CN114604328A - Turning anti-toppling device of wheeled robot - Google Patents

Turning anti-toppling device of wheeled robot Download PDF

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Publication number
CN114604328A
CN114604328A CN202210249871.1A CN202210249871A CN114604328A CN 114604328 A CN114604328 A CN 114604328A CN 202210249871 A CN202210249871 A CN 202210249871A CN 114604328 A CN114604328 A CN 114604328A
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CN
China
Prior art keywords
wheeled robot
motor
supporting
telescopic
plate
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Granted
Application number
CN202210249871.1A
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Chinese (zh)
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CN114604328B (en
Inventor
魏来
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Wuhan City Vocational College
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Wuhan City Vocational College
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Priority to CN202210249871.1A priority Critical patent/CN114604328B/en
Publication of CN114604328A publication Critical patent/CN114604328A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D49/00—Tractors
    • B62D49/08—Tractors having means for preventing overturning or tipping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R2021/0002—Type of accident
    • B60R2021/0018—Roll-over
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R2021/0065—Type of vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R2021/01013—Means for detecting collision, impending collision or roll-over

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

The invention discloses a turning anti-toppling device of a wheeled robot, and relates to the technical field of robot auxiliary equipment; the inclination detection mechanisms are a plurality of and are respectively and movably arranged in the telescopic grooves; the number of the telescopic adjusting plates is four, and the telescopic adjusting plates are respectively arranged in the adjusting grooves in an equi-fillet manner; the screw threads on the two sides of each screw rod are respectively provided with a nut block through a screw thread rotating sleeve, and the end part of the transmission rod is respectively movably connected with the nut block through a hinge piece; the number of the bevel gear pairs is three, and the bevel gear pairs are respectively connected and arranged at the end parts of the adjacent screw rods; the first motor is fixedly arranged on one of the mounting plates through a motor bracket, and the output end of the first motor is fixedly connected with the end part of the screw rod in the middle of the mounting plate; the stability of wheeled robot when turning can have been increased, real-time detection is carried out to wheeled robot's gradient, simultaneously, can be when wheeled robot is close to toppling over, support the robot.

Description

Turning anti-toppling device of wheeled robot
Technical Field
The invention relates to the technical field of robot auxiliary equipment, in particular to a turning anti-toppling device of a wheeled robot.
Background
Wheeled robot indicates that the accessible pulley carries out the robot that removes, and the majority is as the domestic appliance of daily family, and domestic wheeled robot has lightly small and exquisite simultaneously, removes nimble characteristics, and the price is substantial more than the price ratio, receives liking of everybody, and current wheeled robot stability when turning is relatively poor to its focus is unstable, influences the use, consequently, needs a wheeled robot to turn and prevents empting the device urgently.
Disclosure of Invention
The invention aims to provide a turning anti-toppling device of a wheeled robot, which has a simple structure, is reasonable in design and convenient to use, can increase the stability of the wheeled robot during turning, can detect the inclination of the wheeled robot in real time, and can support the robot when the wheeled robot is approximately toppled.
