CN107139180B - Automatic robot trunk of standing - Google Patents
Automatic robot trunk of standing Download PDFInfo
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- CN107139180B CN107139180B CN201710389753.XA CN201710389753A CN107139180B CN 107139180 B CN107139180 B CN 107139180B CN 201710389753 A CN201710389753 A CN 201710389753A CN 107139180 B CN107139180 B CN 107139180B
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- standing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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Abstract
The invention discloses an automatic standing robot trunk, wherein the trunk body is cylindrical, a cross section is formed on the trunk body from a top end face to a bottom end face along the axial direction, the upper part of the wall of the trunk body is inwards sunken to form four containing cavities, one pair of containing cavities are symmetrically arranged on the upper parts of two sides of the cross section, and the other pair of containing cavities are symmetrically arranged on the lower parts of two sides of the cross section; the first telescopic standing foot can be retracted into the upper accommodating cavity, and the second telescopic standing foot can be retracted into the lower accommodating cavity; this internal gyroscope that is equipped with of truck, the gyroscope passes through the controller and links to each other with the driver, and the driver can control the flexible foot of standing of first flexible standing and second respectively and contract or extend, and the bottom corner in cross-section is provided with the slipmat that rubber was made. Simple structure, convenient to use can overturn automatically fast and stand when the robot emptys, prevents effectively that the robot from rolling long distance and avoiding it impaired.
Description
Technical Field
The present invention relates to robotic assemblies, and in particular, to a self-standing robot torso.
Background
An intelligent robot is called an intelligent robot because it has a well-developed "brain". Functioning centrally in the brain, this computer has direct contact with the person who operates it. Most importantly, such computers can perform purposely arranged actions. Because of this, we say that this is a true robot, although their appearance may be different.
The service robots need to feed back and communicate with a person to be served in time, most of the service robots are designed to be cylindrical, and are easy to topple when being impacted by large external force in the service process, and roll after toppling due to the cylindrical shape, and the appearance of the service robots is difficult to repair if the rolling distance on uneven ground is too long.
Therefore, it is urgently needed to provide a robot which can automatically turn over and stand in time when the robot topples over, and the injury to the robot caused by rolling is reduced as much as possible.
Disclosure of Invention
The invention aims to provide an automatic standing robot trunk which is simple in structure and convenient to use, can quickly and automatically turn over and stand when a robot topples over, and effectively prevents the robot from rolling for a long distance to avoid damage.
In order to achieve the aim, the invention provides an automatic standing robot trunk, which comprises a robot trunk body, a first telescopic standing foot and a second telescopic standing foot, wherein the first telescopic standing foot and the second telescopic standing foot can be telescopic in multiple sections; wherein the content of the first and second substances,
the trunk body is cylindrical, a cross section is formed on the trunk body from the top end face to the bottom end face in the axial direction, four containing cavities are formed in the wall upper portion of the trunk body in an inwards concave mode, one pair of containing cavities are symmetrically arranged on the upper portions of two sides of the cross section, and the other pair of containing cavities are symmetrically arranged on the lower portions of two sides of the cross section;
the first telescopic standing foot can be retracted into the upper accommodating cavity, and the second telescopic standing foot can be retracted into the lower accommodating cavity;
this internal gyroscope that is equipped with of truck, the gyroscope passes through the controller and links to each other with the driver, and the driver can control the flexible foot of standing of first flexible standing and second respectively and contract or extend, and the bottom corner in cross-section is provided with the slipmat that rubber was made.
Preferably, the self-standing robot torso further comprises an adjustment mechanism and a speaker; wherein the content of the first and second substances,
the adjusting mechanism is arranged in the trunk body, one end of the adjusting mechanism penetrates through the top end of the trunk body and extends outwards, the other end of the adjusting mechanism extends to the middle part of the trunk body, penetrates through the arm of the trunk body and extends to the outside and is detachably connected with the loudspeaker;
one side of the trunk body, which is far away from the cross section, is formed with a strip-shaped adjusting notch along the circumferential direction, and one end of the adjusting mechanism is rotated to drive the adjusting mechanism to rotate so that the other end of the adjusting mechanism can reciprocate in the adjusting notch.
Preferably, adjust the breach and be the arc breach, set up as the arcwall face with the one side that the wall of trunk body is close to on the speaker.
Preferably, the adjusting mechanism consists of an adjusting shaft, an adjusting arm, an adjusting handle and an adjusting head; wherein the content of the first and second substances,
the vertical setting of regulating spindle, the top rigid coupling have can drive the regulating handle of regulating spindle rotation, and the bottom is connected with the one end of regulating arm, and the other end of regulating arm passes the regulation breach and links to each other with the speaker through adjusting the head.
Preferably, the adjustment arm is a gooseneck.
Preferably, the adjusting head is a universal ball head, and the loudspeaker is provided with a universal ball socket matched with the universal ball head.
Preferably, the upper and lower edge of arc breach all is equipped with the lip, and the relative extension of lip just is formed with the gap between the upper and lower lip.
Preferably, the lip is a rubber lip.
Preferably, the loudspeaker enclosure is provided with a transparent shield.
Preferably, a plurality of through holes are uniformly formed in the wall of the transparent protective cover.
According to the technical scheme, the cylindrical trunk body is provided with the cross section from the top end face to the bottom end face along the axial direction, the upper wall part of the trunk body is inwards sunken to form four containing cavities, one pair of containing cavities are symmetrically arranged at the upper parts of two sides of the cross section, and the other pair of containing cavities are symmetrically arranged at the lower parts of two sides of the cross section; the first telescopic standing foot can be retracted into the upper accommodating cavity, and the second telescopic standing foot can be retracted into the lower accommodating cavity; this internal gyroscope that is equipped with of truck, the gyroscope passes through the controller and links to each other with the driver, and the driver can control the flexible foot of standing of first flexible standing and second respectively and contract or extend, and the bottom corner in cross-section is provided with the slipmat that rubber was made. Therefore, when the robot does not topple over, the first telescopic standing foot and the second telescopic standing foot are contracted, and the daily normal use of the robot is not influenced; in case the robot falls down, run into the cross-section when the trunk body rotates and can stop continuing to roll, the gyroscope can sense the change of robot focus immediately simultaneously, at this moment fast through the controller processing make the driver drive first flexible standing foot and the flexible standing foot of second and extend respectively. Because the existence of slipmat has increased the truck body upset when rising and the frictional force between the ground, through the extension speed difference of the flexible foot of standing of first flexible stand of control and second, for example, first flexible foot of standing extends the piece, the flexible foot of standing of second extends slowly, the truck body just can overturn slowly and resume to upright state this moment, avoided it to roll on unevenness ground or from the great subaerial roll of drop and fall impaired, the life of robot truck body has been prolonged greatly, electronic component to its inside has played better guard action.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of a torso of a robot capable of automatically standing in accordance with an embodiment of the present invention.
Description of the reference numerals
1-torso body 2-speaker
3-adjustment gap 4-adjustment shaft
5-adjusting arm 6-adjusting handle
7-lip 8-first telescopic standing foot
9-second telescopic standing foot
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
In the present invention, unless otherwise specified, the terms "upper, lower, top, bottom, inside, outside" and the like included in the terms represent only the orientation of the terms in a conventional use state or are colloquially known by those skilled in the art, and should not be construed as limiting the terms.
Referring to fig. 1, the invention provides an automatic standing robot trunk, which comprises a robot trunk body 1, a first telescopic standing foot 8 and a second telescopic standing foot 9, wherein the first telescopic standing foot and the second telescopic standing foot can be telescopic in multiple sections; wherein the content of the first and second substances,
the trunk body 1 is cylindrical, a cross section is formed on the trunk body 1 from the top end face to the bottom end face in the axial direction, four containing cavities are formed in the upper portion of the wall of the trunk body 1 in an inwards concave mode, one pair of containing cavities are symmetrically arranged on the upper portions of two sides of the cross section, and the other pair of containing cavities are symmetrically arranged on the lower portions of two sides of the cross section;
the first telescopic standing foot 8 can be retracted into the upper receiving cavity, and the second telescopic standing foot 9 can be retracted into the lower receiving cavity;
be equipped with the gyroscope in the trunk body 1, the gyroscope passes through the controller and links to each other with the driver, and the driver can control the flexible foot of standing of first flexible stand 8 and second respectively and stand the shrink of foot 9 or extend, and the bottom corner in cross-section is provided with the slipmat that rubber made.
