CN205521353U - Automatic horizontal equilibrium robot - Google Patents
Automatic horizontal equilibrium robot Download PDFInfo
- Publication number
- CN205521353U CN205521353U CN201620115679.3U CN201620115679U CN205521353U CN 205521353 U CN205521353 U CN 205521353U CN 201620115679 U CN201620115679 U CN 201620115679U CN 205521353 U CN205521353 U CN 205521353U
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- China
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- rack
- chassis
- automatic horizontal
- screw mandrel
- nut fitting
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Abstract
The utility model relates to an automatic horizontal equilibrium robot, including vehicle bottom dish and the supporter of setting on the vehicle bottom dish, vehicle bottom dish front end and rear end all are equipped with two front wheels and drive rear wheel, its supporting mechanism and horizontal adjustment mechanism who still includes the support supporter of mutually supporting, supporting mechanism one end and vehicle bottom dish fixed connection, the supporting mechanism other end is connected with supporter bottom rotation, and horizontal adjustment mechanism sets up on the vehicle bottom dish to it is used for adjusting the supporter every single move in order to keep the supporter horizontal equilibrium to be connected with the supporter. The utility model relates to a rationally, drive the every single move of supporter front end through horizontal adjustment mechanism for the supporter can remain automatic horizontal equilibrium throughout during the subaerial of unevenness with at the highest downhill path in 0 - 30 slope, thus effectively overcome in the robot motion process since unbalanced, the front end every single move of load and go in the unbalance problem that the centripetal force that produces etc. Is former therefore result in of turning.
Description
Technical field
This utility model relates to robotics, particularly relates to a kind of automatic horizontal balanced robot.
Background technology
At present, domestic robot industry starting ratio is later, with abroad still have a certain distance, for in robot running gear, wheeled locomotion mechanism, crawler-type mobile are all the designs of existing comparative maturity, and wherein, wheeled locomotion mechanism has little with frictional ground force, translational speed is big, the feature of bad adaptability.Existing dining room service robot is used for carrying food or tableware, owing to it can only run mostly on level land, such as rough plane or upper downslope, gravity can make front and back wheel maldistribution, cause robot unbalance, cause rack to shake the most up and down or front end pitch tilt, thus cause the article being positioned on rack to lose horizontal equilibrium so that the problem that drops.
Summary of the invention
The purpose of this utility model is for the deficiencies in the prior art, it is provided that a kind of reasonable in design, can realize the automatic horizontal balanced robot of automatic horizontal balance.
For achieving the above object, this utility model is by the following technical solutions:
A kind of automatic horizontal balanced robot, it includes chassis and the rack being arranged on chassis, described chassis front-end and back-end are equipped with two front-wheels and drive trailing wheel, it also includes cooperating and supports supporting mechanism and the level(l)ing mechanism of rack, described supporting mechanism one end is fixing with chassis to be connected, the supporting mechanism other end is connected with rack lower rotation, level(l)ing mechanism is arranged on chassis, and is connected to regulate rack pitching to keep rack horizontal equilibrium with rack.
Described level(l)ing mechanism includes motor, ballscrew nut fitting, screw mandrel mounting seat and pitch axis, described screw mandrel mounting seat and motor are separately positioned on the front-end and back-end of chassis, screw mandrel one end of ballscrew nut fitting is connected with stepper motor output shaft, the screw mandrel other end of ballscrew nut fitting is rotating to be arranged in screw mandrel mounting seat, described pitch axis one end is connected with the nut of ballscrew nut fitting, the pitch axis other end is connected with bottom rack, when described motor rotates, the screw mandrel driving ballscrew nut fitting rotates, the nut driving ballscrew nut fitting moves forward and backward, the nut of ballscrew nut fitting drives rack pitching by pitch axis.
Screw mandrel one end of described ballscrew nut fitting is connected with stepper motor output shaft by shaft coupling.
Described pitch axis is two, and two pitch axis one end are respectively hinged at the nut both sides of ballscrew nut fitting, and two pitch axis other ends are respectively hinged at rack bottom front.
Described chassis front end is provided with the gyro sensor for gathering traffic information, and described gyro sensor is connected with motor.
Described supporting mechanism includes a bracing frame and two support seats, and two support seats and are separately positioned on the both sides in the middle part of chassis, and bracing frame two ends support seats with two respectively and are rotationally connected, and bracing frame is provided with two or more for supporting the leg of rack.
Described front-wheel is universal wheel.
Described rack is provided with multiple laminated board for storage for glove.
This utility model uses above technical scheme, uses two designs driving trailing wheel so that the power of robot exports and handling relatively good, especially shows relatively good when bend, climbing；The design of ballscrew nut fitting, coefficient of friction is little, eliminate the creeping phenomenon being likely to occur in transmission process, the rotating of motor can be driven the rotary motion of ballscrew nut fitting screw mandrel, move along a straight line before and after being converted into drive ballscrew nut fitting nut, thus pull pitch axis drive the pitching of rack front end so that rack can timely, sensitive, effectively pitching with keep automatic horizontal balance.This utility model is reasonable in design, the pitching of rack front end is driven by level(l)ing mechanism, make rack on broken terrain and can remain that automatic horizontal balances during climb and fall on 0 ° of-30 ° of slope, thus effectively overcoming in robot kinematics due to unbalanced, the front end pitching of load-carrying and the former unbalance thus resulted in such as centripetal force produced of turning in travelling.
Accompanying drawing explanation
In conjunction with accompanying drawing, this utility model is further elaborated:
Fig. 1 is the schematic front view of this utility model automatic horizontal balanced robot；
Fig. 2 is that the right side of this utility model automatic horizontal balanced robot regards schematic diagram；
Fig. 3 is the chassis structural representation of this utility model automatic horizontal balanced robot.
Detailed description of the invention
As shown in one of Fig. 1-3, this utility model includes chassis 1 and the rack 2 being arranged on chassis 1, described chassis 1 front-end and back-end are equipped with two front-wheels 3 and drive trailing wheel 4, it also includes cooperating and supports supporting mechanism 5 and the level(l)ing mechanism 6 of rack 2, described supporting mechanism 5 one end is fixing with chassis 1 to be connected, supporting mechanism 5 other end is connected with rack 2 lower rotation, level(l)ing mechanism 6 is arranged on chassis 1, and is connected to regulate rack 2 pitching to keep rack 2 horizontal equilibrium with rack 2.
nullDescribed level(l)ing mechanism 6 includes motor 61、Ballscrew nut fitting 62、Screw mandrel mounting seat 63 and pitch axis 64，Described screw mandrel mounting seat 63 and motor 61 are separately positioned on the front-end and back-end of chassis 1，Screw mandrel 621 one end of ballscrew nut fitting 62 is connected with motor 61 output shaft，Screw mandrel 621 other end of ballscrew nut fitting 62 is rotating to be arranged in screw mandrel mounting seat 63，Described pitch axis 64 one end is connected with the nut 622 of ballscrew nut fitting 62，Pitch axis 64 other end is connected bottom rack 2，When described motor 61 rotates，The screw mandrel 621 driving ballscrew nut fitting 62 rotates，The nut 622 driving ballscrew nut fitting 62 moves forward and backward，The nut 622 of ballscrew nut fitting 62 drives rack 2 pitching by pitch axis 64.
Screw mandrel 621 one end of described ballscrew nut fitting 62 is connected with motor 61 output shaft by shaft coupling (not marking in figure).
Described pitch axis 64 is two, and two pitch axis 64 one end are respectively hinged at nut 622 both sides of ballscrew nut fitting 62, and two pitch axis 64 other ends are respectively hinged at rack 2 bottom front.
Described chassis 1 front end is provided with the gyro sensor (not shown) for gathering traffic information, and described gyro sensor is connected with motor 61.
Described supporting mechanism 5 includes a bracing frame 51 and two support seats 52, two support seat 52 and are separately positioned on the both sides in the middle part of chassis 1, bracing frame 51 two ends support seat 52 with two respectively and are rotationally connected, and bracing frame 51 is provided with two or more for supporting the leg 53 of rack 2.
Described front-wheel 3 is universal wheel.
Described rack 2 is provided with multiple laminated board for storage 21 for glove.
Automatic horizontal balanced robot of the present utility model is on broken terrain and on the slope of 0 °-30 ° during climb and fall, the rotating of motor 61, the rotation of ballscrew nut fitting 62 screw mandrel is driven by shaft coupling, it is arranged in screw mandrel mounting seat 63 owing to the screw mandrel other end of ballscrew nut fitting 62 is rotating, rotating of ballscrew nut fitting 62 screw mandrel drives the nut of ballscrew nut fitting 62 advance on screw mandrel or retreat, thus pull pitch axis 64 to drive rack 2 front end to face upward or nutation is to have adapted to broken terrain and ramp slope, so that rack 2 remains horizontal equilibrium.
This utility model uses above technical scheme, uses two designs driving trailing wheel 4 so that the power of robot exports and handling relatively good, especially shows relatively good when bend, climbing；The design of ballscrew nut fitting 62, coefficient of friction is little, eliminate the creeping phenomenon being likely to occur in transmission process, the rotating of motor 61 can be driven the rotary motion of ballscrew nut fitting 62 screw mandrel, move along a straight line before and after being converted into drive ballscrew nut fitting 62 nut, thus pull pitch axis 64 to drive rack 2 front end pitching so that rack 2 can timely, sensitive, effectively pitching with keep automatic horizontal balance.
Above description should not have any restriction to protection domain of the present utility model.
Claims (8)
1. an automatic horizontal balanced robot, including chassis and the rack being arranged on chassis, described chassis front-end and back-end are equipped with two front-wheels and drive trailing wheel, it is characterized in that: it also includes cooperating and supports supporting mechanism and the level(l)ing mechanism of rack, described supporting mechanism one end is fixing with chassis to be connected, the supporting mechanism other end is connected with rack lower rotation, level(l)ing mechanism is arranged on chassis, and is connected to regulate rack pitching to keep rack horizontal equilibrium with rack.
A kind of automatic horizontal balanced robot the most according to claim 1, it is characterized in that: described level(l)ing mechanism includes motor, ballscrew nut fitting, screw mandrel mounting seat and pitch axis, described screw mandrel mounting seat and motor are separately positioned on the front-end and back-end of chassis, screw mandrel one end of ballscrew nut fitting is connected with stepper motor output shaft, the screw mandrel other end of ballscrew nut fitting is rotating to be arranged in screw mandrel mounting seat, described pitch axis one end is connected with the nut of ballscrew nut fitting, the pitch axis other end is connected with bottom rack, when described motor rotates, the screw mandrel driving ballscrew nut fitting rotates, the nut driving ballscrew nut fitting moves forward and backward, the nut of ballscrew nut fitting drives rack pitching by pitch axis.
A kind of automatic horizontal balanced robot the most according to claim 2, it is characterised in that: screw mandrel one end of described ballscrew nut fitting is connected with stepper motor output shaft by shaft coupling.
A kind of automatic horizontal balanced robot the most according to claim 2, it is characterized in that: described pitch axis is two, two pitch axis one end are respectively hinged at the nut both sides of ballscrew nut fitting, and two pitch axis other ends are respectively hinged at rack bottom front.
A kind of automatic horizontal balanced robot the most according to claim 2, it is characterised in that: described chassis front end is provided with the gyro sensor for gathering traffic information, and described gyro sensor is connected with motor.
A kind of automatic horizontal balanced robot the most according to claim 1, it is characterized in that: described supporting mechanism includes a bracing frame and two support seats, two support seat and are separately positioned on the both sides in the middle part of chassis, bracing frame two ends support seat with two respectively and are rotationally connected, and bracing frame is provided with two or more for supporting the leg of rack.
A kind of automatic horizontal balanced robot the most according to claim 1, it is characterised in that: described front-wheel is universal wheel.
A kind of automatic horizontal balanced robot the most according to claim 1, it is characterised in that: described rack is provided with multiple laminated board for storage for glove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620115679.3U CN205521353U (en) | 2016-02-05 | 2016-02-05 | Automatic horizontal equilibrium robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620115679.3U CN205521353U (en) | 2016-02-05 | 2016-02-05 | Automatic horizontal equilibrium robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205521353U true CN205521353U (en) | 2016-08-31 |
Family
ID=56776224
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620115679.3U Expired - Fee Related CN205521353U (en) | 2016-02-05 | 2016-02-05 | Automatic horizontal equilibrium robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205521353U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107130778A (en) * | 2017-06-22 | 2017-09-05 | 长沙万工机器人科技有限公司 | A kind of metope Work robot |
| CN109773741A (en) * | 2019-02-28 | 2019-05-21 | 安徽理工大学 | A kind of balancing device of track type climbing-building robot |
| CN110884420A (en) * | 2019-11-25 | 2020-03-17 | 坎德拉（深圳）科技创新有限公司 | Anti-toppling mechanism, anti-toppling method and transportation robot |
| CN111923061A (en) * | 2020-08-11 | 2020-11-13 | 行星算力(深圳)科技有限公司 | Wheeled transport robot |
| CN116442189A (en) * | 2023-05-05 | 2023-07-18 | 江南大学 | Order turnover box sorting mobile robot |
-
2016
- 2016-02-05 CN CN201620115679.3U patent/CN205521353U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107130778A (en) * | 2017-06-22 | 2017-09-05 | 长沙万工机器人科技有限公司 | A kind of metope Work robot |
| CN109773741A (en) * | 2019-02-28 | 2019-05-21 | 安徽理工大学 | A kind of balancing device of track type climbing-building robot |
| CN110884420A (en) * | 2019-11-25 | 2020-03-17 | 坎德拉（深圳）科技创新有限公司 | Anti-toppling mechanism, anti-toppling method and transportation robot |
| CN110884420B (en) * | 2019-11-25 | 2024-04-23 | 坎德拉（深圳）科技创新有限公司 | Anti-toppling mechanism, anti-toppling method and transportation robot |
| CN111923061A (en) * | 2020-08-11 | 2020-11-13 | 行星算力(深圳)科技有限公司 | Wheeled transport robot |
| CN111923061B (en) * | 2020-08-11 | 2023-12-01 | 行星算力(深圳)科技有限公司 | wheeled transport robot |
| CN116442189A (en) * | 2023-05-05 | 2023-07-18 | 江南大学 | Order turnover box sorting mobile robot |
| CN116442189B (en) * | 2023-05-05 | 2023-11-17 | 江南大学 | Order turnover box sorting mobile robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160831 Termination date: 20170205 |