CN204300230U - A kind of Weight variable core type robot balancer - Google Patents
A kind of Weight variable core type robot balancer Download PDFInfo
- Publication number
- CN204300230U CN204300230U CN201420701152.XU CN201420701152U CN204300230U CN 204300230 U CN204300230 U CN 204300230U CN 201420701152 U CN201420701152 U CN 201420701152U CN 204300230 U CN204300230 U CN 204300230U
- Authority
- CN
- China
- Prior art keywords
- directional ball
- sleeve pipe
- balancer
- clamping plate
- axostylus axostyle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a kind of robot balancer, particularly a kind of Weight variable core type robot balancer.Described balancer comprises sleeve pipe (1), multi-directional ball (2), clamping plate (3) and shot (6), (3) have concave surface with clamping plate, multi-directional ball (2) is with axostylus axostyle, and two multi-directional ball (2) are separately fixed in two R type grooves of four clamping plate compositions; The two ends of sleeve pipe (1) are sleeved on the axostylus axostyle of two multi-directional ball (2), and shot (6) is positioned at sleeve pipe (1).The utility model solves the problem of robot ambulation instability.
Description
Technical field
The utility model relates to a kind of robot balancer, particularly a kind of Weight variable core type robot balancer.
Background technology
In prior art, special balancer is not installed by robot, just relies on the balance of step and own wt to reach counterbalance effect, and cause robot ambulation unstable, attitude is not true to nature.
Summary of the invention
The purpose of this utility model is: provide a kind of stablizing effect good robot balancer.
The technical solution of the utility model is: described balancer comprises sleeve pipe 1, multi-directional ball 2, clamping plate 3 and shot 6, and clamping plate 3 have concave surface, and multi-directional ball 2 is with axostylus axostyle, and two multi-directional ball 2 are separately fixed in two R type grooves of four clamping plate compositions;
The two ends of sleeve pipe 1 are sleeved on the axostylus axostyle of two multi-directional ball 2, and shot 6 is positioned at sleeve pipe 1.
One as the technical program is improved, and described balancer also comprises guide finger 4 and bar-shaped trough 5, and the axostylus axostyle of multi-directional ball 2 has pin-and-hole, sleeve pipe 1 has bar-shaped trough 5, is positioned at the bar-shaped trough 5 of sleeve pipe 1 in the pin-and-hole that guide finger 4 is arranged on axostylus axostyle.
Another kind as the technical program improves, and the R type groove of two clamping plate 3 compositions can only clamp the diameter of multi-directional ball 1/2nd four.
The beneficial effects of the utility model are: because the utility model comprises sleeve pipe 1 and shot 6, and shot 6 is nothing constraint in sleeve pipe 1, so when robot ambulation along with the mobile shot regressed can roll in sleeve pipe, increase the weight of opposite side to change center of gravity, improve the stability of robot.
Accompanying drawing explanation
Fig. 1 is the utility model structural scheme of mechanism;
Fig. 2 is A-A sectional view;
In figure: 1 is sleeve pipe, 2 is multi-directional ball, and 3 is clamping plate, and 4 is guide finger, and 5 is bar-shaped trough, and 6 is shot, and 7 is leg member, and 8 is trip bolt.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further details.
The utility model is mainly used in robot, and as shown in Figure 1, clamping plate 3 are arranged in the leg member 7 of robot by trip bolt.Four clamping plate 3 having concave surface constitute two R type grooves, and multi-directional ball 2 is sleeved in this R type groove.The two ends of sleeve pipe 1 are sleeved on the axostylus axostyle of multi-directional ball 2, and each other without constraint.
One the most of the present utility model is improved, as shown in Figure 2, for time axostylus axostyle and sleeve pipe 1 mutual motion more controlled, axostylus axostyle having been offered pin-and-hole, bar-shaped trough 5 has been offered by sleeve pipe 1, the two has been connected by guide finger 4, having reached the guiding object to moving.
In addition, for making the motion of multi-directional ball 2 in R type groove more flexible, the contact area both preferably reducing, to reduce friction.This improvement project have employed the measure of clamping multi-directional ball 1/4th diameter.
For better reaching counterbalance effect, the quantity of shot 6 can be determined according to the weight and volume of robot, preferably uses 3 shots when using shot gross weight to determine.
