CN108670722A - A kind of healing robot anti-down transfer and its forward method - Google Patents
A kind of healing robot anti-down transfer and its forward method Download PDFInfo
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- CN108670722A CN108670722A CN201810564686.5A CN201810564686A CN108670722A CN 108670722 A CN108670722 A CN 108670722A CN 201810564686 A CN201810564686 A CN 201810564686A CN 108670722 A CN108670722 A CN 108670722A
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- 230000035876 healing Effects 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000000694 effects Effects 0.000 claims abstract description 9
- 238000005096 rolling process Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims 1
- 238000003466 welding Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a kind of healing robot anti-down transfers and its forward method, belong to healing robot technical field, including upright bar, guide-rail plate, transfer, connecting rod and frame plate, welding guide-rail plate is fixed at the top of upright bar, transfer is installed on guide-rail plate, transfer connects frame plate by connecting rod, and frame plate is fixedly connected on the bottom of connecting rod, and frame plate is flexibly connected robot by removable pin；Transfer is made of servo motor, motor mounting plate, driving gear, driven gear, shaft, cylinder and big ball, and the bottom of driven gear is fixedly connected with shaft, and cylinder is inserted into the bottom activity of shaft；The inner wall of cylinder is equipped with step；The bottom end of shaft two sides is fixedly connected with roofbolt, and the bottom of roofbolt is equipped with small ball.Healing robot anti-down transfer and its forward method of the present invention can make the healing robot itself complete to turn to, and replace rope using connecting rod by transfer, keep robot safer when carrying out rehabilitation training.
Description
Technical field
The present invention relates to healing robot technical field, more particularly to the anti-down transfer of a kind of healing robot and
Its forward method.
Background technology
Healing robot includes robot body, and robot body refers to that the rehabilitation with similar skeleton shape is set
Standby, limb arm member is bundled in the side of the limb arm (long bone of human limb) of people when use, and robot movable drives human body to live
It is dynamic, achieve the purpose that help human body recovery.
In the prior art, the anti-down protective device of healing robot is that guardrail is arranged around robot body, it has
Anti-down effect, still, it also has the shortcomings that occupied space, anti-down effect are poor, inconvenient for use.
Patent No. CN201720076193.8 discloses a kind of healing robot with anti-down protective device, the robot
The end of slideway also has motor, motor chain to connect pulley, and robot body has control device, motor connection control dress
It sets, under control device effect, pulley and robot body synchronous operation also have pulley always above robot body
Advantage.Although the robot solves the problems in background technology to a certain extent, there are following defects for it：One, it adopts
Robot is connected with rope, rope its stability after friction is bad, is easily broken off, and still easy tos produce the consequence fallen down；
Two, robot needs 180 degree to turn to when walking back and forth, and the robot in this application itself can not turn to, and patient is come
Say that steering is a prodigious trouble, and rope is easy the knotting that is twisted together after experience repeatedly turns to after robot steering.
Invention content
Invention is designed to provide a kind of healing robot anti-down transfer and its forward method, is filled by turning to
Setting can make the healing robot itself complete to turn to, and replace rope using connecting rod, and robot is made to carry out rehabilitation training
Shi Gengjia safety, to solve the problems mentioned in the above background technology.
To achieve the above object, the present invention provides the following technical solutions：
A kind of anti-down transfer of healing robot, including upright bar, guide-rail plate, transfer, connecting rod and frame plate, it is described
The bottom of upright bar is fixedly mounted on ground, and the top of the upright bar fixes welding guide-rail plate, installed on the guide-rail plate and turn to dress
It sets, transfer connects frame plate by connecting rod, and frame plate is fixedly connected on the bottom of connecting rod, and the frame plate is connected by removable pin activity
Welding robot；
The transfer is by servo motor, motor mounting plate, driving gear, driven gear, shaft, cylinder and big ball
Composition, the top of the motor mounting plate is vertically-mounted to have servo motor, motor mounting plate to be mounted on the groove among guide-rail plate
Interior, motor mounting plate is rolled by the big ball of bottom in groove and is connected, and the motor shaft of the servo motor is pacified by flat key
Driving gear is filled, the driving gear is engaged with the driven gear of side, and the bottom of the driven gear is fixedly connected with shaft, institute
Cylinder is inserted into the bottom activity for stating shaft, is fixedly connected with spacing collar at the top of cylinder, spacing collar is fixedly connected on motor mounting plate
On, the bottom of the shaft is fixedly connected with connecting rod；The inner wall of the cylinder is equipped with step；
The bottom end of the shaft two sides is fixedly connected with roofbolt, and the bottom of roofbolt is equipped with small ball.