Through the technical scheme, a cross section is formed on the cylindrical trunk body 1 from the top end face to the bottom end face along the axial direction, the upper part of the wall of the trunk body 1 is recessed inwards to form four containing cavities, one pair of containing cavities are symmetrically arranged on the upper parts of two sides of the cross section, and the other pair of containing cavities are symmetrically arranged on the lower parts of two sides of the cross section; the first telescopic standing foot 8 can be retracted into the upper receiving cavity, and the second telescopic standing foot 9 can be retracted into the lower receiving cavity; be equipped with the gyroscope in the trunk body 1, the gyroscope passes through the controller and links to each other with the driver, and the driver can control the flexible foot of standing of first flexible stand 8 and second respectively and stand the shrink of foot 9 or extend, and the bottom corner in cross-section is provided with the slipmat that rubber made. Therefore, when the robot does not topple, the first telescopic standing foot 8 and the second telescopic standing foot 9 are contracted, and the daily normal use of the robot cannot be influenced; once the robot falls down, meet the cross-section and can stop continuing to roll when trunk body 1 rotates, the gyroscope can sense the change of robot focus immediately simultaneously, at this moment fast through the controller processing make the driver drive first flexible standing foot 8 and the flexible standing foot 9 of second and extend respectively. Because the existence of slipmat has increased the truck body 1 upset when rising and the frictional force between the ground, through the extension speed difference of the flexible foot of standing of first flexible stand 8 of control and second 9, for example, the flexible foot of standing of first flexible 8 extension pieces, the flexible foot of standing of second extends slowly, truck body 1 just can overturn slowly this moment and resume to upright state, avoided it to roll on unevenness ground or from the great subaerial roll of drop and fall impaired, the life of robot truck body 1 has been prolonged greatly, better guard action has been played to its inside electronic component.
In the embodiment, in order to flexibly adjust the orientation of the speaker according to the requirement and greatly improve the communication convenience and self-heating degree between the robot and the interactive object, preferably, the trunk of the robot which automatically stands further comprises an adjusting mechanism and a speaker 2; wherein the content of the first and second substances,
the adjusting mechanism is arranged in the trunk body 1, one end of the adjusting mechanism penetrates through the top end of the trunk body 1 and extends outwards, the other end of the adjusting mechanism extends to the middle of the trunk body 1, penetrates through the arm of the trunk body 1 and extends to the outside, and the adjusting mechanism is detachably connected with the loudspeaker 2;
keep away from one side of cross-section on the trunk body 1 and be formed with banding regulation breach 3 along the circumferential direction, can drive the adjustment mechanism rotation through the one end of rotating adjustment mechanism so that adjustment mechanism's the other end in adjusting breach 3 reciprocating motion.
Like this, arrange adjustment mechanism in the truck body 1 inside of robot, adjustment mechanism's one end runs through the top of truck body 1 and outwards extends, and the other end extends to truck body 1 middle part, and the wall that passes truck body 1 again extends to the outside and is connected with speaker 2 detachably. And be formed with banding regulation breach 3 along the circumferential direction on the truck body 1, thus, the one end of rotating adjustment mechanism can drive the adjustment mechanism rotation, and can drive the other end reciprocating motion in adjusting breach 3 during the adjustment mechanism rotation, can drive the speaker 2 of installation naturally and rotate to the orientation mutual object around the axial direction of truck body 1, make the sound that the robot sent can be quick, it is direct, reach mutual object high-efficiently, make mutual object receive and understand sound information more fast accurately, so alright with improve mutual efficiency greatly, the robot is more natural with mutual object's interchange.
In this embodiment, in order to make the structure of the robot trunk more smooth and more compact after the assembly, and improve the aesthetic appearance, preferably, the adjustment notch 3 is an arc-shaped notch, and one side of the speaker 2 close to the wall of the trunk body 1 is set to be an arc-shaped surface.
The structure of the adjusting mechanism is a core part of the robot body with the loudspeaker facing the adjustable direction, and in order to optimize the structure of the adjusting mechanism, the adjusting mechanism is preferably composed of an adjusting shaft 4, an adjusting arm 5, an adjusting handle 6 and an adjusting head; wherein the content of the first and second substances,
the vertical setting of regulating spindle 4, the top rigid coupling have can drive the regulating handle 6 of the rotation of regulating spindle 4, the bottom is connected with the one end of regulating arm 5, and the other end of regulating arm 5 passes and adjusts breach 3 and link to each other with speaker 2 through adjusting the head.
Like this, just can make adjusting handle 6 drive adjusting shaft 4 of connecting to use self central axis to rotate as the axle through wrench movement adjusting handle 6, wherein wrench movement adjusting handle 6 can be connected adjusting handle 6 and robot inside drive and response equipment, realizes long-range intelligent control under inductor response, driver driven mutually supporting. The adjusting shaft 4 rotates by taking the central axis of the adjusting shaft as a shaft, and can simultaneously drive the adjusting arm 5 connected with the adjusting shaft to synchronously rotate around the adjusting shaft 4, and at the moment, the other end of the adjusting arm 5 is naturally attached to the outer part of the trunk body 1 through the loudspeaker 2 connected with the adjusting head and rotates to the required orientation along the adjusting gap 3 along with the adjusting arm 5.
In the above adjustment of the mounting of the loudspeaker 2 and the adjusting arm 5, in order to achieve the flexibility adjustment of the adjusting arm 5 while ensuring the mechanical strength and stability of the adjusting arm 5 thereof, the adjusting arm 5 is preferably a gooseneck.
And because the robot meets when using to exchange the height difference of different mutual objects, this orientation angle requirement to speaker 2 is wider for the area of sound diffusion is bigger, in order to realize above-mentioned technological problem, preferably, adjusts the head and is universal bulb, is equipped with the universal ball socket with universal bulb matched with on speaker 2. The rotation angle of the loudspeaker 2 is further enlarged through the mutual matching of the universal ball head and the universal ball socket, and the coverage range of the sound emitted by the loudspeaker 2 is further enlarged.
In order to prevent that outside rainwater or dust from getting into from great distance between the arc breach, and cause the damage to the normal use of the inside other electronic component of robot truck, seriously influence its life, lead to frequent change and increase robot cost of maintenance, preferably, the upper and lower edge of arc breach all is equipped with lip 7, and lip 7 extends relatively and is formed with the gap between the upper and lower lip.
In order to optimize the flexibility of the lip 7 described above to improve the applicability thereof to use, it is preferable that the lip 7 is a rubber lip.
Furthermore, in order to extend the life of the loudspeaker 2, it is preferred that the loudspeaker 2 housing is provided with a transparent protective cover.
Above-mentioned transparent protection casing still need maintain the normal effect of raising one's voice of speaker 2 when protecting speaker 2, for this reason, has evenly seted up a plurality of through-holes on the wall of transparent protection casing.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the above embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention.
It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (9)
1. The trunk of the robot capable of automatically standing is characterized by comprising a trunk body (1) of the robot, a first telescopic standing foot (8) and a second telescopic standing foot (9) which can be telescopic in multiple sections; wherein the content of the first and second substances,
the trunk body (1) is cylindrical, a cross section is formed on the trunk body (1) from the top end face to the bottom end face along the axial direction, four containing cavities are formed in the wall upper portion of the trunk body (1) in an inwards concave mode, one pair of containing cavities are symmetrically arranged on the upper portions of two sides of the cross section, and the other pair of containing cavities are symmetrically arranged on the lower portions of two sides of the cross section;
the first telescopic standing foot (8) can be retracted into the upper receiving cavity, and the second telescopic standing foot (9) can be retracted into the lower receiving cavity;
a gyroscope is arranged in the trunk body (1), the gyroscope is connected with a driver through a controller, the driver can respectively control the first telescopic standing foot (8) and the second telescopic standing foot (9) to contract or extend, and anti-skid pads made of rubber are arranged at the corners of the bottom ends of the sections;
the trunk of the robot capable of automatically standing further comprises an adjusting mechanism and a loudspeaker (2); wherein the content of the first and second substances,
the adjusting mechanism is arranged in the trunk body (1), one end of the adjusting mechanism penetrates through the top end of the trunk body (1) and extends outwards, the other end of the adjusting mechanism extends to the middle of the trunk body (1), penetrates through the wall of the trunk body (1) and extends to the outside and is detachably connected with the loudspeaker (2);
a strip-shaped adjusting notch (3) is formed in one side, far away from the cross section, of the trunk body (1) in the circumferential direction, and one end of the adjusting mechanism is rotated to drive the adjusting mechanism to rotate so that the other end of the adjusting mechanism can reciprocate in the adjusting notch (3).
2. The torso of an automatic standing robot according to claim 1, characterized in that the adjustment notch (3) is an arc-shaped notch, and the side of the speaker (2) close to the wall of the torso body (1) is arranged as an arc-shaped surface.
3. The robot torso of claim 1, characterized in that the adjustment mechanism consists of an adjustment shaft (4), an adjustment arm (5), an adjustment handle (6) and an adjustment head; wherein the content of the first and second substances,
adjusting spindle (4) vertical setting, the top rigid coupling have can drive adjusting spindle (4) rotation adjusting handle (6), the bottom with the one end of regulating arm (5) is connected, the other end of regulating arm (5) passes adjust breach (3) and through adjust the head with speaker (2) link to each other.
4. The self-standing robot torso according to claim 3, characterized in that the adjusting arm (5) is a gooseneck.
5. The robot trunk capable of automatically standing according to claim 4, wherein the adjusting head is a universal ball head, and a universal ball socket matched with the universal ball head is arranged on the loudspeaker (2).
6. The robot trunk capable of automatically standing according to claim 2, wherein the upper and lower edges of the arc-shaped gap are provided with lip plates (7), the lip plates (7) extend oppositely, and a gap is formed between the upper and lower lip plates.
7. Auto-standing robot trunk according to claim 6, characterized in that the lip (7) is a rubber lip.
8. Self-standing robot trunk according to claim 1, characterized in that the loudspeaker (2) housing is provided with a transparent shield.
9. The torso of an automatic standing robot as claimed in claim 8, wherein the transparent protective cover has a plurality of through holes uniformly formed in the wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710389753.XA CN107139180B (en) | 2017-05-27 | 2017-05-27 | Automatic robot trunk of standing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710389753.XA CN107139180B (en) | 2017-05-27 | 2017-05-27 | Automatic robot trunk of standing |
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| Publication Number | Publication Date |
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| CN107139180A CN107139180A (en) | 2017-09-08 |
| CN107139180B true CN107139180B (en) | 2020-05-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710389753.XA Active CN107139180B (en) | 2017-05-27 | 2017-05-27 | Automatic robot trunk of standing |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108032310A (en) * | 2017-12-15 | 2018-05-15 | 安徽杰特电气有限公司 | Workshop transportation robot |
| CN107984479A (en) * | 2017-12-15 | 2018-05-04 | 安徽杰特电气有限公司 | The workshop transportation robot of automatic charging |
| CN108044632A (en) * | 2017-12-15 | 2018-05-18 | 安徽杰特电气有限公司 | Transportation robot is used between multi-function vehicle |
| CN108100587A (en) * | 2017-12-15 | 2018-06-01 | 安徽杰特电气有限公司 | New workshop transportation robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013163457A (en) * | 2012-02-10 | 2013-08-22 | National Institute Of Advanced Industrial Science & Technology | Overturn-prevention device for two-wheeled inversion type robot |
| CN103273978B (en) * | 2013-06-20 | 2014-04-23 | 北京信息科技大学 | Six-direction embedded independent telescopic wheel leg body module of snake-like robot |
| CN204871512U (en) * | 2015-08-27 | 2015-12-16 | 胡二敏 | Ship of turning on one's side is prevented to self -balancing |
| CN205216018U (en) * | 2015-12-28 | 2016-05-11 | 长沙师范学院 | Self -balancing intelligence firefighting robot |
| CN206185856U (en) * | 2016-11-23 | 2017-05-24 | 杨帅 | Self -balancing robot that can stand automatically again after empting |
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