CN207670570U - A kind of balanced robot - Google Patents
A kind of balanced robot Download PDFInfo
- Publication number
- CN207670570U CN207670570U CN201721837819.9U CN201721837819U CN207670570U CN 207670570 U CN207670570 U CN 207670570U CN 201721837819 U CN201721837819 U CN 201721837819U CN 207670570 U CN207670570 U CN 207670570U
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- CN
- China
- Prior art keywords
- planetary gear
- speed planetary
- gear motor
- wheel
- motor
- 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.)
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Abstract
The utility model discloses a kind of balanced robot, structure includes：First high-speed planetary gear motor,Stripping attachment,Microcontroller main control box,Replaceable rechargeable battery,Assembly platform,Fixed copper post,I/O interface case,Wheel,Second high-speed planetary gear motor,Stripping attachment is installed on side in wheel,It is interlocked with wheel,Wheel is equipped with left and right two,Left-hand wheel medial surface is equipped with the first high-speed planetary gear motor,Right-hand wheel medial surface is equipped with the second high-speed planetary gear motor,First high-speed planetary gear motor is conllinear with the second high-speed planetary gear electrical axis,The trolley uses high-speed planetary gear motor,And two kinds of drive mode high current profession racing drive modes can be selected or stablize skill drive mode,Motor drive mode is driven using left and right motor,And the disassembly mechanism that equipment is equipped with by equipment,Can reach avoid break down need replacing when,Dismantle inconvenient problem,More it is easy installation and dismounting,Facilitate daily repair and maintenance.
Description
Technical field
The utility model is a kind of balanced robot, belongs to balanced robot's apparatus field.
Background technology
Balanced robot can coordinate intelligent regulating device to keep robot almost Perfect by built-in multiple inductors
Equilibrium state, or even can be motionless when totally stationary, preposition ultrasonic sensing device can also allow machine
People is automatically stopped when encountering the barrier that can not go beyond, and avoids the generation of accident.
Prior art discloses application No. is a kind of 201220456067.2 self-balance robots, including chassis, wheel
And motor, individual motor is installed respectively in chassis both sides, individual motor is connect with wheel；In chassis center position on the lower side
Acceleration transducer and two attitude gyroscopes are installed；Display module, inside installation microprocessor are installed in chassis surface；It is described
The output end of microprocessor is connect with motor-drive circuit and display module, and motor-drive circuit is connect with individual motor；Micro-
The input terminal of processor is connect with acceleration transducer, attitude gyroscope and signal processing circuit respectively, signal processing circuit with
Encoder connects, and robot bottom end wheel can not be dismantled when prior art use, break down need replacing when, dismounting not side
Just, certain trouble is brought.
Utility model content
In view of the deficienciess of the prior art, the utility model aim is to provide a kind of balanced robot, it is existing to solve
Robot bottom end wheel can not be dismantled when technology use, break down need replacing when, dismounting is inconvenient, brings certain trouble
The problem of.
To achieve the goals above, the utility model is to realize by the following technical solutions：A kind of balanced robot,
Its structure includes：First high-speed planetary gear motor, stripping attachment, microcontroller main control box, replaceable rechargeable battery, assembling are flat
Platform, fixed copper post, I/O interface case, wheel, the second high-speed planetary gear motor, the stripping attachment is installed on side in wheel, with wheel
Son is interlocked, and the wheel is equipped with left and right two, and left-hand wheel medial surface is equipped with the first high-speed planetary gear motor, right-hand wheel
Medial surface is equipped with the second high-speed planetary gear motor, the first high-speed planetary gear motor and the second high-speed planetary gear motor
Axle center is conllinear, coordinates with the second high-speed planetary gear machine air gap, and assembling is equipped with above the first high-speed planetary gear motor
Platform, with assembly platform interlocking, the assembly platform is equipped with 3, and four direction is connected by fixed copper post, with fixed copper post
Interlocking, the first level top are equipped with microcontroller main control box, replaceable rechargeable battery, the microcontroller are equipped with above the second level
It is equipped with I/O interface case on the right side of main control box, is electrically connected with I/O interface case, the stripping attachment includes spring button head, cross bar, card
Slot, little spring, support slot, mandril, kelly, link block, secondary spring group, shaft, the spring button head are installed on a shaft left side
Side is welded with shaft, and shaft right side vertical angle is equipped with cross bar, and with cross bar snapping, the cross bar right side is equipped with card slot,
With card slot clearance fit, the card slot right side is equipped with secondary spring group, with secondary spring group interlocking, the secondary spring group right side
Equipped with link block, coordinate with link block transition, mandril is equipped on the right side of the link block, welded with mandril, is set on the right side of the mandril
There is little spring, it is orthogonal with little spring, it is equipped with support slot on the inside of the little spring, is socketed with support slot, outside the little spring
Side both ends are equipped with kelly, are welded with kelly.
