CN215848307U - Robot base capable of walking stably - Google Patents
Robot base capable of walking stably Download PDFInfo
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- CN215848307U CN215848307U CN202122166728.XU CN202122166728U CN215848307U CN 215848307 U CN215848307 U CN 215848307U CN 202122166728 U CN202122166728 U CN 202122166728U CN 215848307 U CN215848307 U CN 215848307U
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- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 230000035939 shock Effects 0.000 claims abstract description 17
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 17
- 238000013016 damping Methods 0.000 claims description 14
- 230000000694 effects Effects 0.000 abstract description 9
- 238000010521 absorption reaction Methods 0.000 abstract description 4
- 230000006641 stabilisation Effects 0.000 abstract 2
- 238000011105 stabilization Methods 0.000 abstract 2
- 230000003139 buffering effect Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 241000282414 Homo sapiens Species 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
本实用新型公开了一种行走平稳的机器人底座，涉及机器人技术领域，包括底座本体，底座本体的上表面固定连接有支撑平台，底座本体的下方设置有四个减震稳定机构，底座本体的上方设置有四个侧面防护机构。本实用新型设计结构合理，它能够通过设置减震稳定机构，能够通过四个减震稳定机构对底座本体的四个边角进行独立减震，使其中一个减震稳定机构在经过障碍物时其他的减震稳定机构不受影响，从而达到对底座本体的减震稳定作用，通过设置侧面防护机构，能够在底座本体相应的侧面进行防侧翻防护，在底座本体倾斜导致侧面防护机构接触地面时对支撑平台进行回顶，从而带动底座本体复位，有效的避免了底座本体因为地面颠簸导致的侧翻。
The utility model discloses a stable walking robot base, which relates to the field of robot technology. There are four side protection mechanisms. The utility model has a reasonable design and structure. It can independently shock the four corners of the base body through four shock absorbing and stabilizing mechanisms, so that one shock absorbing and stabilizing mechanism can pass through obstacles and the other The shock absorption and stabilization mechanism of the base body is not affected, so as to achieve the shock absorption and stabilization effect on the base body. By setting the side protection mechanism, the anti-rollover protection can be performed on the corresponding side of the base body. When the base body is tilted and the side protection mechanism touches the ground The support platform is returned to the top, thereby driving the base body to reset, effectively avoiding the rollover of the base body due to ground bumps.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a robot base capable of walking stably.
Background
The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capacity range of the human beings.
Along with the higher and higher degree of intelligence of the robot, the decision-making and executive commands are more and more abundant, so the robot is loved by more and more industries and crowds, such as a carrying robot, a navigation robot and the like, but if the robot touches a barrier or a bumpy road section in the walking and moving process, the robot is easy to turn over, the robot or articles carried by the robot are damaged, and serious economic loss is caused.
In the existing robot walking base, refer to patent document CN213136741U, most of the solutions proposed by the solutions do not have a shock absorption function, and most of the bases are fixed and combined, which is not beneficial for the robot to drive on a bumpy road section or to cross over an obstacle. Therefore, the robot base capable of walking stably is provided to solve the problems.
SUMMERY OF THE UTILITY MODEL
One) technical problem to be solved
The utility model aims to make up for the defects of the prior art and provides a robot base which can protect the side surface and absorb shock and is stable on the ground.
II) technical scheme
In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a walking smooth and steady robot base, includes base body, base body's last fixed surface is connected with supporting platform, base body's below is provided with four shock attenuation stabilizing mean, base body's top is provided with four side protection machanisms, supporting platform's upper surface rotates and is connected with rotary platform, rotary platform's last fixed surface is connected with the fixed screw of equidistance circumference array.
Further, the shock attenuation stabilizing mean includes a bracing piece and two tube slots, the top surface of bracing piece runs through base body's bottom surface and extends to base body's top and base body sliding connection, two the upper end of tube slot all articulates in base body's bottom surface through the round pin axle, can realize the shock attenuation to base body through the activity that utilizes bracing piece and tube slot and the inside part of cooperation.
Further, the last fixed surface of bracing piece is connected with the stopper, the surface cover of bracing piece is equipped with first expanding spring, and first expanding spring is located between base body and the stopper, two the equal fixedly connected with second expanding spring of inner wall of tube seat can cushion the course of action of bracing piece through first expanding spring's elasticity, reaches the purpose of buffering.
