CN206883656U - A kind of slide block type gravity center adjusting mechanism - Google Patents
A kind of slide block type gravity center adjusting mechanism Download PDFInfo
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- CN206883656U CN206883656U CN201720745631.5U CN201720745631U CN206883656U CN 206883656 U CN206883656 U CN 206883656U CN 201720745631 U CN201720745631 U CN 201720745631U CN 206883656 U CN206883656 U CN 206883656U
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- slide block
- leading screw
- gear
- poppet
- robot
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Abstract
A kind of slide block type gravity center adjusting mechanism is the utility model is related to, belongs to robot control field.Mechanism includes bottom and slide block device, and slide block device is made up of fore-stock, after-poppet, leading screw, polished rod, sliding block, lower gear, gear, motor.The slide block device is fixed on bottom by being arranged on fore-stock and after-poppet on the bottom；Leading screw and polished rod are connected by bearing on the forward and backward support, sliding block is equipped with the leading screw and polished rod, after one end of the leading screw passes through the bearing of the after-poppet, connect lower gear, the lower gear engages gear, the gear is fixedly connected on the output end of motor, and the motor is fixed on the after-poppet top.The utility model has good elevating movement ability and certain adaptive capacity to environment, reliable and stable, and motion is flexible, available for resources survey, the task such as salvaging, relief, can also be played a significant role in the combat duty in future.
Description
Technical field
The utility model belongs to robot control field.It is related to a kind of slide block type gravity center adjusting mechanism, especially with regard to one
Kind can be widely applied to the modular unit of the pitch attitude control of underwater or aerial small intelligent robot.
Background technology
Small intelligent robot, because of its small volume, cost is low, low in energy consumption, time-consuming short, the various locomitivity of research
By force, no matter from the point of view of military or civilian, all with huge application prospect.In order to expand the accessibility neck of robot
Domain, three-dimensional motion ability are essential.For underwater robot and air-robot, it how is realized under water
The study hotspot and difficult point of robot field always are with aerial elevating movement.Design one be easily installed and dismantle and
The modularization luffing mechanism of small scale robot is can be widely applied to, it is real with reference to propulsion mode of the robot in two dimensional surface
Existing robot three-dimensional motion is urgent problem to be solved in robot field.
For realizing elevating movement using gravity center adjusting mechanism,《The development of new two joint machine fish and experimental study》
Give a kind of scheme, the slide block device of the application with《The development of new two joint machine fish and experimental study》Liter in text is dived
Module, which is compared, has significant difference, and reason is as follows：
1)《The development of new two joint machine fish and experimental study》Liter submersible device pass through a slip screw transmission
(straight tooth column gear wheel, leading screw) realizes the movable of piston, completes discharging water, so as to realize that it is latent that machine fish rises.Thus may be used
See,《The development of new two joint machine fish and experimental study》Equivalent to one piston-type hydraulic cylinder of liter submersible device, its piston
The cylinder barrel in outside must communicate with external aqueous environment, and control the suction of external water, therefore proof mechanism of water by the motion of piston
Design difficulty is big, and the disturbance to surrounding aqueous environment is bigger.And the slide block device of the application is placed in robot body, it is only necessary to
Integral sealing waterproof, it can be achieved with the o types circle of classics, while the disturbance to surrounding aqueous environment is very small, has hidden well
Cover performance.In addition,《The development of new two joint machine fish and experimental study》In by motor control piston movement come discharging water
Realize to rise and dive, the speed of discharging water is influenceed by draining hole area, and directly proportional to the disturbance to environment.Suction water speed
Faster, real-time is better, but considerably increases the disturbance to environment.That is its real-time and stability are to contradict
's.Comparatively speaking, the slide block device of the application realizes that liter is latent by the movement of the direct control slide block of motor to change center of gravity, in fact
When property and stability can be guaranteed.
With the increase of depth under water, Underwater Pressure increases,《The development of new two joint machine fish and experimental study》Institute
The power increase risen needed for submersible device draining stated, the requirement of the torque of intensity and water resistance and motor to mechanical device
Increase.And the sliding block of the application rises submersible device and is not related to this problem then.
2) contrast《The development of new two joint machine fish and experimental study》Liter submersible device include direct current torque motor, straight
Tooth cylinder little gear, straight tooth column gear wheel, leading screw, cylinder barrel, piston, leading screw end cap, cylinder barrel end cap, motor support base, bearing are total
Into because its leading screw must move together with piston, therefore its structure is relatively complicated, and cost is high.And the sliding block of the application
Device only includes two stands, leading screw, polished rod, gear, lower gear and motor, and leading screw only rotates between two stands, so as to drive
Sliding block moves, and its mechanical structure is very simple, and cost is low, and passes through simple refit, it is possible to is widely used in various small-sized
In underwater propeller, have the advantages that wide adaptation range, stability are high, portable good.
3) in addition, contrast《The development of new two joint machine fish and experimental study》Liter submersible device can also be related to air
The problem of compression, although possible air pressure is not very big, of a relatively high is required to mechanical structure and material, and it is latent rising
During with the continuous change of air pressure in cylinder barrel, certain influence can also be produced to the sealing property of entirety.And the application
Carriage is not related to the problem then.
In summary, the slide block device in the application is relative to contrast《The development and experiment of new two joint machine fish are ground
Study carefully》In liter module of diving there are prominent substantive distinguishing features and significant progressive.
The content of the invention
In view of the above-mentioned problems, the purpose of this utility model is to provide, one kind is simple in construction, control effect is obvious, environmental perturbation
Modularization center of gravity adjustment structure small and that elevating movement can be realized.
To achieve the above object, the utility model takes following technical scheme：A kind of slide block type gravity center adjusting mechanism, it is special
Sign is：It includes bottom and slide block device, slide block device by fore-stock, after-poppet, leading screw, polished rod, sliding block, lower gear, on
Gear, motor composition.The slide block device is fixed on bottom by being arranged on fore-stock and after-poppet on the bottom；It is described
Leading screw and polished rod are connected by bearing on forward and backward support, are equipped with sliding block on the leading screw and polished rod, one end of the leading screw is worn
After crossing the bearing of the after-poppet, lower gear is connected, the lower gear engages gear, and the gear is fixedly connected on motor
Output end, the motor is fixed on the after-poppet top.
A kind of control method of slide block type gravity center adjusting mechanism as described above, it is characterised in that：Applied to underwater or empty
In the pitch attitude control of middle small intelligent robot, the motor is using serial ports motor (or other motors or pony
Up to), the rotational displacement of motor drives leading screw to rotate by the transmission of upper and lower gear, and then drives the sliding block on leading screw to realize
Displacement of the lines；Wherein serial ports motor is to send commands to control by serial ports by single-chip microcomputer.
A kind of application method of slide block type gravity center adjusting mechanism as described above, it is characterised in that：Applied to underwater or empty
In the pitch attitude control of middle small intelligent robot；When robot is advanced with higher speed, the position of sliding block has been configured
Put, robot can advance in the horizontal plane and left and right is turned；But once changing the position of sliding block, robot will make pitching fortune
It is dynamic；When sliding block moves forward from equilbrium position towards robot head direction, then robot center of gravity moves forward, and robot head shows down low
Trend, in the presence of robot propulsive force, robot realize nutation move, within the specific limits, sliding block movement distance
More, robot nutation is faster；Similarly, when sliding block moves from equilbrium position towards robot caudal directions, robot center of gravity
After move, head raises up, and in the presence of robot propulsive force, robot faces upward motion；By the position and the shifting that change sliding block
Dynamic speed can flexibly adjust the speed of its pitching, with reference to the effect of robot propulsive force, finally realize three-dimensional motion.
For the utility model due to taking above technical scheme, it has advantages below：1st, the sliding block that the utility model uses
Device, the weight by changing sliding block account for the ratio of whole robot, the effect of adjustment robot elevating movement.Pass through sliding block
It is mobile, thus it is possible to vary robot center of gravity, on the premise of certain pace, the motion bowed or faced upward to be completed, with reference to robot
Propulsive force, robot is realized a variety of gaits in the non-structure environment of complexity, and realize robot
Three-dimensional motion ability.2nd, the slide block device that the utility model uses is to realize the original of elevating movement based on changing position of centre of gravity
Reason, whole device is placed in integral sealing in robot body, so the disturbance to surrounding environment is very small, has disguised well
Energy.3rd, the slide block device principle that the utility model uses is popular, and passes through simple refit, it is possible to is widely used in various small
Type has the advantages that wide adaptation range, stability are high, portable good in the air or in underwater propeller.The utility model has
There are good three-dimensional motion ability and certain adaptive capacity to environment, reliable and stable, motion is flexible, available for resources survey, beats
The task such as drag for, succour, can also be played a significant role in the aerial and naval warfare task in future.
Brief description of the drawings
Fig. 1 is gravity adjusting device schematic diagram of the present utility model
Embodiment
The utility model is described in detail with reference to the accompanying drawings and examples.
As shown in figure 1, slide block device is included by fore-stock 2 and after-poppet 3, the two is logical made of light aluminum alloy material
Cross screw to be fixed on bottom 1, leading screw 4 and polished rod are connected by bearing in upper and lower circular port of the fore-stock 2 with after-poppet 3
5, it is equipped with sliding block 6 on leading screw 4 and polished rod 5, one end of leading screw 4 is through connecting lower gear 7, lower tooth after the circular hole of after-poppet 3
Wheel 7 engages with gear 8, and gear 8 is fixedly connected with the output end of motor 9, and motor 9 is fixedly connected on the top of after-poppet 3.Electricity
Machine 9 drives leading screw 4 to rotate using serial ports motor, the rotational displacement of serial ports motor by the transmission of upper and lower gear 8,7,
And then the sliding block 6 on leading screw 4 is driven to realize displacement of the lines.Wherein, serial ports motor is to send commands to control by serial ports by single-chip microcomputer
System.
When robot is advanced with higher speed, the position of sliding block 6 is configured, robot can advance in the horizontal plane
Turned with left and right.But once changing the position of sliding block 6, robot will make elevating movement.For example sliding block 6 is from equilbrium position
Moved forward towards robot head direction, then robot center of gravity moves forward, and robot head shows down low trend, is promoted in robot
In the presence of power, robot realizes that nutation moves, and within the specific limits, the distance that sliding block 6 moves is more, and robot nutation is got over
It hurry up.Similarly, when sliding block 6 moves from equilbrium position towards robot caudal directions, to be moved after robot center of gravity, head raises up,
In the presence of robot propulsive force, robot faces upward motion.Can be flexible by the position and movement speed for changing sliding block 6
The speed of its pitching is adjusted, with reference to the effect of robot propulsive force, finally realizes three-dimensional motion.
The various embodiments described above are only preferred embodiments of the present utility model, in the art, every to be based on this reality
With the changes and improvements in new technique scheme, should not exclude outside the scope of protection of the utility model.
Claims (1)
- A kind of 1. slide block type gravity center adjusting mechanism, it is characterised in that：Including bottom and slide block device, slide block device by fore-stock, After-poppet, leading screw, polished rod, sliding block, lower gear, gear, motor composition；The slide block device is by being arranged on the bottom Fore-stock and after-poppet are fixed on bottom；Leading screw and polished rod, the leading screw and light are connected by bearing on the forward and backward support It is equipped with sliding block on bar, one end of the leading screw connects lower gear, the lower gear engagement through after the bearing of the after-poppet Gear, the gear are fixedly connected on the output end of motor, and the motor is fixed on the after-poppet top.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720745631.5U CN206883656U (en) | 2017-06-26 | 2017-06-26 | A kind of slide block type gravity center adjusting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720745631.5U CN206883656U (en) | 2017-06-26 | 2017-06-26 | A kind of slide block type gravity center adjusting mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206883656U true CN206883656U (en) | 2018-01-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720745631.5U Expired - Fee Related CN206883656U (en) | 2017-06-26 | 2017-06-26 | A kind of slide block type gravity center adjusting mechanism |
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| CN (1) | CN206883656U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139190A (en) * | 2017-06-26 | 2017-09-08 | 北京科技大学 | A kind of slide block type gravity center adjusting mechanism and control and application method |
-
2017
- 2017-06-26 CN CN201720745631.5U patent/CN206883656U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139190A (en) * | 2017-06-26 | 2017-09-08 | 北京科技大学 | A kind of slide block type gravity center adjusting mechanism and control and application method |
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| 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: 20180116 Termination date: 20210626 |