Adjustable base and service system

Abstract

The utility model discloses an adjustable pedestal and service system, adjustable pedestal includes base, stand and counterweight. The base is fixedly arranged at the surface to be installed, and the base is formed with a mounting position; the stand extends along the vertical direction and is erected on the base, and the stand is used for the active installation of a robot; the counterweight is arranged at the mounting position of the base; the mass of the counterweight and / or the mounting orientation relative to the mounting position can be adjusted and set, so that in any active process of the robot, the counterweight can stabilize the overall center of gravity of the adjustable pedestal and the robot at the mounting position. In the utility model, the counterweight mass of the counterweight itself and / or the orientation relative to the mounting position can be adjusted, that is, the counterweight can stabilize the overall center of gravity of the adjustable pedestal and the robot in the mounting position regardless of the action of the robot, ensuring that the overall center of gravity does not deviate excessively, thereby helping to improve the overall operation stability and operation reliability.

Description

Technical Field

[0001] This utility model relates to the field of service robot technology, specifically to an adjustable base and service system. Background Technology

[0002] The deployment and installation of existing home service robots has always been a key factor affecting user experience. Existing deployment and installation solutions each have their drawbacks:

[0003] Firstly, when fixing by drilling screws, it can easily cause permanent damage to the surface to be installed. Furthermore, this installation method is complex, lacks flexibility, and generates strong user resistance.

[0004] Secondly, when fixed by adhesive: there is a risk of aging and falling off, stains remain after disassembly, and the reliability is questionable.

[0005] Thirdly, when fixing via magnetic attraction: although non-destructive installation is possible, its applicability is limited to ferromagnetic surfaces (such as the side of a washing machine). It cannot be used on common glass doors, plastic panels, tiled walls, or high-end stainless steel (some austenitic stainless steels are non-magnetic), and there is a risk of power outage (although there is organic redundancy backup, the electrical system still needs to be working).

[0006] Therefore, existing deployment and installation solutions are all limited by the installation environment, requiring the environment to adapt to the machine. This results in a drawback of being unable to balance assembly flexibility and assembly stability. Utility Model Content

[0007] The main purpose of this utility model is to propose an adjustable base and service system, which aims to solve the problem that traditional deployment and installation schemes for service robots cannot simultaneously achieve both assembly flexibility and assembly stability.

[0008] To achieve the above objectives, this utility model proposes an adjustable base for mounting a robot to a surface to be installed on a household appliance. The adjustable base includes:

[0009] A base for fixing the object to the surface to be mounted, the base having a mounting position;

[0010] A vertical support frame, extending along the vertical direction and mounted on the base, the support frame being used for the movable installation of the robot; and,

[0011] A counterweight is provided at the mounting position of the base;

[0012] The mass and / or installation orientation of the counterweight relative to the mounting position are adjustable so that, during any movement of the robot, the counterweight can stabilize the adjustable base and the overall center of gravity of the robot at the mounting position.

[0013] Optionally, the counterweight includes at least two individual counterweights;

[0014] Each of the counterweight units is detachably connected to the mounting position.

[0015] Optionally, one of the counterweight unit and the mounting position is provided with a first connecting structure, and the other is provided with a first docking structure, wherein the first connecting structure and the first docking structure are detachably connected.

[0016] Optionally, the counterweight includes at least two counterweight units, and any number of the counterweight units can be stacked vertically.

[0017] Each of the aforementioned counterweight units is detachably connected to the other two.

[0018] Optionally, each of the counterweight units includes two counterweight units stacked together. One of the two counterweight units is provided with a second connecting structure, and the other is provided with a second docking structure. When the two counterweight units are stacked together, the second connecting structure and the second docking structure are adapted to be connected.

[0019] Optionally, the counterweight unit has a first surface and a second surface disposed on its vertical sides. The first surface is provided with a second connecting structure, and the second surface is provided with a second docking structure, so that when two counterweight units are stacked, the second connecting structure of one counterweight unit is adapted to connect with the second docking structure of the other counterweight unit.

[0020] Optionally, all the said counterweight units have the same mass; or,

[0021] At least two of the said counterweight units have different masses.

[0022] Optionally, the counterweight includes at least one counterweight unit, which is movably disposed within the mounting position;

[0023] The counterweight unit is connected to the robot so that when the robot performs a preset action in one direction, it drives the counterweight unit to move in another direction, and during its movement, it stabilizes the adjustable base and the overall center of gravity of the robot within the mounting position.