In order to achieve the purpose, the invention adopts the technical scheme that: the chassis comprises a chassis body of the wheeled robot and an annular box body, wherein the annular box body is fixedly sleeved on the peripheral wall of the chassis body of the wheeled robot; the upper side and the lower side of the interior of the annular box body are respectively provided with an adjusting groove and a plurality of telescopic grooves, and the lower sides of the plurality of telescopic grooves are all arranged in an open shape;
it also includes:
the inclination detection mechanisms are multiple and are respectively and movably arranged in the telescopic grooves;
the number of the telescopic adjusting plates is four, the four telescopic adjusting plates are respectively arranged in the adjusting grooves in an equal-fillet manner, and the outer side walls of the telescopic adjusting plates are provided with lifting support mechanisms; two transmission rods are rotatably connected to the inner side wall of each telescopic adjusting plate through a shaft seat, and the two transmission rods are arranged in a V shape;
the number of the screw rods is four, and the threads on the four screw rods are arranged in opposite directions from the middle part to the two sides; two ends of the four screw rods are rotatably arranged in the middle of the mounting plate through bearings respectively, and the mounting plate is fixedly arranged on the peripheral wall of the chassis body of the wheeled robot; the screw threads on the two sides of each screw rod are respectively provided with a nut block through a screw thread rotating sleeve, and the end part of the transmission rod is respectively movably connected with the nut block through a hinge piece;
the number of the bevel gear pairs is three, and the three bevel gear pairs are respectively connected and arranged at the end parts of the adjacent screw rods;
the first motor is fixedly arranged on one mounting plate through a motor bracket, and the output end of the first motor is fixedly connected with the end part of the screw rod in the middle of the mounting plate; the first motor is connected with a power supply inside the chassis body of the wheeled robot;
when wheeled robot chassis body moved through the walking wheel of its bottom, the direction of the gradient and slope of wheeled robot chassis body carries out real-time detection through slope detection mechanism, when the gradient is great, open a motor, the output of a motor rotates, drive four lead screws through three bevel gear pair and rotate simultaneously, drive the nut piece on it then and draw close to the lead screw middle part, under the transfer line drives, the outside of flexible regulating plate outwards expands, stretch out the outside of annular box with lift supporting mechanism, the bottom through lift supporting mechanism supports prevents empting the operation.
As a further improvement of the present invention, the tilt detection mechanism includes:
the first compression springs are a plurality of and are respectively fixedly embedded in the telescopic grooves;
the support columns are multiple and are respectively movably inserted in the telescopic groove, and the lower end of the first compression spring is fixedly arranged at the upper end of the support column; the lower end of the support column is provided with a spherical groove;
the balls are a plurality of and are respectively and movably embedded in the spherical grooves;
the pressure sensors are a plurality of and are respectively fixedly embedded on the inner top surface of the spherical groove; the pressure sensor is connected with a power supply inside the chassis body of the wheeled robot.
Through the design of the technical scheme, the ball at the lower end of the supporting column is in contact with the ground, and when the chassis body of the wheeled robot inclines, the compression spring provides a space for the supporting column to move up and down, the pressure between the ball on one side of the inclination and the pressure sensor is increased, the judgment of the inclination direction is conveniently carried out, and the judgment of the size of the inclination angle is also carried out.
As a further improvement of the present invention, the lifting support mechanism comprises:
the number of the first connecting plates is four, and the first connecting plates are fixedly arranged on the upper side and the lower side of the outer side wall of the telescopic adjusting plate in pairs respectively;
the two internal thread pipes are respectively and rotatably arranged in the middle of the corresponding first connecting plate at the upper side and the lower side through bearings; the upper ends of the two internal threaded pipes are in transmission connection through a synchronous wheel transmission assembly;
the second motor is fixedly arranged on the outer side wall of the telescopic adjusting plate through a motor bracket, and a driving gear is fixedly connected to the output end of the second motor; the second motor is connected with a power supply inside the chassis body of the wheeled robot;
the driven gear is fixedly sleeved on the outer side wall of one of the internal threaded pipes and is meshed with the driving gear;
the two threaded rods are respectively inserted at the lower end of the internal threaded pipe through thread rotation, and two second connecting plates are fixedly sleeved at the lower end of each threaded rod;
the supporting plate is fixedly arranged at the outer ends of the four second connecting plates; the outer side wall of the annular box body is matched with an equal round angle and is provided with a through hole.
Through the design of the technical scheme, when needing to support, open No. two motors, the output of No. two motors passes through the driving gear and the internal thread pipe is driven to rotate by driven gear, and rethread synchronizing wheel drive assembly drives two internal thread pipes and carries out synchronous rotation, and the internal thread pipe drives the threaded rod and descends, and then drives the backup pad and descend and support subaerial.
