CN207841314U - Overturning-preventing robot mobile base - Google Patents

Overturning-preventing robot mobile base Download PDF

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Publication number
CN207841314U
CN207841314U CN201820227580.1U CN201820227580U CN207841314U CN 207841314 U CN207841314 U CN 207841314U CN 201820227580 U CN201820227580 U CN 201820227580U CN 207841314 U CN207841314 U CN 207841314U
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CN
China
Prior art keywords
straight line
line motor
annular movement
moving
primary
Prior art date
Application number
CN201820227580.1U
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Chinese (zh)
Inventor
浠e博
代岩
Original Assignee
成都科维思科技有限公司
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Publication date
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Priority to CN201820227580.1U priority Critical patent/CN207841314U/en
Application granted granted Critical
Publication of CN207841314U publication Critical patent/CN207841314U/en

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Abstract

The utility model discloses a kind of overturning-preventing robot mobile base, including base body, annular movement device, fixed column, linear moving apparatus, clump weight and obliquity sensor, horizontal installation cavity is provided in base body;Annular movement device is horizontally set in installation cavity, and is fixedly connected with the medial surface of installation cavity by link;Fixed column is vertically arranged in installation cavity;The outer end of linear moving apparatus is fixedly connected with the moving portion of annular movement device, and the inner end of linear moving apparatus is rotatably connected by shaft and fixed column;Clump weight is fixedly connected with the moving portion of linear moving apparatus;The data output end of obliquity sensor is electrically connected with linear moving apparatus and annular movement device.The utility model detects the inclined degree of robot by obliquity sensor, and the position of clump weight is adjusted by annular movement device and linear moving apparatus, to realize the control to the center of gravity of robot.