[0024] Optionally, the adjustable base further includes an anti-slip pad disposed at the bottom of the base;

[0025] At least the bottom surface of the anti-slip pad is provided with an uneven surface; and / or,

[0026] The anti-slip mat is at least partially made of an elastic material.

[0027] Optionally, the adjustable base further includes a support member disposed at the bottom of the base;

[0028] The support member is provided at the center of gravity; or at least two support members are provided around the periphery of the center of gravity; and / or,

[0029] At least one of the support members has an anti-slip structure at its bottom.

[0030] In addition, to achieve the above objectives, this utility model also provides a service system, including a robot and an adjustable base as described above.

[0031] In the technical solution provided by this utility model, the robot is movably mounted on the upright, the upright is assembled on the base, and the counterweight is assembled on the mounting position. This concentrates the overall weight of the adjustable base and the robot on the base, and as much as possible on the mounting position. Since the base is located at the vertical bottom of the whole structure relative to other components, it helps to shift the overall center of gravity downwards as much as possible, ultimately improving the overall stability.

[0032] Furthermore, both the adjustable base and the robot as a whole are placed on the surface to be installed via the base. Basically, the weight is concentrated at the contact point between the base and the surface to be installed, and the robot is fixed by gravity and friction. This eliminates the need to be picky about the type of surface to be installed, making the overall installation more flexible and versatile.

[0033] In addition, the counterweight's own weight and / or orientation relative to the mounting position can be adjusted, which means that no matter how the robot moves, the counterweight can stabilize the center of gravity of the adjustable base and the robot as a whole within the mounting position, ensuring that the center of gravity of the whole does not shift excessively, thereby helping to improve the overall operational stability and reliability. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0035] Figure 1 A perspective view of an embodiment of the service system provided by this utility model;

[0036] Figure 2 for Figure 1 A three-dimensional schematic diagram of the robot and its adjustable base after assembly.

[0037] Figure 3 for Figure 2A perspective view of the adjustable base in the first embodiment;

[0038] Figure 4 for Figure 3 A perspective view of the first embodiment of the installation position of the adjustable base after the counterweight is removed;

[0039] Figure 5 for Figure 3 A perspective view of the second embodiment of the installation position of the adjustable base after the counterweight is removed;

[0040] Figure 6 for Figure 2 A perspective view of the adjustable base in the second embodiment;

[0041] Figure 7 for Figure 2 A perspective view of the central base in another embodiment;

[0042] Figure 8 for Figure 3 A perspective view of the first embodiment of the counterweight;

[0043] Figure 9 for Figure 3 A three-dimensional schematic diagram of the second embodiment of the counterweight.

[0044] Explanation of icon numbers:

[0045] 100 Adjustable base; 110 Base; 111 Mounting position; 120 Stand; 130 Counterweight; 131 Counterweight unit; 132 Second connecting structure; 133 Second docking structure; 140 Anti-slip pad; 150 Support component; 200 Robot; 210 Mechanical arm; 300 Carrier equipment; 310 Surface to be installed.

[0046] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0047] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0048] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0049] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0050] Please see Figures 1 to 9 This utility model provides an adjustable base 100 and its applicable service system.

[0051] It should be noted that, for ease of understanding, the following embodiments are all illustrated using the example of a service system and its internal components having a unified vertical and horizontal direction. The vertical and horizontal directions are intersecting and can be mutually perpendicular or nearly perpendicular. The two horizontal directions can specifically be represented as lateral and longitudinal. Similarly, lateral and longitudinal directions are intersecting and can be mutually perpendicular or nearly perpendicular. In practical applications, the vertical direction can correspond to the direction of gravity, having opposite upward and downward directions.

[0052] It is understood that the service system provided in this application can be applied in any suitable setting, such as a home, shopping mall, or enterprise. In addition to the adjustable base 100 mentioned above, the service system may also include a robot 200. The robot 200 can be used in conjunction with any suitable carrier device 300, thereby providing intelligent and automated service and assisting the carrier device 300 in completing preset tasks.

[0053] The specific form of the carrier device 300 can be adjusted according to actual needs and adapted to the occasion in which it is applied. For example, when the carrier device 300 is used in the home and is set to meet cleaning needs, the carrier device 300 can be, but is not limited to, washing equipment, drying equipment, multi-functional cleaning equipment, and other washing and care equipment.

