CN114954378A - Intelligent-manufactured anti-toppling mechanism for robot installation chassis - Google Patents
Intelligent-manufactured anti-toppling mechanism for robot installation chassis Download PDFInfo
- Publication number
- CN114954378A CN114954378A CN202210674519.2A CN202210674519A CN114954378A CN 114954378 A CN114954378 A CN 114954378A CN 202210674519 A CN202210674519 A CN 202210674519A CN 114954378 A CN114954378 A CN 114954378A
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- chassis
- fixed mounting
- permanent magnet
- chassis body
- electromagnet
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- 230000007246 mechanism Effects 0.000 title claims abstract description 21
- 238000009434 installation Methods 0.000 title claims abstract description 16
- 230000005284 excitation Effects 0.000 claims abstract description 11
- 230000006698 induction Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 abstract description 5
- 238000012271 agricultural production Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000007123 defense Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
- B60T1/12—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action
- B60T1/14—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles acting otherwise than by retarding wheels, e.g. jet action directly on road
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses an intelligently manufactured anti-toppling mechanism for a robot installation chassis, which comprises a chassis body and four traveling wheels, wherein supporting plates are symmetrically arranged on two sides of each traveling wheel, the upper end of each supporting plate is fixedly arranged on the bottom end face of the chassis body, a rotating shaft is fixedly arranged on one side, opposite to each traveling wheel, of each traveling wheel, and the rotating shafts are rotatably connected into the side walls of the supporting plates. According to the chassis body, when the chassis body stops, and after the magnetic field of the excitation coil on the surface of the second electromagnet disappears, the second electromagnet and the permanent magnet repel each other, the permanent magnet and the permanent magnet attract each other, and simultaneously move upwards under the action of the elastic force of the permanent magnet, so that the opposite ends of the two rotating rods move downwards, the stopping rod is in contact with the ground and is inserted into the ground, the friction force between the chassis body and the ground is improved, the chassis body is prevented from being overturned, and the stability of the chassis body is improved.
Description
Technical Field
The invention relates to the technical field of robot anti-toppling mechanisms, in particular to an intelligently manufactured anti-toppling mechanism for a robot mounting chassis.
Background
The robot for special operation, such as the robot for special operation of underwater, dangerous environment, overhead operation, national defense, scientific investigation, special transport, agriculture and the like, has the advantages that the single mechanization in agricultural production is more and more difficult to meet the requirement of agricultural development, the progress of productivity is limited by less and less manpower, the agricultural robot can gradually replace the manpower and continuously help the agricultural production to reduce labor intensity, and the robot for special operation makes outstanding contribution to efficient, safe and intelligent agricultural production and agricultural green development.
In order to move the robot fast and conveniently, the robot is mostly installed on a base with universal wheels for operation, when the agricultural robot brakes suddenly in the moving process, the robot can tip over due to the fact that the inertial robot can tip over forwards, and then the damage of the robot is caused, and the use cost is increased.
In order to solve the problems, the invention provides an intelligent anti-dumping mechanism for a robot mounting chassis.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides an intelligent-manufactured anti-toppling mechanism for a robot mounting chassis.
The invention provides an intelligently manufactured anti-toppling mechanism for a robot installation chassis, which comprises a chassis body and four walking wheels, wherein two sides of each walking wheel are symmetrically provided with a supporting plate, the upper end of each supporting plate is fixedly arranged on the bottom end surface of the chassis body, one side opposite to the two walking wheels is jointly and fixedly provided with a rotating shaft, the rotating shaft is rotatably connected into the side wall of the supporting plate, the lower end surface of the chassis body is fixedly provided with an installation box, the side wall of the upper end in the installation box is fixedly provided with two limiting rods, two limiting blocks are symmetrically and fixedly arranged right below the installation box, each limiting rod is slidably connected with a limiting block, a permanent magnet is jointly and fixedly arranged between the two limiting blocks, the lower end surface of the permanent magnet is symmetrically and fixedly provided with two springs, and the lower end of each spring is fixedly arranged on the bottom end surface in the installation box, the vertical fixed mounting of lower terminal surface of permanent magnet has the tablet, the lower extreme of tablet runs through the lower terminal surface of install bin and pastes mutually with the surface of pivot, the stopper deviates from the one end of permanent magnet and rotates and be connected with the dwang, the vertical rotation of center department of dwang is connected with the bracing piece, the upper end fixed mounting of bracing piece is at the bottom face of chassis body, the vertical rotation of one end that the dwang deviates from the stopper is connected with the pole of stopping, the cover is equipped with the stopper on the pole of stopping, fixed mounting has the limiting plate on the lateral wall of stopper, the upper end fixed mounting of limiting plate is on the bottom face of chassis body.