Further, the assembly platform is cuboid.
Further, the fixed copper post is cylinder.
Further, the first high-speed planetary gear motor, and two kinds of drive mode high current profession racings can be selected
Drive mode stablizes skill drive mode.
Further, it is equipped with microcontroller main control box above the first high-speed planetary gear motor.
Advantageous effect
When a kind of balanced robot of the utility model works, has abundant enhancing propagation energy by assembly platform
Power, platform are made of the quincunx hole that is mounted equidistant, can be actually needed according to user into line sensor, mechanical arm overlap joint and set
Meter, and facilitates the installation of control panel and lithium battery, and replaceable rechargeable battery powered mode can be selected using rechargeable battery powered
MAH Ni-MH batteries or mAH power batteries are powered use, the first high-speed planetary gear motor and the second high-speed planetary gear electricity
Machine provides different motor patterns, and wheel is driven to be moved for robot, and fixed copper post plays a supportive role, and I/O interface case is for connecing
Enter the areas steering engine IO, pluggable double drive is easy to repair and replaces, and user is carried out by remote control control microcontroller main control box
Work, internal arithmetic structure provides balance for it with gyroscopic equilibrium instrument and supports, when needing to dismantle wheel, torsional spring button head
Drive shaft to card slot at, and press squeeze spring button head, so that cross bar is moved right along card slot, squeeze secondary spring group to
Right displacement, and then be press-connected block and mandril is driven to jack up the little spring on support slot to the right, so that the outside both sides of kelly is stretched out, realizes
Function is lockked in installation, which uses high-speed planetary gear motor, and two kinds of drive mode high current profession racings can be selected
Drive mode stablizes skill drive mode, and motor drive mode is using the driving of left and right motor, and equipment is equipped with by equipment
Disassembly mechanism, can reach avoid break down need replacing when, dismantle inconvenient problem, be more easy installation and tear open
It unloads, facilitates daily repair and maintenance.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other spies of the utility model
Sign, objects and advantages will become more apparent upon：
Fig. 1 is a kind of structural schematic diagram of balanced robot of the utility model.
Fig. 2 is a kind of stripping attachment structural schematic diagram of the utility model.
Fig. 3 is that structural schematic diagram is lockked in a kind of stripping attachment installation of the utility model.
In figure：First high-speed planetary gear motor -1, stripping attachment -2, microcontroller main control box -3, replaceable rechargeable battery -
4, assembly platform -5, fixed copper post -6, I/O interface case -7, wheel -8, the second high-speed planetary gear motor -9, spring button head -
201, cross bar -202, card slot -203, little spring -204, support slot -205, mandril -206, kelly -207, link block -208, auxiliary
Groups of springs -209, shaft -210.
Specific implementation mode
To make the technical means, creative features, achievement of purpose, and effectiveness of the utility model be easy to understand, below
In conjunction with specific implementation mode, the utility model is expanded on further.
- Fig. 3 is please referred to Fig.1, the utility model provides a kind of balanced robot：Its structure includes：Kind balanced robot,
Structure includes：First high-speed planetary gear motor 1, stripping attachment 2, microcontroller main control box 3, replaceable rechargeable battery 4, assembling are flat
Platform 5, fixed copper post 6, I/O interface case 7, wheel 8, the second high-speed planetary gear motor 9, the stripping attachment 2 are installed in wheel 8
Side is interlocked with wheel 8, and the wheel 8 is equipped with left and right two, and left-hand wheel medial surface is equipped with the first high-speed planetary gear motor
1, right-hand wheel medial surface is equipped with the second high-speed planetary gear motor 9,1 and second high speed of the first high-speed planetary gear motor
9 axle center of planetary gear motor is conllinear, with 9 clearance fit of the second high-speed planetary gear motor, the first high-speed planetary gear electricity
1 top of machine is equipped with assembly platform 5, and with 5 interlocking of assembly platform, the assembly platform 5 is equipped with 3, and four direction passes through fixed copper
Column 6 is connected, and with 6 interlocking of fixed copper post, the first level top is equipped with microcontroller main control box 3, and being equipped with above the second level can
Rechargeable battery 4 is replaced, 3 right side of the microcontroller main control box is equipped with I/O interface case 7, is electrically connected with I/O interface case 7, the dismounting
Device 2 includes that spring button head 201, card slot 203, little spring 204, support slot 205, mandril 206, kelly 207, connects cross bar 202
Block 208, secondary spring group 209, shaft 210 are connect, the spring button head 201 is installed on 210 left side of shaft, is welded with shaft 210
It connects, 210 right side vertical angle of the shaft is equipped with cross bar 202, and with 202 snapping of cross bar, 202 right side of the cross bar is equipped with card slot
203, with 203 clearance fit of card slot, 203 right side of the card slot is equipped with secondary spring group 209, with 209 interlocking of secondary spring group, institute
It states 209 right side of secondary spring group and is equipped with link block 208, coordinate with 208 transition of link block, 208 right side of the link block is equipped with top
Bar 206 is welded with mandril 206, and 206 right side of the mandril is equipped with little spring 204, the small bullet orthogonal with little spring 204
204 inside of spring is equipped with support slot 205, is socketed with support slot 205,204 outside both ends of the little spring are equipped with kelly 207, with card
Bar 207 welds, and the assembly platform 5 is cuboid, and the fixed copper post 6 is cylinder, the first high-speed planetary gear electricity
Machine 1, and two kinds of drive mode high current profession racing drive modes can be selected or stablize skill drive mode, first high speed
1 top of planetary gear motor is equipped with microcontroller main control box 3.
User is carrying out a kind of balancing machine man-hour using this equipment, has abundant enhancing by assembly platform 5
Extended capability, platform are made of the quincunx hole that is mounted equidistant, and the overlap joint into line sensor, mechanical arm can be actually needed according to user
And design, and facilitate the installation of control panel and lithium battery, 4 power supply mode of replaceable rechargeable battery using rechargeable battery powered,
400mAH Ni-MH batteries can be selected or 1600mAH power batteries are powered use, the first high-speed planetary gear motor 1 and second
High-speed planetary gear motor 9 provides different motor patterns, and wheel 8 is driven to be moved for robot, and fixed copper post 6 plays support and makees
With I/O interface case 7 is for accessing the areas steering engine IO, and pluggable double drive is easy to repair and replaces, and user passes through remote control control
Microcontroller main control box 3 works, and internal arithmetic structure provides balance for it with gyroscopic equilibrium instrument and supports, is needing to dismantle wheel
The period of the day from 11 p.m. to 1 a.m, torsional spring button head 201 drive at shaft 210 to card slot 203, and press and squeeze spring button head 201, make cross bar
202 move right along card slot 203, squeeze 209 displacement to the right of secondary spring group, and then are press-connected block 208 and drive mandril 206
The little spring 204 on support slot 205 is jacked up to the right, 207 outside both sides of kelly is made to stretch out, and realizes that function is lockked in installation.
Stripping attachment 2 described in the utility model, relative to traditional common dismounting utensil, by newly-increased spring button head 201,
Cross bar 202, card slot 203, little spring 204, support slot 205, mandril 206, kelly 207, link block 208, secondary spring group 209,
The disassembly mechanism of the equal components composition of shaft 210, keeps equipment more convenient to install and maintenance.
The utility model solves the problems, such as when being prior art use, and robot bottom end wheel can not be dismantled, and break down
When needing replacing, dismounting is inconvenient, and centainly troublesome problem, the utility model is brought to be combined with each other by above-mentioned component, should
Trolley uses high-speed planetary gear motor, and two kinds of drive mode high current profession racing drive modes can be selected or stablize skill
Skilful drive mode, motor drive mode is driven using left and right motor, and the disassembly mechanism that equipment is equipped with by equipment, can be reached
Avoid break down need replacing when, dismantle inconvenient problem, be more easy installation and dismounting, facilitate daily repair
With maintenance.