[0054] Correspondingly, robot 200 can be configured to assist carrier equipment 300 in performing operations such as opening and closing doors, picking up materials such as clothing, and triggering function buttons. The following explanation of the service system will use this configuration as an example.

[0055] Specifically, the carrier device 300 defines a mounting surface 310 at a surface on its body and / or at a surface located within the periphery of its body. The adjustable base 100 is capable of mounting the robot 200 to the mounting surface 310.

[0056] In other words, the adjustable base 100 at least has installation functionality:

[0057] The adjustable base 100 and the robot 200 can be pre-assembled into a modular unit. This makes it easier to install, disassemble, move, and store the module consisting of the adjustable base 100 and the robot 200 as a whole.

[0058] Alternatively, the adjustable base 100 and the robot 200 can be kept separately in place, transferred separately, and stored separately. Then, when needed, the adjustable base 100 and the robot 200 can be installed and removed in sequence.

[0059] In addition to the aforementioned installation functions, the adjustable base 100 can also be pre-configured with various other functions according to actual needs. These include functions such as charging, movement adjustment, rotation adjustment, and storage. The adjustable base 100 can also be pre-configured with a processing device, such as a control chip. Through the control functions of the processing device, the adjustable base 100 and / or the robot 200 can achieve automatic and intelligent operation. In this case, the adjustable base 100 constitutes a service base station for the robot 200.

[0060] Next, the specific form of the robot 200 is also not limited. When the carrier device 300 is a washing and care device as described above, the robot 200 may include, but is not limited to, a movable end effector. This end effector may be, but is not limited to, a robotic arm 210. The degrees of freedom of the end effector may specifically be any one or more translational degrees of freedom and / or any one or more rotational degrees of freedom, without limitation.

[0061] Regarding the specific installation function settings of the adjustable base 100, please refer to... Figures 1 to 9 The adjustable base 100 in this application includes a base 110, a stand 120, and a counterweight 130.

[0062] The base 110 is fixedly placed on the surface 310 to be mounted. The base 110 has a mounting position 111.

[0063] The stand 120 extends vertically and is mounted on the base 110. The stand 120 is used for the movable installation of the robot 200.

[0064] The counterweight 130 is located at the mounting position 111 of the base 110.

[0065] The weight of the counterweight 130 and / or its installation orientation relative to the mounting position 111 can be adjusted so that during any movement of the robot 200, the counterweight 130 can stabilize the overall center of gravity of the adjustable base 100 and the robot 200 at the mounting position 111.

[0066] In the technical solution provided by this utility model, the robot 200 is movably mounted on the upright 120, the upright 120 is assembled on the base 110, and the counterweight 130 is assembled on the mounting position 111. This concentrates the overall weight of the adjustable base 100 and the robot 200 on the base 110, and as much as possible on the mounting position 111. Since the base 110 is located at the vertical bottom of the whole relative to other components, it helps to shift the overall center of gravity downward as much as possible, ultimately helping to improve the overall stability.

[0067] Furthermore, the adjustable base 100 and the robot 200 are both placed on the surface 310 to be installed via the base 110. Basically, the weight is concentrated at the contact point between the base 110 and the surface 310 to be installed, and the robot is fixed by gravity and friction. This eliminates the need to be particular about the type of surface 310 to be installed, making the overall installation more flexible and versatile.

[0068] In addition, the counterweight 130 itself can be adjusted in weight and / or relative to the mounting position 111, so that no matter how the robot 200 moves, the counterweight 130 can keep the center of gravity of the adjustable base 100 and the robot 200 within the mounting position 111, ensuring that the center of gravity of the whole does not shift excessively, thereby helping to improve the overall operational stability and reliability.

[0069] Specifically, please refer to Figures 1 to 9 The specific shape, size, structure and material of the base 110 are not limited, as long as it can reserve a sufficient installation space 111 and can be stably connected to the stand 120.

[0070] The mounting position 111 can be formed on any outer surface of the base 110, providing a stable place for the counterweight 130. For example, considering the direction of gravity, the mounting position 111 can be directly defined on the top surface of the base 110 using a visible or non-visual structure. The visible structure can be, but is not limited to, various markings such as graphics, text symbols, color blocks, and raised or recessed surfaces, indicating the precise position of the counterweight 130. The non-visual structure allows the counterweight 130 to be placed arbitrarily within the reserved plate space, providing a sufficiently large degree of freedom and flexibility in placement.

