CN208179509U - A kind of tumbler robot base with expanding pulley - Google Patents
A kind of tumbler robot base with expanding pulley Download PDFInfo
- Publication number
- CN208179509U CN208179509U CN201820319290.XU CN201820319290U CN208179509U CN 208179509 U CN208179509 U CN 208179509U CN 201820319290 U CN201820319290 U CN 201820319290U CN 208179509 U CN208179509 U CN 208179509U
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- China
- Prior art keywords
- hemispherical shell
- wheel
- robot base
- expanding pulley
- counter weight
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Abstract
The utility model discloses a kind of tumbler robot base with expanding pulley, belongs to robotic technology field.Include the fixed device of hemispherical shell, counter weight device, roller devices and robot；Counter weight device is located in hemispherical shell body, it is fixedly mounted on the bottom of hemispherical shell, have a cylindrical recesses inside counter weight device, the bottoms of the cylindrical recesses there are three respectively to left and right, the columnar hole of front direction, and there is the hole for extending downwardly and penetrating hemispherical shell in the end of columnar hole；The roller devices are located in the hole of cylindrical recesses and cylindrical recesses bottom, and the fixed device of robot is located at the upper end of hemispherical shell, are detachably connected with hemispherical shell.Tumbler robot base provided by the utility model with expanding pulley makes robot restore self-support stable state rapidly when falling or being pulled to, and improves the adaptability of ordinary robot.
Description
Technical field
The utility model relates to a kind of tumbler robot base with expanding pulley, belongs to robotic technology field.
Background technique
The shortcomings that Ordinary Work robot of autonomous is mostly wheeled construction at present, this kind of robot be after falling not
Self-support stable state can independently be restored, this limits the application of ordinary robot to a certain extent.
Utility model content
A kind of tumbler robot base with expanding pulley includes hemispherical shell 1, counter weight device 2, roller devices and machine
Device people fixes device；
The counter weight device 2 is located in hemispherical shell 1, is fixedly mounted on the bottom of hemispherical shell 1, described with refitting
Setting inside 2 has a cylindrical recesses 21, the bottoms of the cylindrical recesses 21 there are three respectively to left and right, the columnar hole of front direction, and
There is the hole for extending downwardly and penetrating hemispherical shell (1) in the end of columnar hole；
The roller devices are located in the hole of 21 bottom of cylindrical recesses 21 and groove, comprising front driving wheel 4, left rear wheel 5,
Off hind wheel 6, spring 31, cam 7, obliquity sensor 8, processor 9 and driving motor 10, the front driving wheel 4 and left rear wheel 5,
Off hind wheel 6 is connected by bearing connecting rod 3, and the front driving wheel 4 and left rear wheel 5, off hind wheel 6 are located in a planar delta；
The cam 7 is located at the top of bearing connecting rod 3；The cam 7 connects driving motor, and the driving motor connects processor,
Processor connects obliquity sensor；
The fixed device of the robot is located at the upper end of hemispherical shell 1, is detachably connected with hemispherical shell 1.
In a kind of embodiment of the utility model, the front driving wheel 4, left rear wheel 5 are connected with the bearing of off hind wheel 6
Bar 3 is located in the hole of 21 bottom of cylindrical recesses.
In a kind of embodiment of the utility model, cam 7, obliquity sensor 7, the processor 9 of the roller devices
It is located in cylindrical recesses 21 with driving motor 10.
In a kind of embodiment of the utility model, card slot 11 is contained in 1 top edge of hemispherical shell；The machine
The fixed device of people includes retainer plate 14, has fixture block corresponding with the card slot 11 on hemispherical shell 1 outside the retainer plate 14
13, the retainer plate 14 contains multiple rubber rings 15.
In a kind of embodiment of the utility model, the card slot 11, fixture block 13 have multiple.
In a kind of embodiment of the utility model, the card slot 11, fixture block 13 have 8.
In a kind of embodiment of the utility model, snap connection that mouth is openable to be closed on the retainer plate 14,
The retainer plate 14 is detachably connected with rubber ring 15, and the number and thickness of the rubber ring 15 according to institute's mounting robot and are somebody's turn to do
Depending on the size of pedestal.
In a kind of embodiment of the utility model, the counter weight device 2 is the short flat column of a metal, the column
The imperfect cylindrical body that system is formed to clip a part later by the plane that one is parallel to the cylindrical body symmetry axis.
In a kind of embodiment of the utility model, there is the positioning being adapted with counter weight device in the inside of hemispherical shell
Cave, and the immediate vicinity of counter weight device has a tapped through hole, the hemispherical shell bottom has for fixing 1 He of hemispherical shell
The bolt 12 of counter weight device 2.
In a kind of embodiment of the utility model, the front driving wheel connects another driving motor and (does not open up in figure
Out), the driving motor on front driving wheel can connect controller (not putting on display in figure).
The utility model beneficial effect
Tumbler robot base provided by the utility model with expanding pulley, a variety of applications suitable for ordinary robot
Place, the tumbler robot base provided by the utility model with expanding pulley keep robot extensive rapidly when falling or being pulled to
It supports oneself again stable state, improves the adaptability of ordinary robot.
Detailed description of the invention
Fig. 1: for a kind of structural schematic diagram of embodiment of the utility model
Fig. 2: for the plane contact point schematic diagram on a kind of pedestal of embodiment of the utility model
Fig. 3: for a kind of structural schematic diagram of the fixed device of robot of embodiment of the utility model
In figure: 1, hemispherical shell；2, counter weight device；21, cylindrical recesses；3, bearing connecting rod；31, spring；4, forerunner
Driving wheel；5, left rear wheel；6, off hind wheel；7, cam；8, obliquity sensor；9, processor；10, driving motor；11, card slot；12, spiral shell
Bolt；13, fixture block；14, retainer plate；15, rubber ring.
Specific embodiment
Embodiment 1
A kind of tumbler robot base with expanding pulley includes hemispherical shell 1, counter weight device 2, roller devices and machine
Device people fixes device；The counter weight device 2 is located in hemispherical shell 1, is fixedly mounted on the bottom of hemispherical shell 1, described
Have a cylindrical recesses 21 inside counter weight device 2, the bottoms of the cylindrical recesses 21 there are three respectively to left and right, the column of front direction
Shape hole, and there is the hole for extending downwardly and penetrating hemispherical shell (1) in the end of columnar hole；It is recessed that the roller devices are located at column
In slot 21 and columnar hole, include front driving wheel 4, left rear wheel 5, off hind wheel 6, spring 31, cam 7, obliquity sensor 8, processing
Device 9 and driving motor 10, the front driving wheel 4 and left rear wheel 5, off hind wheel 6 are connected by bearing connecting rod 3, are driven before described
Wheel 4 and left rear wheel 5, off hind wheel 6 are located in a planar delta；The cam 7 is located at the top of bearing connecting rod 3；It is described convex
7 connection driving motor of wheel, the driving motor connect processor, and processor connects obliquity sensor；The fixed dress of the robot
Setting in the upper end of hemispherical shell 1, it is detachably connected with hemispherical shell 1.
The bearing connecting rod 3 of the front driving wheel 4, left rear wheel 5 and off hind wheel 6 is located in the hole of 21 bottom of cylindrical recesses.
Cam 7, obliquity sensor 7, processor 9 and the driving motor 10 of the roller devices are located in cylindrical recesses 21.
Contain card slot 11 in 1 top edge of hemispherical shell；The fixed device of the robot includes retainer plate 14, described solid
Surely there is fixture block 13 corresponding with the card slot 11 on hemispherical shell 1 outside circle 14, the retainer plate 14 contains multiple rubber rings
15.The card slot 11, fixture block 13 have 8.
Snap connection that mouth is openable to be closed on the retainer plate 14, the retainer plate 14 detachably connects with rubber ring 15
It connects, the number and thickness of the rubber ring 15 are depending on the size of institute's mounting robot and the pedestal.
The counter weight device 2 is the short flat column of a metal, which is to be parallel to the cylindrical body symmetry axis by one
Plane clip the imperfect cylindrical body formed after a part.
