CN208084382U - A kind of gravity center adjusting mechanism for ladder climbing robot - Google Patents
A kind of gravity center adjusting mechanism for ladder climbing robot Download PDFInfo
- Publication number
- CN208084382U CN208084382U CN201820186645.2U CN201820186645U CN208084382U CN 208084382 U CN208084382 U CN 208084382U CN 201820186645 U CN201820186645 U CN 201820186645U CN 208084382 U CN208084382 U CN 208084382U
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- China
- Prior art keywords
- connecting rods
- pivoted arm
- climbing robot
- ladder climbing
- holder
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Abstract
The utility model is related to a kind of gravity center adjusting mechanisms, in particular it is a kind of gravity center adjusting mechanism for ladder climbing robot, including container, holder, eight first connecting rods, four second connecting rods, steering engine, first pivoted arm, second pivoted arm, bearing, crossbeam and ladder climbing robot chassis, the lower end of four second connecting rods is hingedly connected on ladder climbing robot chassis, the upper end of four second connecting rods is respectively hinged with the outer end of two first connecting rods, the inner end of eight first connecting rods is hingedly connected on holder, one end of first pivoted arm is fixedly connected in the shaft of steering engine, one end of the second pivoted arm of the first pivoted arm other end articulated connection, the other end articulated connection bearing of second pivoted arm, the bearing is fixedly connected on crossbeam, the both ends of the crossbeam are connected on two second connecting rods of right end；The utility model may insure container level while adjusting container position, avoid article in container unrestrained.
Description
Technical field
The utility model is related to a kind of gravity center adjusting mechanisms, are in particular a kind of weights for ladder climbing robot
Heart regulating mechanism.
Background technology
There are many ladder climbing robot gravity center adjusting mechanisms of form, such as Patent No. CN102491208A both at home and abroad
A kind of crane anti-squat system of changeable gravity centre and the crane including the device and Patent No. CN103948476A
Two-wheeled wheelchair with multiple degrees of freedom center-of-gravity regulating function, the former is conducted oneself with dignity using balancing pole, in a groove by one section of card of balancing pole,
Self-locking is formed, achievees the purpose that center of gravity is adjusted；The latter uses clump weight, by adjusting the position of clump weight, to realize center of gravity tune
Section.The former only when balancing pole rotation angle is larger, could form self-locking, achieve the purpose that center of gravity is adjusted, be not suitable for rank
Center of gravity during ladder climbing is adjusted；The latter needs additional bob-weight block, and excessive load is caused to ladder climbing robot, influences
The climbing ability of ladder climbing robot.At the same time, existing ladder climbing robot, mainly to complete ladder barrier
It is few that the utility functions such as load-carrying are added on the basis of ladder obstacle detouring for the purpose of, during climbing accordingly ladder
Center of gravity problem also do not fully consider.To ladder climbing robot is applied in actual production and community service, obstacle detouring
Center of gravity regulation problem in the process, is necessarily required to properly settle.
Utility model content
The purpose of this utility model is to provide a kind of gravity center adjusting mechanism for ladder climbing robot, is adjusting container
It may insure container level while position, avoid article in container unrestrained, while enhancing the stability of obstacle detouring process, avoid
Occur overturning phenomenon during obstacle detouring, efficiently solves the problems, such as that ladder climbing robot loads gravity balance, ladder is made to climb
Climb robot have reliable practical value, have mechanism it is simple, it is at low cost, it is with strong points the advantages that.
The purpose of this utility model is achieved through the following technical solutions：
A kind of gravity center adjusting mechanism for ladder climbing robot, including container, holder, eight first connecting rods, four
Second connecting rod, steering engine, the first pivoted arm, the second pivoted arm, bearing, crossbeam and ladder climbing robot chassis, the container, which is fixed, to be connected
It is connected on the upper end of holder, four second connecting rods are located at the four corners of container, and the lower end of four second connecting rods is articulated and connected
On ladder climbing robot chassis, the upper end of four second connecting rods is respectively hinged with the outer end of two first connecting rods, eight first
The inner end of connecting rod is hingedly connected on holder, and the steering engine is fixedly connected on ladder climbing robot chassis, and described first
One end of pivoted arm is fixedly connected in the shaft of steering engine, one end of the second pivoted arm of the first pivoted arm other end articulated connection, institute
The other end articulated connection bearing of the second pivoted arm is stated, the bearing is fixedly connected on crossbeam, and the both ends of the crossbeam connect respectively
It is connected on two second connecting rods of right end.
As advanced optimizing for the technical program, a kind of center of gravity for ladder climbing robot of the utility model is adjusted
Mechanism, four second connecting rods are parallel relation, and eight first connecting rods are parallel relation.
As advanced optimizing for the technical program, a kind of center of gravity for ladder climbing robot of the utility model is adjusted
Mechanism forms four parallelogram sturcutres between the holder, four second connecting rods and eight first connecting rods.
