CN113787507B

CN113787507B - Robot device with self-balancing structure

Info

Publication number: CN113787507B
Application number: CN202111072238.1A
Authority: CN
Inventors: 卢笙
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-09-14
Filing date: 2021-09-14
Publication date: 2023-04-11
Anticipated expiration: 2041-09-14
Also published as: CN113787507A

Abstract

The invention discloses a robot device with a self-balancing structure, which comprises a bottom plate, a support frame, a spherical motor, a trunk, arms and clamping arms, wherein the support frame is arranged at the center of the upper end of the bottom plate, the trunk, the arms and the clamping arms are connected through the spherical motor, the interior of the bottom plate is of a hollow structure, and a balancing weight is movably embedded in the bottom plate. The invention can adjust the inclined posture at any angle by arranging the spherical motor to connect each component so as to facilitate the robot to interact with various sensors and mechanical arms, and by arranging the conductive block, the spring, the magnet and the counterweight block, when the robot is unbalanced and inclines towards a certain direction, the pulley corresponding to the conductive block is subjected to larger pressure, the conductive block is electrified while the spring is compressed, the magnet at the corresponding position generates repulsive force to the counterweight block, the counterweight block moves to the position opposite to the inclined direction of the robot, the gravity center of the robot moves to the center, and the robot keeps balance.

Description

Robot device with self-balancing structure

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a robot device with a self-balancing structure.

Background

The robot is a machine device which can automatically execute work, not only can accept human commands, but also can run a pre-programmed program, and can also perform its task according to a principle formulated by an artificial intelligence technology to assist or replace the work of human work, such as production industry, construction industry or dangerous work.

Disclosure of Invention

The present invention is directed to a robot apparatus with a self-balancing structure, which is used to solve the problems of complex balance control and complicated operation and maintenance of the conventional robot proposed in the background art.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a robot device with self-balancing structure, includes bottom plate, support frame, spherical motor, truck, arm and centre gripping arm, the support frame is installed in the upper end center department of bottom plate, all connect through spherical motor between support frame, truck, arm and the centre gripping arm, spacing frame is installed to the bottom of bottom plate, and the inside spacing conductive block of installing of spacing frame, through spring fixed connection between conductive block and the spacing frame, the pulley is installed to the bottom of conductive block, bottom center department of bottom plate installs driving motor, the inside of bottom plate is provided with magnet, be electric connection between magnet, conductive block and the external power source, the inside of bottom plate has the balancing weight for hollow structure and activity are embedded.

Preferably, the bottom plate sets up to the octagon, magnet is provided with eight groups, eight groups the magnet one-to-one correspondence is installed in the side of bottom plate, the pulley is provided with four groups, singly organizes the pulley corresponds wherein two sets of magnet.

Preferably, an electric telescopic rod is installed between the bottom plate and the support frame, and an output shaft of the electric telescopic rod is fixedly connected with the support frame.

Preferably, the outer part of the electric telescopic rod is set to be rectangular, and the inner wall of the supporting frame is attached to the outer side of the electric telescopic rod.

Preferably, the bottom of trunk is equipped with the temperature sensing module, the top internally mounted of support frame has the fan, the top right side of support frame is provided with the controller, be electric connection between temperature sensing module, fan and the controller.

Preferably, the temperature sensing module, the fan and the spherical motor are matched in number and controlled by the controller.

Preferably, the button is all installed to the side around the truck, the gasbag is all installed to the side center department around the truck, be electric connection between gasbag, button and the aerating device.

Preferably, the damping block is installed in the trunk through a pull rope, and the damping block is suspended in the trunk.

The invention has the technical effects and advantages that:

(1) The invention makes the robot adjust the inclined posture at any angle by arranging the spherical motor to connect each component, so as to facilitate the robot to interact with various sensors and mechanical arms, and when the robot is out of balance and inclines towards a certain direction, the pulley corresponding to the robot receives larger pressure by arranging the conductive block, the spring is compressed and the conductive block is electrified, so that the magnet at the corresponding position generates repulsive force to the counterweight block, the counterweight block moves to the position opposite to the inclined direction of the robot, the gravity center of the robot moves to the center, and the robot keeps balance;