[0071] Alternatively, the mounting position 111 can be formed inside the base 110 to accommodate the counterweight 130. In this case, the base 110 has sufficient thickness vertically and can be a block-shaped, box-shaped, or other structure. The interior of the base 110 defines a counterweight cavity. This counterweight cavity constitutes the mounting position 111. At least one side of the counterweight cavity can be open to allow the counterweight 130 to enter and exit the counterweight cavity through the opening.

[0072] Of course, a cover plate can be specially provided for this opening according to actual needs. The cover plate is movably installed on the base 110, and can open and close the opening during its movement. When closed, they together form a relatively closed counterweight cavity at the bottom, thereby providing sufficient protective space for the counterweight 130 housed in the counterweight cavity, preventing external environmental factors such as dirt and moisture from affecting the counterweight mass of the counterweight 130.

[0073] The counterweight 130 is positioned at the mounting location 111 as described above. It is understood that when the adjustable base 100 mounts the robot 200 onto the surface 310 to be mounted, and the robot 200 performs preset actions as required, the robot 200 is movable relative to the base 110. In particular, when the end effector of the robot 200 is specifically a robotic arm 210, and the robotic arm 210 is foldable and extendable, its folding and extending actions will cause a certain shift in the center of gravity of the adjustable base 100 and the robot 200 as a whole.

[0074] Based on this, by adjusting the mass of the counterweight 130 and / or its installation orientation relative to the installation position 111, it can be ensured that during any movement of the robot 200, the counterweight 130 can stabilize the overall center of gravity of the adjustable base 100 and the robot 200 at the installation position 111.

[0075] First, regarding the adjustable mass solution for counterweight 130:

[0076] In a specific application, the mass of the counterweight 130 is set to be fixed and essentially non-adjustable. That is, during assembly, regardless of the specific type of robot 200 or its operating mode, the mass of the counterweight 130 is directly set to its maximum limit. This maximum limit is set such that the gravity it exerts on the adjustable base 100 is sufficient to balance the sum of external forces causing the center of gravity to shift, such as the robot 200's maximum amplitude movement during any activity, or the maximum load it picks up, and may even exceed this limit. This ensures that during any activity of the robot 200, the counterweight 130 can stabilize the overall center of gravity of the adjustable base 100 and the robot 200 at the mounting position 111.

[0077] In another specific application, the mass of the counterweight 130 is set to be adjustable. In this way, the adjustable base 100 and the robot 200 can be flexibly adapted by means of the flexible configuration of the mass of the counterweight 130. This ensures that the overall center of gravity is stable, without wasting too much counterweight resources, and without increasing the loading burden on the surface 310 to be loaded.

[0078] Specifically, the counterweight 130 may include at least two counterweight units 131. Any number of counterweight units 131 can be stacked vertically. By selecting different numbers of counterweight units 131 and counterweight units 131 of different masses and weights for combination, different counterweight schemes can be obtained.

[0079] Among them, after the counterweight units 131 are stacked vertically in sequence, at least one of the counterweight units 131 can be detachably or non-detachably connected to the mounting position 111.

[0080] The non-detachable connection means that the counterweight unit 131 and the base 110 are fixedly connected using techniques such as welding or hot pressing, ensuring that there will be no relative displacement between the counterweight unit 131 and the base 110 during any movement of the robot 200. This ensures that when all the counterweight units 131 are stacked in place, the position of the counterweight 130 as a whole relative to the base 110 is uniquely fixed.

[0081] The detachable connection scheme is not limited. For example, one of the counterweight unit 131 and the mounting position 111 is provided with a first connecting structure, and the other is provided with a first docking structure. The first connecting structure and the first docking structure are detachably connected.

[0082] The first connecting structure and the first docking structure are provided together. The specific solutions for the two can be, but are not limited to, using screw structure and threaded hole structure for locking and fixing, using protruding structure and slot structure for fastening and fixing, using magnetic structure and magnetic attraction matching structure for magnetic attraction and fixing, using suction cup structure and adsorption matching structure for negative pressure adsorption and fixing, etc.

[0083] When two adjacent counterweight units 131 are stacked vertically, they can be connected in a detachable or non-detachable manner.

[0084] Similarly, the non-detachable connection means that the two counterweight units 131 are fixedly connected using techniques such as welding or hot pressing to ensure that there is no relative displacement between the two counterweight units 131 during any movement of the robot 200. This ensures that when all counterweight units 131 are stacked in place, the center of gravity of the entire counterweight component 130 is uniquely fixed.

[0085] The detachable connection scheme is also not limited. For example, each counterweight unit 131 includes two counterweight units 131 stacked together. One of the two counterweight units 131 is provided with a second connecting structure 132, and the other is provided with a second docking structure 133. When the two counterweight units 131 are stacked, the second connecting structure 132 and the second docking structure 133 are adapted to connect.

[0086] The second connecting structure 132 and the second docking structure 133 are provided together. The specific solutions for the two can be, but are not limited to, using a screw connection structure and a threaded hole structure for locking and fixing, using a convex structure and a slot structure for fastening and fixing, using a magnetic attraction structure and a magnetic attraction matching structure for magnetic attraction and fixing, using a suction cup structure and an adsorption matching structure for negative pressure adsorption and fixing, etc.

[0087] It should be noted that, as Figure 8 As shown, each counterweight unit 131 may include two unit structure types. One of the unit structure types has only a second connecting structure 132, while the other has only a second docking structure 133. When stacked vertically, the two unit structure types are alternately arranged.

[0088] Or such as Figure 9 As shown, each counterweight unit 131 can be of only one type of unit structure. In this case, the unit has a first surface and a second surface respectively disposed on its vertical sides. The first surface is provided with a second connecting structure 132, and the second surface is provided with a second mating structure 133, so that when two counterweight units 131 are stacked, the second connecting structure 132 of one counterweight unit 131 is adapted to connect with the second mating structure 133 of the other counterweight unit 131.

[0089] That is, when stacked vertically, the second connecting structure 132 on the first surface of the same counterweight unit 131 (e.g., the counterweight unit 131 in the middle position) can be adapted and connected to the second mating structure 133 on the second surface of a counterweight unit 131 on its adjacent side (e.g., the counterweight unit 131 in the upper position). At the same time, the second mating structure 133 on the second surface of the same counterweight unit 131 (e.g., the counterweight unit 131 in the middle position) can be adapted and connected to the second connecting structure 132 on the first surface of another counterweight unit 131 on its adjacent side (e.g., the counterweight unit 131 in the lower position).

[0090] In this way, there is no need to configure different types of counterweight units 131, making the combination of each counterweight unit 131 more flexible and free.

[0091] In each of the aforementioned counterweight units 131, the mass of each counterweight unit 131 can be set to be exactly the same. In this way, different total masses of the counterweight component 130 as a whole can be obtained by stacking different numbers of counterweight units 131.

[0092] Of course, at least two of the aforementioned counterweight units 131 can have different masses. Thus, different total masses of the counterweight component 130 can be obtained not only by stacking different numbers of counterweight units 131, but also by stacking the same number of counterweight units 131 with different masses.

[0093] Next, regarding the adjustable mounting orientation of the counterweight 130 relative to the mounting position 111:

[0094] In one specific application, the counterweight 130 may include at least one counterweight unit 131. The counterweight unit 131 is movably disposed within the mounting position 111. This movement may specifically be a translation along a certain direction and / or a rotation about a certain axis.

[0095] It should be noted that the movement of the counterweight unit 131 is designed to change the orientation of its center of gravity. That is, it does not include movement in which the counterweight unit 131 rotates around its own center of gravity. In this way, the orientation of the center of gravity of the counterweight component 130 as a whole can be changed during the movement of the counterweight unit 131, thereby changing the orientation of the center of gravity of the counterweight base and the robot 200 as a whole.

[0096] To better adapt the change in the center of gravity of the counterweight 130 to the specific activities of the robot 200, a further design involves directly connecting the counterweight unit 131 to the robot 200 or indirectly connecting it via other structures. This allows the counterweight unit 131 to move in the opposite direction when the robot 200 performs a preset action in one direction. This effectively ensures that the adjustable base 100 and the robot 200 as a whole still move and exchange positions around their center of gravity. Thus, during the movement of the counterweight unit, the overall center of gravity of the adjustable base 100 and the robot 200 remains stable within the mounting position 111.

