CN107598969A - A kind of anti-tipping apparatus of robot - Google Patents
A kind of anti-tipping apparatus of robot Download PDFInfo
- Publication number
- CN107598969A CN107598969A CN201710878439.8A CN201710878439A CN107598969A CN 107598969 A CN107598969 A CN 107598969A CN 201710878439 A CN201710878439 A CN 201710878439A CN 107598969 A CN107598969 A CN 107598969A
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- rack
- base
- dividing plate
- motor
- spherical ball
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Abstract
The invention discloses a kind of anti-tipping apparatus of robot,Including base,Dividing plate is provided with the base,Chassis interior is divided into upper chamber and lower chambers by the dividing plate,The lower chambers two bottom sides are fixed with distance measuring sensor,The upper surface of dividing plate is provided with the rack extended along the length direction of base,The center line of the rack overlaps with the center line of base,The middle part of rack is provided with weighted spherical ball,The weighted spherical ball is iron ball,The bottom shaping of weighted spherical ball is fluted,Motor is provided with the groove,Gear is connected with the rotating shaft of the motor,The lower end of the gear is stretched out groove and engaged with rack,Gear is pressed against on rack,The middle part of dividing plate is provided with the fixed mount of " Contraband " type,The both ends of the fixed mount are provided with electromagnet,Fixed mount is plugged on dividing plate,The electromagnet is distributed in the both sides of weighted spherical ball and adsorbed in weighted spherical ball.The present invention can effectively reduce robot rollover and topple over situation.
Description
Technical field：
The present invention relates to the technical field of robot, is specifically related to a kind of anti-tipping apparatus of robot.
Background technology：
Robot is the automatic installations for performing work, and it can both receive mankind commander, and can run advance volume again
The program of row.The task of robot is assistance or substitution human work, such as in production industry, construction industry field, it is also or dangerous
Work.But robot can not intelligently differentiate road conditions, it is easy to be tripped so as to topple over when walking, due to machine
The parts complexity of people is high-end, if one end generation rollover strikes ground and is easy to damage inner body and make the robot report
It is useless.Existing traditional robot does not have corresponding overturning-preventing safeguard measure, easily causes the job insecurity of robot, so as to
So that the service life of robot is affected.
In view of it is above-mentioned the defects of, the design people, be actively subject to research and innovation, to found a kind of machine of new structure
The anti-tipping apparatus of people, make it with more the value in industry.
The content of the invention：
The purpose of the present invention aims to solve the problem that the problem of prior art is present, there is provided one kind can effectively reduce robot rollover and incline
A kind of anti-tipping apparatus of the robot for the generation of falling situation.
The present invention relates to a kind of anti-tipping apparatus of robot, including base, dividing plate, the dividing plate are provided with the base
Chassis interior is divided into upper chamber and lower chambers, the lower chambers two bottom sides are fixed with distance measuring sensor, the upper surface of dividing plate
Rack provided with the length direction extension along base, the center line of the rack overlap with the center line of base, the middle part of rack
Provided with weighted spherical ball, the weighted spherical ball is iron ball, and the bottom shaping of weighted spherical ball is fluted, and motor, institute are provided with the groove
State and gear is connected with the rotating shaft of motor, the lower end of the gear is stretched out groove and engaged with rack, and gear is pressed against tooth
On bar, the middle part of dividing plate is provided with the fixed mount of " Contraband " type, and the both ends of the fixed mount are provided with electromagnet, and fixed mount is plugged on dividing plate
On, the electromagnet is distributed in the both sides of weighted spherical ball and adsorbed in weighted spherical ball；
Base above the rack forms the strip coordinated with rack and avoids groove, the dividing plate of rack middle part lower section
On form the regulating tank through dividing plate upper and lower end face, rack is broken into the first rack and the second rack in the middle part of regulating tank,
The end of first rack and the second rack is spliced into complete rack naturally, and one end of the first rack is fixedly plugged in first
In the rotating shaft of motor, one end plugged and fixed of the second rack is in the rotating shaft of the second motor, first motor and the second motor
It is fixed on dividing plate；
The distance measuring sensor is connected with motor, electromagnet, the first motor and the second motor.
By above-mentioned technical proposal, in the use of the present invention, when the base of robot tilts rollover, base bottom is remote
The distance measuring sensor numerical value of ground side becomes big, the electromagnet power-off on distance measuring sensor driving fixed mount so that electromagnet
The absorption affinity to weighted spherical ball both sides is lost, then the motor in the groove of weighted spherical ball starts, and motor band moving gear turns
Dynamic, wheel and rack engagement rotation simultaneously moves along rack, so as to drive weighted spherical ball to be moved away from the dividing plate of ground side, prevents
Only base is toppled over.Then, the first motor or second the first rack of motor driven or the second racks turn away from weighted spherical ball side,
So that strip avoidance groove, the other end that one end of the first rack or the second rack is risen through base extend downwardly into dividing plate
In regulating tank, until the first rack or the second racks turn so further avoid bottom close to the dividing plate away from ground side
Seat rollover is toppled over.
By such scheme, the anti-tipping apparatus of robot of the invention is simple in construction, can effectively reduce robot rollover
Topple over situation.
One kind as such scheme preferably forms grafting groove, fixed mount is inserted on the dividing plate of the regulating tank both sides
It is connected in the grafting groove, one side extended line and weighted spherical ball of grafting groove are tangent, are spirally connected on the dividing plate of grafting groove side
There is fastening bolt, one end of the fastening bolt is resisted against on fixed mount.
One kind as such scheme is preferably formed on the dividing plate upper surface of the regulating tank both sides and is connected with regulating tank
Logical stopper slot, first rack and the second rack are arranged in the stopper slot, the end of the first rack and the second rack
It is resisted against on the inner wall of end of stopper slot.
Preferably, the base end face between the distance measuring sensor is provided with some wheels, institute to one kind as such scheme
Stating wheel includes spherical wheel, is arranged on the support of the wheel both sides, and the support is fixed on the bottom surface of base, wheel
Upper plugged and fixed has rotating shaft, and the both ends of the rotating shaft are hinged on support, and the wheel of base both sides is driving wheel, the middle of the base
Wheel is driven pulley, and one end of the rotating shaft of driving wheel stretches out support sleeve and is fixed with belt wheel, and the belt wheel passes through belt and rotation
The rotating shaft connection of motor, the electric rotating machine are fixed on base.
Preferably, the gear is meshed one kind as such scheme with the stitching portion of the first rack and the second rack, matches somebody with somebody
Heavy ball is located at the top of the stitching portion of the first rack and the second rack.
Preferably, the probe of the distance measuring sensor exposes the bottom surface of base to one kind as such scheme.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
Brief description of the drawings：
The following drawings is only intended to, in doing schematic illustration and explanation to the present invention, not delimit the scope of the invention.Wherein：
Fig. 1 is the structural representation of the present invention；
Fig. 2 is median septum of the present invention and the sectional view of weighted spherical ball and the top view of dividing plate；
Fig. 3 is the structural representation between weighted spherical ball and fixed mount in the present invention；
Fig. 4 is the overlooking the structure diagram of center base of the present invention.
Embodiment：
With reference to the accompanying drawings and examples, the embodiment of the present invention is described in further detail.Implement below
Example is used to illustrate the present invention, but is not limited to the scope of the present invention.
Referring to Fig. 1 to Fig. 3, a kind of anti-tipping apparatus of robot of the present invention, including base 1, in the base 1
Provided with dividing plate 2, the dividing plate 2 will be divided into upper chamber 11 and lower chambers 12 inside base 1, and the two bottom sides of lower chambers 12 are fixed
There is distance measuring sensor 3, the probe of the distance measuring sensor 3 exposes the bottom surface of base 1, and the upper surface of dividing plate 2 is provided with along base 1
The rack 41 of length direction extension, the center line of the rack 41 overlap with the center line of base 1, and the middle part of rack 41, which is provided with, matches somebody with somebody
Heavy ball 5, the weighted spherical ball 5 are iron ball, and the bottom shaping fluted 51 of weighted spherical ball 5, the groove 51 is interior to be provided with motor 52,
Gear 42 is connected with the rotating shaft of the motor 52, the lower end of the gear 42 is stretched out groove 51 and engaged with rack 41,
Gear 42 is pressed against on rack 41, and the middle part of dividing plate 2 is provided with the fixed mount 6 of " Contraband " type, and the both ends of the fixed mount 6 are provided with electromagnetism
Iron 61, fixed mount 6 are plugged on dividing plate 2, and the electromagnet 61 is distributed in the both sides of weighted spherical ball 5 and adsorbed in weighted spherical ball 5.
Referring to Fig. 2 to Fig. 4, the base 1 of the top of rack 41 forms the strip coordinated with rack 41 and avoids groove
13, the regulating tank 21 through the upper and lower end face of dividing plate 2 is formed on the dividing plate 2 of the middle part of rack 41 lower section, and rack 41 is in regulating tank 21
Middle part be broken into the first rack 411 and the second rack 412, the end of the rack 412 of the first rack 411 and second is spelled naturally
Complete rack 41 is connected into, grafting groove 22 is formed on the dividing plate 2 of the both sides of regulating tank 21, fixed mount 6 is plugged on the grafting
In groove 22, one side extended line and weighted spherical ball 5 of grafting groove 22 are tangent, are bolted with the dividing plate 2 of the side of grafting groove 22 tight
Fixing bolt 62, one end of the fastening bolt 62 are resisted against on fixed mount 6, on the upper surface of dividing plate 2 of the both sides of regulating tank 21
The stopper slot 23 being connected with regulating tank 21 is formed, the rack 412 of the first rack 411 and second is arranged on the stopper slot
In 23, the end of the first rack 411 and the second rack 412 is resisted against on the inner wall of end of stopper slot 23, and the one of the first rack 411
End be fixedly plugged in the rotating shaft of the first motor 71, one end plugged and fixed of the second rack 412 in the rotating shaft of the second motor 72,
The motor 72 of first motor 71 and second is fixed on dividing plate 2, the rack 411 of gear 42 and first and the second rack 412
Stitching portion be meshed, weighted spherical ball 5 is located at the top of the stitching portion of the first rack 411 and the second rack 412.
In the present invention, the distance measuring sensor 3 and motor 52, electromagnet 61, the first motor 71 and the second motor 72
It is connected.
Referring to Fig. 1, the base end face between the distance measuring sensor 3 is provided with some wheels 8, and the wheel 8 includes ball
The wheel 81 of shape, the support 82 for being arranged on the wheel both sides, the support 82 is fixed on the bottom surface of base 1, on wheel 81
Plugged and fixed has rotating shaft 83, and the both ends of the rotating shaft 83 are hinged on support 82, and the wheels 8 of the both sides of base 1 is driving wheel, base
The wheel 8 at 1 middle part is driven pulley, and one end of the rotating shaft 83 of driving wheel stretches out the sleeve of support 82 and is fixed with belt wheel 84, the belt wheel
It is connected by belt 85 with the rotating shaft of electric rotating machine 86, the motor 86 is fixed on base 1.
In the specific implementation, when the base 1 of robot tilts rollover, the bottom of base 1 is away from ground side by the present invention
The numerical value of distance measuring sensor 3 becomes big, and the electromagnet 61 on the distance measuring sensor 3 driving fixed mount 6 powers off so that electromagnet 61 loses
To the absorption affinity of the both sides of weighted spherical ball 5, then the motor 52 in the groove 51 of weighted spherical ball 5 starts, and motor 52 is with moving teeth
Wheel 42 rotates, and gear 42 moves with the engagement rotation of rack 41 and along rack 41, so as to drive weighted spherical ball 5 away from ground side
Dividing plate 2 move, prevent base 1 from toppling over.Then, the first motor 71 away from the side of weighted spherical ball 5 or the second motor 72 drive the
One rack 411 or the second rack 412 rotate so that rise through base 1 one end of the first rack 411 or the second rack 412
Strip avoids groove 13, the other end is extended downwardly into the regulating tank 21 of dividing plate 2, until the first rack 411 or the second rack 412
Rotate close to the dividing plate 2 away from ground side, so further avoid the rollover of base 1 and topple over.
