CN201736232U - Automatic balancing device - Google Patents
Automatic balancing device Download PDFInfo
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- CN201736232U CN201736232U CN 201020244595 CN201020244595U CN201736232U CN 201736232 U CN201736232 U CN 201736232U CN 201020244595 CN201020244595 CN 201020244595 CN 201020244595 U CN201020244595 U CN 201020244595U CN 201736232 U CN201736232 U CN 201736232U
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- gear
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- automatic balancing
- fuselage
- worm screw
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Abstract
The utility model discloses an automatic balancing device. The device comprises a trigger system and a transmission mechanism, and is characterized in that the trigger system comprises a touch switch (417) and a roller (411), wherein the touch switch (417) is arranged at the end part of a groove (410); the roller (411) rolls in the groove (410); the transmission mechanism comprises a motor (415) and a worm and worm wheel mechanism; an output shaft end of the motor (415) is fixedly connected with a gear A (413); the gear A (413) is engaged with a gear B (416) at the worm end; and the touch switch (417) is in line connection with the motor (415). The automatic balancing device of the utility model can be combined with different types of robots; and when the robot tilts, the roller of the trigger system acts to trigger the touch switch, the touch switch triggers the motor to act, the motor drives the gears to be engaged and the worm and worm wheel mechanism to act, and the worm wheel drives corresponding components for coordinated movement, so that the self-balance problem of the robot during movement is realized.
Description
Technical field
The utility model relates to a kind of transmission device, thereby specifically relates to a kind of automatic balancing arrangement that a kind of signalizing activity translatory movement according to the working environment transmission is coordinated each component movement mutually.
Background technology
Autonomous portable autobalance transfer robot is widely used in poor working environment, workload is big, the working time is long, labour intensity is high and dangerous high work; In addition, because the particularity and the danger of some work post, make that the working environment of these work posts is relatively complicated and changeable, replace manpower as all need to use autonomous portable autobalance transfer robot in fields such as the carrying of warehousing industry, automobile assembling, mine operation, smelting iron and steel, medical nursing, space explorations, improve the operability of these work posts.
In recent years, be that autonomous mobile robot or transfer robot all have ripe product; And along with development of science and technology and innovation, autonomous portable autobalance transfer robot begins to occur and improve.The wheel of the motor-driven rotation of the disclosed a kind of band decelerator by separately of Chinese patent ZL200510029904.8 for example, fuselage interior be the flywheel that the disk in the center of circle constitutes by major axis with the major axis center, and drive the flywheel rotation not with the fly-wheel motor of decelerator; Wheel is symmetricly set on two ends, flywheel bottom; By setting the motion mode and the velocity amplitude of two wheels and flywheel, allow flywheel produce the enough big moment of reaction, two-wheel mobile robot fuselage is erected from the position of level gradually, thereby reach the upright voluntarily purpose of realization.This technology has only solved the two-wheel mobile robot and has been subjected to upright voluntarily problem after the external impacts overturning, keeps balance automatically according to road condition change in the time of can not guaranteeing that the two-wheel mobile robot walks.
November in 2009, invention disclosed patent on the 25th 200810123354.x proposed a kind of being applied in the rocker-type robot for another example, by gear type differential balancing mechanism the robot main car body was played differential balance; But the differential gear train complex structure is provided with difficulty, and the road conditions that run into can not be according to the rocker-type robot ambulation time adjust flexibly, thereby can not guarantee the self-balancing of rocker-type robot.
Summary of the invention
Technical problem to be solved in the utility model is to propose a kind of automatic balancing arrangement, and this device is with after robot combine, automatic maintenance balance in the time of satisfying robot and walk according to road condition change.
For achieving the above object, the utility model adopts technical scheme as described below:
A kind of automatic balancing arrangement comprises triggering system, transmission mechanism, and wherein triggering system comprises contact-making switch that is arranged on groove ends and the roller that rolls in groove; Transmission mechanism comprises motor, worm screw turbine mechanism, and the motor output shaft end connects firmly gear, described gear be meshed with worm screw end tooth wheel; Contact-making switch is connected with motor lines.
Further, turbine is set to imperfect turbine, is set to 160-180 ° as the turbine angle of circumference.
Further, groove is set to cross groove.
Further, the cross groove bottom is set to tend to the slope at groove center.
Thereby the roller of described triggering system is by rolling startup in groove and close contact-making switch, contact-making switch is controlled its corresponding motor rotation, the transmission of driven gear engagement and worm screw turbine, the motion by turbine drives associated components, thereby regulates the coordinated balance of each parts.
When this automatic balancing arrangement combined with robot, this automatic balancing arrangement was arranged between robot fuselage and the walking mechanism, and a cover or two cover automatic balancing arrangements are set as required; When two cover automatic balancing arrangements were set, a cover was realized the anterior-posterior balance of robot, and a cover is realized the left and right sides balance of robot; This two covers bascule promptly can act on separately, also can work simultaneously.
This automatic balancing arrangement combines concrete structure with robot and is set to: the transmission mechanism of a cover automatic balancing arrangement and the transmission mechanism of another set of automatic balancing arrangement separate the shared triggering system of two sets of transmission mechanism with balance plate; Wherein the worm screw I of a sets of transmission mechanism places in the balance plate support and is fixing, connects firmly together with the turbine I of worm screw I engagement and balance weight axle I and fuselage; Be arranged on the interior motor output end parallel with worm screw I of balance plate support and connect firmly gear, described gear is meshed with the gear that is arranged on the same end of worm screw I; The worm screw II of another set of transmission mechanism is fixed on the fuselage inner support, connects firmly together with the turbine II of worm screw II engagement and balance weight axle II and above fuselage thereof; Be arranged on the interior motor output end parallel with worm screw II of fuselage and connect firmly gear, described gear is meshed with the gear that is arranged on the same end of worm screw II; Wherein, turbine II axis and turbine I axis space are staggered, and crossed axis angle is 90 °; Triggering system is arranged in the fuselage.
Because adopt aforesaid technical scheme, the beneficial effects of the utility model are:
When 1, robot normally moved ahead, the roller of triggering system was in the deep-slotted chip breaker at cross groove middle part; And bottom portion of groove is set to tend to the slope at groove center, is convenient to roller and rolls.The skew of any one angle of robot fuselage, roller break away from the middle part deep-slotted chip breaker and trigger corresponding contact-making switch along the groove rolling, the balance that fuselage is regulated in the transmission system action, and this triggering system has just played the function of universal adjustment; Thereby the automatic maintenance balance when realizing robot ambulation.
2, the gear and the worm screw turbine of the employing of the utility model automatic balancing arrangement are the mechanical transmission parts of using always, simple in structure, and the equilibrium problem when having realized walking among the robot field by the matching coordinative of the staggered worm-and-wheel gear in two pairs of spaces has been avoided the control of use complicated technology or red tape.
Description of drawings
Fig. 1 is the autonomous portable transfer robot operate as normal schematic diagram of configuration automatic balancing arrangement;
Fig. 2 is the vertical view of Fig. 1;
Fig. 3 is this automatic balancing arrangement cut-away view;
Fuselage state when the autonomous portable transfer robot that Fig. 4 disposes automatic balancing arrangement is met the work of barrier anterior-posterior balance;
Fig. 5 is the autonomous portable transfer robot of configuration automatic balancing arrangement fuselage state when meeting the balance work of the barrier left and right sides;
Fig. 6 is the left view of Fig. 3;
Fig. 7 is the structural representation that two cover automatic balancing arrangements dispose in autonomous portable transfer robot;
Fig. 8 is a triggering system operation principle structural representation;
Fig. 9 is the groove structure schematic diagram;
Among the figure:
The 1-head; 101-left side balance indicator lamp; The 102-power supply indicator; The 103-warning lamp; 104-back balance indicator lamp; 105-forward horizontal stand indicator lamp; 106-industrial computer indicator lamp; The right balance indicator lamp of 107-;
The 2-fuselage;
The 3-mechanical arm;
The 4-automatic-balancing system; 401-waist rotating disk; The 402-bearing cap; 403-worm screw I; 404-worm gear I; 405-balance weight axle I; 406-balance plate support; 407-balance weight axle II; 408-worm gear II; 409-worm screw II; The 410-groove; The 411-roller; The 412-taper roll bearing; The 413-gear A; The 414-balance plate; The 415-motor; The 416-gear B; The 417-contact-making switch; The 418-loam cake;
The 5-walking mechanism;
The specific embodiment
Below be combined into more detailed introduction of preferred embodiment with automatic balancing arrangement of the present utility model and autonomous portable transfer robot, it should be noted that the utility model is not limited thereto embodiment.
Among Fig. 1, a kind of autonomous portable autobalance transfer robot comprises robot fuselage 2, the head 1 on the fuselage 2, the mechanical arm 3 of fuselage 2 both sides, the automatic balancing arrangement 4 of fuselage 2 bottoms and walking mechanism 5; Automatic balancing arrangement 4 is connected by waist rotating disk 401 with walking mechanism 5.Each joint component all has its corresponding motor-driven.
Among Fig. 2, head 1 place in robot, left balance indicator lamp 101 has been installed respectively, right balance indicator lamp 107, forward horizontal stand indicator lamp 105, back balance indicator lamp 104, power supply indicator 102, industrial computer relay indicating light 106 and warning lamp 103 as the panel of man-machine information interchange, make in face of the open-and-shut operator of being apparent in of working condition of robot.
Among Fig. 4, Fig. 5, robot ride is at the climbing road or when tilting serious road, transmission by automatic balancing arrangement 4 is regulated, driving fuselage 2 makes fuselage 2 keep vertical with ground, autobalance when having guaranteed robot ambulation simultaneously, the fuselage 2 that can face because of the variation of road conditions does not at any time topple, and helps realizing the operate as normal of robot.
Among Fig. 1, Fig. 3, Fig. 6, the shared cover triggering system of the transmission mechanism of two cover automatic balancing arrangements is arranged between robot fuselage 2 and the walking mechanism 5, and the transmission mechanism of a cover automatic balancing arrangement and the transmission mechanism of another set of automatic balancing arrangement separate with balance plate 414; Wherein the worm screw I403 of a sets of transmission mechanism places in the balance plate support 406 and fixes, and worm screw I403 two ends are arranged with taper roll bearing 412, bearing cap 402 successively, and worm screw I403 one end connects firmly gear B 416; Connect firmly together with the turbine I404 of worm screw I engagement and balance weight axle I405 and fuselage; Be arranged on balance plate support 406 interior motor 415 outputs parallel with worm screw I403 and connect firmly gear A 413, described gear A 413 is meshed with the gear B 416 that is arranged on the same end of worm screw I403; The worm screw II409 of another set of transmission mechanism is fixed on fuselage 2 inner supports, connects firmly together with the turbine II408 of worm screw II409 engagement and balance weight axle II407 and above fuselage thereof; Be arranged on the interior motor output end parallel with worm screw II409 of fuselage and connect firmly gear, described gear is meshed with the gear that is arranged on the same end of worm screw II; Wherein, turbine II408 axis and turbine I404 axis space are staggered, and crossed axis angle is 90 °; Triggering system is arranged in the fuselage 2.
Among Fig. 7, triggering system comprises contact-making switch 417 that is arranged on groove 410 ends and the roller 411 that rolls in groove, and groove is set to cross groove, and the cross groove bottom is set to tend to the ramp structure at groove center; Cross groove is provided with loam cake 418.
Among Fig. 8, when robot during in relatively smooth travels down, when promptly fuselage was in level, the roller 411 of triggering system was in two groove intersections, and contact-making switch 417 is not activated; When robot during in the more travels down of barrier, under the effect of walking mechanism 5 damping springs, fuselage 2 tilt accuracy are controlled between-2 °-2 °, though promptly fuselage has a little, roller 411 does not break away from groove 410, and contact-making switch 417 is not activated; When robot relatively complicated and changeable at working environment, when travelling under the more rugged environment of road, when fuselage angle of inclination during greater than 2 °, roller 411 breaks away from the groove middle part and rolls along groove, roller 411 compressing contact-making switches 417, contact-making switch is given transmission system motor signal, and motor 415 starts the setting in motion transmission, regulate fuselage 2 balances, coordinate for it until fuselage and other parts; This moment, roller was got back to original position.
Among Fig. 4, when fuselage 2 has upwardly sloped front and rear sides angle when bigger, the deep-slotted chip breaker that roller 411 breaks away from the cross groove middle part, along groove motion triggers contact-making switch 417, contact-making switch is given enabling signal of motor, motor rotates, the gear B 416 driven gear A413 of motor output shaft end rotate, worm screw I403 rotates and drives turbine I404 rotation simultaneously, because turbine I404 and balance weight axle I405 and vehicle body 2 connect firmly together, thereby drive whole fuselage 2 reaches of robot, make the robot fuselage 2 vertical states of maintenance and reach balance with walking mechanism 5 on fore-and-aft direction, this moment, roller 411 was got back to original position.
Among Fig. 5, when fuselage 2 left and right directions inclination angle are bigger, when triggering system and transmission system operation principle and process are equal to above-mentioned fuselage 2 anteversion and retroversion, it should be noted that, worm screw II409 rotates and drives turbine II408 rotation, because turbine II408 and balance weight axle II407 and above fuselage 2 thereof connect firmly together, only drive turbine II408 and above fuselage 2 moves to left.
Automatic balancing arrangement described in the utility model can combine with dissimilar robots, the self-balancing problem when realizing the robot motion.
Claims (5)
1. an automatic balancing arrangement comprises triggering system, transmission mechanism, it is characterized in that, described triggering system comprises contact-making switch (417) that is arranged on groove (410) end and the roller (411) that rolls in groove (410); Transmission mechanism comprises motor (415), worm and worm gear, and motor (415) output axle head connects firmly gear A (413), and described gear A (413) is meshed with worm screw end tooth wheel B (416); Contact-making switch (417) is connected with motor (415) line.
2. automatic balancing arrangement according to claim 1 is characterized in that described worm gear is set to imperfect worm gear, is set to 160-180 ° as the worm gear angle of circumference.
3. automatic balancing arrangement according to claim 1 is characterized in that, described groove (410) is set to cross groove.
4. automatic balancing arrangement according to claim 3 is characterized in that, described cross groove bottom is set to tend to the slope at groove (410) center.
5. automatic balancing arrangement according to claim 1, it is characterized in that, described automatic balancing arrangement is arranged between robot fuselage (2) and the walking mechanism (5), the transmission mechanism of one cover automatic balancing arrangement and the transmission mechanism of another set of automatic balancing arrangement separate the shared triggering system of two sets of transmission mechanism with balance plate (414); Wherein the worm screw I (403) of a sets of transmission mechanism places in the balance plate support (406) and fixes, and the worm gear I (404) that meshes with worm screw I (403) connects firmly together with balance weight axle I (405) and fuselage; Be arranged on interior motor (415) output parallel with worm screw I (403) of balance plate support (406) and connect firmly gear A (413), described gear A (413) is meshed with the gear B (416) that is arranged on the same end of worm screw I (403); The worm screw II (409) of another set of transmission mechanism is fixed on the fuselage inner support, and the worm gear II (408) that meshes with worm screw II (409) connects firmly together with balance weight axle II (407) and above fuselage thereof; Be arranged on interior motor (415) output parallel with worm screw II (409) of fuselage and connect firmly gear A (413), described gear A (413) is meshed with the gear B (416) that is arranged on the same end of worm screw II (409); Wherein, worm gear II (408) axis and worm gear I (404) axis space are staggered, and crossed axis angle is 90 °; Triggering system is arranged in the fuselage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201020244595 CN201736232U (en) | 2010-07-02 | 2010-07-02 | Automatic balancing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201020244595 CN201736232U (en) | 2010-07-02 | 2010-07-02 | Automatic balancing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201736232U true CN201736232U (en) | 2011-02-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201020244595 Expired - Fee Related CN201736232U (en) | 2010-07-02 | 2010-07-02 | Automatic balancing device |
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| Country | Link |
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| CN (1) | CN201736232U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741866A (en) * | 2016-12-29 | 2017-05-31 | 吴利祥 | A kind of aircraft that can automatically adjust balance |
| CN107186736A (en) * | 2017-05-10 | 2017-09-22 | 华中科技大学 | A kind of double-wheel self-balancing service robot of automatic swing arm |
| CN109249424A (en) * | 2018-10-21 | 2019-01-22 | 余姚市亿荣自动化科技有限公司 | Welding robot automatically corrects plane gravity balance mechanism |
| CN110434863A (en) * | 2019-07-19 | 2019-11-12 | 武汉科技大学 | A kind of meal delivery robot of overturning-preventing |
| CN110561383A (en) * | 2019-09-05 | 2019-12-13 | 南京社区集网络科技有限公司 | Wisdom shopping delivery robot's drive device of marcing |
-
2010
- 2010-07-02 CN CN 201020244595 patent/CN201736232U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741866A (en) * | 2016-12-29 | 2017-05-31 | 吴利祥 | A kind of aircraft that can automatically adjust balance |
| CN107186736A (en) * | 2017-05-10 | 2017-09-22 | 华中科技大学 | A kind of double-wheel self-balancing service robot of automatic swing arm |
| CN107186736B (en) * | 2017-05-10 | 2018-06-12 | 华中科技大学 | A kind of double-wheel self-balancing service robot of automatic swing arm |
| CN109249424A (en) * | 2018-10-21 | 2019-01-22 | 余姚市亿荣自动化科技有限公司 | Welding robot automatically corrects plane gravity balance mechanism |
| CN109249424B (en) * | 2018-10-21 | 2024-02-06 | 宁波亿荣自动化科技有限公司 | Automatic plane gravity balance correcting mechanism of welding robot |
| CN110434863A (en) * | 2019-07-19 | 2019-11-12 | 武汉科技大学 | A kind of meal delivery robot of overturning-preventing |
| CN110434863B (en) * | 2019-07-19 | 2020-11-13 | 武汉科技大学 | Prevent food delivery robot that emptys |
| CN110561383A (en) * | 2019-09-05 | 2019-12-13 | 南京社区集网络科技有限公司 | Wisdom shopping delivery robot's drive device of marcing |
| CN110561383B (en) * | 2019-09-05 | 2021-01-01 | 南京社区集网络科技有限公司 | Wisdom shopping delivery robot's drive device of marcing |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110209 Termination date: 20110702 |