[0097] It should be noted that the two schemes mentioned above—namely, the adjustable mass of the counterweight 130 and the adjustable mounting position of the counterweight 130 relative to the mounting position 111—can be selected individually or simultaneously. When both are set simultaneously, the overall center of gravity adapts to the robot 200's movement more versatilely, thereby making the robot more widely applicable and more reliable in use.

[0098] As can be seen from one or more of the above embodiments, the base 110 provides a mounting space for the counterweight 130 and is located at a lower position, which helps to lower the overall center of gravity. In a further embodiment, the stand 120 extends vertically and is mounted on the base 110, which helps to separate the robot 200 from the base 110 / counterweight 130, thereby ensuring that the activities of the robot 200 do not interfere with the activities of the base 110 / counterweight 130.

[0099] like Figures 3 to 5 As shown, in a specific application, the stand 120 can be offset to the side of the mounting position 111. The stand 120 and the base 110 are roughly L-shaped. In this case, the side surface of the stand 120 closest to the mounting position 111 is used for the robot 200 to mount, so that the robot 200 can move above the mounting position 111, that is, the center of gravity of the robot 200 can be as close as possible to the mounting position 111 vertically.

[0100] Or such as Figure 6 As shown, in another specific application, the support frame 120 can be mounted on top of the counterweight 130. The support frame 120, counterweight 130, and base 110 are collinear or nearly collinear along their vertical center of gravity lines. The support frame 120, counterweight 130, and base 110 are roughly arranged in a tower shape, which helps to ensure that the centers of gravity of the support frame 120, counterweight 130, base 110, and robot 200 are as close as possible to the mounting position 111 in the horizontal direction, and are as concentrated as possible. In this case, the robot 200 can be mounted on either side of the support frame 120 in any horizontal direction, forming sufficient installation freedom and flexibility.

[0101] The upright frame 120 and the base 110 can be integrally formed. Alternatively, the upright frame 120 and the base 110 can be separately formed and then connected and fixed in a detachable or non-detachable manner.

[0102] As described above, the base 110 is placed on the surface 310 to be mounted, meaning that at least a portion of the bottom surface of the base 110 abuts against the surface 310. Therefore, when the overall mass of the adjustable base 100 and the robot 200 is sufficient, during their contact, a horizontal frictional force (including static and dynamic friction) will inevitably be generated at the contact point, preventing the base 110 from slipping against the surface 310. This strengthens the stability of the adjustable base 100 against the surface 310.

[0103] Based on this, the base 110 has an anti-slip structure at least in the part that abuts against the surface 310 to be mounted. The anti-slip structure refers to a structure that minimizes mutual sliding between the two, that is, a structure that increases the friction between the two.

[0104] In one specific application, the bottom surface of the base 110 is provided with an uneven surface. That is, the bottom surface of the base 110 has uneven textures of the required depth. These uneven textures can increase the friction between the base 110 and the surface 310 to be mounted. In this case, the uneven textures constitute an anti-slip structure.

[0105] Or such as Figure 7 As shown, in another specific embodiment, the anti-slip structure includes an anti-slip pad 140 disposed at the bottom of the base 110. The anti-slip pad 140 and the base 110 are separately disposed and can be detachably or non-detachably connected. In this way, the anti-slip pad 140 and the base 110 do not interfere with each other in terms of material selection or processing method.

[0106] The anti-slip pad 140, as described above, may have an uneven surface at least at its bottom end. And / or, at least a portion of the anti-slip pad 140 may be made of an elastic material. The elastic material may be, but is not limited to, rubber, silicone, etc. On one hand, when subjected to external pressure, the anti-slip pad 140 made of the elastic material will undergo a certain elastic deformation, generating continuous positive pressure, directly increasing the friction between the contact surfaces. On the other hand, the surface of the anti-slip pad 140 made of the elastic material generally forms a certain texture, equivalent to creating rough protrusions, which helps to increase the roughness of the contact surfaces. Furthermore, the anti-slip pad 140 made of the elastic material may also absorb a certain amount of external impact energy and dynamically compensate for the gap between the contact surfaces through its own deformation, preventing a sudden drop in the coefficient of friction due to loosening.

[0107] In addition, such as Figure 7As shown, the adjustable base 100 also includes a support member 150 disposed at the bottom of the base 110.

