CN206811950U - A kind of stable mobile clothes robot - Google Patents
A kind of stable mobile clothes robot Download PDFInfo
- Publication number
- CN206811950U CN206811950U CN201720677234.9U CN201720677234U CN206811950U CN 206811950 U CN206811950 U CN 206811950U CN 201720677234 U CN201720677234 U CN 201720677234U CN 206811950 U CN206811950 U CN 206811950U
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- China
- Prior art keywords
- leg
- trunk
- robot
- stable
- move portion
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Abstract
The utility model discloses a kind of stable mobile clothes robot, including the interior trunk for setting gyroscope；Head mechanism above rotatable connection trunk；Arm mechanism at left and right sides of rotatable connection trunk；Leg mechanism below rotatable connection trunk；It is characterized in that, the leg mechanism includes being used for the move portion for supporting the leg of robot and moving integrally for assist people, the leg is connected by rotary cylinder six with trunk, and realize that trunk is connected in 360 degree of rotations of horizontal plane, the move portion with leg elastic by rotary cylinder six.The purpose of this utility model is to provide a kind of structure stablized mobile clothes robot, improve leg mechanism so that robot is more stable in motion process, and certain buffering is produced in hard contact process, avoids it from turning on one's side.
Description
Technical field
It the utility model is related to robot building field, and in particular to a kind of stable mobile clothes robot.
Background technology
Robot is the automatic installations for performing work.It can both receive mankind commander, can run advance volume again
The program of row, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is assistance or the substitution mankind
The work of work, such as production industry, construction industry, or dangerous work.Robot is typically by executing agency, drive device, inspection
Survey the composition such as device and control system and complicated machinery.The arm of robot typically uses space open chain linkage, therein
Kinematic pair (revolute pair or prismatic pair) is frequently referred to joint, and joint number is generally the number of degrees of freedom, of robot.Matched somebody with somebody according to joint
The difference of pattern and coordinates of motion form is put, robot actuating mechanism can be divided into Cartesian coordinate type, circular cylindrical coordinate formula, polar coordinates type
With the type such as joint coordinates formula.For the consideration to personalize, the relevant position of robot body is often referred to as pedestal, waist
Portion, arm, wrist, hand (clamper or end effector) and running part (for mobile robot) etc..
Chinese utility model patent CN201620407397.0 discloses a kind of stable mobile clothes robot, including a left side
Walking sprocket wheel, right walking sprocket wheel, left regulation sprocket wheel, right regulation sprocket wheel, activity between the left walking sprocket wheel and left regulation sprocket wheel
Connection, it is flexibly connected between the right walking sprocket wheel and right regulation sprocket wheel；And between the left regulation sprocket wheel and right regulation sprocket wheel
Support bar is connected with, the centre position of the support bar is provided with conical seat, supporter, institute are provided with above the conical seat
State and controller is placed with supporter, and control panel is provided with the front end face of supporter, the upper end of the supporter is set
It is equipped with head.Clothes robot architecture provided by the utility model is reasonable in design, and by being provided with left walking sprocket wheel, right lateral walks chain
Wheel, left regulation sprocket wheel, right regulation sprocket wheel, walking is convenient, easy to remove, conveniently promotes the use of.
But above-mentioned robot is driven using sprocket wheel, when robot is in uneven ground moving, simple chain
Wheel construction can cause robot produces in moving process more significantly to shake, and simultaneously, robot is in rotary course
Unintentionally during collision obstacle, its hard contact can directly contribute robot rollover.
Utility model content
The purpose of this utility model is to provide a kind of stable mobile clothes robot, improves the structure of leg mechanism,
So that robot is more stable in motion process, and certain buffering is produced in hard contact process, avoid it from turning on one's side.
To achieve the above object, the utility model provides following technical scheme：
A kind of stable mobile clothes robot, including
The interior trunk that gyroscope is set；
Head mechanism above rotatable connection trunk；
Arm mechanism at left and right sides of rotatable connection trunk；
Leg mechanism below rotatable connection trunk；
Characterized in that, the leg mechanism is including for supporting the leg of robot and for assist people entirety
Mobile move portion, the leg are connected by rotary cylinder six with trunk, and realize trunk in level by rotary cylinder six
The rotation of 360 degree of face, the move portion are connected with leg elastic.
Preferably, the move portion includes being arranged on the crawler belt mobile module of leg bottom surface both sides, and two crawler belts move mould
Block is I-shaped by connection component composition one.
Preferably, the vertical connection that the cross bar that the connection component includes setting between two crawler belt mobile modules is connected
Block, the vertical contiguous block top are provided with undertaking disk, and the undertaking disk is connected by flexible member with leg bottom surface.
Preferably, it is provided between the undertaking disk and leg bottom surface in flexible member is wrapped in by spring-backed quill.
Preferably, the flexible member is evenly distributed on by several accepts the spring of disk and forms, and in each spring
Piston rod with cylinders is set, and piston rod is not connected with accepting disk.
Compared with prior art, the beneficial effects of the utility model are as follows：
1st, elastic connection between the move portion in the leg mechanism and leg so that robot is in uneven ground moving
During, the gyroscope in trunk can cause one to drive piston rod to carry out elongation downwards according to self-technique to adjust trunk
Directly it is in vertical direction；
2nd, crawler belt mobile module is made up of I-shaped connector, and its move portion is simple in construction, stably, is advantageous to improve and is carried out
The service life of Tape movement module；
3rd, being connected between leg and move portion using spring, spring can effectively act as certain cushioning effect, and
Spring-backed quill is set outside flexible member, certain protective effect is played to elastic connection；The setting piston rod of spring inner,
The relative position of adjustable trunk and move portion, is easy to robot to keep the stabilization of center of gravity, avoids turning on one's side.
Brief description of the drawings
Fig. 1 provides a kind of schematic diagram of stable mobile clothes robot for the utility model；
Fig. 2 provides a kind of crawler belt mobile module side view of stable mobile clothes robot for the utility model.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out
Clearly and completely describing, it is clear that described embodiment is only the utility model part of the embodiment, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment obtained, belong to the scope of the utility model protection.
Fig. 1,2 are referred to, the utility model provides a kind of technical scheme：The stable mobile clothes robot, including it is interior
Gyroscope is set（Do not show in figure）Trunk 1；The head mechanism 2 of the top of rotatable connection trunk 1；Be rotatably connected trunk 1 or so two
The arm mechanism 3 of side；The leg mechanism 4 of the lower section of rotatable connection trunk 1；Characterized in that, the leg mechanism 4 includes being used for branch
The move portion 42 for supportting the leg 41 of robot and being moved integrally for assist people, the leg 41 passes through rotary cylinder six
56 are connected with trunk 1, and realize trunk 1 in 360 degree of rotations of horizontal plane, the move portion 42 and leg by rotary cylinder 6 56
41 elastic connections.
The move portion 42 includes being arranged on the crawler belt mobile module 421 of the bottom surface both sides of leg 41, and two crawler belts move mould
Block 421 is I-shaped by the composition of connection component 6 one（Do not show in figure）.Crawler belt mobile module 421 forms I-shaped by connector
Type, its move portion 42 is simple in construction, stably, is advantageous to improve the service life of crawler belt mobile module 421.
The vertical connection that the cross bar 61 that the connection component 6 includes setting between two crawler belt mobile modules 421 is connected
Block 62, the vertical top of contiguous block 62, which is provided with, accepts disk 63, and the undertaking disk 63 passes through flexible member and leg 41
Bottom surface is connected.It is provided between the undertaking disk 63 and the bottom surface of leg 41 in flexible member is wrapped in by spring-backed quill 65.Institute
State flexible member and be evenly distributed on by several and accept the spring 64 of disk 63 and form, and set in each spring 64 and cylinder phase
Piston rod 66 even, and piston rod 66 is not connected with accepting disk 63.
Elastic connection between move portion 42 and leg 41 in the leg mechanism 4 so that robot is on uneven ground
In moving process, the gyroscope in trunk 1 can be according to self-technique, to drive piston rod 66 to carry out elongation downwards to adjust trunk
1 to be constantly in vertical direction.Connected between leg 41 and move portion 42 using spring 64, spring 64 can effectively act as
Certain cushioning effect, and spring-backed quill 65 is set outside flexible member, certain protective effect is played to elastic connection；
Setting piston rod 66 inside spring 64, trunk 1 and the relative position of move portion 42 are can adjust, be easy to robot to keep center of gravity
It is stable, avoid turning on one's side.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from principle of the present utility model and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (5)
1. a kind of stable mobile clothes robot, including
The interior trunk that gyroscope is set；
Head mechanism above rotatable connection trunk；
Arm mechanism at left and right sides of rotatable connection trunk；
Leg mechanism below rotatable connection trunk；
Characterized in that, the leg mechanism includes moving integrally for supporting the leg of robot and for assist people
Move portion, the leg is connected by rotary cylinder six with trunk, and realizes trunk in horizontal plane 360 by rotary cylinder six
Degree rotation, the move portion are connected with leg elastic.
2. a kind of stable mobile clothes robot according to claim 1, it is characterised in that the move portion includes setting
The crawler belt mobile module in leg bottom surface both sides is put, two crawler belt mobile modules are I-shaped by connection component composition one.
3. a kind of stable mobile clothes robot according to claim 2, it is characterised in that the connection component includes
The vertical contiguous block that the cross bar set between two crawler belt mobile modules is connected, the vertical contiguous block top are provided with undertaking
Disk, the undertaking disk are connected by flexible member with leg bottom surface.
4. a kind of stable mobile clothes robot according to claim 3, it is characterised in that the undertaking disk and leg
It is provided between portion bottom surface in flexible member is wrapped in by spring-backed quill.
A kind of 5. stable mobile clothes robot according to claim 4, it is characterised in that if the flexible member by
Dry is evenly distributed on the spring composition for accepting disk, and the piston rod with cylinders is set in each spring, and piston rod
It is not connected with accepting disk.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720677234.9U CN206811950U (en) | 2017-06-12 | 2017-06-12 | A kind of stable mobile clothes robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720677234.9U CN206811950U (en) | 2017-06-12 | 2017-06-12 | A kind of stable mobile clothes robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206811950U true CN206811950U (en) | 2017-12-29 |
Family
ID=60758340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720677234.9U Expired - Fee Related CN206811950U (en) | 2017-06-12 | 2017-06-12 | A kind of stable mobile clothes robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206811950U (en) |
-
2017
- 2017-06-12 CN CN201720677234.9U patent/CN206811950U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171229 Termination date: 20180612 |