CN107618049A - A kind of rollover-resistant mechanism on robot base - Google Patents
A kind of rollover-resistant mechanism on robot base Download PDFInfo
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- CN107618049A CN107618049A CN201710878280.XA CN201710878280A CN107618049A CN 107618049 A CN107618049 A CN 107618049A CN 201710878280 A CN201710878280 A CN 201710878280A CN 107618049 A CN107618049 A CN 107618049A
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Abstract
The invention discloses the rollover-resistant mechanism on a kind of robot base,Including base,The two bottom sides of the base are fixed with distance measuring sensor,The upper surface of base is fixedly arranged in the middle of intermediate plate,The both sides of the intermediate plate are provided with counterweight,Counterweight includes electric rotating machine and the in the horizontal direction Weight plate of stacked in multi-layers,Weight plate includes the bottom plate being plugged on the horizontal rotating shaft of the electric rotating machine,The first plate being resisted against on sidewall of the bottom plate and the second plate being resisted against in the first plate side wall,The height of second plate is less than the height of the first plate,The height of first plate is less than the height of bottom plate,The first cylinder is fixed with sidewall of the bottom plate,The vertical piston rod of first cylinder is fixedly connected with the bottom of the first plate,The second cylinder is fixed with first plate side wall,The vertical piston rod of second cylinder is fixedly connected with the bottom of the second plate,First cylinder,Second cylinder,Electric rotating machine is connected with distance measuring sensor.The present invention can effectively reduce robot and turn on one's side situation.
Description
Technical field：
The present invention relates to the technical field of robot, the rollover-resistant mechanism being specifically related on a kind of robot base.
Background technology：
Robot is the automatic installations for performing work, and it can both receive mankind commander, and can run advance volume again
The program of row.The task of robot is assistance or substitution human work, such as in production industry, construction industry field, it is also or dangerous
Work.But robot can not intelligently differentiate road conditions, it is easy to be tripped so as to turn on one's side when walking, due to machine
The parts complexity of people is high-end, if one end generation rollover strikes ground and is easy to damage inner body and make the robot report
It is useless.Existing traditional robot does not have corresponding anti-rollover safeguard measure, easily causes the job insecurity of robot, so as to
So that the service life of robot is affected.
In view of it is above-mentioned the defects of, the design people, be actively subject to research and innovation, to found a kind of machine of new structure
Rollover-resistant mechanism on people's base, make it with more the value in industry.
The content of the invention：
The purpose of the present invention aims to solve the problem that the problem of prior art is present, there is provided one kind can effectively reduce robot rollover shape
The rollover-resistant mechanism on robot base that condition occurs.
The present invention relates to the rollover-resistant mechanism on a kind of robot base, including base, the two bottom sides of the base are consolidated
Surely there is distance measuring sensor, the probe of the distance measuring sensor exposes the bottom surface of base, and the upper surface of base is fixedly arranged in the middle of centre
Plate, the both sides of the intermediate plate are provided with counterweight, and the counterweight is symmetric with respect to the center line of intermediate plate, counterweight bag
Electric rotating machine and the in the horizontal direction Weight plate of stacked in multi-layers are included, the Weight plate includes the water for being plugged on the electric rotating machine
Bottom plate, the first plate being resisted against on the sidewall of the bottom plate and the second plate being resisted against in the first plate side wall on flat turn axle,
The height of second plate is less than the height of the first plate, and the height of the first plate is less than the height of bottom plate, is fixed with sidewall of the bottom plate
First cylinder, the vertical piston rod of first cylinder are fixedly connected with the bottom of the first plate, and is fixed with the first plate side wall
Two cylinders, the vertical piston rod of second cylinder are fixedly connected with the bottom of the second plate, the first cylinder, the second cylinder, rotation
Motor is connected with distance measuring sensor.
By above-mentioned technical proposal, in the use of the present invention, when the base of robot tilts rollover, base bottom is remote
The distance measuring sensor numerical value of ground side becomes big, and the counterweight away from ground side moves on distance measuring sensor driving intermediate plate
Make, specifically, the horizontal rotating shaft of electric rotating machine drives Weight plate to be rotated towards the upper surface of base, until Weight plate is close or presses
Lean against on the upper surface of base, then the first cylinder stretching, extension on bottom plate, drive the first plate stretching bottom plate, second on the first plate
Cylinder stretches, and drives the second plate to stretch out the first plate and bottom plate, so as to realize that Weight plate stretches in the longitudinal direction along base, more has
Prevent base side tipping from falling to effect.
By such scheme, the present invention is simple in construction, can effectively reduce robot and turn on one's side situation.
Preferably, the first plate and the second plate of the Weight plate of the intermediate plate both sides are relative to be set one kind as such scheme
Put, bottom plate, the first plate, two side portions of the second plate form flanging, the flanging width of bottom plate, the first plate and the second plate and
Length is successively decreased successively respectively, and each bottom plate is provided with a pair of first cylinders, the first cylinder be distributed in the two bottom sides of the first plate and
Symmetrical relative to the center line of bottom plate, each first plate is provided with a pair of second cylinders, and the second cylinder is distributed in the bottom of the second plate
Portion both sides and symmetrical relative to the center line of the second plate.
Preferably, the base end face between the distance measuring sensor is provided with some wheels, institute to one kind as such scheme
Stating wheel includes spherical wheel, is arranged on the support of the wheel both sides, and the support is fixed on the bottom surface of base, wheel
Upper plugged and fixed has rotating shaft, and the both ends of the rotating shaft are hinged on support, and the wheel of base both sides is driving wheel, the middle of the base
Wheel is driven pulley, and one end of the rotating shaft of driving wheel stretches out support sleeve and is fixed with belt wheel, and the belt wheel passes through belt and driving
The rotating shaft connection of motor, the motor are fixed on base.
Preferably, the intermediate plate is located at the middle part of distance measuring sensor to one kind as such scheme, and counterweight is relative to survey
The middle vertical line of line away from sensor is symmetric.
Preferably, the upper surface of the Weight plate and base is vertically arranged one kind as such scheme.
Preferably, the intermediate plate is removably attached on the upper surface of base one kind as such scheme.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
Brief description of the drawings：
The following drawings is only intended to, in doing schematic illustration and explanation to the present invention, not delimit the scope of the invention.Wherein：
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of counterweight in Fig. 1；
Fig. 3 is the structural representation of driving wheel in Fig. 1.
Embodiment：
With reference to the accompanying drawings and examples, the embodiment of the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
Referring to Fig. 1, Fig. 2, the rollover-resistant mechanism on a kind of robot base of the present invention, including base 1, the bottom
The two bottom sides of seat 1 are fixed with distance measuring sensor 2, and the probe of the distance measuring sensor 2 exposes the bottom surface of base 1, base 1 it is upper
Intermediate plate 3 is removably secured in the middle part of end face, the both sides of the intermediate plate 3 are provided with counterweight 4, and the intermediate plate 3 is positioned at survey
Middle part away from sensor 2, the counterweight 4 are symmetric relative to the middle vertical line of the line of distance measuring sensor 2, counterweight
The center line of 4 relative intermediate plates 3 is symmetric, the stacked in multi-layers including electric rotating machine 41 and in the horizontal direction of counterweight 4
Weight plate 42, the upper surface of the Weight plate 42 and base 1 are vertically arranged, and Weight plate 42 includes being plugged on the electric rotating machine 41
Horizontal rotating shaft on bottom plate 423, the first plate 421 for being resisted against in the side wall of bottom plate 423 and be resisted against first plate 421
The second plate 422 in side wall, the height of second plate 422 are less than the height of the first plate 421, and the height of the first plate 421 is less than
The height of bottom plate 423, the first cylinder 51, the vertical piston rod and first of first cylinder 51 are fixed with the side wall of bottom plate 423
The bottom of plate 421 is fixedly connected, and the second cylinder 52, the vertical piston of second cylinder 52 are fixed with the side wall of the first plate 421
Bar is fixedly connected with the bottom of the second plate 52, and the first cylinder 51, the second cylinder 52, electric rotating machine 41 and distance measuring sensor 2 are homogeneous
Even.
Referring to Fig. 2, the first plate 421 and the second plate 422 of the Weight plate 42 of the both sides of intermediate plate 3 are oppositely arranged, bottom plate
423rd, the first plate 421, two side portions of the second plate 422 form flanging 424, bottom plate 423, the first plate 421 and the second plate
422 flanging width and length successively decreases successively respectively, and each bottom plate 423 is provided with a pair of first cylinders 51, and the first cylinder 51 divides
In the two bottom sides of the first plate 421 and symmetrical relative to the center line of bottom plate 423, each first plate 421 is provided with a pair the cloth
Two cylinders 52, the second cylinder 52 are distributed in two bottom sides of the second plate 422 and symmetrical relative to the center line of the second plate 422.