Preferably, the straight slot for rod slide is offered on the guide-rail plate and is rolled for big ball parallel point
The slot rolling of cloth.
Preferably, the step is arranged to hump shape structure, and the step of hump shape is there are two wave crests, two troughs, two
Wave crest is oppositely arranged in the inner wall of cylinder.
Preferably, when the small ball is in the B points in the wave crest of step, robot is contacted with ground, and small ball is in
A points in the wave crest of step, robot are raised.
Preferably, the driven gear is cylindrical gear, and the height of driven gear is more than the height of driving gear.
Preferably, the inside of the motor mounting plate offers the gap up and down for driven gear.
The present invention provides another technical solution：A kind of forward method of the anti-down transfer of healing robot, including
It is following to turn to step：
Step 1：When robot normally walks forward, robot is forward pushed forward transfer by connecting rod, is turned to
Motor mounting plate in device is slided by big ball on guide-rail plate；
Step 2：When robot needs to turn to, starts servo motor and pass through master when servo motor forward bias is turn 90 degrees
The driving of driven gear, shaft drive small ball to be rolled along step；
Step 3：Small ball runs to the points of the A in wave crest on step by the B points in trough, and shaft is in rotation at this time
It gradually moves up simultaneously, robot is lifted by the ground that falls off by connecting rod；
Step 4：When servo motor continuation forward bias is turn 90 degrees, small ball runs to wave on step by the A points in wave crest
B points in paddy, shaft fall, and robot rotates 180 degree at this time, complete to turn to.
Compared with prior art, the beneficial effects of the invention are as follows：
1. healing robot anti-down transfer and its forward method of the present invention, are installed on existing tilting prevention device
Transfer, transfer connect frame plate by connecting rod, and frame plate is fixedly connected on the bottom of connecting rod, and frame plate passes through removable pin activity
Robot is connected, robot, can be opposite with frame plate movable when walking with patient, replaces rope using connecting rod, evades
Rope keeps robot safer when carrying out rehabilitation training due to the possibility for knotting and being broken that is twisted together.
2. healing robot anti-down transfer and its forward method of the present invention, servo motor forward bias are turn 90 degrees
When, small ball is rolled along step, and small ball runs to the points of the A in wave crest on step by the B points in trough, and shaft exists at this time
It is gradually moved up while rotation, robot is lifted by the ground that falls off by connecting rod, ensures that robot does not connect when rotated with ground
It touches and reduces friction, when servo motor continuation forward bias is turn 90 degrees, small ball is run to by the A points in wave crest in trough on step
B points, shaft fall, at this time robot rotate 180 degree, robot landing, realize robot itself complete turn to.
Description of the drawings
Fig. 1 is the walking states schematic diagram one of the healing robot tilting prevention device of the present invention；
Fig. 2 is the walking states schematic diagram two of the healing robot tilting prevention device of the present invention；
Fig. 3 is that the robot of the present invention is in the structural schematic diagram of transfer when being contacted with ground；
Fig. 4 is the structural schematic diagram of transfer when the robot of the present invention is raised；
Fig. 5 is the vertical view of the guide-rail plate of the present invention；
Fig. 6 is the internal structure schematic diagram of the cylinder of the present invention；
Fig. 7 is the stereoscopic schematic diagram of the cylinder of the present invention；
Fig. 8 is the expanded schematic diagram of the cylinder of the present invention；
Fig. 9 is enlarged drawing at the A-A of the present invention.
In figure：1, upright bar；2, guide-rail plate；3, transfer；31, servo motor；32, motor mounting plate；33, driving tooth
Wheel；34, driven gear；35, shaft；351, roofbolt；3511, small ball；36, cylinder；361, spacing collar；362, step；37, big
Ball；4, connecting rod；5, frame plate；6, robot.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig.1-2, a kind of anti-down transfer of healing robot, including upright bar 1, guide-rail plate 2, transfer 3,
The bottom of connecting rod 4 and frame plate 5, upright bar 1 is fixedly mounted on ground, ensures that upright bar 1 is stablized and stands on the ground, the top of upright bar 1
Fixed welding guide-rail plate 2, guide-rail plate 2 is stablized installs transfer 3 on the top of upright bar 1, guide-rail plate 2, and transfer 3 passes through
Connecting rod 4 connects frame plate 5, and frame plate 5 is fixedly connected on the bottom of connecting rod 4, and frame plate 5 is flexibly connected robot 6, machine by removable pin
People 6, can be relatively movable with frame plate 5 when walking with patient, and rope is replaced using connecting rod 4, has evaded rope due to turning round
Knot the possibility of fracture together, keeps robot safer when carrying out rehabilitation training.
Please refer to Fig. 3-4, transfer 3 by servo motor 31, motor mounting plate 32, driving gear 33, driven gear 34,
Shaft 35, cylinder 36 and big ball 37 form, and the top of motor mounting plate 32 is vertically-mounted servo motor 31, motor mounting plate
32 are mounted in the groove among guide-rail plate 2, and guide-rail plate 2 is slided for motor mounting plate 32 in groove, motor mounting plate 32
It is rolled and is connected by the big ball 37 of bottom in groove, motor mounting plate 32 is slided by big ball 37 on guide-rail plate 2, will
Sliding friction becomes rolling friction, reduces frictional force, and the motor shaft of servo motor 31 is installed driving gear 33 by flat key, watched
The rotary power that motor 31 provides driving gear 33 is taken, driving gear 33 is engaged with the driven gear 34 of side, driving gear 33
Rotation driving driven gear 34 rotates, and the inside of motor mounting plate 32 offers the gap up and down for driven gear 34,
It is cylindrical gear that driven gear 34, which has space movement, driven gear 34 when moving up and down, and the height of driven gear 34 is more than
The height of driving gear 33 ensures that driving gear 33 can also be engaged when moving up and down with driving gear 33, driven tooth
The bottom of wheel 34 is fixedly connected with shaft 35, and driven gear 34 rotates drive shaft 35 and rotates, and circle is inserted into the bottom activity of shaft 35
Cylinder 36, shaft 35 rotation, top of cylinder 36 in cylinder 36 are fixedly connected with spacing collar 361, and spacing collar 361 is fixedly connected on electricity
On machine mounting plate 32, spacing collar 361 is fixedly connected with connecting rod 4 for fixing cylinder 36, the bottom of shaft 35, and servo motor 31 drives
Connecting rod 4 is driven to rotate when turn axis 35 rotates, robot 6, which is rotated 180 degree, by the rotation of connecting rod 4 realizes robot 6 itself
It completes to turn to.
Referring to Fig. 5, offering the straight slot 21 slided for connecting rod 4 on guide-rail plate 2 and rolling for big ball 37
The slot rolling 22 of parallelly distribute on, when walking forward by self power, transfer 3 also will and then walk, robot for robot 6
6 are pushed forward transfer 3 by connecting rod 4, and motor mounting plate 32 is slided by big ball 37 on guide-rail plate 2, and connecting rod 4 exists
It slidably reciprocates in straight slot 21, big ball 37 rolls in slot rolling 22, and due to being rolling friction, friction is small, therefore robot 6
Transfer 3 can forward be pushed by connecting rod 4.
Fig. 6-9 is please referred to, the inner wall of cylinder 36 is equipped with step 362, and step 362 is arranged to hump shape structure, hump shape
There are two wave crests, two troughs for step 362, and two wave crests i.e. two A points, two troughs i.e. two B points, two wave crests are in circle
The inner wall of cylinder 36 is oppositely arranged, and the bottom end of 35 two sides of shaft is fixedly connected with roofbolt 351, and the bottom of roofbolt 351 is equipped with small ball
3511, since servo motor 31 is by the driving of main driven gear, since servo motor 31 has the function of angular deflection, servo electricity
When 31 forward bias of machine is turn 90 degrees, small ball 3511 is rolled along step 362, and small ball 3511 is on step 362 by the B in trough
Point runs to the A points in wave crest, and shaft 35 gradually moves up while rotation at this time, lifts robot 6 by connecting rod 4 and falls off
Ground ensures that robot 6 does not contact reduction friction with ground when rotated, small when the continuation of servo motor 31 forward bias is turn 90 degrees
Ball 3511 runs to the points of the B in trough on step 362 by the A points in wave crest, and shaft 35 falls, and robot 6 rotates at this time
180 degree is completed to turn to, and robot 6 lands, and the continuation of robot 6 is walked forward, needs to repeat aforesaid operations when turning to.
In order to preferably show the steering procedure of the anti-down transfer of healing robot, the present embodiment proposes a kind of rehabilitation
The forward method of the anti-down transfer of robot, including step is turned to as follows：
Step 1：When robot 6 normally walks forward, robot 6 is forward pushed forward transfer 3 by connecting rod 4,
Motor mounting plate 32 in transfer 3 is slided by big ball 37 on guide-rail plate 2；
Step 2：When robot 6 needs to turn to, start servo motor 31, when 31 forward bias of servo motor is turn 90 degrees, leads to
The driving of main driven gear is crossed, shaft 35 drives small ball 3511 to be rolled along step 362；
Step 3：Small ball 3511 runs to the points of the A in wave crest on step 362 by the B points in trough, at this time shaft 35
It is gradually moved up while rotation, robot 6 is lifted by the ground that falls off by connecting rod 4；
Step 4：When the continuation of servo motor 31 forward bias is turn 90 degrees, small ball 3511 is on step 362 by the A in wave crest
Point runs to the B points in trough, and shaft 35 falls, and robot 6 rotates 180 degree at this time, completes to turn to.
Operation principle：When robot 6 normally walks forward, robot 6 is pulled along shaft 35, motor peace by connecting rod 4
Loading board 32 is slided by big ball 37 on guide-rail plate 2, and transfer 3 follows robot 6 to walk forward, when robot 6 needs
When steering, starts servo motor 31, when 31 forward bias of servo motor is turn 90 degrees, pass through the driving of main driven gear, 35 band of shaft
Dynamic small ball 3511 is rolled along step 362, and small ball 3511 runs to the A in wave crest on step 362 by the B points in trough
Point, at this time shaft 35 gradually moved up while rotation, robot 6 is lifted by the ground that falls off by connecting rod 4, ensures robot 6
Reduction friction is not contacted with ground when rotated, when the continuation of servo motor 31 forward bias is turn 90 degrees, small ball 3511 is in step 362
On the points of the B in trough are run to by the A points in wave crest, shaft 35 falls, and robot 6 rotates 180 degree at this time, completes to turn to, machine
Device people 6 lands, and the continuation of robot 6 is walked forward, needs to repeat aforesaid operations when turning to.
In conclusion healing robot proposed by the present invention anti-down transfer and its forward method, existing anti-
Transfer 3 is installed on focusing device, transfer 3 connects frame plate 5 by connecting rod 4, and frame plate 5 is fixedly connected on the bottom of connecting rod 4,
Frame plate 5 is flexibly connected robot 6 by removable pin, and robot 6, can be relatively movable with frame plate 5 when walking with patient, adopts
Rope is replaced with connecting rod 4, has evaded rope due to the possibility for knotting and being broken that is twisted together, has made robot when carrying out rehabilitation training
It is safer.When 31 forward bias of servo motor is turn 90 degrees, small ball 3511 is rolled along step 362, and small ball 3511 is in step
The points of the A in wave crest are run to by the B points in trough on 362, shaft 35 gradually moves up while rotation at this time, passes through connecting rod 4
Robot 6 is lifted into the ground that falls off, ensures that robot 6 does not contact reduction friction with ground when rotated, servo motor 31 continues
When forward bias is turn 90 degrees, small ball 3511 runs to the points of the B in trough on step 362 by the A points in wave crest, under shaft 35
It falls, robot 6 rotates 180 degree at this time, and robot 6 lands, and realizes that robot 6 itself completes to turn to.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of anti-down transfer of healing robot, including upright bar (1), guide-rail plate (2), transfer (3), connecting rod (4)
With frame plate (5), it is characterised in that：The bottom of the upright bar (1) is fixedly mounted on ground, and weldering is fixed at the top of the upright bar (1)
Guide-rail plate (2) is connect, transfer (3) is installed on the guide-rail plate (2), transfer (3) connects frame plate (5) by connecting rod (4),
Frame plate (5) is fixedly connected on the bottom of connecting rod (4), and the frame plate (5) is flexibly connected robot (6) by removable pin；
The transfer (3) by servo motor (31), motor mounting plate (32), driving gear (33), driven gear (34), turn
Axis (35), cylinder (36) and big ball (37) composition, the top of the motor mounting plate (32) is vertically-mounted servo motor
(31), motor mounting plate (32) is mounted in the intermediate groove of guide-rail plate (2), and motor mounting plate (32) passes through bottom in groove
Big ball (37) roll connection, the motor shaft of the servo motor (31) passes through flat key and installs driving gear (33), the master
Moving gear (33) is engaged with the driven gear (34) of side, and the bottom of the driven gear (34) is fixedly connected with shaft (35), institute
Cylinder (36) is inserted into the bottom activity for stating shaft (35), and spacing collar (361), spacing collar are fixedly connected at the top of cylinder (36)
(361) it is fixedly connected on motor mounting plate (32), the bottom of the shaft (35) is fixedly connected with connecting rod (4)；The cylinder
(36) inner wall is equipped with step (362)；
The bottom end of shaft (35) two sides is fixedly connected with roofbolt (351), and the bottom of roofbolt (351) is equipped with small ball
(3511)。
2. a kind of anti-down transfer of healing robot according to claim 1, it is characterised in that：The guide-rail plate
(2) straight slot (21) slided for connecting rod (4) and the slot rolling of the parallelly distribute on rolled for big ball (37) are offered on
(22)。
3. a kind of anti-down transfer of healing robot according to claim 1, it is characterised in that：The step
(362) it is arranged to hump shape structure, the step (362) of hump shape is there are two wave crests, two troughs, and two wave crests are in cylinder
(36) inner wall is oppositely arranged.
4. a kind of anti-down transfer of healing robot according to claim 1, it is characterised in that：The small ball
(3511) when the B points being in the wave crest of step (362), robot (6) is contacted with ground, and small ball (3511) is in step
(362) the A points in wave crest, robot (6) are raised.
5. a kind of anti-down transfer of healing robot according to claim 1, it is characterised in that：The driven gear
(34) it is cylindrical gear, the height of driven gear (34) is more than the height of driving gear (33).
6. a kind of anti-down transfer of healing robot according to claim 1, it is characterised in that：The motor installation
The inside of plate (32) offers the gap up and down for driven gear (34).
7. a kind of forward method of the anti-down transfer of healing robot according to claim 1, it is characterised in that：Packet
Include following steering step：
Step 1：Robot (6) is normally when walking forward, robot (6) by connecting rod (4) forward by transfer (3) forward
It pushes, the motor mounting plate (32) in transfer (3) is slided by big ball (37) on guide-rail plate (2)；
Step 2：When robot (6) needs to turn to, start servo motor (31), when servo motor (31) forward bias is turn 90 degrees,
By the driving of main driven gear, shaft (35) drives small ball (3511) to be rolled along step (362)；
Step 3：Small ball (3511) runs to the points of the A in wave crest on step (362) by the B points in trough, at this time shaft
(35) it is gradually moved up while rotation, robot (6) is lifted by the ground that falls off by connecting rod (4)；
Step 4：When servo motor (31) continuation forward bias is turn 90 degrees, small ball (3511) is on step (362) by wave crest
A points run to the points of the B in trough, and shaft (35) falls, and robot (6) rotates 180 degree at this time, complete to turn to.
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| CN201810564686.5A CN108670722B (en) | 2018-06-04 | 2018-06-04 | A kind of healing robot anti-down transfer and its forward method |
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| CN201810564686.5A CN108670722B (en) | 2018-06-04 | 2018-06-04 | A kind of healing robot anti-down transfer and its forward method |
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| CN108670722B CN108670722B (en) | 2019-08-09 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113236941A (en) * | 2021-05-17 | 2021-08-10 | 广东电网有限责任公司 | Anti-toppling device and electric power base station |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108670722B (en) | 2019-08-09 |
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