The advantages of basic principles and main features and the utility model of the utility model have been shown and described above, for
For those skilled in the art, it is clear that the present invention is not limited to the details of the above exemplary embodiments, and without departing substantially from this
In the case of the spirit or essential attributes of utility model, the utility model can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the utility model is by institute
Attached claim rather than above description limit, it is intended that will fall within the meaning and scope of the equivalent requirements of the claims
All changes are embraced therein.Any reference numeral in claim should not be considered as to the involved right of limitation
It is required that.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (5)
1. a kind of balanced robot, structure include：First high-speed planetary gear motor (1), stripping attachment (2), microcontroller master control
It is case (3) processed, replaceable rechargeable battery (4), assembly platform (5), fixed copper post (6), I/O interface case (7), wheel (8), second high
Speed planetary gear motor (9), the stripping attachment (2) are installed on side in wheel (8), are interlocked with wheel (8), the wheel (8)
Equipped with left and right two, left-hand wheel medial surface is equipped with the first high-speed planetary gear motor (1), and right-hand wheel medial surface is equipped with second
High-speed planetary gear motor (9), the first high-speed planetary gear motor (1) and second high-speed planetary gear motor (9) axle center
Collinearly, with second high-speed planetary gear motor (9) clearance fit, it is characterised in that：
Assembly platform (5) is equipped with above the first high-speed planetary gear motor (1), with assembly platform (5) interlocking, the assembling
Platform (5) is equipped with 3, and four direction is connected by fixed copper post (6), and with fixed copper post (6) interlocking, the first level top is set
There is microcontroller main control box (3), replaceable rechargeable battery (4) is equipped with above the second level, the microcontroller main control box (3) is right
Side is equipped with I/O interface case (7), is electrically connected with I/O interface case (7)；
The stripping attachment (2) includes spring button head (201), cross bar (202), card slot (203), little spring (204), support slot
(205), mandril (206), kelly (207), link block (208), secondary spring group (209), shaft (210), the spring button
Head (201) is installed on the left of shaft (210), is welded with shaft (210), and shaft (210) right side vertical angle is equipped with cross
Bar (202), with cross bar (202) snapping, cross bar (202) right side is equipped with card slot (203), with card slot (203) clearance fit, institute
It states and is equipped with secondary spring group (209) on the right side of card slot (203), with secondary spring group (209) interlocking, the secondary spring group (209)
Right side is equipped with link block (208), coordinates with link block (208) transition, and mandril (206) is equipped on the right side of the link block (208), with
Mandril (206) welds, and little spring (204), the small bullet orthogonal with little spring (204) are equipped on the right side of the mandril (206)
It is equipped with support slot (205) on the inside of spring (204), is socketed with support slot (205), both ends are equipped with kelly on the outside of the little spring (204)
(207), it is welded with kelly (207).
2. a kind of balanced robot according to claim 1, it is characterised in that：The assembly platform (5) is cuboid.
3. a kind of balanced robot according to claim 1, it is characterised in that：The fixed copper post (6) is cylinder.
4. a kind of balanced robot according to claim 1, it is characterised in that：First high-speed planetary gear motor (1), and
Two kinds of drive mode high current profession racing drive modes can be selected or stablize skill drive mode.
5. a kind of balanced robot according to claim 1, it is characterised in that：The first high-speed planetary gear motor
(1) top is equipped with microcontroller main control box (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721837819.9U CN207670570U (en) | 2017-12-25 | 2017-12-25 | A kind of balanced robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721837819.9U CN207670570U (en) | 2017-12-25 | 2017-12-25 | A kind of balanced robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207670570U true CN207670570U (en) | 2018-07-31 |
Family
ID=62970260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721837819.9U Expired - Fee Related CN207670570U (en) | 2017-12-25 | 2017-12-25 | A kind of balanced robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207670570U (en) |
-
2017
- 2017-12-25 CN CN201721837819.9U patent/CN207670570U/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 |
Granted publication date: 20180731 Termination date: 20201225 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |