CN110640792A - Balance mechanism and anti-shake robot - Google Patents
Balance mechanism and anti-shake robot Download PDFInfo
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- CN110640792A CN110640792A CN201911053206.XA CN201911053206A CN110640792A CN 110640792 A CN110640792 A CN 110640792A CN 201911053206 A CN201911053206 A CN 201911053206A CN 110640792 A CN110640792 A CN 110640792A
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- gear
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- main body
- wheel
- rotation angle
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- 230000005484 gravity Effects 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 description 7
- 210000004556 brain Anatomy 0.000 description 2
- 230000009194 climbing Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 229920001084 poly(chloroprene) Polymers 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Accessories Of Cameras (AREA)
Abstract
The invention discloses a balance mechanism and an anti-shake robot. The balancing mechanism comprises a bearing part, a gravity part, an arc part and a gear, wherein the gravity part is slidably mounted on the bearing part, the arc part is connected with the bearing part, the gravity part slides along the bearing part under the action of gravity, the arc part is coaxially connected with the gear, teeth are arranged on the inner side of the arc part, and the teeth are meshed with the gear; the anti-shake robot comprises a main body, a traveling mechanism, a control mechanism, a camera shooting mechanism and a balance mechanism, wherein the traveling mechanism, the control mechanism, the camera shooting mechanism and the balance mechanism are arranged on the main body, and the control mechanism is used for collecting the rotation angle of the gear so as to adjust the angle of the camera shooting mechanism according to the rotation angle of the gear. The balance mechanism can monitor the running angle and the flatness of the robot and prevent the camera from shaking.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a balance mechanism and an anti-shake robot.
Background
The robot is called a robot because it has a well-developed "brain". Functioning in the brain is a central processor, which is in direct contact with the person operating it. Most importantly, such computers can be operated for a predetermined purpose. Because of this, we say that this is a true robot, although their appearance may be different.
The robot has many all to operate under adverse circumstances, for example when the robot monitors inside the cable channel and shoots or explores, if the position unevenness that the robot was located, the shake can appear in the camera, and the picture of shooing and video quality are lower.
Disclosure of Invention
Based on this, the invention needs to provide a balance mechanism which can monitor the running angle and flatness of the robot.
The invention also provides an anti-shake robot capable of preventing the camera from shaking.
In order to realize the purpose of the invention, the invention adopts the following technical scheme:
a balance mechanism comprises a bearing part, a gravity part, an arc part and a gear, wherein the gravity part is slidably mounted on the bearing part, the arc part is connected to the bearing part, the gravity part slides along the bearing part under the action of gravity, the arc part is coaxially connected with the gear, teeth are arranged on the inner side of the arc part, and the teeth are meshed with the gear.
When the balance mechanism is arranged in an unbalanced environment, the gravity part can slide along the bearing part under the action of gravity, so that the bearing part deflects, the bearing part drives the arc part to deflect, the arc part drives the gear to rotate for a certain angle, and the balance mechanism can monitor the running angle and the flatness of the robot.
In some embodiments, the bearing member and the arc member are connected by a connecting rod.
In some embodiments, the connecting rod is connected to the load bearing member perpendicularly.
In some embodiments, a sliding groove is formed in the bearing component, and the gravity component is slidably mounted in the sliding groove.
In some embodiments, the gear is mounted on a rotating shaft, and the arc-shaped component is connected with the rotating shaft through a pull rod, so that the arc-shaped component and the gear are coaxially connected.
The invention also provides an anti-shake robot which comprises a main body, and a travelling mechanism, a control mechanism, a camera mechanism and the balance mechanism which are arranged on the main body, wherein the control mechanism is used for acquiring the rotation angle of the gear so as to adjust the angle of the camera mechanism according to the rotation angle of the gear.
Foretell anti-shake robot, when the gear of balance mechanism rotated, control mechanism can adjust the angle of mechanism of making a video recording according to gear revolve's angle, and the mechanism of making a video recording just can prevent then that the camera from shaking when the main part just can take place unbalancing this moment to guarantee to shoot the quality.
In some embodiments, the control mechanism includes a controller and a sensor electrically connected to the controller, the sensor is configured to sense a rotation angle of the gear and transmit the rotation angle to the controller, and the controller is configured to adjust an angle of the camera mechanism according to the rotation angle of the gear.
In some embodiments, the running mechanism includes a driving wheel mounted on the main body, a track, a driven wheel connected to the driving wheel through the track, a swing arm assembly mounted on the driven wheel, and a load assembly mounted on the track.
In some embodiments, the swing arm assembly includes a first swing arm wheel coaxially connected to the driven wheel, a swing arm band, a second swing arm wheel connected to the swing arm band, and a swing arm coaxially connected to the first swing arm wheel and the second swing arm wheel.
In some embodiments, the weight assembly includes a weight wheel mounted to the main body, and a bottom of the weight wheel and a bottom of the driving wheel are located on the same plane and abut against the track.
In some embodiments, the camera mechanism includes a holder mounted on the main body and a camera mounted on the holder, and the controller adjusts an angle of the holder according to a rotation angle of the gear.
Drawings
FIG. 1 is a schematic structural diagram of a balancing mechanism according to a preferred embodiment of the present invention;
fig. 2 is a schematic structural diagram of an anti-shake robot according to a preferred embodiment of the invention;
fig. 3 is a schematic view of an internal structure of the anti-shake robot shown in fig. 2.
Detailed Description
In order that the invention may be more fully understood, reference will now be made to the following description. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Example one
Referring to fig. 1, the present invention provides a balance mechanism 100, where the balance mechanism 100 includes a bearing member 10, a gravity member 20 slidably mounted on the bearing member 10, an arc member 30 connected to the bearing member 10, and a gear 40, the gravity member 20 slides along the bearing member 10 under the action of gravity, the arc member 30 is coaxially connected to the gear 40, and teeth 31 are provided on an inner side of the arc member 30, and the teeth 31 are engaged with the gear 40.
The above-described balancing mechanism 100, when placed in a balanced environment, the weight member 20 does not slide; when placed in an unbalanced environment, the gravity part 20 slides along the bearing part 10, so that the bearing part 10 deflects, the bearing part 10 drives the arc-shaped part 30 to deflect, the teeth 31 on the arc-shaped part 30 are engaged with the gear 40, so that the arc-shaped part 30 carries the gear 40 to rotate for a certain angle, when the gear 40 rotates, the environment imbalance is detected, and therefore, the balance mechanism 100 can monitor the robot running angle and the flatness.
Wherein, the load bearing part 10 is a part which can provide the sliding of the gravity part 20. In the embodiment, the load bearing member 10 is a horizontal tube, and the gravity member 20 slides along the load bearing member 10 under the action of gravity, that is, when the external environment is deflected, the gravity member 20 is unbalanced and slides along the load bearing member 10.
The carriage member 10 has a slide groove 11 formed therein, and the weight member 20 is slidably mounted in the slide groove 11. Such a structure can ensure stable sliding operation of the weight member 20.
The weight member 20 is a slidable member. For example, the weight member 20 is a weight block, and the material thereof may be metal, alloy, or the like.
The arc part 30 is an arc plate which can rotate along the gear 40. The carrier member 10 is connected to the arcuate members 30 by connecting rods 32. Thus, when the load bearing member 10 is deflected, the connecting rod 32 can stably drive the arc member 30 to rotate for a certain angle. In this embodiment, the connecting rod 32 is connected perpendicularly to the carrier member 10. The vertical connection ensures that the arcuate sections 30 will rotate with them in a stable manner when the load bearing member 10 is deflected.
The teeth 31 arranged on the inner side of the arc-shaped part 30 are integrally arranged with the arc-shaped part 30, such as being prepared into an integral structure through a mould; the teeth 31 may also be attached to the arcuate member 30, such as by welding the teeth 31 to the inside of the arcuate member 30.
The gear 40 is mounted on a rotating shaft 41, and the arc member 30 is connected to the rotating shaft 41 through a pull rod 42 so that the arc member 30 is coaxially connected to the gear 40. When the arc-shaped part 30 rotates a certain angle, the teeth 31 can rotate with the gear 40 because the arc-shaped part 30 is coaxially connected with the gear 40, thereby monitoring the flatness of the external environment. When the balance mechanism 100 is installed in the robot, the flatness of the robot can be monitored through the rotation angle of the gear 40.
Example two
Referring to fig. 2, the present embodiment provides an anti-shake robot 200, the anti-shake robot 200 includes a main body 50, a traveling mechanism 60 mounted on the main body 50, a control mechanism 70, a camera mechanism 80, and the balance mechanism 100 according to the embodiment, where the control mechanism 70 is configured to collect a rotation angle of the gear 40, so as to adjust an angle of the camera mechanism 80 according to the rotation angle of the gear 40, thereby ensuring that the camera mechanism 80 does not shake when the main body 50 is operated in an uneven environment, i.e., when the main body 50 is unbalanced, and improving the shooting quality.
The rotation shaft 41 of the gear 40 is installed on the inner wall of the main body 10, thereby ensuring the stability of the operation of the balancing mechanism 100.
The traveling mechanism 60 includes a drive wheel 61 attached to the main body 50, a crawler belt 62, a driven wheel 63 connected to the drive wheel 61 via the crawler belt 62, a swing arm assembly 64 attached to the driven wheel 63, and a load assembly 65 attached to the crawler belt 62. The swing arm assembly 64 is used to allow the main body 50 to stably climb the slope, and the weight assembly 65 limits the track 62, increasing the stability of the track 62.
The caterpillar band 62 is a trapezoidal double-sided toothed synchronous belt, which has the advantages of belt drive, chain drive and gear drive. The synchronous belt transmission has no relative sliding between the belt and the belt wheel and can ensure accurate transmission ratio. The track 62 is made of neoprene, which is thin and light, and thus can be used at higher speeds. The linear speed can reach 50m/s, the transmission ratio can reach 10, and the efficiency can reach 98%. The transmission noise is less than belt transmission, chain transmission and gear transmission, the wear resistance is good, oil lubrication is not needed, and the service life is longer than that of a friction belt.
The swing arm assembly 64 includes a first swing arm wheel 66 coaxially connected to the driven wheel 63, a swing arm belt 67, a second swing arm wheel 68 connecting the swing arm belt 67, and a swing arm 69 coaxially connected to the first swing arm wheel 66 and the second swing arm wheel 68. When the main body 50 initially climbs, the second swing arm wheel 68 abuts against the uphill, the main body 50 continues to climb, the driven wheel 63 on the main body 50 is located at the uphill, the second swing arm wheel 68 rises, then the main body 50 continues to rise, and the second swing arm wheel 68 of the swing arm assembly 64 descends to the uphill until the driving wheel 61 of the main body 50 finishes climbing; when climbing steps, the robot drives the swing arm assembly 64 to swing anticlockwise under the driving of the crawler belt 62 by means of the initial swing angle of the swing arm assembly 64, the swing arm belt 67 is abutted to a supporting point of the steps, the robot continues to move, the swing arm assembly 64 is driven to swing anticlockwise, when the gravity center of the robot crosses an obstacle edge, the joint of the swing arm assembly 64 is rotated, the robot moves downwards under the influence of self gravity, and the robot successfully climbs the steps.
The weight assembly 65 includes a weight wheel 90 mounted to the main body 50, and a bottom portion of the weight wheel 90 is positioned on the same plane as a bottom portion of the driving wheel 61 and abuts against the crawler belt 62. That is, when the driving wheel 61 is operated, the crawler belt 62 is operated, and the bogie wheel 90 presses the crawler belt 62, ensuring stability of the crawler belt 62.
The driving wheel 61 and the caterpillar belt 62 can be driven to rotate by a motor respectively or by the same motor.
The control mechanism 70 includes a controller for sensing a rotation angle of the gear 40 and transmitting the rotation angle to the controller, and a sensor electrically connected to the controller for adjusting an angle of the camera mechanism 80 according to the rotation angle of the gear 40. For example, when the front of the main body 50 is raised, the weight member 40 slides toward the rear of the main body 50, and the gear 40 slides toward the front of the main body 50, so that the controller adjusts the image pickup mechanism 80 to be slightly raised to match the direction of the main body 50.
The camera mechanism 80 includes a pan/tilt head 81 mounted on the main body 50 and a camera 82 mounted on the pan/tilt head 81, and the controller adjusts an angle of the pan/tilt head 81 according to a rotation angle of the gear 40. When the angle of the pan/tilt head 81 is adjusted, the angle of the camera 82 is also adjusted. The camera 82 is electrically connected with a controller, and the controller is used for controlling the camera 82 to be turned on and off and transmitting camera data through the controller.
Referring to fig. 3, the anti-shake robot 200 further includes a circuit board 103, the circuit board 103 is installed in the main body 10, and the circuit board 103 adopts a video security chip hi3520drqcv200 available from hua hai si for video processing.
The anti-shake robot 200 further includes a battery 101, and the battery 101 is installed in the main body 50 to provide power for the robot.
Referring to fig. 1, the anti-shake robot 200 further includes an antenna 102, where the antenna 102 is mounted at a top end of the main body 50 and is used for communicating with the outside, for example, communicating with a control end to control the operation of the robot through the control end.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A balance mechanism is characterized by comprising a bearing part, a gravity part, an arc part and a gear, wherein the gravity part is slidably mounted on the bearing part, the arc part is connected to the bearing part, the gravity part slides along the bearing part under the action of gravity, the arc part is coaxially connected with the gear, teeth are arranged on the inner side of the arc part, and the teeth are in meshed connection with the gear.
2. The counterbalance mechanism of claim 1, wherein the load bearing member and the arcuate member are connected by a connecting rod.
3. The counterbalance mechanism of claim 2, wherein the connecting rod is connected perpendicularly to the load bearing member.
4. The counterbalance mechanism of claim 1, wherein a slide slot is formed in the load bearing member, the weight member being slidably mounted in the slide slot.
5. The balance mechanism of claim 1, wherein the gear is mounted on a shaft, and the arcuate member is coupled to the shaft by a tie rod to coaxially couple the arcuate member to the gear.
6. An anti-shake robot, comprising a main body, a walking mechanism, a control mechanism, a camera mechanism and a balance mechanism according to any one of claims 1 to 5, wherein the walking mechanism, the control mechanism and the camera mechanism are mounted on the main body, and the control mechanism is used for collecting the rotation angle of the gear so as to adjust the angle of the camera mechanism according to the rotation angle of the gear.
7. The anti-shake robot according to claim 6, wherein the control mechanism includes a controller and a sensor electrically connected to the controller, the sensor is configured to sense a rotation angle of the gear and transmit the rotation angle to the controller, and the controller is configured to adjust an angle of the camera mechanism according to the rotation angle of the gear.
8. The anti-shake robot according to claim 6, wherein the traveling mechanism includes a driving wheel mounted on the main body, a track, a driven wheel connected to the driving wheel via the track, a swing arm assembly mounted to the driven wheel, and a weight assembly mounted to the track.
9. The anti-shake robot according to claim 8, wherein the swing arm assembly includes a first swing arm wheel coaxially connected to the driven wheel, a swing arm belt, a second swing arm wheel connecting the swing arm belt, and a swing arm coaxially connected to the first swing arm wheel and the second swing arm wheel.
10. The anti-shake robot according to claim 8, wherein the camera mechanism includes a pan/tilt head mounted to the main body and a camera mounted to the pan/tilt head, and the controller adjusts an angle of the pan/tilt head according to a rotation angle of the gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911053206.XA CN110640792A (en) | 2019-10-31 | 2019-10-31 | Balance mechanism and anti-shake robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911053206.XA CN110640792A (en) | 2019-10-31 | 2019-10-31 | Balance mechanism and anti-shake robot |
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| Publication Number | Publication Date |
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| CN110640792A true CN110640792A (en) | 2020-01-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911053206.XA Pending CN110640792A (en) | 2019-10-31 | 2019-10-31 | Balance mechanism and anti-shake robot |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006161995A (en) * | 2004-12-09 | 2006-06-22 | Image Seed:Kk | Tilt stabilizing supporting device for article |
| CN206269394U (en) * | 2016-12-02 | 2017-06-20 | 中国科学院广州能源研究所 | It is a kind of from motion tracking solar cooker |
| CN109058699A (en) * | 2018-08-09 | 2018-12-21 | 浙江大华技术股份有限公司 | A kind of holder balancing device and monitoring device |
| CN210099998U (en) * | 2019-05-27 | 2020-02-21 | 南充职业技术学院 | Cylindrical coordinate type industrial robot |
| CN211250097U (en) * | 2019-10-31 | 2020-08-14 | 广州供电局有限公司 | Balance mechanism and anti-shake robot |
-
2019
- 2019-10-31 CN CN201911053206.XA patent/CN110640792A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006161995A (en) * | 2004-12-09 | 2006-06-22 | Image Seed:Kk | Tilt stabilizing supporting device for article |
| CN206269394U (en) * | 2016-12-02 | 2017-06-20 | 中国科学院广州能源研究所 | It is a kind of from motion tracking solar cooker |
| CN109058699A (en) * | 2018-08-09 | 2018-12-21 | 浙江大华技术股份有限公司 | A kind of holder balancing device and monitoring device |
| CN210099998U (en) * | 2019-05-27 | 2020-02-21 | 南充职业技术学院 | Cylindrical coordinate type industrial robot |
| CN211250097U (en) * | 2019-10-31 | 2020-08-14 | 广州供电局有限公司 | Balance mechanism and anti-shake robot |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20200928 Address after: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Applicant after: Guangzhou Power Supply Bureau of Guangdong Power Grid Co.,Ltd. Address before: 510620 Tianhe District, Guangzhou, Tianhe South Road, No. two, No. 2, No. Applicant before: GUANGZHOU POWER SUPPLY Co.,Ltd. |
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