As advanced optimizing for the technical program, a kind of center of gravity for ladder climbing robot of the utility model is adjusted
The upper end of mechanism, the holder is fixedly connected with press strip, and container is bolted in the upper end of the press strip.
A kind of gravity center adjusting mechanism for ladder climbing robot of the utility model has the beneficial effect that：
A kind of gravity center adjusting mechanism for ladder climbing robot of the utility model, by eight first connecting rods, four
Second connecting rod, steering engine, the first pivoted arm and the second pivoted arm may insure container level while adjusting container position, avoid goods
Article is unrestrained in case, while enhancing the stability of obstacle detouring process, avoids and occurs overturning phenomenon during obstacle detouring, effectively solves
Ladder climbing robot of having determined loads gravity balance problem, and ladder climbing robot is made to have reliable practical value, has machine
Structure is simple, at low cost, it is with strong points the advantages that.
Description of the drawings
The utility model is described in more detail with specific implementation method below in conjunction with the accompanying drawings.
Fig. 1 is the overall structure front view of the utility model；
Fig. 2 is the overall structure vertical view of the utility model；
Fig. 3 is the overall structure left view of the utility model；
Fig. 4 is that center of gravity of the utility model in robot stair climbing adjusts working state schematic representation.
In figure：Container 1；Holder 2；Press strip 2-a；First connecting rod 3；Second connecting rod 4；Steering engine 5；First pivoted arm 6；Second pivoted arm
7；Bearing 8；Crossbeam 9；Ladder climbing robot chassis 10.
Specific implementation mode
The utility model is described in further detail below in conjunction with the accompanying drawings.
Specific implementation mode one：
Illustrate present embodiment with reference to Fig. 1-4, a kind of gravity center adjusting mechanism for ladder climbing robot, including
Container 1,2, eight, holder first connecting rod 3, four second connecting rod 4, steering engine 5, the first pivoted arm 6, the second pivoted arm 7, bearing 8, crossbeam 9
With ladder climbing robot chassis 10, the container 1 is fixedly connected on the upper end of holder 2, and four second connecting rods 4 are located at goods
The lower end of the four corners of case 1, four second connecting rods 4 is hingedly connected on ladder climbing robot chassis 10, four second companies
The upper end of bar 4 is respectively hinged with the outer end of two first connecting rods 3, and the inner end of eight first connecting rods 3 is hingedly connected on holder 2,
The steering engine 5 is fixedly connected on ladder climbing robot chassis 10, and one end of first pivoted arm 6 is fixedly connected on steering engine 5
Shaft on, 6 other end of the first pivoted arm is articulated and connected one end of the second pivoted arm 7, and the other end of second pivoted arm 7 is hinged
Connects bearing 8, the bearing 8 are fixedly connected on crossbeam 9, and the both ends of the crossbeam 9 are connected to two second of right end
On connecting rod 4；The steering engine 5 drives first pivoted arm 6 that second pivoted arm 7 is driven to move, and passes through the bearing 8
The crossbeam 9 is driven, then the second connecting rod 4 described in both sides is driven to swing；Ladder climbing robot body in climbing generates
It tilts, is rotated by the controller control steering engine 5, pass through the fortune between the holder 2, first connecting rod 3 and second connecting rod 4
It is dynamic to transmit, so that the second connecting rod 4 is in vertical state, to make the center line of the holder 2 be also at vertical state,
And then ensure that being fixed on container 1 on the holder 2 keeps horizontality, it avoids in container 1 cargo from being climbed because of robot and tilts
And it trickles down；Pulse width modulation controlled mode can be used in controller control steering engine 5, and controller can for the detection at robot angle of inclination
It is detected using gyroscope and accelerometer, this partial circuit and principle are known technology, are seldom explained in this specification；
Mechanism is simple, and cost is relatively low, with strong points, realizes the center of gravity adjusting during obstacle detouring, ensure that load objects in obstacle detouring mistake
Horizontality in journey, while the stability of obstacle detouring process is enhanced, it avoids and occurs overturning phenomenon during obstacle detouring, effectively solve
Ladder climbing robot of having determined loads gravity balance problem, and ladder climbing robot is made to have reliable practical value.
Specific implementation mode two：
Illustrate that present embodiment, present embodiment are described further embodiment one with reference to Fig. 1-4, described four
A second connecting rod 4 is parallel relation, and eight first connecting rods 3 are parallel relation, pass through four second connecting rods 4 and eight first
Support of the connecting rod 3 as holder 2, it is ensured that 1 stable connection of container being fixedly connected on holder 2；When robot is climbed, container
1 accommodates change position in four second connecting rods 4 can be climbed so as to realize the change of position of centre of gravity with this in robot
When change position of centre of gravity, prevent robot from toppling.