Description

Overturning-preventing robot mobile base
Technical field
The utility model is related to robot field more particularly to a kind of overturning-preventing robot mobile bases.
Background technology
Robot is widely used in all trades and professions, while partial robotic needs to have locomotive function, is needed It is moved on the ground, in order to which it realizes the function of itself.Robot at this stage is generally moved by idler wheel, So if uneven situation occurs in ground, robot may be caused to tilt, the center of gravity of robot changes, and may lead Robot is caused to topple over, to influence the normal use of robot.
Utility model content
The purpose of this utility model is that solve the above-mentioned problems and provides a kind of overturning-preventing robot mobile base.
The utility model is achieved through the following technical solutions above-mentioned purpose:
A kind of overturning-preventing robot mobile base, including,
Base body is provided with horizontal installation cavity in the base body;
Annular movement device, the annular movement device are horizontally set in the installation cavity, and by link with The medial surface of the installation cavity is fixedly connected;
Fixed column, the fixed column are vertically arranged in the installation cavity, and the central axes of the fixed column with it is described The central axes of annular movement device overlap;
The moving portion of linear moving apparatus, the outer end of the linear moving apparatus and the annular movement device, which is fixed, to be connected It connects, the inner end of the linear moving apparatus is rotatably connected by shaft and the fixed column;
Clump weight, the clump weight are fixedly connected with the moving portion of the linear moving apparatus;
Obliquity sensor, the obliquity sensor are fixedly connected with the base body, and the number of the obliquity sensor It is electrically connected with the linear moving apparatus and the annular movement device according to output end.
Specifically, the annular movement device includes first straight line motor, and the primary of the first straight line motor is in a ring Distribution, and the primary lateral surface of the first straight line motor is fixedly connected with the installation cavity, the first straight line motor Secondary the primary medial surface in the first straight line motor is set, and moved along the primary annular of the first straight line motor It is dynamic.
Specifically, the linear moving apparatus includes second straight line motor, and the primary of the second straight line motor is linearly The primary outer end of distribution, the second straight line motor is fixedly connected with the moving portion of the annular movement device, and described second The primary inner end of linear motor is rotatably connected by the shaft and the fixed column, and the clump weight is straight with described second The secondary of line motor is fixedly connected.
Preferably, the secondary of the second straight line motor is located at the primary downside of the second straight line motor, described Clump weight is located at the lower section of the second straight line motor.
Specifically, the annular movement device includes endless glide, sliding block and servo motor, the endless glide with it is described The medial surface of installation cavity is fixedly connected, and the sliding block is arranged in the endless glide and is slided along the endless glide, institute It states endless glide upper surface and is provided with groove, the servo motor is fixedly connected with the sliding block, and turn of the servo motor Square output shaft is engaged by gear with the groove of the endless glide.
Specifically, the linear moving apparatus includes fixed link and hydraulic stem, the outer end of the fixed link and the annular The moving portion of mobile device is fixedly connected, and the inner end of the fixed link is rotatably connected with the fixed column, the hydraulic stem water Flat to be fixed in the fixed link, the hydraulic stem is connected to hydraulic pump, and the telescopic end of the hydraulic stem is solid with the clump weight Fixed connection.
The beneficial effects of the utility model are:
The utility model overturning-preventing robot mobile base detects the inclined degree of robot by obliquity sensor, and leads to It crosses annular movement device and linear moving apparatus adjusts the position of clump weight, to realize to the control of the center of gravity of robot, keep away Exempt from it to topple over.
Description of the drawings
Fig. 1 is the front view of overturning-preventing robot described in the utility model mobile base;
Fig. 2 is the vertical view of overturning-preventing robot described in the utility model mobile base.
Specific implementation mode
The utility model is described in further detail below in conjunction with the accompanying drawings:
Embodiment one
As depicted in figs. 1 and 2, a kind of overturning-preventing robot mobile base of the utility model, including base body 1, annular Mobile device, fixed column 7, linear moving apparatus, clump weight 9 and obliquity sensor 11 are provided with horizontal peace in base body 1 Fill cavity 2;Annular movement device is horizontally set in installation cavity 2, and solid by link 4 and the medial surface of installation cavity 2 Fixed connection;Fixed column 7 is vertically arranged in installation cavity 2, and the central axes weight of the central axes of fixed column 7 and annular movement device It closes;The outer end of linear moving apparatus is fixedly connected with the moving portion of annular movement device, and the inner end of linear moving apparatus is by turning Axis 8 is rotatably connected with fixed column 7;Clump weight 9 is fixedly connected with the moving portion of linear moving apparatus;Obliquity sensor 11 with Base body 1 is fixedly connected, and the data output end of obliquity sensor 11 is electrically connected with linear moving apparatus and annular movement device It connects.
Annular movement device includes first straight line motor, and the primary 3 of first straight line motor is distributed in a ring, and first straight line The lateral surface of the primary 3 of motor is fixedly connected with installation cavity 2, and the secondary 5 of first straight line motor is arranged in first straight line motor Primary 3 medial surface, and along 3 annular movement of primary of first straight line motor.
Linear moving apparatus includes second straight line motor, and the primary 6 of second straight line motor is linearly distributed, second straight line electricity The outer end of the primary 6 of machine is fixedly connected with the moving portion of annular movement device, and the inner end of the primary 6 of second straight line motor is by turning Axis 8 is rotatably connected with fixed column 7, and clump weight 9 is fixedly connected with the secondary 10 of second straight line motor, time of second straight line motor Grade 10 is located at the downside of the primary 6 of second straight line motor, and clump weight 9 is located at the lower section of second straight line motor.
11 real-time working of obliquity sensor is detected the state of robot, and when robot tilts, inclination angle passes Tilt signals are transmitted on annular movement device and linear moving apparatus by sensor 11, and the secondary 5 of first straight line motor is along first The primary 3 of linear motor moves, and adjusts the position of second straight line motor, second straight line motor herein along second straight line motor Primary 6 moves, and adjusts position of the clump weight 9 apart from robot central axes and is kept away so as to realize to the adjusting of robot center of gravity Exempt from robot to topple over.
Wherein, the control system of use can be realized with common PLC plates programming, and program is common based on sensing The motor of device controls program, needs not move through creative work and can be obtained, therefore is not described.
Embodiment two
A kind of overturning-preventing robot mobile base of the utility model, including base body 1, annular movement device, fixed column 7, linear moving apparatus, clump weight 9 and obliquity sensor 11 are provided with horizontal installation cavity 2 in base body 1;Annular is moved Dynamic device is horizontally set in installation cavity 2, and is fixedly connected with the medial surface of installation cavity 2 by link 4;Fixed column 7 It is vertically arranged in installation cavity 2, and the central axes of fixed column 7 are overlapped with the central axes of annular movement device;Linear movement dress The outer end set is fixedly connected with the moving portion of annular movement device, and the inner end of linear moving apparatus passes through shaft 8 and fixed column 7 It is rotatably connected;Clump weight 9 is fixedly connected with the moving portion of linear moving apparatus;Obliquity sensor 11 is fixed with base body 1 Connection, and the data output end of obliquity sensor 11 is electrically connected with linear moving apparatus and annular movement device.
Annular movement device includes endless glide, sliding block and servo motor, and the medial surface of endless glide and installation cavity 2 is solid Fixed connection, sliding block are arranged in endless glide and are slided along endless glide, and endless glide upper surface is provided with groove, servo motor It is fixedly connected with a slide block, and the torque output shaft of servo motor is engaged by gear with the groove of endless glide.
Linear moving apparatus includes fixed link and hydraulic stem, and the outer end of fixed link and the moving portion of annular movement device are fixed Connection, inner end and the fixed column 7 of fixed link are rotatably connected, and hydraulic stem is horizontally fixed in fixed link, hydraulic stem and hydraulic pump Connection, the telescopic end of hydraulic stem are fixedly connected with clump weight 9.
The difference between this embodiment and the first embodiment lies in by the concrete structure of annular movement device and linear moving apparatus into Row is replaced, and operation principle is identical as the operation principle of embodiment one, and the movement of fixed link is realized by servo motor and gear, The movement of clump weight 9 is realized by hydraulic stem.To realize the control to center of gravity.
Embodiment three
A kind of overturning-preventing robot mobile base of the utility model, including base body 1, annular movement device, fixed column 7, linear moving apparatus, clump weight 9 and obliquity sensor 11 are provided with horizontal installation cavity 2 in base body 1;Annular is moved Dynamic device is horizontally set in installation cavity 2, and is fixedly connected with the medial surface of installation cavity 2 by link 4;Fixed column 7 It is vertically arranged in installation cavity 2, and the central axes of fixed column 7 are overlapped with the central axes of annular movement device;Linear movement dress The outer end set is fixedly connected with the moving portion of annular movement device, and the inner end of linear moving apparatus passes through shaft 8 and fixed column 7 It is rotatably connected;Clump weight 9 is fixedly connected with the moving portion of linear moving apparatus;Obliquity sensor 11 is fixed with base body 1 Connection, and the data output end of obliquity sensor 11 is electrically connected with linear moving apparatus and annular movement device.
Annular movement device includes first straight line motor, and the primary 3 of first straight line motor is distributed in a ring, and first straight line The lateral surface of the primary 3 of motor is fixedly connected with installation cavity 2, and the secondary 5 of first straight line motor is arranged in first straight line motor Primary 3 medial surface, and along 3 annular movement of primary of first straight line motor.
Linear moving apparatus includes fixed link and hydraulic stem, and the outer end of fixed link and the moving portion of annular movement device are fixed Connection, inner end and the fixed column 7 of fixed link are rotatably connected, and hydraulic stem is horizontally fixed in fixed link, hydraulic stem and hydraulic pump Connection, the telescopic end of hydraulic stem are fixedly connected with clump weight 9.
Example IV
A kind of overturning-preventing robot mobile base of the utility model, including base body 1, annular movement device, fixed column 7, linear moving apparatus, clump weight 9 and obliquity sensor 11 are provided with horizontal installation cavity 2 in base body 1;Annular is moved Dynamic device is horizontally set in installation cavity 2, and is fixedly connected with the medial surface of installation cavity 2 by link 4;Fixed column 7 It is vertically arranged in installation cavity 2, and the central axes of fixed column 7 are overlapped with the central axes of annular movement device;Linear movement dress The outer end set is fixedly connected with the moving portion of annular movement device, and the inner end of linear moving apparatus passes through shaft 8 and fixed column 7 It is rotatably connected;Clump weight 9 is fixedly connected with the moving portion of linear moving apparatus;Obliquity sensor 11 is fixed with base body 1 Connection, and the data output end of obliquity sensor 11 is electrically connected with linear moving apparatus and annular movement device.
Annular movement device includes endless glide, sliding block and servo motor, and the medial surface of endless glide and installation cavity 2 is solid Fixed connection, sliding block are arranged in endless glide and are slided along endless glide, and endless glide upper surface is provided with groove, servo motor It is fixedly connected with a slide block, and the torque output shaft of servo motor is engaged by gear with the groove of endless glide.
Linear moving apparatus includes fixed link and hydraulic stem, and the outer end of fixed link and the moving portion of annular movement device are fixed Connection, inner end and the fixed column 7 of fixed link are rotatably connected, and hydraulic stem is horizontally fixed in fixed link, hydraulic stem and hydraulic pump Connection, the telescopic end of hydraulic stem are fixedly connected with clump weight 9.
Embodiment three and example IV are the combination of annular movement device and linear moving apparatus, operation principle and implementation Example one is identical.
The technical solution of the utility model is not limited to the limitation of above-mentioned specific embodiment, every skill according to the present utility model The technology deformation that art scheme is made, each falls within the scope of protection of the utility model.

Claims (6)

1. a kind of overturning-preventing robot mobile base, it is characterised in that:Including,
Base body is provided with horizontal installation cavity in the base body;
Annular movement device, the annular movement device are horizontally set in the installation cavity, and by link with it is described The medial surface of installation cavity is fixedly connected;
Fixed column, the fixed column are vertically arranged in the installation cavity, and the central axes of the fixed column and the annular The central axes of mobile device overlap;
Linear moving apparatus, the outer end of the linear moving apparatus are fixedly connected with the moving portion of the annular movement device, institute State the inner end of linear moving apparatus being rotatably connected by shaft and the fixed column;
Clump weight, the clump weight are fixedly connected with the moving portion of the linear moving apparatus;
Obliquity sensor, the obliquity sensor are fixedly connected with the base body, and the data of the obliquity sensor are defeated Outlet is electrically connected with the linear moving apparatus and the annular movement device.
2. overturning-preventing robot according to claim 1 mobile base, it is characterised in that:The annular movement device includes The primary of first straight line motor, the first straight line motor is distributed in a ring, and the primary outside of the first straight line motor Face is fixedly connected with the installation cavity, and the secondary of the first straight line motor is arranged in the primary of the first straight line motor Medial surface, and along the primary annular movement of the first straight line motor.
3. overturning-preventing robot according to claim 1 mobile base, it is characterised in that:The linear moving apparatus includes Second straight line motor, the primary linearly distribution of the second straight line motor, the primary outer end of the second straight line motor with The moving portion of the annular movement device is fixedly connected, and the primary inner end of the second straight line motor passes through the shaft and institute It states fixed column to be rotatably connected, the clump weight is fixedly connected with the secondary of the second straight line motor.
4. overturning-preventing robot according to claim 3 mobile base, it is characterised in that:Time of the second straight line motor Grade is located at the primary downside of the second straight line motor, and the clump weight is located at the lower section of the second straight line motor.
5. overturning-preventing robot according to claim 1 mobile base, it is characterised in that:The annular movement device includes Endless glide, sliding block and servo motor, the endless glide are fixedly connected with the medial surface of the installation cavity, and the sliding block is set It sets in the endless glide and is slided along the endless glide, the endless glide upper surface is provided with groove, the servo Motor is fixedly connected with the sliding block, and the torque output shaft of the servo motor passes through the groove of gear and the endless glide Engagement.
6. overturning-preventing robot according to claim 1 mobile base, it is characterised in that:The linear moving apparatus includes Fixed link and hydraulic stem, the outer end of the fixed link are fixedly connected with the moving portion of the annular movement device, the fixed link Inner end be rotatably connected with the fixed column, the hydraulic stem is horizontally fixed in the fixed link, the hydraulic stem and liquid Press pump is connected to, and the telescopic end of the hydraulic stem is fixedly connected with the clump weight.
CN201820227580.1U 2018-02-08 2018-02-08 Overturning-preventing robot mobile base CN207841314U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201820227580.1U CN207841314U (en) 2018-02-08 2018-02-08 Overturning-preventing robot mobile base

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201820227580.1U CN207841314U (en) 2018-02-08 2018-02-08 Overturning-preventing robot mobile base

Publications (1)

Publication Number Publication Date
CN207841314U true CN207841314U (en) 2018-09-11

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Application Number Title Priority Date Filing Date
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109235996A (en) * 2018-10-09 2019-01-18 山东宾利环保科技有限公司 A kind of gravity balance device of Vertical Circulating stereo garage
CN109318971A (en) * 2018-10-18 2019-02-12 滁州市云米工业设计有限公司 A kind of two-wheel car regulating mechanism system based on optoelectronic distance monitoring
CN110733669A (en) * 2019-10-24 2020-01-31 北京空间技术研制试验中心 Spacecraft re-entry capsule mass center dynamic adjusting device
CN111494845A (en) * 2019-01-31 2020-08-07 西门子股份公司 Fire-fighting robot and control method thereof

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109235996A (en) * 2018-10-09 2019-01-18 山东宾利环保科技有限公司 A kind of gravity balance device of Vertical Circulating stereo garage
CN109235996B (en) * 2018-10-09 2019-09-06 山东宾利环保科技有限公司 A kind of gravity balance device of Vertical Circulating stereo garage
CN109318971A (en) * 2018-10-18 2019-02-12 滁州市云米工业设计有限公司 A kind of two-wheel car regulating mechanism system based on optoelectronic distance monitoring
CN111494845A (en) * 2019-01-31 2020-08-07 西门子股份公司 Fire-fighting robot and control method thereof
CN110733669A (en) * 2019-10-24 2020-01-31 北京空间技术研制试验中心 Spacecraft re-entry capsule mass center dynamic adjusting device

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CF01 Termination of patent right due to non-payment of annual fee
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Granted publication date: 20180911

Termination date: 20200208