Preferably, a second electromagnet is fixedly installed in the middle of the rotating shaft and is right opposite to the permanent magnet.
Preferably, a friction ring is arranged at the joint of the rotating shaft and the supporting plate, the friction ring is rotatably connected with the rotating shaft, a friction plate is fixedly mounted on the inner wall of the friction ring, the friction plate is in contact with the rotating shaft, and the friction ring is fixedly mounted on the side wall of the supporting plate.
Preferably, each friction circle's up end all fixed mounting has the engaging lug, two the engaging lug respectively with No. two electro-magnet electric connection.
Preferably, two and dwang assorted slide openings, every are seted up to the symmetry on the lateral wall of install bin the equal sliding connection of dwang is in the slide opening.
Preferably, the lower terminal surface of install bin is seted up with tablet assorted through-hole, tablet sliding connection is in the through-hole.
Preferably, the length of the rotating rod left half part is L1, the length of the rotating rod right half part is L2, and L1 is equal to L2.
Preferably, the second electromagnet and the second electromagnet are both sleeved with excitation coils.
The invention has the advantages of
1. When the chassis body walks, the two walking wheels drive the rotating shaft to rotate together, friction is generated between two ends of the walking wheels and the friction ring to generate current, the current enters the second electromagnet through the connecting lugs respectively, at the moment, the excitation coil on the second electromagnet generates a magnetic field opposite to that of the second electromagnet to generate repulsion action on the permanent magnet, the excitation coil on the second electromagnet generates a magnetic field opposite to that of the second electromagnet to generate attraction action on the permanent magnet, the permanent magnet compresses the spring, so that the opposite ends of the rotating rods at two ends of the permanent magnet move downwards, and the opposite ends of the two rotating rods move upwards to leave the ground;
2. when the chassis body stops, after the magnetic field of magnet exciting coil disappears with No. two electro-magnet surfaces, repel each other between No. two electro-magnets and the permanent magnet, the permanent magnet attracts each other with between, upward movement under the effect of permanent magnet elasticity simultaneously for the one end downstream that two dwangs were carried on the back mutually, make the pole of stopping and ground contact and insert in the ground, improved frictional force between chassis body and the ground, avoided the chassis body to produce and tumbled, improved the stability of chassis body.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent anti-tipping mechanism for a robot mounting chassis according to the present invention;
FIG. 2 is a state diagram of an intelligent anti-toppling mechanism for a robot mounting chassis according to the present invention;
FIG. 3 is a state diagram of an intelligent anti-toppling mechanism for a robot mounting chassis according to the present invention when stopped;
fig. 4 is an enlarged schematic structural view of a joint of a friction ring and a rotating shaft in an intelligent-manufactured anti-toppling mechanism for a robot mounting chassis according to the present invention.
In the figure: 1 limiting plate, 2 bracing pieces, 3 install bins, 4 slide holes, 5 limiting pieces, 6 rotating rods, 7 limiting blocks, 8 electromagnets, 9 springs, 10 permanent magnets, 11 limiting rods, 12 connecting lugs, 13 friction rings, 14 stopping rods, 15 rotating shafts, 16 electromagnets, 17 induction plates, 18 walking wheels, 19 supporting plates, 20 chassis bodies and 21 friction plates.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected unless otherwise explicitly stated or limited. Either mechanically or electrically. Either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Examples
Referring to fig. 1-4, an intelligent anti-toppling mechanism for a robot mounting chassis comprises a chassis body 20 and walking wheels 18, wherein support plates 19 are symmetrically arranged on two sides of each walking wheel 18, the upper end of each support plate 19 is fixedly arranged on the bottom end face of the chassis body 20, a rotating shaft 15 is fixedly arranged on one side, opposite to the two walking wheels 18, of each walking wheel, the rotating shaft 15 is rotatably connected into the side wall of each support plate 19, a mounting box 3 is fixedly arranged on the lower end face of the chassis body 20, an electromagnet 8 is fixedly arranged on the upper end side wall in the mounting box 3, two limiting rods 11 are symmetrically and fixedly arranged right below the electromagnet 8, each limiting rod 11 is slidably connected with a limiting block 7, a permanent magnet 10 is fixedly arranged between the two limiting blocks 7, two springs 9 are symmetrically and fixedly arranged on the lower end face of the permanent magnet 10, and the lower end face of each spring 9 is fixedly arranged on the bottom end face in the mounting box 3, an induction plate 17 is vertically and fixedly installed on the lower end face of the permanent magnet 10, the lower end of the induction plate 17 penetrates through the lower end face of the installation box 3 and is attached to the surface of the rotating shaft 15, a rotating rod 6 is rotatably connected to one end, away from the permanent magnet 10, of the limiting block 7, a supporting rod 2 is vertically and rotatably connected to the center of the rotating rod 6, the upper end of the supporting rod 2 is fixedly installed on the bottom end face of the chassis body 20, a braking rod 14 is vertically and rotatably connected to one end, away from the limiting block 7, of the rotating rod 6, when the chassis body 20 stops, magnetic fields of the exciting coils on the surfaces of the first electromagnet 8 and the second electromagnet 16 disappear, the second electromagnet 16 and the permanent magnet 10 repel each other, the permanent magnet 10 and the first electromagnet 8 attract each other, and move upwards under the effect of the elastic force of the permanent magnet 10, so that the opposite ends of the two rotating rods 6 move downwards, and the braking rod 14 is in contact with the ground and is inserted into the ground, the friction between chassis body 20 and the ground has been improved, has avoided chassis body 20 to produce and has tumbled, and the cover is equipped with spacing piece 5 on the stop lever 14, and fixed mounting has limiting plate 1 on the lateral wall of spacing piece 5, and the upper end fixed mounting of limiting plate 1 is on chassis body 20's bottom face.
Wherein, a second electromagnet 16 is fixedly arranged in the middle part of the rotating shaft 15, and the second electromagnet 16 is just opposite to the permanent magnet 10;
wherein, the equal fixed mounting of the up end of every friction ring 13 has engaging lug 12, two engaging lugs 12 respectively with an electro-magnet 8 and No. two electro-magnets 16 electric connection, all the cover is equipped with excitation coil on No. two electro-magnets 16 and an electro-magnet 8, the electric current gets into in an electro-magnet 8 and No. two electro-magnets 16 respectively through engaging lug 12, at this moment, excitation coil on an electro-magnet 8 produces the magnetic field opposite with an electro-magnet 8, produce repulsion action to permanent magnet 10, excitation coil on No. two electro-magnets 16 produces the magnetic field opposite with No. two electro-magnets 16, produce attraction action to permanent magnet 10.