As a further improvement of the invention, the through holes on the outer side wall of the annular box body are both movably provided with a box door, the upper sides of the two side walls of the box body are both fixedly connected with a rotating shaft, and the end part of the rotating shaft is rotatably arranged on the outer side wall of the annular box body through a bearing; the rotating shafts are all sleeved with torsion springs, one side arm of each torsion spring is fixedly connected with the box door, and the other side arm of each torsion spring is fixedly connected with the rotating shaft; the bottom surface of the box door is arranged in a step shape and is limited with the inner bottom surface of the adjusting groove.
Through the design of the technical scheme, when the telescopic adjusting plate extends outwards, the first connecting plate jacks the box door, then the box door is supported and operated through the lifting support mechanism, and when the lifting support mechanism is not used, the box door seals the through hole on the outer side wall of the annular box under the action of reverse torque force of the torsion spring.
As a further improvement of the invention, the lower side of the supporting plate is provided with a mounting groove, an arc-shaped plate is movably inserted in the mounting groove, the arc-shaped plate is limited with the opening end of the mounting groove through a flange on the arc-shaped plate, a plurality of second compression springs are fixedly arranged in the mounting groove, and the end parts of the second compression springs are fixedly connected with the top surface of the arc-shaped plate.
Through the design of the technical scheme, when the supporting plate is supported on the ground, the arc-shaped plate is buffered by the reverse compression force of the second compression spring.
Compared with the prior art, the invention has the beneficial effects that:
1. the inclination detection mechanisms are arranged on the periphery of the chassis body of the wheeled robot, so that the stability of the wheeled robot during turning can be improved, and the inclination of the wheeled robot can be detected in real time;
2. and a lifting support mechanism which can support the wheeled robot when the robot approaches to topple.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a sectional view taken along line a-a in fig. 1.
Fig. 3 is an enlarged view of a portion B in fig. 2.
Fig. 4 is an enlarged view of a portion C in fig. 2.
Fig. 5 is a schematic view of the internal structure of the present invention.
Fig. 6 is an enlarged view of a portion D in fig. 5.
Fig. 7 is an enlarged view of a portion E in fig. 5.
Fig. 8 is a schematic view of the construction of an arcuate plate of the present invention.
Description of reference numerals:
the chassis comprises a wheeled robot chassis body 1, an annular box body 2, an adjusting groove 3, a telescopic groove 4, a telescopic adjusting plate 5, a transmission rod 6, a screw rod 7, an installation plate 8, a nut block 9, a bevel gear pair 10, a first motor 11, an inclination detection mechanism 12, a first compression spring 12-1, a support column 12-2, a spherical groove 12-3, a ball 12-4, a pressure sensor 12-5, a lifting support mechanism 13, a first connecting plate 13-1, an internal threaded pipe 13-2, a synchronizing wheel transmission assembly 13-3, a second motor 13-4, a driving gear 13-5, a driven gear 13-6, a threaded rod 13-7, a second connecting plate 13-8, a support plate 13-9, a box door 14, a rotating shaft 15, a torsion spring 16, an installation groove 17, an arc-shaped plate 18 and a second compression spring 19.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
Example 1:
referring to fig. 1-5, the present embodiment includes a wheeled robot chassis body 1 and an annular box 2, wherein the annular box 2 is fixedly sleeved on the peripheral wall of the wheeled robot chassis body 1 through bolts; the upper side and the lower side of the interior of the annular box body 2 are respectively provided with an adjusting groove 3 and a plurality of telescopic grooves 4, and the lower sides of the plurality of telescopic grooves 4 are both arranged in an open manner;
it also includes:
the inclination detection mechanisms 12 are provided in plurality, and the inclination detection mechanisms 12 are respectively and movably arranged in the plurality of telescopic grooves 4;
the number of the telescopic adjusting plates 5 is four, the four telescopic adjusting plates 5 are respectively arranged in the adjusting groove 3 in an equi-circular manner, and the outer side walls of the telescopic adjusting plates 5 are provided with lifting support mechanisms 13; the inner side walls of the telescopic adjusting plates 5 are respectively and rotatably connected with two transmission rods 6 through shaft seats, and the two transmission rods 6 are arranged in a V shape;
the number of the screw rods 7 is four, and the threads on the four screw rods 7 are all arranged in opposite directions from the middle part to the two sides; two ends of the four screw rods 7 are rotatably arranged in the middle of the mounting plate 8 through bearings respectively, and the mounting plate 8 is fixedly arranged on the peripheral wall of the wheeled robot chassis body 1 through bolts; the threads on the two sides of each screw rod 7 are respectively provided with a nut block 9 through a thread rotating sleeve, and the end part of the transmission rod 6 is movably connected with the nut block 9 through a hinge element;
three bevel gear pairs 10 are arranged, and the three bevel gear pairs 10 are respectively connected and arranged at the end parts of the adjacent screw rods 7;
the first motor 11 is fixedly arranged on one mounting plate 8 through a motor bracket and a bolt, and the output end of the first motor 11 is fixedly connected with the end part of the screw rod 7 in the middle of the mounting plate 8; the first motor 11 is connected with a power supply inside the chassis body 1 of the wheeled robot.
Example 2:
referring to fig. 1, 5 and 7, in the embodiment 1, the tilt detecting mechanism 12 includes:
the first compression springs 12-1 are a plurality of the first compression springs 12-1 and are respectively fixedly welded and embedded in the telescopic groove 4;
the number of the support columns 12-2 is multiple, the support columns 12-2 are movably inserted into the telescopic groove 4 respectively, and the lower end of a first compression spring 12-1 is fixedly welded at the upper end of the support column 12-2; the lower end of the support column 12-2 is provided with a spherical groove 12-3;
the balls 12-4 are provided with a plurality of balls 12-4 and are respectively and movably embedded in the spherical grooves 12-3;
the pressure sensors 12-5 are provided with a plurality of pressure sensors 12-5 which are respectively fixedly embedded on the inner top surface of the spherical groove 12-3 through bolts; the pressure sensor 12-5 is connected with a power supply inside the chassis body 1 of the wheeled robot.
Through the technical scheme, the ball 12-4 at the lower end of the supporting column 12-2 is in contact with the ground, when the chassis body 1 of the wheeled robot inclines, the first compression spring 12-1 provides a space for the supporting column 12-2 to move up and down, the pressure between the ball 12-4 at the inclined side and the pressure sensor 12-5 is increased, and therefore judgment of the inclined direction and judgment of the size of the inclined angle are facilitated.
Example 3:
referring to fig. 1-8, on the basis of embodiment 1, the lifting support mechanism 13 includes:
the number of the first connecting plates 13-1 is four, and the first connecting plates 13-1 are respectively and pairwise fixedly arranged on the upper side and the lower side of the outer side wall of the telescopic adjusting plate 5 through bolts;
the number of the internal threaded pipes 13-2 is two, and the two internal threaded pipes 13-2 are respectively and rotatably arranged in the middle of the corresponding first connecting plate 13-1 at the upper side and the lower side through bearings; the upper ends of the two internal threaded pipes 13-2 are in transmission connection through a synchronous wheel transmission assembly 13-3;
the second motor 13-4 is fixedly arranged on the outer side wall of the telescopic adjusting plate 5 through a motor bracket and a bolt, and the output end of the second motor 13-4 is fixedly connected with a driving gear 13-5 through a positioning pin; the second motor 13-4 is connected with a power supply inside the chassis body 1 of the wheeled robot;
the driven gear 13-6 is fixedly sleeved on the outer side wall of one of the internal threaded pipes 13-2 through a bolt, and the driven gear 13-6 is meshed with the driving gear 13-5;
the number of the threaded rods 13-7 is two, the two threaded rods 13-7 are respectively inserted into the lower end of the internal threaded pipe 13-2 through threaded rotation, and two second connecting plates 13-8 are fixedly sleeved at the lower end of the threaded rods 13-7;
the supporting plates 13-9 are fixedly arranged at the outer ends of the four second connecting plates 13-8 through bolts; the outer side wall of the annular box body 2 is provided with through holes in a matched and equal-round angle manner; the lower side of the supporting plate 13-9 is provided with a mounting groove 17, an arc-shaped plate 18 is movably inserted in the mounting groove 17, the arc-shaped plate 18 is limited with the opening end of the mounting groove 17 through a flange on the arc-shaped plate 18, a plurality of second compression springs 19 are fixedly arranged in the mounting groove 17 through bolts, and the end parts of the second compression springs 19 are fixedly connected with the top surface of the arc-shaped plate 18 through bolts; when the support plates 13-9 are supported on the ground, the arc plate 18 is buffered by the reverse compression force of the second compression spring 19.
Through the design of the technical scheme, when the supporting is needed, the second motor 13-4 is turned on, the output end of the second motor 13-4 drives the internal threaded pipe 13-2 to rotate through the driving gear 13-5 and the driven gear 13-6, then the two internal threaded pipes 13-2 are driven to synchronously rotate through the synchronizing wheel transmission assembly 13-3, and the internal threaded pipe 13-2 drives the threaded rod 13-7 to descend so as to drive the supporting plate 13-9 to descend and support on the ground.
Example 4:
referring to fig. 1-3, on the basis of embodiment 3, a box door 14 is movably disposed in a through hole on the outer side wall of the annular box body 2, a rotating shaft 15 is fixedly welded on the upper sides of the two side walls of the box body, and the end of the rotating shaft 15 is rotatably disposed on the outer side wall of the annular box body 2 through a bearing; the rotating shaft 15 is sleeved with a torsion spring 16, one side arm of the torsion spring 16 is fixedly welded with the box door 14, and the other side arm of the torsion spring 16 is fixedly welded with the rotating shaft 15; the bottom surface of the box door 14 is arranged in a step shape and is limited with the inner bottom surface of the adjusting groove 3.
Through the design of the technical scheme, when the telescopic adjusting plate 5 extends outwards, the first connecting plate 13-1 jacks the box door 14, then the lifting support mechanism 13 is used for supporting operation, and when the lifting support mechanism 13 is not used, the box door 14 seals the through hole on the outer side wall of the annular box body 2 under the reverse torque force action of the torsion spring 16.
The specific use models of the first motor 11, the second motor 13-4 and the pressure sensor 12-5 are directly purchased from the market and installed and used according to the use requirements.
When the invention is used, when the wheeled robot chassis body 1 moves through the walking wheels at the bottom of the wheeled robot chassis body, the inclination and the inclination direction of the wheeled robot chassis body 1 are detected in real time through the inclination detection mechanism 12, when the inclination is larger, the first motor 11 is turned on, the output end of the first motor 11 rotates, the three bevel gear pairs 10 drive the four screw rods 7 to rotate simultaneously, then the nut blocks 9 on the first motor are driven to approach to the middle parts of the screw rods 7, the telescopic adjusting plates 5 expand outwards under the drive of the transmission rods 6, the lifting support mechanism 13 extends out of the annular box body 2, and the bottom of the lifting support mechanism 13 is used for supporting and anti-toppling operation.
After adopting above-mentioned structure, this embodiment beneficial effect does:
1. the inclination detection mechanism 12 is arranged on the periphery of the chassis body 1 of the wheeled robot, so that the inclination of the wheeled robot can be detected in real time while the stability of the wheeled robot in turning is improved;
2. a lifting support mechanism 13 capable of supporting the wheeled robot when the robot approaches to topple;
3. the automatically resilient door 14 seals the inside of the annular housing 2, reducing the amount of dust entering the interior of the device.
The above description is only for the purpose of illustrating the technical solutions of the present invention and not for the purpose of limiting the same, and other modifications or equivalent substitutions made by those skilled in the art to the technical solutions of the present invention should be covered within the scope of the claims of the present invention without departing from the spirit and scope of the technical solutions of the present invention.

Claims (5)

1. A turning anti-toppling device of a wheeled robot comprises a wheeled robot chassis body (1) and an annular box body (2), wherein the annular box body (2) is fixedly sleeved on the peripheral wall of the wheeled robot chassis body (1); the upper side and the lower side of the interior of the annular box body (2) are respectively provided with an adjusting groove (3) and a plurality of telescopic grooves (4), and the lower sides of the plurality of telescopic grooves (4) are all arranged in an open manner;
it is characterized in that it also comprises:
the inclination detection mechanisms (12) are provided in a plurality, and the inclination detection mechanisms (12) are respectively and movably arranged in the telescopic grooves (4);
the number of the telescopic adjusting plates (5) is four, the four telescopic adjusting plates (5) are respectively arranged in the adjusting groove (3) in an equiangular manner, and the outer side walls of the telescopic adjusting plates (5) are provided with lifting support mechanisms (13); two transmission rods (6) are rotatably connected to the inner side walls of the telescopic adjusting plates (5) through shaft seats, and the two transmission rods (6) are arranged in a V shape;
the number of the screw rods (7) is four, and the threads on the four screw rods (7) are arranged in opposite directions from the middle part to the two sides; two ends of the four screw rods (7) are rotatably arranged in the middle of the mounting plate (8) in a penetrating manner through bearings respectively, and the mounting plate (8) is fixedly arranged on the peripheral wall of the chassis body (1) of the wheeled robot; the threads on the two sides of each screw rod (7) are respectively provided with a nut block (9) through a thread rotating sleeve, and the end part of the transmission rod (6) is movably connected with the nut block (9) through a hinge element;
the number of the bevel gear pairs (10) is three, and the three bevel gear pairs (10) are respectively connected and arranged at the end parts of the adjacent screw rods (7);
the first motor (11) is fixedly arranged on one mounting plate (8) through a motor support, and the output end of the first motor (11) is fixedly connected with the end part of the screw rod (7) in the middle of the mounting plate (8); the first motor (11) is connected with a power supply inside the chassis body (1) of the wheeled robot;
when wheeled robot chassis body (1) removed through the walking wheel of its bottom, carry out real-time detection through slope detection mechanism (12) to the gradient of wheeled robot chassis body (1) and the direction of slope, when the gradient is great, open a motor (11), the output of a motor (11) rotates, drive four lead screw (7) through three bevel gear pair (10) and rotate simultaneously, then drive nut piece (9) above that and draw close to lead screw (7) middle part, drive down in transfer line (6), flexible regulating plate (5) outwards expand, stretch out the outside of annular box (2) with lift supporting mechanism (13), support through the bottom of lift supporting mechanism (13) and prevent empting the operation.
2. The turning anti-toppling device of the wheeled robot as claimed in claim 1, wherein: the tilt detection mechanism (12) includes:
the first compression springs (12-1), the first compression springs (12-1) are a plurality and are respectively fixedly embedded in the telescopic groove (4);
the supporting columns (12-2) are provided with a plurality of supporting columns (12-2) which are movably inserted into the telescopic groove (4) respectively, and the lower ends of the first compression springs (12-1) are fixedly arranged at the upper ends of the supporting columns (12-2); the lower end of the supporting column (12-2) is provided with a spherical groove (12-3);
the balls (12-4), the number of the balls (12-4) is several, and the balls are respectively and movably embedded in the spherical grooves (12-3);
the pressure sensors (12-5), the pressure sensors (12-5) are several and are respectively fixedly embedded on the inner top surface of the spherical groove (12-3); the pressure sensor (12-5) is connected with a power supply inside the chassis body (1) of the wheeled robot;
the ball (12-4) at the lower end of the supporting column (12-2) is in contact with the ground, when the chassis body (1) of the wheeled robot inclines, the first compression spring (12-1) provides a space for the supporting column (12-2) to move up and down, the pressure between the ball (12-4) on the inclined side and the pressure sensor (12-5) is increased, and therefore judgment of the inclined direction and judgment of the size of the inclined angle are facilitated.
3. The turning anti-toppling device of the wheeled robot as claimed in claim 1, wherein: the lifting support mechanism (13) comprises:
the number of the first connecting plates (13-1) is four, and the first connecting plates (13-1) are fixedly arranged on the upper side and the lower side of the outer side wall of the telescopic adjusting plate (5) in pairs respectively;
the number of the internal thread pipes (13-2) is two, and the two internal thread pipes (13-2) are respectively and rotatably arranged in the middle of the corresponding first connecting plate (13-1) at the upper side and the lower side through bearings; the upper ends of the two internal threaded pipes (13-2) are in transmission connection through a synchronous wheel transmission assembly (13-3);
the second motor (13-4) is fixedly arranged on the outer side wall of the telescopic adjusting plate (5) through a motor support, and the output end of the second motor (13-4) is fixedly connected with a driving gear (13-5); the second motor (13-4) is connected with a power supply inside the chassis body (1) of the wheeled robot;
the driven gear (13-6), the driven gear (13-6) is fixedly sleeved on the outer side wall of one of the internally threaded pipes (13-2), and the driven gear (13-6) is meshed with the driving gear (13-5);
the number of the threaded rods (13-7) is two, the two threaded rods (13-7) are respectively inserted into the lower end of the internal threaded pipe (13-2) through thread rotation, and two second connecting plates (13-8) are fixedly sleeved at the lower end of the threaded rods (13-7);
the supporting plates (13-9), the supporting plates (13-9) are fixedly arranged at the outer ends of the four second connecting plates (13-8); the outer side wall of the annular box body (2) is matched with equal round corners and is provided with through holes;
when the supporting is needed, the second motor (13-4) is turned on, the output end of the second motor (13-4) drives the internal threaded pipe (13-2) to rotate through the driving gear (13-5) and the driven gear (13-6), then the two internal threaded pipes (13-2) are driven to synchronously rotate through the synchronizing wheel transmission assembly (13-3), the internal threaded pipes (13-2) drive the threaded rods (13-7) to descend, and further the supporting plates (13-9) are driven to descend and support on the ground.
4. The turning anti-toppling device of the wheeled robot as claimed in claim 1, wherein: the box doors (14) are movably arranged in the through holes in the outer side wall of the annular box body (2), the upper sides of the two side walls of the box body are fixedly connected with rotating shafts (15), and the end parts of the rotating shafts (15) are rotatably arranged on the outer side wall of the annular box body (2) through bearings; the rotating shaft (15) is sleeved with a torsion spring (16), one side arm of the torsion spring (16) is fixedly connected with the box door (14), and the other side arm of the torsion spring (16) is fixedly connected with the rotating shaft (15); the bottom surface of the box door (14) is arranged in a step shape and is limited with the inner bottom surface of the adjusting groove (3);
when the telescopic adjusting plate (5) extends outwards, the first connecting plate (13-1) jacks the box door (14), then the lifting supporting mechanism (13) is used for supporting operation, and when the lifting supporting mechanism (13) is not used, the box door (14) seals the through hole on the outer side wall of the annular box body (2) under the reverse torque force action of the torsion spring (16).
5. A wheeled robot turning anti-toppling device according to claim 3, wherein: the lower side of the supporting plate (13-9) is provided with a mounting groove (17), an arc-shaped plate (18) is movably inserted in the mounting groove (17), the arc-shaped plate (18) is in limit arrangement with the opening end of the mounting groove (17) through a flange on the arc-shaped plate, a plurality of second compression springs (19) are fixedly arranged in the mounting groove (17), and the end parts of the second compression springs (19) are fixedly connected with the top surface of the arc-shaped plate (18);
when the supporting plates (13-9) are supported on the ground, the arc-shaped plate (18) is buffered by the reverse compression force of the second compression spring (19).
CN202210249871.1A 2022-03-14 2022-03-14 Turning anti-toppling device of wheeled robot Active CN114604328B (en)

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