[0108] The support member 150 can be set to one. The support member 150 is set at the center of gravity of the whole machine, that is, the support member 150 is located on the center line of gravity of the whole machine. In this way, the support member 150 can relatively stably support the entire adjustable base 100 and robot 200.

[0109] However, to improve overall stability, at least two support components 150 are generally provided. Each support component 150 is positioned around the periphery of the center of gravity. The support components 150 are distributed as evenly as possible. Furthermore, the support components 150 can be evenly arranged around the periphery of the machine's center of gravity.

[0110] For example, when there are two support members 150, they can be symmetrically arranged on opposite sides of the machine's center of gravity. When there are at least three support members 150, each support member 150 is symmetrically arranged about the machine's center of gravity.

[0111] In view of the above-mentioned anti-slip structure design, an anti-slip structure can be further provided on the bottom of at least one support member 150 to ensure that all bottoms of the adjustable base 100 that come into contact with the surface 310 to be mounted are provided with anti-slip structures as much as possible.

[0112] The specific structure of the support member 150 is not limited, and the support member 150 may include a support column and a support base. The support column extends vertically and protrudes from the bottom of the base 110. The support base is located at the bottom end of the support column, and the lateral cross-sectional area of ​​the support base is not less than the lateral cross-sectional area of ​​the support column.

[0113] The support column and the base 110 can be integrally formed. Alternatively, the support column and the base 110 can be separately formed and then detachably or non-detachably connected and fixed. Similarly, the support column and the support base pad can be integrally formed. Alternatively, the support column and the support base pad can be separately formed and then detachably or non-detachably connected and fixed.

[0114] The vertical dimension of the support column roughly corresponds to the support height of the support member 150. The lateral cross-sectional area of ​​the support base, that is, the dimension in any horizontal direction, can be set to be no less than that of the support column. In this way, a sufficiently large contact surface can be formed at the bottom of the support member 150 through the support base, which helps to improve the contact strength between the support member 150 and the surface 310 to be mounted.

[0115] Based on one or more of the above embodiments, the support height of the support member 150 can be set to be basically constant, which helps to simplify the structure of the support member 150 itself.

[0116] Alternatively, in a specific application, at least one support member 150 may be telescopically adjustable in its vertical support height. When the support member 150 is telescopically adjustable in its vertical support height, the height of the base 110 relative to the surface 310 to be mounted can also be adjusted accordingly.

[0117] It should be noted that when the bottom of the support member 150 is provided with an anti-slip structure and the friction generated is large enough, the support member 150 can raise the base 110 so that the bottom of the base 110 is suspended above the surface 310 to be installed.

[0118] However, when the bottom of the support member 150 is not provided with an anti-slip structure, or when the bottom of the support member 150 is provided with an anti-slip structure but the friction generated is insufficient, when the support member 150 adjusts its support height, it is still necessary to ensure that at least a portion of the bottom surface of the base 110 (and the part provided with the anti-slip structure) abuts against the surface 310 to be mounted and generates sufficient friction.

[0119] At this point, adjusting the support height of the support member 150 can adjust the orientation of the bottom surface of the base 110, thereby making the bottom surface of the base 110 more compatible with the non-horizontal mounting surface 310. Especially when multiple support members 150 are distributed as described above, adjusting the support height of one or more of the support members 150 can flexibly adjust the orientation of the bottom surface of the base 110.

[0120] There are several ways to achieve adjustable support height for the support component 150:

[0121] In one specific embodiment, when the support member 150 includes a support column and a support base as described above, one of the connection points of the support column and the support base is provided with an internal thread, and the other is provided with an external thread adapted to the internal thread, so that the support height of the support member 150 can be adjusted accordingly by adjusting the threading depth between the support column and the support base.

[0122] For example, the support column has external threads, and the support base has a threaded hole, which forms an internal thread. The support column and the support base are threaded together. When it is necessary to increase the support height, the support column can be screwed outwards from the threaded hole of the support base appropriately. Conversely, when it is necessary to increase the support height, the support column can be screwed inwards from the threaded hole of the support base appropriately.

[0123] Of course, in other specific solutions, it can also be achieved by, for example, setting a support column formed by multiple expansion joints connected in sequence. Or, for example, setting the side surface of the support column to have teeth to form a rack structure; and the support base pad to have corresponding teeth to form a gear structure.

