding robot according to claim 1, characterized in that: The lower end of the mounting platform (2) is also equipped with a gyroscope, accelerometer and tilt sensor, and the lower end of the anti-tipping support plate (7) is equipped with a soft pad.
3. The anti-tilt device for the chassis of a feeding robot according to claim 1, characterized in that: The launching mechanism (6) includes a movable plate (601), in which equally spaced rods (602) are inserted. An anti-detachment baffle (603) is fixedly connected to the outer end of the movable plate (601). A spring (604) is sleeved on the outer side of the rods (602). The rods (602) are fixedly connected to the storage slot (5). The spring (604) is fixedly connected between the storage slot (5) and the movable plate (601). An anti-tipping support plate (7) is rotatably connected to the lower end of the movable plate (601).
4. The anti-tilt device for the chassis of a feeding robot according to claim 1, characterized in that: The adsorption assembly (8) includes a lifting cylinder (801), which is fixedly connected to the upper end of the base (1). The lower retractable ends of the lifting cylinder (801) and another lifting cylinder (801) pass through the base (1) and are fixedly connected to a suction cup (802). A sealing ring (803) is fixedly connected to the lower end of the suction cup (802). A vacuum pump (804) is fixedly connected to the upper end of the suction cup (802). A pipeline (805) is provided between the vacuum pump (804) and the suction cup (802).
5. The anti-tilt device for the chassis of a feeding robot according to claim 1, characterized in that: The locking assembly (10) includes a fixed plate (101), and a guide rod (102) symmetrically distributed front and back is fixedly connected between the fixed plate (101) and another fixed plate (101). A locking seat (103) is slidably connected to the outside of the two guide rods (102). A locking block (104) is inserted into the locking seat (103). A lifting plate (105) symmetrically distributed front and back is fixedly connected to the outside of the locking block (104). The locking block (104) is inserted into the mounting platform (2).
6. The anti-tilt device for the chassis of a feeding robot according to claim 5, characterized in that: The lower surface of the anti-tipping support plate (7) is provided with a positioning groove (11) that engages with the locking block (104), and adjustable foot cups (12) are fixedly connected at the four corners of the lower end of the base (1).
7. The anti-tilt device for the chassis of a feeding robot according to claim 1, characterized in that: The counterweight adjustment assembly (9) also includes a motor (905) fixedly connected to the inside of the side plate (901). The motor (905) and the ball screw (902) are both equipped with synchronous pulleys (906). The synchronous pulleys (906) and another synchronous pulley (906) are meshed with a synchronous belt (907).