CN209385580U - A support structure for center of gravity balance of robot - Google Patents
A support structure for center of gravity balance of robot Download PDFInfo
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- CN209385580U CN209385580U CN201822042173.6U CN201822042173U CN209385580U CN 209385580 U CN209385580 U CN 209385580U CN 201822042173 U CN201822042173 U CN 201822042173U CN 209385580 U CN209385580 U CN 209385580U
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- support frame
- partition panel
- balanced
- support plate
- side support
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- 230000005484 gravity Effects 0.000 title claims abstract description 49
- 238000005192 partition Methods 0.000 claims abstract description 30
- 238000010276 construction Methods 0.000 claims abstract description 12
- 238000012423 maintenance Methods 0.000 claims description 26
- 239000007788 liquid Substances 0.000 claims description 19
- 238000001802 infusion Methods 0.000 claims description 8
- 230000008859 change Effects 0.000 abstract description 3
- 239000003921 oil Substances 0.000 description 16
- 230000001360 synchronised effect Effects 0.000 description 6
- 230000003993 interaction Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 239000010723 turbine oil Substances 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The utility model discloses one kind to be used for robot gravity balance support construction, it is characterized in that, top in the middle part of balanced support plate is provided with partition panel, balanced support plate is divided into left and right two parts, there is through slot in the middle part of balanced support plate, left support frame in interlocking bar passes through through slot and is arranged on the left of partition panel, right support frame in interlocking bar passes through through slot and is arranged on the right side of partition panel, when being pressurized on the left of balanced support plate, left support frame is mobile towards partition panel direction in through slot, Right side support frame is identical as Left-side support frame moving direction, right side is gradually distance from partition panel, when being pressurized on the right side of balanced support plate, Right side support frame is mobile towards partition panel, Left-side support frame is gradually distance from partition panel, pass through the movement of left and right sidesing supporting frame, change the position of centre of gravity of balanced support plate, it is balanced by adjusting center of gravity.
Description
Technical field
The utility model relates to a kind of balanced supporting structures, and in particular to one kind is for robot gravity balance support knot
Structure.
Background technique
The center of gravity of robot be influence robot could balance play an important factor for, especially for biped walking machine
For device people, the deviation of position of centre of gravity will lead to it can not normal walking.On the other hand, robot for source block, be entire
Machine human heart.Its weight typically constitutes from 20% or so of entire robot weight ratio.And energize the position of the installation of component
It sets general relatively high.Therefore, for robot, the position of centre of gravity for energizing component has the movenent performance of entire robot
Very big influence, especially for the robot of biped walking, the variation of energy supply component position of centre of gravity is just particularly important.
Currently, the battery of most of robot is all to be fixedly mounted in robot, and be substantially all unadjustable.And
Due to the error in manufacture and installation process, error occurs for the center of gravity that frequently can lead to energy supply component, and then leads to robot
The ideal center of gravity of deviation of gravity center.And in the prior art, because not designing the structure of adjusting center of gravity, need additional component or step
To achieve the purpose that adjust center of gravity.Therefore, in order to further realize the accurate installation for energizing component center of gravity, a kind of energy supply is devised
The adjustment structure of component center of gravity.
Utility model content
The gravity balance device and support device that technical problem to be solved in the utility model is current robot are often
It using two sets of equipment, needs to carry out accurate installation, avoids the occurrence of and misplace and impression position of centre of gravity precision, in actual use, dimension
It protects not convenient, and robot position of centre of gravity can not be adjusted in real time, and it is an object of the present invention to provide a kind of for robot gravity balance
Support construction solves the problem above-mentioned.
The utility model is achieved through the following technical solutions:
One kind being used for robot gravity balance support construction, which is characterized in that including top setting in the middle part of balanced support plate
There is partition panel, balanced support plate is divided into left and right two parts, has through slot in the middle part of balanced support plate, the left support frame in interlocking bar is worn
It crosses through slot to be arranged on the left of partition panel, the right support frame in interlocking bar passes through through slot and is arranged on the right side of partition panel, in balanced support
When being pressurized on the left of plate, left support frame is mobile towards partition panel direction in through slot, Right side support frame and Left-side support frame moving direction
Identical, right side is gradually distance from partition panel, and when being pressurized on the right side of balanced support plate, Right side support frame is mobile towards partition panel, left side branch
Support is gradually distance from partition panel, by the movement of left and right sidesing supporting frame, changes the position of centre of gravity of balanced support plate, by adjusting center of gravity
It is balanced.
What currently used robot gravity balance device generallyd use be horizontal gyro or turbine oil setting look for
Leveling device is balanced detection, mechanically or electronically checked whether it is horizontal after, be sent to balance dress
Carry out position balance is set, this mode is advantageous in that the state for capableing of real-time monitoring robot, is convenient for by chip to robot
Subsequent control is carried out, the movement of control robot that can be accurate by chip operation.And the application is using mechanical structure
Mode carries out gravity balance adjustment, looks for center of gravity again after side is pressurized by the synchronous interaction of two support frames in left and right
Point guarantees that the focus point of whole device is firm, and Left-side support frame and the synchronous interaction of Right side support frame are pressurized in Left-side support frame
After moving down, Right side support frame can rise, so change position of centre of gravity point, the stabilization of holding meanss, same Right side support frame by
After pressure moves, Left-side support frame can also rise, and carry out the holding of position of centre of gravity.
Further, the Left-side support frame and Right side support frame upper end are provided with stability maintenance gravitation ball, pass through stability maintenance gravity
Ball aggravates the self weight of Left-side support frame and Right side support frame, guarantees the stability of focus point position.
Further, it is perfused with oil liquid intermixture in the stability maintenance gravitation ball, stability maintenance gravity is increased by oil liquid intermixture
The weight of ball is adjusted the weight of stability maintenance gravitation ball by adjusting oil liquid mixed proportion.
Further, end face is provided with infusion hole above the stability maintenance gravitation ball, is filled and is discharged by infusion hole
Oil liquid intermixture.
Further, the Left-side support frame and Right side support frame and interlocking bar are attached by globular hinge, and
The rotation axis of two spherical handover is attached by synchronizing bar, and in the movement of Left-side support frame, Right side support frame is synchronous to be carried out
Movement.
The utility model compared with prior art, has the following advantages and benefits:
1, the utility model one kind is used for robot gravity balance support construction, and it is flat to carry out focus point using mechanical system
Weighing apparatus also carries out the support on basis, realizes the two-in-one of two devices on the basis of can balancing；
2, the utility model one kind is used for robot gravity balance support construction, and maintenance convenience, maintenance is convenient, and can be with
Weight is adjusted by adjusting the ratio and oil liquid amount of oil liquid in stability maintenance gravitation ball；
Detailed description of the invention
Attached drawing described herein is used to provide to further understand the utility model embodiment, constitutes the one of the application
Part does not constitute the restriction to the utility model embodiment.In the accompanying drawings:
Fig. 1 is the utility model structure top view.
Fig. 2 is the utility model structure front view.
Label and corresponding parts title in attached drawing:
1- balanced support plate, 2- partition panel, 3- through slot, 4- interlocking bar, 41- left support frame, 42- right support frame, 43- stability maintenance
Gravitation ball, 44- infusion hole.
Specific embodiment
For the purpose of this utility model, technical solution and advantage is more clearly understood, below with reference to embodiment and attached drawing,
The utility model is described in further detail, and the exemplary embodiment and its explanation of the utility model are only used for explaining this
Utility model is not intended to limit the scope of the present invention.
Embodiment
As shown in Fig. 1~2, the utility model one kind is used for robot gravity balance support construction, which is characterized in that including
1 middle part top of balanced support plate is provided with partition panel 2, and balanced support plate 1 is divided for left and right two parts, 1 middle part of balanced support plate
There is through slot 3, the left support frame 41 in interlocking bar 4 passes through the right support frame 42 that through slot 3 is arranged on 2 left side of partition panel, interlocking bar 4
Across the setting of through slot 3 on 2 right side of partition panel, when being pressurized on the left of balanced support plate 1, left support frame 41 is in through slot 3 towards partition
2 direction of plate is mobile, and Right side support frame 42 is identical as 41 moving direction of Left-side support frame, and right side is gradually distance from partition panel 2, balance branch
When being pressurized on the right side of fagging 1, Right side support frame 42 is mobile towards partition panel 2, and Left-side support frame 41 is gradually distance from partition panel 2, passes through
The movement of left and right sidesing supporting frame 41 changes the position of centre of gravity of balanced support plate 1, is balanced by adjusting center of gravity.
What currently used robot gravity balance device generallyd use be horizontal gyro or turbine oil setting look for
Leveling device is balanced detection, mechanically or electronically checked whether it is horizontal after, be sent to balance dress
Carry out position balance is set, this mode is advantageous in that the state for capableing of real-time monitoring robot, is convenient for by chip to robot
Subsequent control is carried out, the movement of control robot that can be accurate by chip operation.And the application is using mechanical structure
Mode carries out gravity balance adjustment, looks for center of gravity again after side is pressurized by the synchronous interaction of two support frames in left and right
Point guarantees that the focus point of whole device is firm, and Left-side support frame and the synchronous interaction of Right side support frame are pressurized in Left-side support frame
After moving down, Right side support frame can rise, so change position of centre of gravity point, the stabilization of holding meanss, same Right side support frame by
After pressure moves, Left-side support frame can also rise, and carry out the holding of position of centre of gravity, and interlocking bar is generally located on the inside of robot
In other fixation members, interlocking bar itself is not attached with balanced support plate, when needing to carry out gravitational equilibrium, is balanced first
Support plate is pressurized to be pushed towards side, and partition panel touches Left-side support frame or Right side support frame or its stability maintenance gravitation ball, by every
Disconnected strip moves the position of centre of gravity that support frame movement then changes interlocking bar, can keep balancing in this way.
The Left-side support frame 41 and 42 upper end of Right side support frame are provided with stability maintenance gravitation ball 43, pass through stability maintenance gravitation ball 43
The self weight of Left-side support frame 41 and Right side support frame 42 is aggravated, guarantees the stability of focus point position.In actual operation, left side
Support frame and Right side support frame are attached with stability maintenance gravitation ball using welding manner, keep flat using the self weight of stability maintenance gravitation ball
Weighing apparatus, stability maintenance gravitation ball is heavier, its own stability is higher, bigger, the service life reduction but support frame is pressurized, required knot
Structure intensity also can accordingly improve.
It is perfused with oil liquid intermixture in the stability maintenance gravitation ball 43, increases the weight of stability maintenance gravitation ball 43 by oil liquid intermixture
Amount, by adjusting oil liquid mixed proportion, is adjusted the weight of stability maintenance gravitation ball 43.Inside is filled out using oil liquid intermixture
It fills, oil liquid intermixture can form an oil liquid protective case on inner wall surface layer, because oil density is higher than water, viscosity ratio water is big, meeting
On the water, then a part can glue glutinous on inner wall for floating, form protective case, water is wrapped up, oily large viscosity can be kept away
Oil-free leakage.
The 43 top end face of stability maintenance gravitation ball is provided with infusion hole 44, is filled and be discharged oil liquid by infusion hole 44
Intermixture.It being filled and is discharged by infusion hole, oil liquid hole is arranged on top, oil liquid leakage can be effectively avoided, and cause
It breaks down inside equipment.
The Left-side support frame 41 and Right side support frame 42 are attached with interlocking bar 4 by globular hinge, and two
The rotation axis of spherical shape handover is attached by synchronizing bar, and when Left-side support frame 41 acts, Right side support frame 42 is synchronous to be carried out
Movement.
Above-described specific embodiment, to the purpose of this utility model, technical scheme and beneficial effects carried out into
One step is described in detail, it should be understood that being not used to limit the foregoing is merely specific embodiment of the present utility model
Determine the protection scope of the utility model, within the spirit and principle of the utility model, any modification for being made equally is replaced
It changes, improve, should be included within the scope of protection of this utility model.
Claims (5)
1. one kind is used for robot gravity balance support construction, which is characterized in that including top setting in the middle part of balanced support plate (1)
There are partition panel (2), balanced support plate (1) is divided into left and right two parts, has through slot (3), interlocking bar in the middle part of balanced support plate (1)
(4) left support frame (41) on passes through through slot (3) and is arranged on the left of partition panel (2), and the right support frame (42) in interlocking bar (4) is worn
Through slot (3) setting is crossed on the right side of partition panel (2), when being pressurized on the left of balanced support plate (1), left support frame (41) is in through slot (3)
Interior mobile towards partition panel (2) direction, Right side support frame (42) is identical as Left-side support frame (41) moving direction, and right side is gradually distance from
Partition panel (2), when balanced support plate (1) right side is pressurized, Right side support frame (42) is mobile towards partition panel (2), Left-side support frame
(41) partition panel (2) are gradually distance from, by the movement of left and right sidesing supporting frame (41), changes the position of centre of gravity of balanced support plate (1), leads to
Toning center of gravity is balanced.
2. according to claim 1 a kind of for robot gravity balance support construction, which is characterized in that the left side branch
Support (41) and Right side support frame (42) upper end are provided with stability maintenance gravitation ball (43), aggravate left side branch by stability maintenance gravitation ball (43)
The self weight of support (41) and Right side support frame (42) guarantees the stability of focus point position.
3. according to claim 2 a kind of for robot gravity balance support construction, which is characterized in that the stability maintenance weight
It is perfused with oil liquid intermixture in power ball (43), increases the weight of stability maintenance gravitation ball (43), by oil liquid intermixture by adjusting oil
The weight of stability maintenance gravitation ball (43) is adjusted in liquid mixed proportion.
4. according to claim 3 a kind of for robot gravity balance support construction, which is characterized in that the stability maintenance weight
End face is provided with infusion hole (44) above power ball (43), is filled and be discharged oil liquid intermixture by infusion hole (44).
5. according to claim 1 a kind of for robot gravity balance support construction, which is characterized in that the left side branch
Support (41) and Right side support frame (42) are attached with interlocking bar (4) by globular hinge, and turn of two spherical handover
Moving axis is attached by synchronizing bar, and when Left-side support frame (41) act, Right side support frame (42), which synchronizes, to be acted.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822042173.6U CN209385580U (en) | 2018-12-06 | 2018-12-06 | A support structure for center of gravity balance of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822042173.6U CN209385580U (en) | 2018-12-06 | 2018-12-06 | A support structure for center of gravity balance of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209385580U true CN209385580U (en) | 2019-09-13 |
Family
ID=67870915
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822042173.6U Active CN209385580U (en) | 2018-12-06 | 2018-12-06 | A support structure for center of gravity balance of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209385580U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112891105A (en) * | 2021-01-18 | 2021-06-04 | 佳木斯大学 | Safety management device for medical care instrument |
-
2018
- 2018-12-06 CN CN201822042173.6U patent/CN209385580U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112891105A (en) * | 2021-01-18 | 2021-06-04 | 佳木斯大学 | Safety management device for medical care instrument |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230601 Address after: Room 101, Building 11, No. 333 Yijian West Road, Xinglong Town, Zhongjiang County, Deyang City, Sichuan Province, 618000 Patentee after: Sichuan Fumosi Industrial Technology Co.,Ltd. Address before: No. 2602, Unit 1, Building 1, No. 46 Minsheng Lane, Qingyang District, Chengdu City, Sichuan Province, 610000 Patentee before: Liang Haorui |
|
| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: Room 101, Building 11, No. 333 Yijian West Road, Xinglong Town, Zhongjiang County, Deyang City, Sichuan Province, 618000 Patentee after: Sichuan Fumose Industrial Technology Co.,Ltd. Country or region after: China Address before: Room 101, Building 11, No. 333 Yijian West Road, Xinglong Town, Zhongjiang County, Deyang City, Sichuan Province, 618000 Patentee before: Sichuan Fumosi Industrial Technology Co.,Ltd. Country or region before: China |