Wherein, a friction ring 13 is arranged at the joint of the rotating shaft 15 and the supporting plate 19, the friction ring 13 is rotatably connected with the rotating shaft 15, a friction plate 21 is fixedly arranged on the inner wall of the friction ring 13, the friction plate 21 is contacted with the rotating shaft 15, and the friction ring 13 is fixedly arranged on the side wall of the supporting plate 19;
wherein, the side wall of the installation box 3 is symmetrically provided with two sliding holes 4 matched with the rotating rods 6, and each rotating rod 6 is connected in the sliding hole 4 in a sliding way;
wherein, the lower end surface of the installation box 3 is provided with a through hole matched with the induction plate 17, and the induction plate 17 is connected in the through hole in a sliding way;
wherein, the length of the left half part of the rotating rod 6 is L1, the length of the right half part of the rotating rod 6 is L2, L1 is equal to L2, and the rotating rod 6 can rotate around the supporting rod 2 by utilizing the lever principle;
in the invention, when a chassis body 20 walks, two walking wheels 18 jointly drive a rotating shaft 15 to rotate, friction is generated between two ends of each walking wheel 18 and a friction ring 13 to generate current, the current respectively enters a first electromagnet 8 and a second electromagnet 16 through a connecting lug 12, at the moment, an excitation coil on the first electromagnet 8 generates a magnetic field opposite to that of the first electromagnet 8 to generate repulsion on a permanent magnet 10, an excitation coil on the second electromagnet 16 generates a magnetic field opposite to that of the second electromagnet 16 to generate attraction on the permanent magnet 10, so that the permanent magnet 10 compresses a spring 9, one end, opposite to a rotating rod 6, of each permanent magnet 10 moves downwards, and the other end, opposite to each other, of each rotating rod 6 moves upwards to leave the ground;
when chassis body 20 stops, the back disappears in the magnetic field of 16 surperficial excitation coils of electro-magnet 8 and No. two electro-magnets, mutual repulsion between No. two electro-magnets 16 and the permanent magnet 10, attract each other between permanent magnet 10 and the electro-magnet 8, upward movement under the effect of permanent magnet 10 elasticity simultaneously, make the one end downstream that two dwang 6 carried on the back mutually, make stop lever 14 and ground contact and insert in the ground, frictional force between chassis body 20 and the ground has been improved, chassis body 20 has been avoided producing and has tumbled, chassis body 20's stability has been improved.
Claims (8)
1. The utility model provides an intelligent-made anti-toppling mechanism for robot installation chassis, includes chassis body (20) and four walking wheels (18), its characterized in that, every the equal symmetry in both sides of walking wheel (18) is provided with backup pad (19), every the equal fixed mounting in bottom face of chassis body (20) in upper end of backup pad (19), and the common fixed mounting in one side that two walking wheels (18) are relative has pivot (15), pivot (15) rotate to be connected in the lateral wall of backup pad (19), the lower terminal surface fixed mounting of chassis body (20) has install box (3), upper end lateral wall fixed mounting in install box (3) has electro-magnet (8) No. one, symmetrical fixed mounting has two gag lever post (11) under electro-magnet (8), every equal sliding connection has stopper (7) on gag lever post (11), two common fixed mounting has permanent magnet (10) between stopper (7), the lower terminal surface symmetry fixed mounting of permanent magnet (10) has two springs (9), every the equal fixed mounting of lower extreme of spring (9) is on the bottom face in install bin (3), the vertical fixed mounting of lower terminal surface of permanent magnet (10) has tablet (17), the lower extreme of tablet (17) runs through the lower terminal surface of install bin (3) and pastes with the surface of pivot (15), the one end that stopper (7) deviates from permanent magnet (10) is rotated and is connected with dwang (6), the vertical rotation of center department of dwang (6) is connected with bracing piece (2), the upper end fixed mounting of bracing piece (2) is at the bottom face of chassis body (20), the vertical rotation of one end that dwang (6) deviates from stopper (7) is connected with stop lever (14), stop pole (14) are gone up the cover and are equipped with spacing piece (5), fixed mounting has limiting plate (1) on the lateral wall of spacing piece (5), the upper end fixed mounting of limiting plate (1) is on the bottom face of chassis body (20).
2. The intelligent manufactured anti-toppling mechanism for the robot installation chassis is characterized in that a second electromagnet (16) is fixedly installed in the middle of the rotating shaft (15), and the second electromagnet (16) is opposite to the permanent magnet (10).
3. The intelligent-made anti-toppling mechanism for the robot installation chassis is characterized in that a friction ring (13) is arranged at the joint of the rotating shaft (15) and the supporting plate (19), the friction ring (13) is rotatably connected with the rotating shaft (15), a friction plate (21) is fixedly installed on the inner wall of the friction ring (13), the friction plate (21) is in contact with the rotating shaft (15), and the friction ring (13) is fixedly installed on the side wall of the supporting plate (19).
4. The intelligent manufactured anti-toppling mechanism for the robot mounting chassis according to claim 3, wherein a connecting lug (12) is fixedly mounted on the upper end face of each friction ring (13), and the two connecting lugs (12) are respectively electrically connected with a first electromagnet (8) and a second electromagnet (16).
5. The intelligent anti-toppling mechanism for the robot mounting chassis, which is manufactured according to claim 1, is characterized in that two sliding holes (4) matched with the rotating rods (6) are symmetrically formed in the side wall of the mounting box (3), and each rotating rod (6) is slidably connected into the sliding hole (4).
6. The intelligent manufactured anti-toppling mechanism for the robot installation chassis is characterized in that a through hole matched with the induction plate (17) is formed in the lower end face of the installation box (3), and the induction plate (17) is connected in the through hole in a sliding mode.
7. An intelligent manufactured anti-tipping mechanism for a robot mounting chassis according to claim 1, characterised in that the length of the left half of the swivelling lever (6) is L1, the length of the right half of the swivelling lever (6) is L2, the L1 being equal to L2.
8. An intelligent manufactured anti-toppling mechanism for a robot mounting chassis according to claim 1, wherein the second electromagnet (16) and the first electromagnet (8) are both provided with excitation coils.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210674519.2A CN114954378B (en) | 2022-06-15 | 2022-06-15 | Intelligent anti-toppling mechanism for robot mounting chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210674519.2A CN114954378B (en) | 2022-06-15 | 2022-06-15 | Intelligent anti-toppling mechanism for robot mounting chassis |
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| Publication Number | Publication Date |
|---|---|
| CN114954378A true CN114954378A (en) | 2022-08-30 |
| CN114954378B CN114954378B (en) | 2023-06-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210674519.2A Active CN114954378B (en) | 2022-06-15 | 2022-06-15 | Intelligent anti-toppling mechanism for robot mounting chassis |
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| Country | Link |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020153982A1 (en) * | 2001-04-19 | 2002-10-24 | R. Audemars Sa | Electromagnetic actuator |
| CN209304600U (en) * | 2018-12-21 | 2019-08-27 | 安徽果力智能科技有限公司 | A kind of intelligent machine arm convenient for picking |
| CN211844087U (en) * | 2020-01-20 | 2020-11-03 | 安徽明思科技有限公司 | Artificial intelligence education robot running gear |
| CN112477824A (en) * | 2020-11-04 | 2021-03-12 | 杭州空饭科技有限公司 | Intelligent-manufactured anti-toppling mechanism for robot installation chassis |
| CN113830200A (en) * | 2021-09-01 | 2021-12-24 | 广州市天河区荔也楼网络科技有限公司 | Anticollision type wisdom storage equipment |
-
2022
- 2022-06-15 CN CN202210674519.2A patent/CN114954378B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020153982A1 (en) * | 2001-04-19 | 2002-10-24 | R. Audemars Sa | Electromagnetic actuator |
| CN209304600U (en) * | 2018-12-21 | 2019-08-27 | 安徽果力智能科技有限公司 | A kind of intelligent machine arm convenient for picking |
| CN211844087U (en) * | 2020-01-20 | 2020-11-03 | 安徽明思科技有限公司 | Artificial intelligence education robot running gear |
| CN112477824A (en) * | 2020-11-04 | 2021-03-12 | 杭州空饭科技有限公司 | Intelligent-manufactured anti-toppling mechanism for robot installation chassis |
| CN113830200A (en) * | 2021-09-01 | 2021-12-24 | 广州市天河区荔也楼网络科技有限公司 | Anticollision type wisdom storage equipment |
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| Publication number | Publication date |
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| CN114954378B (en) | 2023-06-20 |
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Application publication date: 20220830 Assignee: Tianjin Langyu robot Co.,Ltd. Assignor: THE NORTHERN Research Institute OF NJUST Contract record no.: X2024980005781 Denomination of invention: An intelligent manufacturing anti tipping mechanism for robot chassis installation Granted publication date: 20230620 License type: Common License Record date: 20240514 |