There are the positioning cave being adapted with counter weight device, and the immediate vicinity of counter weight device in the inside of the hemispherical shell 1
There is a tapped through hole, the bolt for being used to fix hemispherical shell 1 and counter weight device 2 is arranged at the bottom of the hemispherical shell 1
12。
Embodiment 2
A kind of tumbler robot base with expanding pulley includes hemispherical shell 1, counter weight device 2, roller devices and machine
Device people fixes device；The counter weight device 2 is located in hemispherical shell 1, is fixedly mounted on the bottom of hemispherical shell 1, described
Have a cylindrical recesses 21 inside counter weight device 2, the bottoms of the cylindrical recesses 21 there are three respectively to left and right, the column of front direction
Shape hole, and there is the hole for extending downwardly and penetrating hemispherical shell (1) in the end of columnar hole；It is recessed that the roller devices are located at column
In slot 21 and columnar hole, include front driving wheel 4, left rear wheel 5, off hind wheel 6, spring 31, cam 7, obliquity sensor 8, processing
Device 9 and driving motor 10, the front driving wheel 4 and left rear wheel 5, off hind wheel 6 are connected by bearing connecting rod 3, are driven before described
Wheel 4 and left rear wheel 5, off hind wheel 6 are located in a planar delta；The cam 7 is located at the top of bearing connecting rod 3；It is described convex
7 connection driving motor of wheel, the driving motor connect processor, and processor connects obliquity sensor；The fixed dress of the robot
Setting in the upper end of hemispherical shell 1, it is detachably connected with hemispherical shell 1.
The bearing connecting rod 3 of the front driving wheel 4, left rear wheel 5 and off hind wheel 6 is located in the hole of 21 bottom of cylindrical recesses.
Cam 7, obliquity sensor 7, processor 9 and the driving motor 10 of the roller devices are located in cylindrical recesses 21.
Contain card slot 11 in 1 top edge of hemispherical shell；The fixed device of the robot includes retainer plate 14, described solid
Surely there is fixture block 13 corresponding with the card slot 11 on hemispherical shell 1 outside circle 14, the retainer plate 14 contains multiple rubber rings
15.The card slot 11, fixture block 13 have 8.
Snap connection that mouth is openable to be closed on the retainer plate 14, the retainer plate 14 detachably connects with rubber ring 15
It connects, the number and thickness of the rubber ring 15 are depending on the size of institute's mounting robot and the pedestal.
The counter weight device 2 is the short flat column of a metal, which is to be parallel to the cylindrical body symmetry axis by one
Plane clip the imperfect cylindrical body formed after a part.
There are the positioning cave being adapted with counter weight device, and the immediate vicinity of counter weight device in the inside of the hemispherical shell 1
There is a tapped through hole, the bolt for being used to fix hemispherical shell 1 and counter weight device 2 is arranged at the bottom of the hemispherical shell 1
12。
The front driving wheel connects another driving motor (not putting on display in figure), and the driving motor on front driving wheel can connect control
Device (not put on display in figure) processed.
Working method: deviate self-support stable state when obliquity sensor detects, signal is passed to place by obliquity sensor
Device is managed, processor receives signal and transmits to driving motor and instructs, and driving motor band moving cam rotates 180 °, bearing connecting rod band
Dynamic front driving wheel and two rear-wheels are integrally moved up in the case where the elastic force of spring pushes, thus front driving wheel and two rear-wheel retraction machines
In people's pedestal hemispherical shell body, further according to the principle of tumbler, robot base portable people recovers immediately self-support and stablizes shape
State, obliquity sensor detects self-support stable state at this time, and signal is passed to processor, and processor receives signal and to driving
Motor transmitting instruction, driving motor band moving cam rotates 180 °, so that pressing spring under bearing connecting rod, drives front driving wheel and two
The entirety of a rear-wheel moves down, and restores robot integrally to working condition.
Although the utility model has been described by way of example and in terms of the preferred embodiments, it is not intended to limit the utility model, any
Person skilled in the art can do various change and modification, therefore this without departing from the spirit and scope of the utility model
The protection scope of utility model should subject to the definition of the claims.
Claims (9)
1. a kind of tumbler robot base with expanding pulley, which is characterized in that include hemispherical shell (1), counter weight device
(2), the fixed device of roller devices and robot；
The counter weight device (2) is located in hemispherical shell (1), is fixedly mounted on the bottom of hemispherical shell (1), the counterweight
Have a cylindrical recesses (21) inside device (2), the bottoms of the cylindrical recesses (21) there are three respectively to left and right, front direction
Columnar hole, and there is the hole for extending downwardly and penetrating hemispherical shell (1) in the end of columnar hole；
The roller devices are located in the hole of cylindrical recesses (21) and groove (21) bottom, include front driving wheel (4), left rear wheel
(5), off hind wheel (6), spring (31), cam (7), obliquity sensor (8), processor (9) and driving motor (10), the forerunner
Driving wheel (4) and left rear wheel (5), off hind wheel (6) are connected by bearing connecting rod (3), the front driving wheel (4) and left rear wheel (5),
Off hind wheel (6) is located in a planar delta；The cam (7) is located at the top of bearing connecting rod (3)；The cam (7) is even
Driving motor is connect, the driving motor connects processor, and processor connects obliquity sensor；
The fixed device of the robot is located at the upper end of hemispherical shell (1), is detachably connected with hemispherical shell (1).
2. a kind of tumbler robot base with expanding pulley according to claim 1, which is characterized in that driving before described
The bearing connecting rod (3) of wheel (4), left rear wheel (5) and off hind wheel (6) is located in the hole of cylindrical recesses (21) bottom.
3. a kind of tumbler robot base with expanding pulley according to claim 1 or 2, which is characterized in that the rolling
Cam (7), obliquity sensor (8), processor (9) and the driving motor (10) of wheel apparatus are located in cylindrical recesses (21).
4. a kind of tumbler robot base with expanding pulley according to claim 1, which is characterized in that the hemispherical
Contain card slot (11) in shell (1) top edge；The fixed device of the robot includes retainer plate (14), and the retainer plate (14) is external
There is fixture block (13) corresponding with card slot (11) on hemispherical shell (1), contains multiple rubber rings in the retainer plate (14)
(15)。
5. a kind of tumbler robot base with expanding pulley according to claim 4, which is characterized in that the card slot
(11), fixture block (13) has multiple.
6. a kind of tumbler robot base with expanding pulley according to claim 4, which is characterized in that the card slot
(11), fixture block (13) has 8.
7. a kind of tumbler robot base with expanding pulley according to claim 4, which is characterized in that the retainer plate
(14) snap connection that mouth is openable to be closed on, the retainer plate (14) is detachably connected with rubber ring (15).
8. a kind of tumbler robot base with expanding pulley according to claim 1, which is characterized in that described with refitting
Setting (2) is the short flat column of a metal, which is to clip a part by the plane that one is parallel to the cylindrical body symmetry axis
The imperfect cylindrical body formed later.
9. a kind of tumbler robot base with expanding pulley according to claim 1, which is characterized in that hemispherical shell
Inside have the positioning cave being adapted with counter weight device, and the immediate vicinity of counter weight device has a tapped through hole, the hemispherical
Housing bottom has the bolt (12) for fixing hemispherical shell (1) and counter weight device (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820319290.XU CN208179509U (en) | 2018-03-08 | 2018-03-08 | A kind of tumbler robot base with expanding pulley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820319290.XU CN208179509U (en) | 2018-03-08 | 2018-03-08 | A kind of tumbler robot base with expanding pulley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208179509U true CN208179509U (en) | 2018-12-04 |
Family
ID=64440551
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820319290.XU Expired - Fee Related CN208179509U (en) | 2018-03-08 | 2018-03-08 | A kind of tumbler robot base with expanding pulley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208179509U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109999512A (en) * | 2019-03-08 | 2019-07-12 | 泉州惠安县茂乾机械科技有限公司 | A kind of intelligent robot learning toy |
| CN111252161A (en) * | 2020-02-25 | 2020-06-09 | 江苏工程职业技术学院 | Foot structure of dual-purpose bionic robot for sand land and flat land |
-
2018
- 2018-03-08 CN CN201820319290.XU patent/CN208179509U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109999512A (en) * | 2019-03-08 | 2019-07-12 | 泉州惠安县茂乾机械科技有限公司 | A kind of intelligent robot learning toy |
| CN111252161A (en) * | 2020-02-25 | 2020-06-09 | 江苏工程职业技术学院 | Foot structure of dual-purpose bionic robot for sand land and flat land |
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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: 20181204 Termination date: 20210308 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |