CN103950045A - Balance adjusting mechanism of robot - Google Patents
Balance adjusting mechanism of robot Download PDFInfo
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- CN103950045A CN103950045A CN201410172911.2A CN201410172911A CN103950045A CN 103950045 A CN103950045 A CN 103950045A CN 201410172911 A CN201410172911 A CN 201410172911A CN 103950045 A CN103950045 A CN 103950045A
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- hinged
- leading screw
- frame
- robot
- screw rod
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Abstract
The invention discloses a balance adjusting mechanism of a robot and belongs to the technical field of robots. The balance adjusting mechanism comprises a screw rod bracket, an upper frame, a lower frame and a tail frame, wherein a screw rod is arranged on the screw rod bracket; the shell of a screw rod motor is fixed on the screw rod bracket; the power output end of the screw rod motor is fixedly connected with the screw rod; a sliding block with a threaded hole is hinged to the upper end of the upper frame; the sliding block is matched with the screw rod; the lower end of the lower frame is hinged to the lower part of the screw rod bracket; the upper end of the lower frame, the lower end of the upper frame and the upper end of the tail frame are hinged to a frame shaft; a tail wheel is arranged at the lower end of the tail frame; one end of a linear motor is hinged to the upper frame, and the other end of the linear motor is hinged to the tail frame. By adopting the balance adjusting mechanism, the gravity center of equipment can be adjusted stably, and the robot or the equipment is effectively prevented from tipping over caused by gravity center.
Description
Technical field:
The invention belongs to Robotics field, be specifically related to a kind of balance adjustment mechanism of robot.
Background technology:
Along with social development, the raising of scientific and technological level, engineering goods are that the theory that the mankind serve is constantly deepened.And in reality, often have some danger or the inaccessiable event of manpower surprisingly occur, replace mankind to carry out movable robot just seeming particularly important so research can solve this type of.The research of barrier-surpassing robot contributes to solve the machine research direction of this class event just.In order to adapt to the obstacle detouring under varying environment, make robot there is better reliability, controllability, mobility, adaptability and more stable obstacle climbing ability, present stage is just needing new effective engineering solution to the research work of Zhe Lei robot.A lot of about the research of barrier-surpassing robot both at home and abroad, therefore in obstacle detouring process, regulate the mechanism of robot balance to become very important.Existing robot balance adjustment mechanism exists degree of regulation inadequate, and the problem such as support force deficiency, is difficult to adapt to strong motion or the adverse circumstances of barrier-surpassing robot in running.
Summary of the invention:
The problem existing for prior art, the present invention proposes a kind of balance adjustment mechanism that is applicable to robot, can, for reconditioner device people's center of gravity, prevent from because of crank, robot being tumbled.
For realizing above object, the present invention takes following technical scheme: a kind of balance adjustment mechanism of robot, comprise leading screw support, upper frame, underframe and tail framework, on leading screw support, be provided with leading screw, be fixed with the housing of spindle motor at leading screw support, the clutch end of spindle motor is fixedly connected with leading screw; Described upper frame upper end is hinged with slide block with threaded hole, slide block matches with described leading screw, the lower end of described underframe is hinged on leading screw support bottom, and the upper end of the upper end of underframe and the lower end of upper frame and tail framework is hinged on gimbal axis, and the lower end of tail framework is provided with tail wheel; On upper frame, be hinged with one end of linear electric motors, the other end of linear electric motors and tail framework are hinged.
On described leading screw support, be provided with guide rail, and be provided with the groove matching with guide rail on described slide block.
Described tail wheel is universal wheel.
Beneficial effect of the present invention:
Be arranged on the rear portion of robot or other equipment, can regulate stably the center of gravity of robot or equipment, what effectively prevented that robot or equipment from causing because of crank tumbles.
Brief description of the drawings:
Fig. 1 is the structural representation of one embodiment of the present of invention;
Fig. 2 is the structural representation after one embodiment of the present of invention are combined with robot;
Wherein: 1-leading screw, 2-slide block, 3-linear electric motors, 4-upper frame, 5-tail framework, 6-tail wheel, 7-underframe, 8-spindle motor, 9-leading screw support, 10-guide rail, 11-gimbal axis, 12-robot.
Detailed description of the invention:
Below in conjunction with drawings and Examples, the present invention is described further:
As shown in Figure 1, a kind of balance adjustment mechanism of robot, described balanced controls comprise leading screw support 9, upper frame 7, underframe 7 and tail framework 5, on leading screw support 9, be provided with leading screw 1, the bottom of leading screw support 9 is fixed with the housing of spindle motor 8, and the clutch end of spindle motor 8 is fixedly connected with leading screw 1; Described upper frame 4 upper ends are hinged with slide block with threaded hole 2, slide block 2 matches with described leading screw 9, the lower end of described underframe 7 is hinged on leading screw support 9 bottoms, the upper end of the lower end of the upper end of underframe 7 and upper frame 4 and tail framework 5 is hinged on gimbal axis 11, and the lower end of tail framework 5 is provided with universal wheel; On upper frame 4, be hinged with one end of linear electric motors 3, the other end of linear electric motors 3 and tail framework 5 are hinged, on leading screw support 9, be provided with guide rail 10, and be provided with the groove coordinating with guide rail 10 on described slide block 2, it is more steady that groove fit guide rail 10 can make that slide block 2 moves.
As shown in Figure 2, first leading screw support 9 of the present invention is fixed on to the rear portion of robot 12.In the running of robot 12, if there is situation about leaning forward, can be rotated in the forward by spindle motor 8, slide block 2 is moved up, and linear electric motors 3 shrink, tail framework 5 is moved up, thereby will after the center of gravity of robot 12, move, maintained the balance of robot 12; If there is the situation of hypsokinesis in the process of operation, can reverse by spindle motor 8, slide block 2 is moved down, and linear electric motors 3 extend, tail framework 5 is moved down, thereby by center of gravity to reach, maintained the balance of robot 12.
Claims (3)
1. the balance adjustment mechanism of a robot, it is characterized in that: comprise leading screw support, upper frame, underframe and tail framework, on leading screw support, be provided with leading screw, be fixed with the housing of spindle motor on leading screw support, the clutch end of spindle motor is fixedly connected with leading screw; Described upper frame upper end is hinged with slide block with threaded hole, slide block matches with described leading screw, the lower end of described underframe is hinged on leading screw support bottom, and the upper end of the upper end of underframe and the lower end of upper frame and tail framework is hinged on gimbal axis, and the lower end of tail framework is provided with tail wheel; On upper frame, be hinged with one end of linear electric motors, the other end of linear electric motors and tail framework are hinged.
2. the balance adjustment mechanism of a kind of robot according to claim 1, is characterized in that: on described leading screw support, be provided with guide rail, and be provided with the groove matching with guide rail on described slide block.
3. the balance adjustment mechanism of a kind of robot according to claim 1, is characterized in that: described tail wheel is universal wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410172911.2A CN103950045B (en) | 2014-04-25 | 2014-04-25 | A kind of balance adjustment mechanism of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410172911.2A CN103950045B (en) | 2014-04-25 | 2014-04-25 | A kind of balance adjustment mechanism of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103950045A true CN103950045A (en) | 2014-07-30 |
| CN103950045B CN103950045B (en) | 2015-11-04 |
Family
ID=51327465
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410172911.2A Active CN103950045B (en) | 2014-04-25 | 2014-04-25 | A kind of balance adjustment mechanism of robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN103950045B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527992A (en) * | 2014-12-12 | 2015-04-22 | 重庆大学 | Balance mechanism for star surface exploration robot |
| CN104627263A (en) * | 2014-12-12 | 2015-05-20 | 重庆大学 | Bionic jumping robot |
| CN110057606A (en) * | 2019-03-18 | 2019-07-26 | 上海海事大学 | A kind of crane is anti-to shake Control experiment platform |
| CN112776913A (en) * | 2021-01-28 | 2021-05-11 | 南方科技大学 | Biped robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005160627A (en) * | 2003-12-01 | 2005-06-23 | Yoshikazu Kojima | Wheelchair |
| KR20070099146A (en) * | 2006-04-03 | 2007-10-09 | 주식회사 로보쓰리 | Auxiliary wheel and driving wheel for two-wheel robot |
| US20090223728A1 (en) * | 2008-03-10 | 2009-09-10 | Mitsuo Koide | Wheeled inverted pendulum mobile unit |
| CN201329882Y (en) * | 2009-01-13 | 2009-10-21 | 曹占平 | Upper and lower stair waggon |
| CN103481956A (en) * | 2013-09-29 | 2014-01-01 | 中国地质大学（武汉） | Walking mechanism of sampling robot |
-
2014
- 2014-04-25 CN CN201410172911.2A patent/CN103950045B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005160627A (en) * | 2003-12-01 | 2005-06-23 | Yoshikazu Kojima | Wheelchair |
| KR20070099146A (en) * | 2006-04-03 | 2007-10-09 | 주식회사 로보쓰리 | Auxiliary wheel and driving wheel for two-wheel robot |
| US20090223728A1 (en) * | 2008-03-10 | 2009-09-10 | Mitsuo Koide | Wheeled inverted pendulum mobile unit |
| CN201329882Y (en) * | 2009-01-13 | 2009-10-21 | 曹占平 | Upper and lower stair waggon |
| CN103481956A (en) * | 2013-09-29 | 2014-01-01 | 中国地质大学（武汉） | Walking mechanism of sampling robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527992A (en) * | 2014-12-12 | 2015-04-22 | 重庆大学 | Balance mechanism for star surface exploration robot |
| CN104627263A (en) * | 2014-12-12 | 2015-05-20 | 重庆大学 | Bionic jumping robot |
| CN110057606A (en) * | 2019-03-18 | 2019-07-26 | 上海海事大学 | A kind of crane is anti-to shake Control experiment platform |
| CN112776913A (en) * | 2021-01-28 | 2021-05-11 | 南方科技大学 | Biped robot |
| CN112776913B (en) * | 2021-01-28 | 2022-06-07 | 南方科技大学 | Biped robot |
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| Publication number | Publication date |
|---|---|
| CN103950045B (en) | 2015-11-04 |
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Effective date of registration: 20221102 Address after: Room 247-11724, 2 / F, 109-1 quanyun Road, Shenyang area, China (Liaoning) pilot Free Trade Zone, Shenyang, Liaoning 110000 Patentee after: Shenyang Lushan Technology Co.,Ltd. Address before: 110819 No. 3 lane, Heping Road, Heping District, Shenyang, Liaoning 11 Patentee before: Northeastern University |
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