CN207127898U - Tumbler robot - Google Patents
Tumbler robot Download PDFInfo
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- CN207127898U CN207127898U CN201621345453.9U CN201621345453U CN207127898U CN 207127898 U CN207127898 U CN 207127898U CN 201621345453 U CN201621345453 U CN 201621345453U CN 207127898 U CN207127898 U CN 207127898U
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- tumbler
- housing
- robot
- tumbler robot
- wheel
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Abstract
The utility model discloses tumbler robot, tumbler robot is configured to voluntarily recover self-support stable state in the case where falling or being pushed over, and, the tumbler robot includes housing and at least one wheel of the lower part positioned at housing, so that the tumbler robot can move under self-support stable state, wherein the lower part of the housing is configured to substantially hemisphere.
Description
Technical field
It the utility model is related to autonomous intelligent robot technology field, more particularly to tumbler robot.
Background technology
Most of autonomous formula intelligent robot uses wheeled construction at present, and this kind of robot is all that plane formula chassis is set
Meter, after being pushed over or being tripped by barrier by external force, it is impossible to independently stand, it is necessary to which people props up.This causes this kind of machine
Adaptability is restricted people in actual applications.
Utility model content
According to one side of the present utility model, there is provided a kind of tumbler robot, be configured to falling or pushed away
Voluntarily recover self-support stable state in the case of, also, the tumbler robot includes housing and under housing
Partial at least one wheel so that the tumbler robot can move under self-support stable state, wherein the housing
Lower part is configured to substantially hemisphere.
In one embodiment, the lower part of the substantially hemispheroidal housing in face of ground is partially configured as putting down
Face, at least one wheel are installed on the planar portions and caused at the top of the outer rim of at least one wheel in the substantially hemisphere
On spherical profile where the spherical outside surface of body or in the spherical profile where the substantially hemispheroidal spherical outside surface.
In one embodiment, tumbler robot also includes sensor, whether inclined is configured to detection tumbler robot
From self-support stable state.
In one embodiment, the tumbler robot is configured to when the sensor senses the tumbler machine
People takes emergency brake to stop the rotation of the wheel when beginning to deviate from self-support stable state by self-support stable state.
In one embodiment, the tumbler robot is configured so that what is voluntarily stood up in tumbler robot
During the wheel slower speeds front and rear turn, i.e., turn at a slow speed again counterclockwise to turn clockwise, circulation repeatedly, not fall
When wheel has just contacted ground during father-in-law robot gradually stands, tumbler robot is rolled by wheel
Housing correspondingly produces lateral movement, so as to which tumbler robot can voluntarily adjust pose and the contact point with ground.
In one embodiment, the center of gravity of the tumbler robot in the case of upright than in substantially hemispheroidal geometry
The heart is close to ground.
In one embodiment, the upper part of the housing of tumbler robot is configured in tumbler robot in any position
Touchdown point is put when falling down to the ground on the spherical profile where the substantially hemispheroidal outer surface or protrudes from the spherical profile
Outside.
In one embodiment, the upper part of the housing of tumbler robot is configured to continue the lower part of housing so that
The outer surface of the upper part of housing is the outer section of the substantially hemispheroidal spherical outside surface of the lower part of housing.
In one embodiment, the upper part of the housing of tumbler robot is configured to continue the lower part of housing, and
The outer surface of the upper part of housing cause robot any angles and positions fall down to the ground back casing upper part outer surface with ground
The contact point in face is intended to described in lower part in housing on substantially hemispheroidal spherical outside surface or outside spherical outside surface.
In one embodiment, at least one wheel of tumbler robot is driving wheel, tumbler can be driven to move.
Tumbler robot of the present utility model can voluntarily stablize standing, can also move, and can pushed over
Or voluntarily recover self-support stable state, strong adaptability in the case of being tripped.
Brief description of the drawings
Fig. 1 is the front schematic view (a) and side schematic view of the tumbler robot of the utility model one embodiment
(b)；
Fig. 2 (a), 2 (b), 2 (c), the tumbler robot that 2 (d) is the utility model one embodiment voluntarily recover to support oneself
The process schematic of state；
Fig. 3 makes a concerted effort for the tumbler robot of the utility model one embodiment and the schematic diagram of resultant moment, schemes to make a concerted effort in a
F and resultant moment M is 0, and it is 0 and resultant moment is more than 0 to scheme to make a concerted effort in b.
Embodiment
Although the utility model allows various modifications and interchangeable form, its specific embodiment passes through example
Mode be shown in the drawings, and will be described herein in detail.It should be appreciated, however, that the accompanying drawing enclosed and detailed
Description is not configured to the utility model being restricted to disclosed concrete form, but on the contrary, is fallen into cover by enclosing
All modifications, equivalents and alternative forms in the spirit and scope of the present utility model that claim limits.Accompanying drawing is
In order to illustrate, thus draw not to scale.
Below according to brief description of the drawings multiple embodiments of the present utility model.
One embodiment of the present utility model provides a kind of tumbler robot 10, is configured to falling or pushed over
In the case of voluntarily recover self-support stable state, also, the tumbler robot 10 includes housing and under housing
At least one wheel 13 of part 12 so that the tumbler robot 10 can move under self-support stable state, wherein described
The lower part 12 of housing is configured to substantially hemisphere.The lower part of housing can have certain hardness, enabling in housing
Lower part contact ground when will not deform, such as depression or damaged.
The self-support stable state of tumbler robot 10 refers to pose when tumbler robot 10 is in upright, now
Tumbler robot 10 can keep stable inactive state, walking can also be kept to be moved through state.Tumbler robot 10
It is for the self-support stable state of tumbler robot 10 to be pushed over or tripped.When tumbler robot 10
Any one position in place can be considered tumbler robot 10 and deviate self-support stable state when leaving ground, not fall
Father-in-law robot 10 is configured to that self-support stable state can be reverted to from the state of any deviation self-support stable state.
Tumbler robot 10 can only have a wheel 13, and now, tumbler robot 10 has other touchdown points, so
And although other touchdown points are not pulleys 13, tumbler robot 10 can also move in the case of smooth ground.No
Dao Weng robots 10 can have two wheels 13, and now tumbler robot 10 can not have other touchdown points, tumbler machine
People 10 can voluntarily keep self-support stable state by counterweight and spiral stone roller balance using two wheels 13.Tumbler machine
People 10 can have three wheels 13, and now tumbler robot 10 can keep self-support stable state by three wheels 13, however,
Tumbler robot 10 can have other touchdown points.Tumbler robot 10 can have more than three to take turns 13, these 13 cloth of wheel
Put the lower part 12 in the housing of tumbler robot 10.For example, as shown in figure 1, tumbler robot 10 has four
Wheel 13, the surrounding of the plane is arranged in, advantageously, wheel 13 can rotate, one of wheel 13 or two 13 conducts of wheel
Driving wheel 13, other wheels 13 can rotate freely, and drive the direction moved to adjust the direction of oneself along driving wheel 13, and along
The moving direction of tumbler robot 10 rolls.
The lower part 12 of the housing of tumbler robot 10 refers to the part on the close ground of housing, does not provide
The lower part 12 of housing is the half on the close ground of tumbler robot 10, and the lower part 12 of housing can be tumbler machine
The part of people 10, such as the part of the half less than the part of half in volume or more than tumbler robot 10.
The lower part 12 of the housing of tumbler robot 10 is configured to substantially hemisphere, refers to the described of tumbler robot 10
The lower part 12 of housing can be strict hemisphere or close to hemisphere, for example, a hemispheroidal part and other
The shape being smoothly contiguously formed of shape or two spheres or multiple spheres be smoothly contiguously formed close to sphere
Substantially spheroid form with smooth surface.The lower part 12 of the housing of tumbler robot 10 preferably has hardness, this
It is favourable, because the lower part 12 of the housing is by power, the housing when tumbler robot 10 recovers free standing condition
The surface with hardness of lower part 12 frictional force is reduced.Subglobular is in bottom and has certain degree of hardness, thus
Frictional force is small, is easy to tumbler to return to origin-location.
In one embodiment of the present utility model, the bottom of the substantially hemispheroidal housing of tumbler robot 10
Points 12 in face of ground are partially configured as planar portions 14, and at least one wheel 13 is installed on the planar portions 14 and causes institute
State it is at least one wheel 13 top on the spherical profile where the substantially hemispheroidal spherical outside surface or included in it is described substantially
In spherical profile where hemispheroidal spherical outside surface.
According to the present embodiment, the lower part 12 of the housing is shaved in face of the part on ground is similar, so described shell
The lower part 12 of body can still regard substantially spheroid form as, due to set planar portions 14, take turns 13 it is easier for installation.In order to
Ensure that tumbler robot 10 voluntarily recovers free standing condition, substantially hemispheroidal spherical outside surface institute can be located at the top of 13 outer rim by taking turns
Spherical profile on or in the spherical profile where the substantially hemispheroidal spherical outside surface.So, tumbler machine
When people 10 voluntarily recovers free standing condition, the contact point on tumbler robot 10 and ground can from tumbler robot 10 its
It is transitioned on his position, such as substantially hemispheroidal sphere on the periphery of wheel 13, so as to which touchdown point is transferred on wheel 13.
In one embodiment of the present utility model, tumbler robot 10 can also include sensor (not shown), match somebody with somebody
It is set to whether detection tumbler robot 10 deviates self-support stable state.Sensor can be gravity sensor, obliquity sensor,
Can also be other sensors.When the tumbler robot 10 is configured to when the sensor senses the tumbler machine
People 10 takes emergency brake when beginning to deviate from self-support stable state by self-support stable state, stop the rotation of the wheel 13.
After tumbler robot 10 deviates self-support stable state, such as fall, under the housing of tumbler robot 10
The wheel 13 or other touchdown points of part 12 leave ground, the lower part 12 of the housing of tumbler robot 10 or the top of housing
Points 11 other positions A contacts with ground, such as the state shown in arrival Fig. 2 (a), now tumbler robot 10 reach to
Left (as shown in the figure) deviates the limiting condition of self-support stable state, the effect of gravity of the tumbler robot 10 suffered by itself
Under start recover free standing condition, i.e., wave to the right, along the arc of the outer surface of the lower part 12 of the housing of tumbler robot 10
One touchdown point A in face is rolled, and until the wheel 13 of tumbler robot 10 contacts ground, now, wheel 13 starts to turn to and fro
Dynamic, the motion for taking turns 13 helps tumbler robot 10 to recover free standing condition.Fig. 2 shows lower parts of the center of gravity O relative to housing
The touchdown point A of the cambered surface of 12 outer surface position view.Because center of gravity is always held at touchdown point A close wheel side,
Under gravity, tumbler robot most rolls towards wheel close to ground direction at last.
It is described during tumbler robot 10 voluntarily stands up in one embodiment of the present utility model
Wheel 13 is reverted to slower speeds come back rotation by the state being braked, i.e. turns again counterclockwise to turn at a slow speed clockwise, circulation
Repeatedly, so as to when wheel 13 just contacts ground during gradually being stood in robot 10, by the rolling of wheel 13 not
The housing of Dao Weng robots 10 correspondingly produces certain lateral movement, so as to robot 10 can voluntarily adjust pose and with
The contact point on ground.In the present embodiment, all wheels of tumbler robot can be rotated voluntarily, i.e., all wheels are all by motor
Driving.
In another embodiment of the present utility model, the only one wheel of tumbler robot 10 is driving wheel, now, not
After Dao Weng robots 10 fall down to the ground, sensor detects that tumbler robot 10 deviates upright stable state, tumbler robot
10 all wheels of braking, subsequent tumbler robot 10 roll initially towards the subaerial direction of wheel under gravity, quilt
The wheel of braking contacts ground first, and final tumbler robot 10 recovers upright stable state.
According to embodiment of the present utility model, the center of gravity of the tumbler robot 10 compares substantially hemisphere in the case of upright
The geometric center of body is close to ground.Herein, when the lower part 12 of the housing is the hemisphere of standard, geometric center is exactly ball
The heart.Center of gravity is more advantageous to tumbler robot 10 closer to ground and recovers free standing condition.Roly-poly principle is：The thing of lightness sensation in the upper and heaviness in the lower
Body is more stable, that is to say, that center of gravity is more low more stable.When tumbler is in balance in upright state, center of gravity and contact point
Distance is minimum, i.e., center of gravity is minimum.Tumbler robot 10 deviate equilbrium position after, center of gravity is always elevated, its gravity with
A torque is just generated between its touchdown point, due to the effect of this torque, tumbler is recovered original state.Cause
This, the balance of this state is stable equilibrium's (as shown in Figure 3).So tumbler waves anyway, always do not fall.
The low object of potential energy is more stable, and object is bound to towards the low state change of potential energy.When tumbler falls down
Wait, due to having concentrated the base of most of center of gravity to be elevated, cause potential energy to increase, so tumbler will reply original position.
For lever principle, when tumbler falls down, the application point of center of gravity is constantly in end, no matter fulcrum where,
Although the arm of force of base is shorter, torque=power × arm of force, tumbler still that torque can be returned to greatly because of base
Origin-location.
Bottom is spherical, and frictional force is small, is easy to tumbler to return to origin-location.
According to embodiment of the present utility model, the upper part 11 of the housing of tumbler robot 10 is configured in tumbler machine
Touchdown point on the spherical profile where the substantially hemispheroidal spherical outside surface or protrudes when device people 10 falls down to the ground at an arbitrary position
In outside the spherical profile.
The upper part 11 of the housing of tumbler robot 10 is configured to continue the lower part 12 of housing so that the top of housing
The outer surface for dividing 11 is the outer section of the substantially hemispheroidal spherical outside surface of the lower part 12 of housing.
In another embodiment of the present utility model, the upper part 11 of the housing of tumbler robot 10 is configured to continue
The lower part 12 of housing, and the outer surface of the upper part 11 of housing causes robot 10 after any angles and positions fall down to the ground
The outer surface of upper part 11 of housing and the contact point on ground are intended to described in lower part 12 in the housing substantially hemisphere
On the spherical outside surface of body or outside spherical outside surface.
In the embodiment shown in Fig. 1, the upper part 11 of the housing of tumbler robot 10 has frustoconical shape.At this
In another embodiment of utility model, the upper part 11 of the housing of tumbler robot 10 has subcylindrical shape.
Motor can also be included according to the tumbler robot 10 of embodiment of the present utility model, to drive at least
The rotation of one wheel.
Processor can also be included according to the tumbler robot 10 of embodiment of the present utility model, for receiving sensor
Sensing signal, and according to the braking and rotation of sensing signal control wheel.For example, detect tumbler machine when receiving sensor
People 10 deviates upright stable state, and processor control is rolled with braked wheel.In one case, the rolling of processor braked wheel,
Until tumbler robot 10 recovers upright stable state.
In one embodiment, tumbler robot 10 is sensed towards recovering the rolling of erectility direction when receiving sensor
Dynamic signal, processor control wheel carry out back rotation.
Although some embodiments of this overall inventional idea are shown and illustrated, those of ordinary skill in the art will manage
Solution, in the case of without departing substantially from the principle of this overall inventional idea and spirit, these embodiments can be made a change, this practicality is new
The scope of type is limited with claim and their equivalent.
Claims (9)
1. a kind of tumbler robot, it is configured to voluntarily recover self-support stable state in the case where falling or being pushed over,
Also, the tumbler robot includes housing and at least one wheel of the lower part positioned at housing so that the tumbler
Robot can move under self-support stable state, wherein the lower part of the housing is configured to substantially hemisphere.
2. tumbler robot as claimed in claim 1, wherein the lower part of the substantially hemispheroidal housing faces ground
Face is partially configured as planar portions, and at least one wheel is installed on the outer rim that the planar portions cause at least one wheel
Top is on the spherical profile where the substantially hemispheroidal spherical outside surface or included in the substantially hemispheroidal spherical outside surface institute
Spherical profile in.
3. tumbler robot as claimed in claim 1, in addition to sensor, whether inclined it is configured to detection tumbler robot
From self-support stable state.
4. tumbler robot as claimed in claim 3, wherein the tumbler robot is configured to work as the sensor sense
Measure when the tumbler robot begins to deviate from self-support stable state by self-support stable state and take emergency brake to stop
State the rotation of at least one wheel.
5. tumbler robot as claimed in claim 1, wherein the center of gravity of the tumbler robot compares in the case of upright
Substantially hemispheroidal geometric center is close to ground.
6. tumbler robot as claimed in claim 1, the upper part of the wherein housing of tumbler robot are configured to not
When Dao Weng robots fall down to the ground at an arbitrary position touchdown point on the spherical profile where the substantially hemispheroidal outer surface or
Protrude from outside the spherical profile.
7. tumbler robot as claimed in claim 6, the upper part of the wherein housing of tumbler robot are configured to continue
The lower part of housing so that the outer surface of the upper part of housing is the circumscribed of the substantially hemispheroidal spherical outside surface of the lower part of housing
Face.
8. tumbler robot as claimed in claim 6, the upper part of the wherein housing of tumbler robot are configured to continue
The lower part of housing, and the outer surface of the upper part of housing causes robot to be fallen down to the ground the upper of back casing in any angles and positions
Partial outer surface and the contact point on ground be intended to described in lower part in housing on substantially hemispheroidal spherical outside surface or
Outside spherical outside surface.
9. at least one wheel of tumbler robot as claimed in claim 1, wherein tumbler robot is driving wheel, can
Drive tumbler movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621345453.9U CN207127898U (en) | 2016-12-08 | 2016-12-08 | Tumbler robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621345453.9U CN207127898U (en) | 2016-12-08 | 2016-12-08 | Tumbler robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207127898U true CN207127898U (en) | 2018-03-23 |
Family
ID=61629880
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621345453.9U Active CN207127898U (en) | 2016-12-08 | 2016-12-08 | Tumbler robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207127898U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584474A (en) * | 2016-12-08 | 2017-04-26 | 同方威视技术股份有限公司 | Tumbler robot |
| CN109940629A (en) * | 2019-03-05 | 2019-06-28 | 国网辽宁省电力有限公司信息通信分公司 | A kind of trackless obstacle detouring intelligent inspection robot |
-
2016
- 2016-12-08 CN CN201621345453.9U patent/CN207127898U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584474A (en) * | 2016-12-08 | 2017-04-26 | 同方威视技术股份有限公司 | Tumbler robot |
| CN106584474B (en) * | 2016-12-08 | 2023-06-06 | 同方威视技术股份有限公司 | Tumbler robot |
| CN109940629A (en) * | 2019-03-05 | 2019-06-28 | 国网辽宁省电力有限公司信息通信分公司 | A kind of trackless obstacle detouring intelligent inspection robot |
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