(2) According to the robot, the temperature sensing module, the fan and the controller are arranged, the driving assembly can be heated after the robot works for a long time, the temperature sensing module detects that the temperature of the driving assembly is too high, and the controller controls the fan to rotate, so that the driving assembly is cooled, the service life of the robot is prolonged, and the electric telescopic rod is arranged to enable the trunk of the robot to be lifted, so that the robot can conveniently perform operations at different heights;

(3) According to the robot, the button and the air bag are arranged, the button is triggered before the robot falls to the ground after being impacted, the button starts the air charging device through a signal to charge the air bag, the air bag is opened, the robot is protected, and the horizontal vibration of the robot during walking is reduced according to the damping characteristics through the damping block, so that the robot can walk more stably.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic sectional elevation view of the structure of the present invention;

FIG. 3 is an enlarged view of the structure at A in FIG. 2 according to the present invention;

FIG. 4 is a schematic top view of the internal structure of the base plate of the present invention;

fig. 5 is a front view of the internal torso structure of the present invention.

In the figure: 1. a base plate; 2. a pulley; 3. a conductive block; 4. a limiting frame; 5. a spring; 6. a drive motor; 7. a support frame; 8. an electric telescopic rod; 9. a spherical motor; 10. a torso; 11. an arm; 12. a clamp arm; 13. a temperature sensing module; 14. a fan; 15. a controller; 16. a magnet; 17. a balancing weight; 18. a button; 19. an air bag; 20. a damping block.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention provides a robot device with a self-balancing structure as shown in figures 1-5, which comprises a bottom plate 1, a support frame 7, a spherical motor 9, a trunk 10, arms 11 and clamping arms 12, wherein the support frame 7 is arranged at the center of the upper end of the bottom plate 1, the support frame 7, the trunk 10, the arms 11 and the clamping arms 12 are all connected through the spherical motor 9, a limiting frame 4 is arranged at the bottom end of the bottom plate 1, a conductive block 3 is arranged at the inner limit of the limiting frame 4, the conductive block 3 is fixedly connected with the limiting frame 4 through a spring 5, a pulley 2 is arranged at the bottom end of the conductive block 3, a driving motor 6 is arranged at the center of the bottom end of the bottom plate 1, a magnet 16 is arranged inside the bottom plate 1, and the magnet 16, the conductive block 3 and an external power supply are electrically connected, the inside of bottom plate 1 is hollow structure and the activity is embedded to have balancing weight 17, connect each subassembly through setting up spherical motor 9, but make the arbitrary angular adjustment slope gesture of robot make the robot do the interdynamic of various sensors and arms, through setting up conducting block 3, spring 5, magnet 16 and balancing weight 17, when the robot loses balance and inclines to a certain direction, pulley 2 that corresponds with it receives great pressure, make conducting block 3 circular telegram when compression spring 5, make its corresponding position magnet 16 produce the repulsion force to balancing weight 17, make its motion to the position opposite with robot slope direction, make the focus of robot move to the center department, thereby make the robot keep balance.

The base plate 1 is octagonal, eight groups of magnets 16 are arranged, eight groups of magnets 16 are correspondingly arranged on the side face of the base plate 1 one by one, four groups of pulleys 2 are arranged, one group of pulleys 2 corresponds to two groups of magnets 16, the two groups of magnets 16 are electrified simultaneously, the balancing weight 17 can be accurately pushed to an opposite face under the resultant force action of two groups of repulsive forces, and the balancing weight 17 is not limited to front-back left-right balance adjustment under the cooperation of the eight groups of magnets 16, so that the balance of the robot is improved.

Install electric telescopic handle 8 between bottom plate 1 and the support frame 7, electric telescopic handle 8's output shaft and support frame 7 fixed connection through setting up electric telescopic handle 8, can make robot truck 10 go up and down, are convenient for and the robot is used for carrying out the operation of co-altitude not.

The outside of electric telescopic handle 8 sets up to the rectangle, and the inner wall of support frame 7 is laminated mutually with electric telescopic handle 8's the outside, and it is spacing that this setting can make the outer wall through electric telescopic handle 8 when support frame 7 goes up and down.

The bottom of truck 10 is equipped with temperature sensing module 13, the top internally mounted of support frame 7 has fan 14, the top right side of support frame 7 is provided with controller 15, temperature sensing module 13, be electric connection between fan 14 and the controller 15, through setting up temperature sensing module 13, fan 14 and controller 15, the long-time work back of robot can make drive assembly generate heat, temperature sensing module 13 detects drive assembly high temperature this moment, rethread controller 15 control fan 14 rotates, thereby dispel the heat to drive assembly, and then improve the life of robot.

Temperature sensing module 13, fan 14 and spherical motor 9 set up the group number looks adaptation and all control through controller 15, can dispel the heat to the spherical motor 9 of multiunit through setting up multiunit fan 14, and carry out fixed point control through temperature sensing module 13, make the heat dissipation have the selectivity to reach the purpose of power saving.

Button 18 is all installed to the front and back side of truck 10, and gasbag 19 is all installed to the front and back side center department of truck 10, is electric connection between gasbag 19, button 18 and the aerating device, and through setting up button 18 and gasbag 19, the robot receives the striking and can trigger button 18 earlier before falling to the ground, and button 18 passes through signal start aerating device and charges gasbag 19, makes gasbag 19 open to play the guard action to the robot.

Damping piece 20 is installed through the stay cord in the inside of truck 10, and damping piece 20 is unsettled in the inside of truck 10, through setting up damping piece 20, horizontal vibrations when reducing the robot walking according to the damping characteristic make its walking more stable.

Claims

1. A robot device with a self-balancing structure, characterized in that: comprises a bottom plate (1), a supporting frame (7), a spherical motor (9), a trunk (10), arms (11) and clamping arms (12), wherein the supporting frame (7) is arranged at the center of the upper end of the bottom plate (1), the supporting frame (7), the trunk (10), the arms (11) and the clamping arms (12) are connected through the spherical motor (9), a limiting frame (4) is arranged at the bottom end of the bottom plate (1), and a conductive block (3) is arranged in the limiting frame (4) in a limiting way, the conductive block (3) is fixedly connected with the limiting frame (4) through a spring (5), a pulley (2) is installed at the bottom end of the conductive block (3), a driving motor (6) is installed at the center of the bottom end of the bottom plate (1), a magnet (16) is arranged inside the bottom plate (1), the magnet (16), the conductive block (3) and an external power supply are electrically connected, the inside of the bottom plate (1) is of a hollow structure, and a balancing weight (17) is movably embedded in the bottom plate;

the bottom plate (1) is octagonal, eight groups of magnets (16) are arranged, the eight groups of magnets (16) are correspondingly arranged on the side face of the bottom plate (1) one by one, four groups of pulleys (2) are arranged, and a single group of pulleys (2) corresponds to two groups of magnets (16);

when the robot loses balance and inclines towards a certain direction, the pulley (2) corresponding to the robot is subjected to larger pressure, the spring (5) is compressed, and meanwhile, the conductive block (3) is electrified, so that the magnet (16) at the corresponding position generates repulsive force to the counterweight block (17), the counterweight block moves to the position opposite to the inclination direction of the robot, the gravity center of the robot moves to the center, and the robot is kept in balance;

an electric telescopic rod (8) is installed between the bottom plate (1) and the supporting frame (7), and an output shaft of the electric telescopic rod (8) is fixedly connected with the supporting frame (7).

2. A robot apparatus having a self-balancing structure according to claim 1, wherein: the outside of electric telescopic handle (8) sets up to the rectangle, the inner wall of support frame (7) is laminated mutually with the outside of electric telescopic handle (8).

3. A robot apparatus having a self-balancing structure according to claim 1, wherein: the bottom of truck (10) is equipped with temperature sensing module (13), the top internally mounted of support frame (7) has fan (14), the top right side of support frame (7) is provided with controller (15), be electric connection between temperature sensing module (13), fan (14) and controller (15).

4. A robot apparatus having a self-balancing structure according to claim 3, wherein: the temperature sensing module (13), the fan (14) and the spherical motor (9) are matched in number and controlled by the controller (15).

5. A robot apparatus having a self-balancing structure according to claim 1, wherein: button (18) are all installed to the side around trunk (10), gasbag (19) are all installed to the side center department around trunk (10), be electric connection between gasbag (19), button (18) and the aerating device.

6. A robot apparatus having a self-balancing structure according to claim 1, wherein: damping block (20) is installed through the stay cord in the inside of truck (10), damping block (20) hang in the inside of truck (10).