Further, two the equal fixedly connected with down tube in second expanding spring's bottom, two the down tube all articulates in the side of bracing piece through the round pin axle, the first rotation node of bottom surface fixedly connected with of bracing piece, the bottom surface fixedly connected with universal wheel of first rotation node can carry out the secondary buffering to the bracing piece through two second expanding spring and down tube when the bracing piece motion, further strengthens its shock attenuation effect.
Further, side protection machanism includes spout and L type pole, L type pole fixed connection is in supporting platform's bottom surface, L type pole articulates in base body's upper surface through the round pin axle, the inside sliding connection of spout has the slider, can protect base body's side through the cooperation between spout and L type pole and the part that it contains, will support the platform and back to the top and drive base body when it turns on one's side and reset.
Further, two gag lever posts of inner wall fixedly connected with of spout, and the surface of two gag lever posts all with the inner wall sliding connection of slider, two the surface of gag lever post all overlaps and is equipped with third expanding spring, can inject the motion range of slider through the gag lever post, makes it be located spout internal movement all the time, avoids the slider to break away from predetermined track.
Further, the bottom surface of slider articulates through the round pin axle has the connecting rod, the bottom of connecting rod articulates in the upper surface of L type pole through the round pin axle, the bottom surface fixedly connected with second rotation node of L type pole, the bottom surface fixedly connected with cone pulley of second rotation node can drive the slider through the connecting rod and slide inside the spout to reach the back of pushing back to reset to L type pole, avoid base body and supporting platform slope excessively to lead to base body to turn on one's side.
Thirdly), the beneficial effects are as follows:
compared with the prior art, the robot base capable of walking stably has the following beneficial effects:
according to the utility model, through the arrangement of the damping stabilizing mechanisms, four corners of the base body can be independently damped through the four damping stabilizing mechanisms, so that other damping stabilizing mechanisms are not affected when one damping stabilizing mechanism passes through an obstacle, thereby achieving the damping stabilizing effect on the base body.
The damping function of the damping stabilizing mechanism can be further enhanced by arranging the pipe groove, the second telescopic spring and the inclined rod, and the upper part and the lower part of the base body are provided with stress structures, so that a better damping effect is achieved.
Drawings
FIG. 1 is a schematic formal diagram of the three-dimensional structure of the present invention;
FIG. 2 is a schematic bottom view of the three-dimensional structure of the present invention;
FIG. 3 is a schematic perspective view of the shock absorbing and stabilizing mechanism of the present invention;
fig. 4 is a schematic perspective view of the side protection mechanism of the present invention.
In the figure: 1. a base body; 2. a support platform; 3. a shock absorbing stabilizing mechanism; 301. a support bar; 302. a pipe groove; 303. a limiting block; 304. a first extension spring; 305. a second extension spring; 306. a diagonal bar; 307. a first rotating node; 308. a universal wheel; 4. a side protection mechanism; 401. a chute; 402. an L-shaped rod; 403. a slider; 404. a limiting rod; 405. a third extension spring; 406. a connecting rod; 407. a second rotating node; 408. a conical wheel; 5. rotating the platform; 6. and fixing the screw.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 4, the present invention provides a technical solution: the robot base capable of walking stably comprises a base body 1, wherein a supporting platform 2 is fixedly connected to the upper surface of the base body 1.
The main body frame of the base body 1 and the supporting platform 2 is arranged, edges and corners of the base body 1 and the supporting platform 2 are passivated, and workers are prevented from being accidentally injured in the movement process of the robot.
Four shock absorption stabilizing mechanisms 3 are arranged below the base body 1.
In this embodiment, damping and stabilizing mechanism 3 includes a bracing piece 301 and two tube seat 302, and the top surface of bracing piece 301 runs through base body 1's bottom surface and extends to base body 1's top and base body 1 sliding connection, and the upper end of two tube seat 302 all hinges in base body 1's bottom surface through the round pin axle, can realize the shock attenuation to base body 1 through the activity that utilizes bracing piece 301 and tube seat 302 and the inside part of cooperation.
Further, the upper surface of bracing piece 301 is fixedly connected with stopper 303, and the surface cover of bracing piece 301 is equipped with first expanding spring 304, and first expanding spring 304 is located between base body 1 and stopper 303, and the equal fixedly connected with second expanding spring 305 of inner wall of two tube slots 302 can cushion the course of action of bracing piece 301 through the elasticity of first expanding spring 304, reaches the purpose of buffering.
Further, the equal fixedly connected with down tube 306 in bottom of two second expanding spring 305, two down tubes 306 all articulate in the side of bracing piece 301 through the round pin axle, the first rotation node 307 of bottom surface fixedly connected with of bracing piece 301, the bottom surface fixedly connected with universal wheel 308 of first rotation node 307 can carry out the secondary buffering to bracing piece 301 when bracing piece 301 moves through two second expanding spring 305 and down tube 306, further strengthens its shock attenuation effect.
Namely, the universal wheels 308 provide a running function, and the support rods 301 move up and down to realize stable damping of the base body 1.
When the base body 1 moves up and down, the first extension spring 304 and the second extension spring 305 perform elastic force on the upper end and the lower end of the base body 1 through the elastic force of the first extension spring 304 and the second extension spring 305, and the supporting rod 301 is prevented from moving in a buffering manner, so that the damping effect on the base body 1 is stable.
Four side protection mechanisms 4 are arranged above the base body 1.
Here, side protection mechanism 4 includes spout 401 and L type pole 402, and L type pole 402 fixed connection is in supporting platform 2's bottom surface, and L type pole 402 articulates in base body 1's upper surface through the round pin axle, and the inside sliding connection of spout 401 has slider 403, can protect base body 1's side through the cooperation between spout 401 and L type pole 402 and the part that it contains, pushes back supporting platform 2 and drives base body 1 and reset when it turns on one's side.
Meanwhile, the inner wall of the sliding chute 401 is fixedly connected with two limiting rods 404, the outer surfaces of the two limiting rods 404 are connected with the inner wall of the sliding block 403 in a sliding mode, the outer surfaces of the two limiting rods 404 are sleeved with third telescopic springs 405, the moving range of the sliding block 403 can be limited through the limiting rods 404, the sliding block is enabled to be located inside the sliding chute 401 all the time to move, and the sliding block 403 is prevented from being separated from a preset track.
Still include, the bottom surface of slider 403 articulates through the round pin axle has connecting rod 406, the bottom of connecting rod 406 articulates in the upper surface of L type pole 402 through the round pin axle, the bottom surface fixedly connected with second rotation node 407 of L type pole 402, the bottom surface fixedly connected with cone pulley 408 of second rotation node 407, can drive slider 403 through connecting rod 406 and slide in spout 401 is inside, thereby reach the back-pushing of L type pole 402 and reset, avoid base body 1 and support platform 2 slope excessively to lead to base body 1 to turn on one's side.
Can drive slider 403 when the motion of L type pole 402 promptly and move in spout 401 to carry out elasticity to slider 403 through third expanding spring 405 and add and hold, thereby realize the protection to base body 1 side, avoid base body 1 slope excessively to lead to turning on one's side.
The upper surface of the supporting platform 2 is rotatably connected with a rotating platform 5, and the upper surface of the rotating platform 5 is fixedly connected with fixing screws 6 which are arrayed in a circumference shape at equal intervals.
Can utilize set screw 6 to be fixed in the robot body on rotary platform 5 to utilize rotary platform 5 can rotate on supporting platform 2, thereby realize that the body of the robot turns round more smoothly safety.
The working principle is as follows: firstly, the robot is fixed on a rotary platform 5 through a fixing screw 6, then corresponding circuits and drives are connected, so that the robot can independently operate and select to run or turn, then in the running process of the robot, if the robot meets an obstacle or bumpy road surface, firstly, a universal wheel 308 contacts with the ground, when the ground obstacle in the universal wheel 308 is jacked, a support rod 301 is driven to move upwards, due to the arrangement of a first telescopic spring 304, the support rod 301 cannot instantly lift the base body 1, but the first telescopic spring 304 is used for driving the base body 1, the stress transmitted by the universal wheel 308 is buffered to a certain extent, then, when the support rod 301 moves upwards, a diagonal rod 306 is driven to press a second telescopic spring 305 for secondary damping and stress elimination, the damping and stabilizing effect on the base body 1 is further strengthened, if the robot turns on one side or the side surface contacts other objects in the running process of the robot, through the rotating effect of the cone wheel 408, the normal running of the robot is not affected, and when the base body 1 turns on one side, the cone wheel 408 contacts the ground and then drives the L-shaped rod 402 to move upwards, the L-shaped rod 402 drives the sliding block 403 to slide in the sliding groove 401 through the connecting rod 406 and presses the third telescopic spring 405, so that the side turning of the base body 1 is buffered, and the purpose of preventing the side turning is achieved.
It should be noted that, in this document, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless otherwise explicitly stated or limited, the terms "fixedly," "mounted," "connected," and "connected" are to be construed broadly, e.g., "mounted" may be fixedly connected, or detachably connected, or integrally connected; "connected" may be mechanically or electrically connected; "connected" may be directly connected or indirectly connected through an intermediate member, or may be internal or external to two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (7)
1. The utility model provides a walking smooth and steady robot base, includes base body (1), its characterized in that: the shock-absorbing and vibration-damping base is characterized in that the supporting platform (2) is fixedly connected to the upper surface of the base body (1), four shock-absorbing and stabilizing mechanisms (3) are arranged below the base body (1), four side protection mechanisms (4) are arranged above the base body (1), the supporting platform (2) is rotatably connected to the upper surface of the rotating platform (5), and the fixing screws (6) of the equidistant circumference array are fixedly connected to the upper surface of the rotating platform (5).
2. A walking smooth robot base according to claim 1 and characterized in that: shock attenuation stabilizing mean (3) include one bracing piece (301) and two tube seat (302), the top surface of bracing piece (301) runs through the bottom surface of base body (1) and extends to the top and the base body (1) sliding connection of base body (1), two the upper end of tube seat (302) all articulates in the bottom surface of base body (1) through the round pin axle.
3. A walking smooth robot base according to claim 2 and characterized in that: the last fixed surface of bracing piece (301) is connected with stopper (303), the surface cover of bracing piece (301) is equipped with first expanding spring (304), and first expanding spring (304) are located between base body (1) and stopper (303), two the equal fixedly connected with second expanding spring (305) of inner wall of tube seat (302).
4. A walking smooth robot base according to claim 3 and characterized in that: two the equal fixedly connected with down tube (306) in bottom of second expanding spring (305), two down tube (306) all articulates in the side of bracing piece (301) through the round pin axle, the bottom surface fixedly connected with first rotation node (307) of bracing piece (301), the bottom surface fixedly connected with universal wheel (308) of first rotation node (307).
5. A walking smooth robot base according to claim 1 and characterized in that: side protection machanism (4) include spout (401) and L type pole (402), L type pole (402) fixed connection is in the bottom surface of supporting platform (2), L type pole (402) articulate in the upper surface of base body (1) through the round pin axle, the inside sliding connection of spout (401) has slider (403).
6. A walking smooth robot base according to claim 5 and characterized in that: the inner wall fixedly connected with of spout (401) has two gag lever post (404), and the surface of two gag lever post (404) all with the inner wall sliding connection of slider (403), two the surface of gag lever post (404) all overlaps and is equipped with third expanding spring (405).
7. A walking smooth robot base according to claim 6 and characterized in that: the bottom surface of the sliding block (403) is hinged with a connecting rod (406) through a pin shaft, the bottom end of the connecting rod (406) is hinged to the upper surface of the L-shaped rod (402) through a pin shaft, the bottom surface of the L-shaped rod (402) is fixedly connected with a second rotating joint (407), and the bottom surface of the second rotating joint (407) is fixedly connected with a conical wheel (408).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122166728.XU CN215848307U (en) | 2021-09-08 | 2021-09-08 | Robot base capable of walking stably |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122166728.XU CN215848307U (en) | 2021-09-08 | 2021-09-08 | Robot base capable of walking stably |
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| Publication Number | Publication Date |
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| CN215848307U true CN215848307U (en) | 2022-02-18 |
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| CN202122166728.XU Active CN215848307U (en) | 2021-09-08 | 2021-09-08 | Robot base capable of walking stably |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115816476A (en) * | 2022-11-16 | 2023-03-21 | 无锡弘宜智能科技股份有限公司 | Storage transfer robot with built-in wireless charging module |
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2021
- 2021-09-08 CN CN202122166728.XU patent/CN215848307U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115816476A (en) * | 2022-11-16 | 2023-03-21 | 无锡弘宜智能科技股份有限公司 | Storage transfer robot with built-in wireless charging module |
| CN115816476B (en) * | 2022-11-16 | 2023-09-29 | 无锡弘宜智能科技股份有限公司 | Storage transfer robot with built-in wireless charging module |
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Effective date of registration: 20250320 Address after: 103-734, 1st Floor, Building 6, Zone 1, Xiaojing Runyuan, Fengtai District, Beijing 100071 Patentee after: Anxin Cloud (Beijing) Cloud Technology Co.,Ltd. Country or region after: China Address before: 250199 room 301-1, Tengqi office building, No. 46, Shanda North Road, Licheng District, Jinan City, Shandong Province Patentee before: Jinan Shangyi CNC Technology Co.,Ltd. Country or region before: China |