Reach certain distance while robot rises by power and the left leg of other member drives, the axostylus axostyle now in multi-directional ball 2 is drawn out pipe box 1 certain distance, and shot 6 rolls leg to the right.When reach is risen in right thigh portion, multi-directional ball 2 axostylus axostyle retraction pipe box, be reduced to after leg member 7 is in straight line, pipe box 1 is again drawn out with multi-directional ball 2 axostylus axostyle during right leg member 7 rising reach, now shot 6 rolls leg member side left by the impact that right leg member rises, and it is reliable and stable that checker like this makes robot move ahead.
Claims (3)
1. a Weight variable core type robot balancer, it is characterized by: described balancer comprises sleeve pipe (1), multi-directional ball (2), clamping plate (3) and shot (6), (3) have concave surface with clamping plate, multi-directional ball (2) is with axostylus axostyle, and two multi-directional ball (2) are separately fixed in two R type grooves of four clamping plate compositions;
The two ends of sleeve pipe (1) are sleeved on the axostylus axostyle of two multi-directional ball (2), and shot (6) is positioned at sleeve pipe (1).
2. a kind of Weight variable core type robot according to claim 1 balancer, it is characterized by: described balancer also comprises guide finger (4) and bar-shaped trough (5), the axostylus axostyle of multi-directional ball (2) has pin-and-hole, sleeve pipe (1) has bar-shaped trough (5), in the pin-and-hole that guide finger (4) is arranged on axostylus axostyle, be positioned at the bar-shaped trough (5) of sleeve pipe (1).
3. a kind of Weight variable core type robot according to claim 1 and 2 balancer, is characterized by: the R type groove that two clamping plate (3) form can only clamp the diameter of multi-directional ball (2) 1/4th.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420701152.XU CN204300230U (en) | 2014-11-20 | 2014-11-20 | A kind of Weight variable core type robot balancer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420701152.XU CN204300230U (en) | 2014-11-20 | 2014-11-20 | A kind of Weight variable core type robot balancer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204300230U true CN204300230U (en) | 2015-04-29 |
Family
ID=53105771
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420701152.XU Active CN204300230U (en) | 2014-11-20 | 2014-11-20 | A kind of Weight variable core type robot balancer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204300230U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945140A (en) * | 2018-07-09 | 2018-12-07 | 胡俊 | A kind of accessible climbing type battlefield robot |
-
2014
- 2014-11-20 CN CN201420701152.XU patent/CN204300230U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108945140A (en) * | 2018-07-09 | 2018-12-07 | 胡俊 | A kind of accessible climbing type battlefield robot |
| CN108945140B (en) * | 2018-07-09 | 2021-11-30 | 詹晓丹 | Barrier-free climbing type battlefield robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204300230U (en) | A kind of Weight variable core type robot balancer | |
| CN202716171U (en) | Multi-degree-of-freedom adjusting device | |
| CN102431027B (en) | Parallel robot mechanism with spatial three degrees of freedom | |
| CN204935106U (en) | The double walled crossbeam of Longmen machine tool | |
| CN204290364U (en) | Assembled moving power supply | |
| CN203390480U (en) | Adjustment support for pipe aligning | |
| CN203475789U (en) | Adjustable support for building | |
| CN204703856U (en) | A kind of automatic adjusting balance beam-pumping unit | |
| CN207272718U (en) | Positioning sleeve | |
| CN205342860U (en) | Quick adjustable C word presss from both sides | |
| CN204295547U (en) | Centralising device | |
| CN208534983U (en) | A kind of portable low inertia linear guide rail device of hollow molded cavity underloading | |
| CN205689679U (en) | A kind of novel building Shockproof damping device | |
| CN207179059U (en) | A kind of adjustable for height mechanical and electric equipment installation seat | |
| CN207261425U (en) | One kind positioning straight sleeve | |
| CN105534168B (en) | One kind slides infanette | |
| CN203297602U (en) | Shifting fork arm | |
| CN102313505B (en) | Rock strain direction measuring device | |
| CN211052912U (en) | Square tube welding processing equipment | |
| CN202984955U (en) | Fixture pull-out mechanical arm for storage battery cast-weld machine | |
| CN202833409U (en) | Dual-rod air cylinder | |
| CN206632898U (en) | Movement keeps flat the coordinate setting fixture of wheel hub three | |
| CN206552801U (en) | Displacement mobile device for food production line | |
| CN202192429U (en) | Vertical type turning center feed system | |
| CN207466743U (en) | A kind of power cable moves transport vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |