CN209665433U - A kind of robot counter weight device with inclination warning function - Google Patents

A kind of robot counter weight device with inclination warning function Download PDF

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Publication number
CN209665433U
CN209665433U CN201920175559.6U CN201920175559U CN209665433U CN 209665433 U CN209665433 U CN 209665433U CN 201920175559 U CN201920175559 U CN 201920175559U CN 209665433 U CN209665433 U CN 209665433U
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CN
China
Prior art keywords
pair
robot
servo motor
counter weight
warning function
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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
Application number
CN201920175559.6U
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Chinese (zh)
Inventor
傅松波
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Sichuan Zhiji Technology Co ltd
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Guangdong Zhiji Technology Co Ltd
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Priority to CN201920175559.6U priority Critical patent/CN209665433U/en
Application granted granted Critical
Publication of CN209665433U publication Critical patent/CN209665433U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses a kind of robot counter weight devices with inclination warning function, including robot chassis, buzzer and dynamic balancing sensor, the buzzer is placed in robot chassis lower wall surface, the dynamic balancing sensor is placed in robot chassis lower wall surface, and it is located at buzzer side, it is equipped with below the robot chassis and grips structure, described grip is equipped with adjusting counter weight construction in structure, the utility model relates to robotic technology fields, present apparatus structure is simple, it is easy to use, induction is balanced to robot by balance sensor, it was found that after inclination, center of gravity is horizontally moved by gripping structure, height of C.G. is adjusted by adjusting counter weight construction, inclined robot can be adjusted in time.

Description

A kind of robot counter weight device with inclination warning function
Technical field
The utility model relates to robotic technology field, specially a kind of robot with inclination warning function is with refitting It sets.
Background technique
Robot (Robot) is the automatic installations for executing work.It can not only receive mankind commander, but also can run The program of preparatory layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or take For the work of human work, such as production industry, construction industry, or dangerous work.
With the continuous improvement of scientific and technological level, robot using more and more extensive, artificial for substituting, not only work effect Rate can be improved, while reduce cost, but during robot use, may be subjected to slight touching, or holding During carrying the case where discovery gravity center instability, the function that existing robot does not adjust in time is easy to cause robot in this way Topple over, cause to break down, in consideration of it, furtheing investigate regarding to the issue above, there is this case generation then.
Summary of the invention
In view of the deficiencies of the prior art, the utility model provide it is a kind of with inclination warning function robot with refitting It sets, solves existing but during robot use, may be subjected to slight touching, or send out in load bearing process The case where existing gravity center instability, the function that existing robot does not adjust in time is easy to cause robot to topple over, leads in this way Cause the problem of breaking down.
In order to achieve the above object, the utility model is achieved by the following technical programs: one kind having inclination early warning function The robot counter weight device of energy, including robot chassis, buzzer and dynamic balancing sensor, the buzzer are placed in machine People's chassis lower wall surface, the dynamic balancing sensor is placed in robot chassis lower wall surface, and is located at buzzer side, the machine It is equipped with below people's chassis and grips structure, described grip is equipped with adjusting counter weight construction in structure;
It is described to grip structure comprising: first servo motor, supporting plate, shaft, the identical clamping plate of a pair of of structure, cunning Rail and the identical sliding block of a pair of of structure;
The first servo motor is placed in robot chassis lower wall surface, and the supporting plate is placed in robot chassis lower wall Face, and it is located at first servo motor side, the shaft is placed in first servo motor driving end, screw thread is offered thereon, and The other end is flexibly connected with supporting plate, and a pair of clamping plate is rotatably connected in shaft, and the sliding rail is placed in robot chassis lower wall surface On, a pair of sliding block is placed between sliding rail and a pair of clamping plate, and can be horizontally slipped along sliding rail;
The adjusting counter weight construction comprising: box body, the second servo motor, rotating bar, the identical active umbrella of a pair of of structure Gear, mounting plate, the identical threaded screw rod of a pair of of structure, the identical driven bevel pinion of a pair of of structure, the identical shifting of a pair of of structure Dynamic seat and clump weight;
The box body is in a pair of clamping plate, and the box body lower wall surface offers rectangular aperture, and described second watches It takes motor and is placed in upper wall surface in box body, the rotating bar is placed on the second servo motor driving end, a pair of active umbrella Gear is placed in rotating bar, and the mounting plate is placed in two side walls in box body, and is located at below the second servo motor, a pair of The threaded screw rod is plugged in mounting plate, and a pair of driven bevel pinion is placed in a pair of threaded screw rod side end On, and be meshed with driving bevel gear, a pair of Mobile base is placed on the end of a pair of threaded screw rod other side, a pair of A pair of of structure identical support rod is installed, the clump weight is placed under a pair of support rod in the Mobile base side wall surface End.
Preferably, it is connected between the first servo motor and shaft by shaft coupling.
Preferably, be equipped with gasket in the first servo motor and the second servo motor: the gasket is for preventing the One servo motor and the damage of the second servo motor vibration.
Preferably, a pair of clamping plate is in opposite L-type structure.
Preferably, it is connected between the mounting plate and a pair of threaded screw rod by bearing.
Preferably, be equipped with pedestal between the first servo motor and robot chassis: the pedestal is for fixing first Servo motor.
The utility model has the advantages that present apparatus structure is simple, and it is easy to use, induction is balanced to robot by balance sensor, It was found that being horizontally moved by gripping structure to center of gravity after inclination, height of C.G. is carried out by adjusting counter weight construction Adjustment can in time adjust inclined robot, solve but during robot use, may be subjected to slight Touching, or in load bearing process the case where discovery gravity center instability, the function that existing robot does not adjust in time is held in this way It easily leads to robot to topple over, leads to the problem of breaking down.
Detailed description of the invention
Fig. 1 is a kind of front view structure signal of robot counter weight device with inclination warning function described in the utility model Figure.
Fig. 2 is a kind of side view structure signal of robot counter weight device with inclination warning function described in the utility model Figure.
Fig. 3 is a kind of partial structurtes signal of robot counter weight device with inclination warning function described in the utility model Figure.
In figure: 1, robot chassis;2, buzzer;3, balance sensor;4, first servo motor;5, supporting plate;6, shaft; 7, clamping plate;8, sliding rail;9, sliding block;10, box body;11, the second servo motor;12, rotating bar;13, driving bevel gear;14, it installs Plate;15, threaded screw rod;16, driven bevel pinion;17, Mobile base;18, clump weight;19, pedestal.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only The embodiment of the application a part, instead of all the embodiments.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, " Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In this application, term " on ", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outside", " in ", "vertical", "horizontal", " transverse direction ", the orientation or positional relationship of the instructions such as " longitudinal direction " be orientation based on the figure or Positional relationship.These terms are not intended to limit indicated dress primarily to better describe the application and embodiment Set, element or component must have particular orientation, or constructed and operated with particular orientation.
Fig. 1-3 is please referred to, the utility model provides a kind of technical solution: a kind of to match with the robot for tilting warning function Refitting is set, including robot chassis 1, buzzer 2 and dynamic balancing sensor 3, and the buzzer 2 is placed in robot chassis 1 Lower wall surface, the dynamic balancing sensor 3 is placed in 1 lower wall surface of robot chassis, and is located at 2 side of buzzer, the robot It is equipped with below chassis 1 and grips structure, described grip is equipped with adjusting counter weight construction in structure;It is described to grip Structure comprising: first servo motor 4, supporting plate 5, shaft 6, the identical clamping plate 7 of a pair of of structure, sliding rail 8 and a pair of of structure phase Same sliding block 9;The first servo motor 4 is placed in 1 lower wall surface of robot chassis, and the supporting plate 5 is placed in robot chassis 1 Lower wall surface, and it is located at 4 side of first servo motor, the shaft 6 is placed in first servo motor 4 and drives end, offers thereon Screw thread, and the other end is flexibly connected with supporting plate 5, a pair of clamping plate 7 is rotatably connected in shaft 6, and the sliding rail 8 is placed in robot On 1 lower wall surface of chassis, a pair of sliding block 9 is placed between sliding rail 8 and a pair of clamping plate 7, and can be sliding along sliding rail 8 or so It is dynamic;The adjusting counter weight construction comprising: box body 10, the second servo motor 11, rotating bar 12, the identical active of a pair of of structure Bevel gear 13, mounting plate 14, the identical threaded screw rod 15 of a pair of of structure, the identical driven bevel pinion 16 of a pair of of structure, Yi Duijie The identical Mobile base 17 of structure and clump weight 18;The box body 10 is in a pair of clamping plate 7,10 lower wall surface of box body Rectangular aperture is offered, second servo motor 11 is placed in upper wall surface in box body 10, and the rotating bar 12 is placed in second Servo motor 11 drives on end, and a pair of driving bevel gear 13 is placed in rotating bar 12, and the mounting plate 14 is placed in box Two side walls in body 10, and it is located at 11 lower section of the second servo motor, a pair of threaded screw rod 15 is plugged in mounting plate 14, and one The driven bevel pinion 16 is placed on a pair of 15 side end of threaded screw rod, and is meshed with driving bevel gear 13, A pair of Mobile base 17 is placed on a pair of 15 other side end of threaded screw rod, in a pair of 17 side wall surface of Mobile base The identical support rod of a pair of of structure is installed, the clump weight 18 is placed in a pair of support rod lower end;First servo It is connected between motor 4 and shaft 6 by shaft coupling;Pad is installed in the first servo motor 4 and the second servo motor 11 Piece: the gasket is for preventing first servo motor 4 and 11 vibration of the second servo motor from damaging;A pair of clamping plate 7 is in opposite direction L Type structure;It is connected between the mounting plate 14 and a pair of threaded screw rod 15 by bearing;The first servo motor 4 and machine Be equipped with pedestal 19 between device people chassis 1: the pedestal 19 is for fixing first servo motor 4.
Under be classified as specific structure and the effect of partial electric part mentioned in this case:
First servo motor: Taiwan TODE opens up the servo motor of the model SVGA series up to production.
Second servo motor: the servo motor of the model RJ090-E03520 of RIJING production.
Buzzer: for the buzzer of the fertile model HND-2312 of China.
Motor driver: using the S700 series of driver of Killmorgen servo-driver, driver is also known as " servo control Device processed ", " servo amplifier " are a kind of controllers for controlling servo motor, and effect acts on general similar to frequency converter Logical alternating current motor, belongs to a part of servo-system, is mainly used in high-precision positioning system.Generally by position, speed Degree and three kinds of modes of torque control servo motor, realize high-precision transmission system positioning, are currently drive technology High-end product.
Under be classified as specific structure and the effect of parts thereof mentioned in this case:
Clamping plate: for the rectangular plate of stainless steel material.
Mounting plate: for the rectangular plate of stainless steel material.
Clump weight: for the semicircular block of lead zinc material.
By those skilled in the art, the power supply that electricity pieces all in this case are adapted to it is attached by conducting wire, and Suitable controller should be selected according to the actual situation, to meet demand for control, specific connection and control sequence should be referred to In following working principles, successive job order is completed to be electrically connected between each electricity piece, detailed connection means, is that this field is public Know technology, it is following mainly to introduce working principle and process, it is not explained to electrical control.
Embodiment: with reference to the accompanying drawings 1-3 it is found that in use, when balance sensor 3 detect robot inclination after, buzzer 2 It alarms, while automatically opening power supply, motor servo driver issues signal, and first servo motor 4 receives signal and turned It is dynamic, drive shaft 6 to be rotated, 6 other side of shaft is movably installed with supporting plate 5, for carrying out movable supporting, shaft 6 to shaft 6 On offer threaded rod, after shaft 6 rotates, will drive a pair of of clamping plate 7 and moved to the other side of toppling direction, can be to machine Device people's center of gravity is effectively adjusted, meanwhile, the second servo motor 11 in box body 10 receives signal and is rotated, and drives rotation Bar 12 rotates, and a pair of of the driving bevel gear 13 being set in rotating bar 12 is rotated, and a pair of of driven bevel pinion 16 can turn therewith It is dynamic, due to the fixation of mounting plate 14, so that a pair of of threaded screw rod 15 be made to rotate, drives a pair of of threaded screw rod 15 to rotate, make counterweight Block 18 moves down, and carries out horizontal adjustment to robot, as robot is to moving horizontally, balance sensor 3 to balance Detection, clump weight 18 and clamping plate 7 are gradually dynamic to the displacement of 1 middle part of robot chassis, are allowed to holding level.
Preferably, it is further, it is connected between first servo motor 4 and shaft 6 by shaft coupling.
Preferably, it is further, gasket is installed in first servo motor 4 and the second servo motor 11: should Gasket is for preventing first servo motor 4 and 11 vibration of the second servo motor from damaging.
Preferably, further, a pair of of clamping plate 7 is in opposite L-type structure.
Preferably, it is further, it is connected between mounting plate 14 and a pair of of threaded screw rod 15 by bearing.
Preferably, it is further, pedestal 19 is installed: the bottom between first servo motor 4 and robot chassis 1 Seat 19 is for fixing first servo motor 4.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.

Claims (10)

1. a kind of robot counter weight device with inclination warning function, comprising: robot chassis (1), buzzer (2) and dynamic Balance sensor (3), which is characterized in that the buzzer (2) is placed in robot chassis (1) lower wall surface, and the dynamic balancing passes Sensor (3) is placed in robot chassis (1) lower wall surface, and is located at buzzer (2) side, peace below the robot chassis (1) Equipped with structure is gripped, described grip is equipped with adjusting counter weight construction in structure;
It is described to grip structure comprising: first servo motor (4), supporting plate (5), shaft (6), the identical folder of a pair of of structure Plate (7), sliding rail (8) and the identical sliding block (9) of a pair of of structure.
2. the robot counter weight device with inclination warning function according to claim 1, which is characterized in that described first Servo motor (4) is placed in robot chassis (1) lower wall surface, and the supporting plate (5) is placed in robot chassis (1) lower wall surface, and Positioned at first servo motor (4) side, the shaft (6) is placed in first servo motor (4) driving end, offers spiral shell thereon Line, and the other end is flexibly connected with supporting plate (5), a pair of clamping plate (7) is rotatably connected on shaft (6), and the sliding rail (8) is placed in On robot chassis (1) lower wall surface, a pair of sliding block (9) is placed between sliding rail (8) and a pair of clamping plate (7), and can It horizontally slips along sliding rail (8).
3. the robot counter weight device with inclination warning function according to claim 1, which is characterized in that the adjusting Counter weight construction comprising: box body (10), the second servo motor (11), rotating bar (12), the identical driving bevel gear of a pair of of structure (13), mounting plate (14), the identical threaded screw rod (15) of a pair of of structure, the identical driven bevel pinion (16) of a pair of of structure, a pair The identical Mobile base of structure (17) and clump weight (18).
4. the robot counter weight device with inclination warning function according to claim 3, which is characterized in that the box body (10) in a pair of clamping plate (7), box body (10) lower wall surface offers rectangular aperture, second servo motor (11) it is placed in box body (10) interior upper wall surface, the rotating bar (12) is placed on the second servo motor (11) driving end, a pair of The driving bevel gear (13) is placed on rotating bar (12).
5. the robot counter weight device with inclination warning function according to claim 3, which is characterized in that the installation Plate (14) is placed in box body (10) rear surface, and is located at below the second servo motor (11), and a pair of threaded screw rod (15) is inserted Loaded in mounting plate (14), a pair of driven bevel pinion (16) is placed on a pair of threaded screw rod (15) side end, And be meshed with driving bevel gear (13), a pair of Mobile base (17) is placed in another side of a pair of threaded screw rod (15) On head, the identical support rod of a pair of of structure, clump weight (18) placement are installed in a pair of Mobile base (17) side wall surface In a pair of support rod lower end.
6. the robot counter weight device with inclination warning function according to claim 1, which is characterized in that described first It is connect between servo motor (4) and shaft (6) by shaft coupling.
7. the robot counter weight device with inclination warning function according to claim 3, which is characterized in that described first Be mounted on gasket in servo motor (4) and the second servo motor (11): the gasket for prevent first servo motor (4) with And second servo motor (11) vibration damage.
8. the robot counter weight device with inclination warning function according to claim 1, which is characterized in that described in a pair Clamping plate (7) is in opposite L-type structure.
9. the robot counter weight device with inclination warning function according to claim 3, which is characterized in that the installation It is connect between plate (14) and a pair of threaded screw rod (15) by bearing.
10. the robot counter weight device with inclination warning function according to claim 1, which is characterized in that described the Pedestal (19) are equipped between one servo motor (4) and robot chassis (1): the pedestal (19) is for fixing first servo motor (4)。
CN201920175559.6U 2019-01-31 2019-01-31 A kind of robot counter weight device with inclination warning function Expired - Fee Related CN209665433U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201920175559.6U CN209665433U (en) 2019-01-31 2019-01-31 A kind of robot counter weight device with inclination warning function

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201920175559.6U CN209665433U (en) 2019-01-31 2019-01-31 A kind of robot counter weight device with inclination warning function

Publications (1)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113920696A (en) * 2021-10-28 2022-01-11 陈禹睿 Artificial intelligence prevents falling alarm device
CN114458000A (en) * 2022-03-31 2022-05-10 中海外交通建设有限公司 A basket is hung in safe construction for building engineering
CN116594023A (en) * 2023-06-13 2023-08-15 江苏洁路宝环保科技有限公司 Intelligent sweeping robot object avoiding detection device and application method thereof

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113920696A (en) * 2021-10-28 2022-01-11 陈禹睿 Artificial intelligence prevents falling alarm device
CN113920696B (en) * 2021-10-28 2023-05-12 陈禹睿 Artificial intelligence anti-falling alarm device
CN114458000A (en) * 2022-03-31 2022-05-10 中海外交通建设有限公司 A basket is hung in safe construction for building engineering
CN116594023A (en) * 2023-06-13 2023-08-15 江苏洁路宝环保科技有限公司 Intelligent sweeping robot object avoiding detection device and application method thereof
CN116594023B (en) * 2023-06-13 2023-11-14 江苏洁路宝环保科技有限公司 Intelligent sweeping robot object avoiding detection device and application method thereof

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GR01 Patent grant
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TR01 Transfer of patent right

Effective date of registration: 20210309

Address after: No. 417, 4th floor, building 1, 1388, middle section of Tianfu Avenue, Chengdu hi tech Zone, China (Sichuan) pilot Free Trade Zone, Chengdu, Sichuan 610000

Patentee after: Sichuan Zhiji Technology Co.,Ltd.

Address before: 528000 unit 11, 7th floor, Chengye building, No.13, Nanping West Road, Guicheng, Nanhai District, Foshan City, Guangdong Province

Patentee before: GUANGDONG ZHIJI TECHNOLOGY Co.,Ltd.

TR01 Transfer of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20191122

CF01 Termination of patent right due to non-payment of annual fee