CN207841314U - Overturning-preventing robot mobile base - Google Patents
Overturning-preventing robot mobile base Download PDFInfo
- 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
- Authority
- CN
- China
- Prior art keywords
- straight line
- fixedly connected
- line motor
- movement device
- annular movement
- 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.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
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
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.
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 |
Family
ID=63412139
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820227580.1U Expired - Fee Related CN207841314U (en) | 2018-02-08 | 2018-02-08 | Overturning-preventing robot mobile base |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207841314U (en) |
Cited By (11)
| 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 |
| CN109571547A (en) * | 2018-11-26 | 2019-04-05 | 墨宝股份有限公司 | A kind of overturning-preventing intelligent robot |
| 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 |
| CN111979700A (en) * | 2020-08-17 | 2020-11-24 | 广东电网有限责任公司 | Drum balancing device and washing machine |
| CN113096563A (en) * | 2021-06-08 | 2021-07-09 | 南通人民彩印有限公司 | Wall huge advertisement is with puting up device |
| CN113912180A (en) * | 2021-11-01 | 2022-01-11 | 上海心缘环境工程有限公司 | Self-lifting three-phase separator and floating gas holder integrated device |
| CN114030002A (en) * | 2021-12-10 | 2022-02-11 | 国网福建省电力有限公司宁德供电公司 | Dynamic gravity center adjusting mechanism of GIS inspection robot |
| CN115140480A (en) * | 2022-08-05 | 2022-10-04 | 杭州智灵捷机器人有限公司 | Prevent robot for storage that emptys |
| CN115959486A (en) * | 2023-01-03 | 2023-04-14 | 上海图灵智造机器人有限公司 | Container stacking robot and using method |
-
2018
- 2018-02-08 CN CN201820227580.1U patent/CN207841314U/en not_active Expired - Fee Related
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| CN109571547A (en) * | 2018-11-26 | 2019-04-05 | 墨宝股份有限公司 | A kind of overturning-preventing intelligent robot |
| CN111494845B (en) * | 2019-01-31 | 2021-12-14 | 西门子股份公司 | Fire-fighting robot and control method thereof |
| 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 |
| CN110733669B (en) * | 2019-10-24 | 2021-06-18 | 北京空间技术研制试验中心 | Spacecraft re-entry capsule mass center dynamic adjusting device |
| CN111979700A (en) * | 2020-08-17 | 2020-11-24 | 广东电网有限责任公司 | Drum balancing device and washing machine |
| CN113096563A (en) * | 2021-06-08 | 2021-07-09 | 南通人民彩印有限公司 | Wall huge advertisement is with puting up device |
| CN113096563B (en) * | 2021-06-08 | 2021-09-07 | 南通人民彩印有限公司 | Wall huge advertisement is with puting up device |
| CN113912180A (en) * | 2021-11-01 | 2022-01-11 | 上海心缘环境工程有限公司 | Self-lifting three-phase separator and floating gas holder integrated device |
| CN113912180B (en) * | 2021-11-01 | 2023-07-18 | 上海心缘环境工程有限公司 | Self-elevating three-phase separator and floating gas holder integrated device |
| CN114030002A (en) * | 2021-12-10 | 2022-02-11 | 国网福建省电力有限公司宁德供电公司 | Dynamic gravity center adjusting mechanism of GIS inspection robot |
| CN114030002B (en) * | 2021-12-10 | 2023-09-22 | 国网福建省电力有限公司宁德供电公司 | Dynamic gravity center adjusting mechanism of GIS inspection robot |
| CN115140480A (en) * | 2022-08-05 | 2022-10-04 | 杭州智灵捷机器人有限公司 | Prevent robot for storage that emptys |
| CN115959486A (en) * | 2023-01-03 | 2023-04-14 | 上海图灵智造机器人有限公司 | Container stacking robot and using method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207841314U (en) | Overturning-preventing robot mobile base | |
| CN205892648U (en) | Jacking rotary machine | |
| CN209774711U (en) | Anti-overturning counterweight device of mobile 3D printing robot | |
| CN106379409A (en) | Angle-controllable power differential omnidirectional wheel, and control method and omnidirectional moving platform thereof | |
| WO2006100166A1 (en) | Walking device for moving an object over ground | |
| CN206357221U (en) | A kind of workshop transfer robot | |
| CN107226146B (en) | A kind of adjustable suspension fork mechanism of three axis for robot | |
| CN202628112U (en) | Mixed type earth pressure balance shield erector with large diameter | |
| CN205526602U (en) | A rotatory turn -down rig for steel pipe | |
| CN107161665A (en) | workpiece feeding device | |
| CN204938803U (en) | A kind of hydraulic crawler crane supporting leg leveling device | |
| CN107554227A (en) | Mobile robot's height adaptive chassis and adaptive approach | |
| CN109017196B (en) | Automatic leveling device for vehicle body | |
| CN205328081U (en) | High stability lift conveyer | |
| CN103301968A (en) | Angle adjusting device for rotary radial sprayer | |
| CN104742679A (en) | Automotive chassis for self-balance forest | |
| CN205694490U (en) | The dynamic counter weight device of a kind of high branch trimming machinery | |
| CN209395913U (en) | Climbing robot | |
| CN106006411A (en) | Telescopic boom, adjusting device for tail upper sliding block of telescopic boom and automobile crane | |
| CN205668193U (en) | A kind of Novel steel ball lapping device | |
| CN202618808U (en) | Office platform | |
| CN205952905U (en) | Transmission device of thrust wheel | |
| CN208557476U (en) | A kind of novel ball coordinate robots | |
| CN204247541U (en) | A kind of adjustable curved steel stopper | |
| CN207709757U (en) | A kind of waterproof heat resistant type industrial robot |
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: 20180911 Termination date: 20200208 |