Referring to Fig. 1, Fig. 3, the bottom surface of base 1 between the distance measuring sensor 2 is provided with some wheels 6, and the wheel 6 wraps
Include spherical wheel 61, be arranged on the support 62 of the both sides of wheel 61, the support 62 is fixed on the bottom surface of base 1, wheel
Plugged and fixed has rotating shaft 63 on son 61, and the both ends of the rotating shaft 63 are hinged on support 62, and the wheel 6 of the both sides of base 1 is driving
Wheel, the wheel 6 at the middle part of base 1 is driven pulley, and one end of the rotating shaft 63 of driving wheel stretches out the sleeve of support 62 and is fixed with belt wheel 64, institute
State belt wheel 64 to be connected with the rotating shaft of motor 7 by belt 65, the motor 7 is fixed on base 1.
In the specific implementation, when the base 1 of robot tilts rollover, the bottom of base 1 is away from ground side by the present invention
The numerical value of distance measuring sensor 2 becomes big, and the counterweight 4 away from ground side acts on the distance measuring sensor 2 driving intermediate plate 3, specifically
Ground, the horizontal rotating shaft of electric rotating machine 41 drive Weight plate 42 to be rotated towards the upper surface of base 1, until Weight plate 42 is close or presses
On the upper surface for leaning against base 1, then the first cylinder 51 on bottom plate 423 stretches, and drives the first plate 421 to stretch out bottom plate 423, the
The second cylinder 52 on one plate 421 stretches, and drives the second plate 422 to stretch out the first plate 421 and bottom plate 423, so as to realize Weight plate
42 stretch in the longitudinal direction along base 1, more efficiently prevent from the rollover of base 1 and topple over.
In summary, the present invention is simple in construction, can effectively reduce robot and turn on one's side situation.
Rollover-resistant mechanism on robot base provided by the present invention, it is only the embodiment of the present invention, but this
The protection domain of invention is not limited thereto, any one skilled in the art the invention discloses technical scope
It is interior, change or replacement can be readily occurred in, should all be covered within the scope of the present invention.Therefore, protection scope of the present invention should
It is defined by the scope of the claims.
Claims (6)
1. the rollover-resistant mechanism on a kind of robot base, including base (1), it is characterised in that：The bottom two of the base (1)
Side is fixed with distance measuring sensor (2), and the probe of the distance measuring sensor exposes the bottom surface of base (1), in the upper surface of base (1)
Portion is fixed with intermediate plate (3), and the both sides of the intermediate plate are provided with counterweight (4), center of the counterweight with respect to intermediate plate (3)
Line is symmetric, and counterweight (4) includes electric rotating machine (41) and the in the horizontal direction Weight plate (42) of stacked in multi-layers, described
Weight plate include be plugged on the horizontal rotating shaft of the electric rotating machine (41) bottom plate (423), be resisted against on the sidewall of the bottom plate
The first plate (421) and the second plate (422) for being resisted against in the first plate side wall, the height of second plate be less than the first plate
(421) height, the height of the first plate are less than the height of bottom plate (423), the first cylinder are fixed with bottom plate (423) side wall
(51), the vertical piston rod of first cylinder is fixedly connected with the bottom of the first plate (421), solid in the first plate (421) side wall
Surely there is the second cylinder (52), the vertical piston rod of second cylinder is fixedly connected with the bottom of the second plate (422), the first cylinder
(51), the second cylinder (52), electric rotating machine (41) are connected with distance measuring sensor (2).
2. the rollover-resistant mechanism on robot base according to claim 1, it is characterised in that：The intermediate plate (3) two
The first plate (421) and the second plate (422) of the Weight plate (42) of side are oppositely arranged, bottom plate (423), the first plate (421), the second plate
(422) two side portions form flanging (424), the flanging of bottom plate (423), the first plate (421) and the second plate (422)
(424) width and length are successively decreased successively respectively, and each bottom plate (423) is provided with a pair of first cylinders (51), the distribution of the first cylinder
In the two bottom sides of the first plate (421) and symmetrical relative to the center line of bottom plate (423), each first plate (421) is provided with one
To the second cylinder (52), the second cylinder is distributed in the two bottom sides of the second plate (422) and relative to the center line of the second plate (422)
Symmetrically.
3. the rollover-resistant mechanism on robot base according to claim 1, it is characterised in that：The distance measuring sensor
(2) base end face between is provided with some wheels (6), and the wheel (6) includes spherical wheel (61), is arranged on the wheel
The support (62) of sub- both sides, the support are fixed on the bottom surface of base (1), and plugged and fixed has rotating shaft (63) on wheel (61),
The both ends of the rotating shaft are hinged on support (62), and the wheel (6) of base (1) both sides is driving wheel, the wheel in the middle part of base (1)
For driven pulley, one end of the rotating shaft (63) of driving wheel stretches out support (62) sleeve and is fixed with belt wheel (64), and the belt wheel passes through skin
Band (65) is connected with the rotating shaft of motor (7), and the motor (7) is fixed on base (1).
4. the rollover-resistant mechanism on robot base according to claim 1, it is characterised in that：Intermediate plate (3) position
In the middle part of distance measuring sensor (2), counterweight (4) is symmetric relative to the middle vertical line of the line of distance measuring sensor (2).
5. the rollover-resistant mechanism on robot base according to claim 1, it is characterised in that：The Weight plate (42) with
The upper surface of base (1) is vertically arranged.
6. the rollover-resistant mechanism on robot base according to claim 1, it is characterised in that：The intermediate plate (3) can
Releasably it is fixed on the upper surface of base (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710878280.XA CN107618049A (en) | 2017-09-26 | 2017-09-26 | A kind of rollover-resistant mechanism on robot base |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710878280.XA CN107618049A (en) | 2017-09-26 | 2017-09-26 | A kind of rollover-resistant mechanism on robot base |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107618049A true CN107618049A (en) | 2018-01-23 |
Family
ID=61090446
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710878280.XA Pending CN107618049A (en) | 2017-09-26 | 2017-09-26 | A kind of rollover-resistant mechanism on robot base |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107618049A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318971A (en) * | 2018-10-18 | 2019-02-12 | 滁州市云米工业设计有限公司 | A kind of two-wheel car regulating mechanism system based on optoelectronic distance monitoring |
| CN112757314A (en) * | 2020-12-28 | 2021-05-07 | 河南大学 | Deep layer mine hole surveys two rounds of robots based on 5G communication technology |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0461506B1 (en) * | 1990-06-05 | 1994-04-06 | Mitsubishi Jukogyo Kabushiki Kaisha | Underwater mobile type inspection system |
| CN2860988Y (en) * | 2005-12-08 | 2007-01-24 | 比亚迪股份有限公司 | Electric unicycle |
| CN205588332U (en) * | 2016-03-12 | 2016-09-21 | 天津弘丞华晔科技有限公司 | A anti -overturning device for robot |
| CN105973182A (en) * | 2016-08-02 | 2016-09-28 | 北方民族大学 | Individual drive type balancing device and adjusting method |
| CN106945735A (en) * | 2017-04-08 | 2017-07-14 | 璧靛嘲 | A kind of automobile blast self-balancing regulating system |
-
2017
- 2017-09-26 CN CN201710878280.XA patent/CN107618049A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0461506B1 (en) * | 1990-06-05 | 1994-04-06 | Mitsubishi Jukogyo Kabushiki Kaisha | Underwater mobile type inspection system |
| CN2860988Y (en) * | 2005-12-08 | 2007-01-24 | 比亚迪股份有限公司 | Electric unicycle |
| CN205588332U (en) * | 2016-03-12 | 2016-09-21 | 天津弘丞华晔科技有限公司 | A anti -overturning device for robot |
| CN105973182A (en) * | 2016-08-02 | 2016-09-28 | 北方民族大学 | Individual drive type balancing device and adjusting method |
| CN106945735A (en) * | 2017-04-08 | 2017-07-14 | 璧靛嘲 | A kind of automobile blast self-balancing regulating system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318971A (en) * | 2018-10-18 | 2019-02-12 | 滁州市云米工业设计有限公司 | A kind of two-wheel car regulating mechanism system based on optoelectronic distance monitoring |
| CN112757314A (en) * | 2020-12-28 | 2021-05-07 | 河南大学 | Deep layer mine hole surveys two rounds of robots based on 5G communication technology |
| CN112757314B (en) * | 2020-12-28 | 2022-02-11 | 河南大学 | Deep layer mine hole surveys two rounds of robots based on 5G communication technology |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180123 |
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