In summary, the anti-tipping apparatus of robot of the invention is simple in construction, can effectively reduce robot rollover and topple over
Situation occurs.
The embodiment of the anti-tipping apparatus of robot provided by the present invention, the only present invention, but the present invention
Protection domain is not limited thereto, any one skilled in the art the invention discloses technical scope in, can
Change or replacement are readily occurred in, should all be covered within the scope of the present invention.Therefore, protection scope of the present invention should be with described
Scope of the claims is defined.
Claims (6)
1. a kind of anti-tipping apparatus of robot, including base (1), it is characterised in that：Dividing plate (2) is provided with the base (1),
The dividing plate will be divided into upper chamber (11) and lower chambers (12) inside base (1), and the lower chambers two bottom sides are fixed with ranging
Sensor (3), the upper surface of dividing plate (2) are provided with the rack (41) extended along the length direction of base (1), the center of the rack
Line overlaps with the center line of base (1), and the middle part of rack (41) is provided with weighted spherical ball (5), and the weighted spherical ball is iron ball, weighted spherical ball
(5) bottom is molded fluted (51), is provided with motor (52) in the groove, is connected with the rotating shaft of the motor
Gear (42), the lower end of the gear are stretched out groove (51) and engaged with rack (41), and gear (41) is pressed against on rack (41),
The middle part of dividing plate (2) is provided with the fixed mount (6) of " Contraband " type, and the both ends of the fixed mount are provided with electromagnet (61), and fixed mount (6) is inserted
It is connected on dividing plate (2), the electromagnet (61) is distributed in the both sides of weighted spherical ball (5) and adsorbed in weighted spherical ball (5)；
Base (1) above the rack (41) forms the strip coordinated with rack (41) and avoids groove (13), rack
(41) regulating tank (21) through dividing plate (2) upper and lower end face is formed on the dividing plate (2) of middle part lower section, rack (41) is in regulating tank
(21) the first rack (411) and the second rack (412), first rack (411) and the second rack (412) are broken into the middle part of
End be spliced into complete rack (41) naturally, one end of the first rack (411) is fixedly plugged in turning for the first motor (71)
On axle, one end plugged and fixed of the second rack (412) is in the rotating shaft of the second motor (72), first motor (71) and second
Motor (72) is fixed on dividing plate (2)；
The distance measuring sensor (3) is homogeneous with motor (52), electromagnet (61), the first motor (71) and the second motor (72)
Even.
2. the anti-tipping apparatus of robot according to claim 1, it is characterised in that：Regulating tank (21) both sides every
Grafting groove (22) is formed on plate (2), fixed mount (6) is plugged in the grafting groove (22), and one side of grafting groove is prolonged
Long line and weighted spherical ball (5) are tangent, and fastening bolt (62), the fastening spiral shell are bolted with the dividing plate (2) of grafting groove (22) side
One end of bolt is resisted against on fixed mount (6).
3. the anti-tipping apparatus of robot according to claim 1, it is characterised in that：Regulating tank (21) both sides every
The stopper slot (23) being connected with regulating tank (21), first rack (411) and the second rack are formed on plate (2) upper surface
(412) it is arranged in the stopper slot (23), the end of the first rack (411) and the second rack (412) is resisted against stopper slot
(23) on inner wall of end.
4. the anti-tipping apparatus of robot according to claim 1, it is characterised in that：Between the distance measuring sensor (3)
Base (1) bottom surface be provided with some wheels (8), the wheel includes spherical wheel (81), is arranged on the wheel both sides
Support (82), the support is fixed on the bottom surface of base (1), and plugged and fixed has a rotating shaft (83) on wheel (81), described turn
The both ends of axle are hinged on support (82), and the wheel (8) of base (1) both sides is driving wheel, and the wheel (8) in the middle part of base (1) is
Driven pulley, one end of the rotating shaft (83) of driving wheel stretch out support (82) sleeve and are fixed with belt wheel (84), and the belt wheel passes through belt
(85) rotating shaft with electric rotating machine (86) is connected, and the electric rotating machine is fixed on base (1).
5. the anti-tipping apparatus of robot according to claim 1, it is characterised in that：The gear (42) and the first rack
(411) it is meshed with the stitching portion of the second rack (412), weighted spherical ball (5) is located at the first rack (411) and the second rack (412)
Stitching portion top.
6. the anti-tipping apparatus of robot according to claim 1, it is characterised in that：The spy of the distance measuring sensor (3)
Head exposes the bottom surface of base (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710878439.8A CN107598969A (en) | 2017-09-26 | 2017-09-26 | A kind of anti-tipping apparatus of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710878439.8A CN107598969A (en) | 2017-09-26 | 2017-09-26 | A kind of anti-tipping apparatus of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107598969A true CN107598969A (en) | 2018-01-19 |
Family
ID=61058625
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710878439.8A Pending CN107598969A (en) | 2017-09-26 | 2017-09-26 | A kind of anti-tipping apparatus of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107598969A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318971A (en) * | 2018-10-18 | 2019-02-12 | 滁州市云米工业设计有限公司 | A kind of two-wheel car regulating mechanism system based on optoelectronic distance monitoring |
| CN109571547A (en) * | 2018-11-26 | 2019-04-05 | 墨宝股份有限公司 | A kind of overturning-preventing intelligent robot |
| CN111946646A (en) * | 2020-08-20 | 2020-11-17 | 刘友园 | Anti-toppling floor fan base |
| CN113103253A (en) * | 2021-04-16 | 2021-07-13 | 神华北电胜利能源有限公司 | Low-voltage power distribution cabinet operation robot and control system |
| CN115723153A (en) * | 2022-11-23 | 2023-03-03 | 北京梦天门科技股份有限公司 | Public health law enforcement supervise intelligent robot |
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| CN205711739U (en) * | 2016-04-28 | 2016-11-23 | 杭州专用汽车有限公司 | A kind of turnover weight balance mechanism of bridge inspection vehicle |
| CN106143654A (en) * | 2015-03-27 | 2016-11-23 | 公丕国 | A kind of installation of car for guarding against side turned over |
| CN206394728U (en) * | 2017-01-13 | 2017-08-11 | 湖北工程学院 | Gravity adjusting device, balance car and robot |
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Patent Citations (7)
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| JPS55140660A (en) * | 1979-04-21 | 1980-11-04 | Kaneko Agricult Mach Co Ltd | Overturn preventive device for agricultural work vehicle when tilted |
| CN2860988Y (en) * | 2005-12-08 | 2007-01-24 | 比亚迪股份有限公司 | Electric unicycle |
| CN104412191A (en) * | 2012-06-29 | 2015-03-11 | 株式会社安川电机 | Moving body and moving body system |
| CN103196685A (en) * | 2013-03-04 | 2013-07-10 | 重庆大学 | Two-wheel differential wheel type mobile robot experimental platform with adjustable gravity center |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318971A (en) * | 2018-10-18 | 2019-02-12 | 滁州市云米工业设计有限公司 | A kind of two-wheel car regulating mechanism system based on optoelectronic distance monitoring |
| CN109571547A (en) * | 2018-11-26 | 2019-04-05 | 墨宝股份有限公司 | A kind of overturning-preventing intelligent robot |
| CN111946646A (en) * | 2020-08-20 | 2020-11-17 | 刘友园 | Anti-toppling floor fan base |
| CN111946646B (en) * | 2020-08-20 | 2022-03-22 | 深圳市艾尼亚电子科技有限公司 | Anti-toppling floor fan base |
| CN113103253A (en) * | 2021-04-16 | 2021-07-13 | 神华北电胜利能源有限公司 | Low-voltage power distribution cabinet operation robot and control system |
| CN115723153A (en) * | 2022-11-23 | 2023-03-03 | 北京梦天门科技股份有限公司 | Public health law enforcement supervise intelligent robot |
| CN115723153B (en) * | 2022-11-23 | 2023-11-10 | 北京梦天门科技股份有限公司 | Public health law enforcement supervision intelligent robot |
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Application publication date: 20180119 |