Self-balancing carrier robot

Abstract

The utility model discloses a self-balancing carrier robot, which relates to the technical field of production material transportation devices and comprises a storage rack. The storage rack is provided with a balancing weight, a driving device used for driving the balancing weight to move in a reciprocating mode, a gyroscope used for detecting the balance state of the storage rack and a control circuit board which is coupled to the gyroscope and controls the driving device to be started and stopped, and the storage rack is further provided with a battery. The driving device, the gyroscope and the battery are all connected with the control circuit board; the inclination state of the commodity shelf is detected through the gyroscope on the commodity shelf and then is output to the control circuit board, the control circuit board correspondingly controls the driving device to be started and stopped according to the output condition of the gyroscope, the balancing weight is driven by the driving device to move on the commodity shelf so as to adjust the gravity center of the commodity shelf, shaking of the commodity shelf is reduced, and the service life of the commodity shelf is prolonged. And the phenomena of material falling and damage are reduced.

Description

Technical Field

[0001] This utility model relates to the field of production material transportation devices, and in particular to a self-balancing vehicle robot. Background Technology

[0002] In the factory production line process, multiple steps are usually required, and most production lines use conveyor belts to transport workpieces.

[0003] In garment production, materials need to be cut, sewn, sized, and packaged. While cutting and sewing take up relatively little time, other auxiliary operations consume significantly more time. This includes not only material handling within various processes, but also the fact that each workstation typically handles only a single step, requiring transfers between multiple processes. To reduce the time spent on auxiliary operations and improve garment production efficiency, overhead conveyor systems are commonly used to transport garments, not only finished garments but also unfinished and unprocessed materials, thereby increasing production efficiency.

[0004] In existing factories, suspended equipment is usually used to transport materials. The materials are suspended on the conveyor track by the suspended carrier. Since the materials are suspended in the air, they will sway due to inertia as the carrier moves along the track, which can easily cause the materials to fall and be damaged. Utility Model Content

[0005] Purpose of the utility model: The purpose of this utility model is to provide a self-balancing carrier robot to reduce the phenomenon of materials falling off and being damaged due to shaking during the movement of the carrier.

[0006] Technical solution:

[0007] A self-balancing vehicle robot includes a shelf, characterized in that: the shelf is provided with a counterweight, a drive device for driving the counterweight to move back and forth, a gyroscope for detecting the balance state of the shelf, and a control circuit board coupled to the gyroscope and controlling the opening and closing of the drive device; the shelf is also equipped with a battery, and the drive device, the gyroscope and the battery are all connected to the control circuit board.

[0008] Furthermore, the driving device includes pulleys symmetrically arranged at both ends of the shelf and rotatably connected to the shelf, a transmission belt is sleeved between the two pulleys, a drive motor connected to one of the pulleys is provided on the shelf, and the counterweight is fixedly connected to the transmission belt.

[0009] Furthermore, the output shaft of the drive motor is connected to the pulley via a transmission.

[0010] Furthermore, the shelf is connected to a balance block for balancing the drive motor on the side away from the drive motor.

[0011] Furthermore, the driving device includes a drive motor, a transmission screw connected to the output shaft of the drive motor and arranged along the length of the shelf, and a guide rod arranged parallel to the transmission screw. The counterweight is threaded to the transmission screw and slidably sleeved on the guide rod.

[0012] Furthermore, the shelf is connected to a connecting block sleeved on the end of the transmission screw away from the drive motor and rotatably connected to the transmission screw.

[0013] Furthermore, the shelf is equipped with micro switches at both ends of the counterweight's movement path.

[0014] Furthermore, the shelf is provided with a guide groove, and the counterweight is at least partially slidably connected within the guide groove.

[0015] Beneficial effects: The gyroscope on the shelf detects the tilt of the shelf and outputs the result to the control circuit board. The control circuit board controls the drive device to open and close according to the output of the gyroscope. The drive device moves the counterweight on the shelf to adjust the center of gravity of the shelf, reduce the swaying of the shelf, and reduce the phenomenon of materials falling and being damaged. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of a self-balancing vehicle robot provided in Embodiment 1;

[0017] Figure 2 This is a partial structural diagram of a self-balancing vehicle robot provided in Embodiment 1, mainly showing the structure of the drive device;

[0018] Figure 3 This is a partial structural diagram of a self-balancing vehicle robot provided in Embodiment 2, mainly showing the structure of the drive device.

[0019] Reference numerals: 1. Connecting rod; 2. Moving part; 3. Shelf; 4. Mounting cavity; 5. Counterweight; 6. Drive device; 7. Gyroscope; 8. Opening; 9. Cover plate; 10. Drive motor; 11. Drive shaft; 12. Pulley; 13. Drive belt; 14. Balance block; 15. Micro switch; 16. Drive screw; 17. Guide rod; 18. Connecting block. Detailed Implementation

[0020] To make the technical solution of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] Example 1:

[0022] A self-balancing vehicle robot, such as Figure 1 As shown, it includes a connecting rod 1, one end of which is connected to a movable part 2, and the other end of which is connected to a shelf 3.

[0023] The moving part 2 is used to move the connecting rod 1 and the shelf 3. The moving part 2 can be pushed forward by the transmission track in the hanging equipment. The moving part 2 can also be a self-driven structure to achieve self-driven movement within the transmission track.

[0024] The shelf 3 has a symmetrical structure. The bottom of the shelf 3 is connected to several hooks and clamps. The clamps and hooks are used to fix fabric pieces or other production materials. The bottom of the shelf 3 can also be connected to hanging baskets, air conditioner brackets, etc., to adapt to more different production material handling needs.

[0025] The connecting rod 1 can be a straight rod or a curved rod. The connecting rod 1 is connected to the center of the upper surface of the shelf 3, and the shelf 3 is suspended below the transmission track by the connecting rod 1.

[0026] like Figure 2 As shown, the shelf 3 has a mounting cavity 4, which houses a counterweight 5, a drive unit 6, a gyroscope 7, a control circuit board, and a battery. The drive unit 6, gyroscope 7, and battery are all coupled to the control circuit board. The battery powers the control circuit board and other active devices within the shelf 3. The positions of the control circuit board and battery can be flexibly adjusted; this application does not impose specific limitations. The control circuit board communicates with the backend server, uploading information about the vehicle robot and receiving instructions from the backend server to control the robot's operation.

[0027] An opening 8 is provided on one side of the mounting cavity 4, and a cover plate 9 is installed at the opening 8 of the mounting cavity 4 (see...). Figure 1 The cover plate 9 is connected to the shelf 3 by screws. The cover plate 9 facilitates the installation, replacement and maintenance of the counterweight 5, drive device 6, control circuit board, battery and gyroscope 7.

[0028] The gyroscope 7 is connected to the inner wall of the mounting cavity 4 and is set on the axis of the shelf 3. The gyroscope 7 determines the balance state of the shelf 3 and outputs the balance state to the control circuit board. The control circuit board controls the drive device 6 to open and close according to the output of the gyroscope 7. The drive device 6 drives the counterweight 5 to move on the shelf 3, thereby adjusting the center of gravity of the shelf 3 and reducing the shaking phenomenon of the shelf 3 during normal transportation.

[0029] The drive device 6 includes a drive motor 10 fixedly mounted on the side wall of the mounting cavity 4. The drive motor 10 is coupled to a control circuit board. Two drive shafts 11 are symmetrically arranged on the inner wall of the mounting cavity 4. The two drive shafts 11 are distributed on both sides of the shelf 3 in the length direction. The drive shafts 11 are rotatably connected to the inner wall of the mounting cavity 4. Each of the two drive shafts 11 is fixedly connected to a pulley 12. A transmission belt 13 is sleeved between the two pulleys 12. A counterweight 5 is disposed between the two pulleys 12. The counterweight 5 is fixedly connected to one of the horizontal portions of the transmission belt 13 located between the two pulleys 12. That is, the counterweight 5 can be fixedly connected to the transmission belt 13 with the upper horizontal portion or the lower horizontal portion.

[0030] The drive motor 10 and one of the drive shafts 11 are connected via a gear set or a belt drive, driving the drive shaft 11 and pulley 12 to rotate, which in turn drives the drive belt 13 and the counterweight 5 to move, thereby adjusting the center of gravity of the shelf 3. A balance block 14 is fixedly connected to one side of the other drive shaft 11 on the inner wall of the mounting cavity 4. The balance block 14 is used to balance the weight of the drive motor 10 and maintain the balance of the shelf 3 when it is unloaded.

[0031] To facilitate the control of the position of the counterweight 5, microswitches 15 are installed on the inner walls of the mounting cavities 4 near the two pulleys 12. The microswitches 15 are coupled to the control circuit board. When the mating block abuts against one of the microswitches 15, it indicates that the counterweight 5 has reached its limit in that direction and can only move in the opposite direction. The specific installation position of the microswitches 15 needs to be adjusted according to the movement stroke of the counterweight 5.

[0032] In this embodiment, the counterweight 5 is fixedly connected to the transmission belt 13 located at the bottom of the horizontal section. When the pulley 12 rotates, it drives the transmission belt 13 to move, thereby further controlling the movement of the counterweight 5.

[0033] The bottom wall of the mounting cavity 4 is provided with a guide groove (not shown in the figure). The guide groove is horizontally set, and at least part of the counterweight 5 is slidably connected in the guide groove. The counterweight 5 moves horizontally along the guide groove.

[0034] Example 2:

[0035] A self-balancing vehicle robot, such as Figure 3As shown, the difference from Embodiment 1 is that the driving device 6 includes a driving motor 10 fixedly installed on the inner wall of the mounting cavity 4. The driving motor 10 is coupled to the control circuit board. The output shaft of the driving motor 10 is connected to a transmission screw 16. The transmission screw 16 and the counterweight 5 are threadedly connected. A guide rod 17 is also fixedly connected inside the mounting cavity 4. The guide rod 17 and the transmission screw 16 are arranged in parallel. The counterweight 5 is slidably sleeved on the outside of the guide rod 17. When the driving motor 10 drives the transmission screw 16 to rotate, the counterweight 5 moves axially along the guide rod 17 due to the restriction of the guide rod 17, thereby adjusting the center of gravity of the shelf 3.

[0036] The transmission screw 16 can have either a unidirectional or bidirectional threaded groove. When the transmission screw 16 has a unidirectional threaded groove, the forward and reverse rotation of the drive motor 10 is used to control the forward and reverse movement of the counterweight 5, respectively. A micro switch 15, coupled to the control circuit board, is also provided on the inner wall of the mounting cavity 4 at the end of the transmission screw 16 away from the drive motor 10. When the counterweight 5 triggers the micro switch 15, it indicates that the movement of the counterweight 5 in this direction has reached its limit, and it can only move in the opposite direction. When the transmission screw 16 has a bidirectional threaded groove, the drive motor 10 can achieve the reciprocating movement of the counterweight 5 by rotating forward and reverse, or by rotating in one direction.

[0037] Meanwhile, a connecting block 18 is fixedly connected to the inner wall of the mounting cavity 4. The connecting block 18 is located at the end of the transmission screw 16 away from the drive motor 10. The end of the transmission screw 16 is rotatably connected to the connecting block 18. At the same time, the connecting block 18 also has the function of balancing the weight of the drive motor 10.

[0038] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A self-balancing vehicle robot, comprising a shelf (3), characterized in that: The shelf (3) is provided with a counterweight (5), a drive device (6) for driving the counterweight (5) to move back and forth, a gyroscope (7) for detecting the balance state of the shelf (3), and a control circuit board coupled to the gyroscope (7) and controlling the opening and closing of the drive device (6). The shelf (3) is also equipped with a battery. The drive device (6), the gyroscope (7) and the battery are all connected to the control circuit board.

2. The self-balancing vehicle robot according to claim 1, characterized in that, The drive device (6) includes pulleys (12) symmetrically arranged at both ends of the shelf (3) and rotatably connected to the shelf (3). A transmission belt (13) is sleeved between the two pulleys (12). A drive motor (10) connected to one of the pulleys (12) is provided on the shelf (3). The counterweight (5) is fixedly connected to the transmission belt (13).

3. The self-balancing vehicle robot according to claim 2, characterized in that, The output shaft of the drive motor (10) is connected to the pulley (12) for transmission.

4. A self-balancing vehicle robot according to claim 3, characterized in that, The shelf (3) has a balance block (14) connected to the side away from the drive motor (10) for balancing the drive motor (10).

5. A self-balancing vehicle robot according to claim 1, characterized in that, The driving device (6) includes a drive motor (10), a transmission screw (16) connected to the output shaft of the drive motor (10) and arranged along the length of the shelf (3), and a guide rod (17) arranged parallel to the transmission screw (16). The counterweight (5) is threaded to the transmission screw (16) and slidably sleeved on the guide rod (17).

6. A self-balancing vehicle robot according to claim 5, characterized in that, The shelf (3) is connected to a connecting block (18) which is sleeved on the end of the transmission screw (16) away from the drive motor (10) and rotatably connected to the transmission screw (16).

7. A self-balancing vehicle robot according to any one of claims 1-6, characterized in that, The shelf (3) is equipped with micro switches (15) at both ends of the moving path of the counterweight (5).

8. A self-balancing vehicle robot according to claim 7, characterized in that: The shelf (3) is provided with a guide groove, and the counterweight (5) is at least partially slidably connected in the guide groove.

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