[0124] Based on one or more of the above embodiments, further, the orientation of the bottom of at least one support member 150 is movably adjustable. When the orientation of the bottom of the support member 150 is adjustable, the same base 110 can be adapted to different shaped mounting surfaces 310 via the support member 150. Alternatively, different bottom surfaces of the base 110 can be adapted to the uneven mounting surfaces 310 via the support member 150.

[0125] In one specific embodiment, when the support member 150 includes a support column and a support base as described above, one of the connection points between the support column and the support base is provided with a convex spherical surface, and the other with a concave spherical surface, so that the orientation of the bottom of the support member 150 can be adjusted by adjusting the sliding fit between the convex and concave spherical surfaces. That is, the support column and the support base constitute a ball joint mechanism, which allows for multi-directional adjustment of the support column and the support base.

[0126] Once the relative positions of the support column and the support base are adjusted to the correct position, that is, once the orientation of the bottom of the support member 150 is adjusted to the correct position, a locking structure can be further installed at the connection between the support column and the support base.

[0127] The specific design of the locking structure is not limited; it can be, but is not limited to, meshing teeth between the convex and concave spherical surfaces. These teeth correspond to the sliding contact trajectory of the two surfaces. Alternatively, additional fasteners can be used. These fasteners can, for example, be screwed together to secure the support column and the support base in their current state.

[0128] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. An adjustable base, characterized in that, The adjustable base is used to mount the robot onto the surface to be installed on the household appliance, and the adjustable base includes: A base for fixing the object to the surface to be mounted, the base having a mounting position; A vertical support frame, extending along the vertical direction and mounted on the base, the support frame being used for the movable installation of the robot; and, A counterweight is provided at the mounting position of the base; The mass and / or installation orientation of the counterweight relative to the mounting position are adjustable so that, during any movement of the robot, the counterweight can stabilize the adjustable base and the overall center of gravity of the robot at the mounting position.

2. The adjustable base as described in claim 1, characterized in that, The counterweight comprises at least two individual counterweights; Each of the counterweight units is detachably connected to the mounting position.

3. The adjustable base as described in claim 2, characterized in that, One of the counterweight unit and the mounting position is provided with a first connecting structure, and the other is provided with a first docking structure, wherein the first connecting structure and the first docking structure are detachably connected.

4. The adjustable base as described in claim 1, characterized in that, The counterweight includes at least two counterweight units, and any number of the counterweight units can be stacked vertically. Each of the aforementioned counterweight units is detachably connected to the other two.

5. The adjustable base as described in claim 4, characterized in that, Each of the counterweight units includes two counterweight units stacked together. One of the two counterweight units is provided with a second connecting structure, and the other is provided with a second docking structure. When the two counterweight units are stacked together, the second connecting structure and the second docking structure are adapted to be connected.

6. The adjustable base as described in claim 4, characterized in that, The counterweight unit has a first surface and a second surface disposed on its vertical sides. The first surface is provided with a second connecting structure, and the second surface is provided with a second docking structure, so that when two counterweight units are stacked, the second connecting structure of one counterweight unit is adapted to connect with the second docking structure of the other counterweight unit.

7. The adjustable base as described in any one of claims 2 to 6, characterized in that, All the aforementioned counterweight units are configured to have the same mass; or, At least two of the said counterweight units have different masses.

8. The adjustable base as described in claim 1, characterized in that, The counterweight includes at least one counterweight unit, which is movably disposed within the mounting position. The counterweight unit is connected to the robot so that when the robot performs a preset action in one direction, it drives the counterweight unit to move in another direction, and during its movement, it stabilizes the adjustable base and the overall center of gravity of the robot within the mounting position.

9. The adjustable base as described in claim 1, characterized in that, The adjustable base also includes an anti-slip pad disposed at the bottom of the base; At least the bottom surface of the anti-slip pad is provided with an uneven surface; and / or, The anti-slip mat is at least partially made of an elastic material.

10. The adjustable base as described in claim 1, characterized in that, The adjustable base also includes a support member disposed at the bottom of the base; The support member is provided at the center of gravity; or at least two support members are provided around the periphery of the center of gravity; and / or, At least one of the support members has an anti-slip structure at its bottom.

11. A service system, characterized in that, Includes a robot and an adjustable base as described in any one of claims 1 to 10.

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