Specific implementation mode three：
Illustrate that present embodiment, present embodiment are described further embodiment two with reference to Fig. 1-4, the branch
Four parallelogram sturcutres are formed between 2, four second connecting rods 4 of frame and eight first connecting rods 3；Steering engine 5 drives the first pivoted arm 6
It swings, the first pivoted arm 6 drives the second pivoted arm 7, and crossbeam 9 is pushed or pull on by the second pivoted arm 7, to make crossbeam 9 drive right end
Two second connecting rods 4 swing, two second connecting rods 4 of right end pass through two second companies that eight first connecting rods 3 drive left end
Bar 4 rotates, and so that the center line of second connecting rod 4 and holder 2 is kept vertical state by the swing of second connecting rod 4, while making holder 2
On container 1 keep horizontal；The upper end of the holder 2 is fixedly connected with press strip 2-a, and the upper end of the press strip 2-a is connected by bolt
Container 1 is connect, when the center line of holder 2 is vertical, press strip 2-a is horizontality, ensures that the container 1 of the upper ends press strip 2-a is horizontal with this.
A kind of gravity center adjusting mechanism for ladder climbing robot of the utility model, its working principle is that：In use,
Steering engine 5 drives the first pivoted arm 6 to swing, and the first pivoted arm 6 drives the second pivoted arm 7, and crossbeam 9 is pushed or pull on by the second pivoted arm 7, from
And two second connecting rods 4 for making crossbeam 9 drive right end are swung, two second connecting rods 4 of right end are driven by eight first connecting rods 3
Two second connecting rods 4 of left end rotate, and so that the center line of second connecting rod 4 and holder 2 is kept vertical by the swing of second connecting rod 4
State, while keeping 1 holding of container on holder 2 horizontal；The upper end of the holder 2 is fixedly connected with press strip 2-a, the press strip 2-a
Upper end container 1 is bolted, when the center line of holder 2 is vertical, press strip 2-a be horizontality, press strip 2-a is ensured with this
The container 1 of upper end is horizontal.
Certainly, above description is not limitation of the utility model, and the utility model is also not limited to the example above, this skill
The variations, modifications, additions or substitutions that the those of ordinary skill in art field is made in the essential scope of the utility model, also belong to
In the scope of protection of the utility model.
Claims (2)
1. a kind of gravity center adjusting mechanism for ladder climbing robot, including container (1), holder (2), eight first connecting rods
(3), four second connecting rods (4), steering engine (5), the first pivoted arm (6), the second pivoted arm (7), bearing (8), crossbeam (9) and ladder climbing
Robot chassis (10), it is characterised in that：The container (1) is fixedly connected on the upper end of holder (2), four second connecting rods (4)
The four corners of container (1) are located at, the lower end of four second connecting rods (4) is hingedly connected to ladder climbing robot chassis
(10) on, the upper ends of four second connecting rods (4) is respectively hinged with the outer end of two first connecting rods (3), eight first connecting rods (3) it is interior
End is hingedly connected on holder (2), and the steering engine (5) is fixedly connected on ladder climbing robot chassis (10), and described the
One end of one pivoted arm (6) is fixedly connected in the shaft of steering engine (5), the other end articulated connection second of first pivoted arm (6)
One end of pivoted arm (7), the other end articulated connection bearing (8) of second pivoted arm (7), the bearing (8) are fixedly connected on cross
On beam (9), the both ends of the crossbeam (9) are connected on two second connecting rods (4) of right end；
Four second connecting rods (4) are parallel relation, and eight first connecting rods (3) are parallel relation；
Four parallelogram sturcutres are formed between holder (2), four second connecting rods (4) and eight first connecting rods (3).
2. a kind of gravity center adjusting mechanism for ladder climbing robot according to claim 1, it is characterised in that：It is described
The upper end of holder (2) is fixedly connected with press strip (2-a), and container (1) is bolted in the upper end of the press strip (2-a).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820186645.2U CN208084382U (en) | 2018-02-02 | 2018-02-02 | A kind of gravity center adjusting mechanism for ladder climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820186645.2U CN208084382U (en) | 2018-02-02 | 2018-02-02 | A kind of gravity center adjusting mechanism for ladder climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208084382U true CN208084382U (en) | 2018-11-13 |
Family
ID=64063190
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820186645.2U Expired - Fee Related CN208084382U (en) | 2018-02-02 | 2018-02-02 | A kind of gravity center adjusting mechanism for ladder climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208084382U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109941375A (en) * | 2019-05-08 | 2019-06-28 | 河北省科学院应用数学研究所 | A kind of comprehensive self-balancing mobile robot based on infrared sensor |
| CN111284582A (en) * | 2020-03-26 | 2020-06-16 | 行星算力(深圳)科技有限公司 | Multifunctional all-terrain transportation robot |
| CN113317933A (en) * | 2021-05-31 | 2021-08-31 | 西安理工大学 | Electric stair climbing transportation stretcher |
-
2018
- 2018-02-02 CN CN201820186645.2U patent/CN208084382U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109941375A (en) * | 2019-05-08 | 2019-06-28 | 河北省科学院应用数学研究所 | A kind of comprehensive self-balancing mobile robot based on infrared sensor |
| CN111284582A (en) * | 2020-03-26 | 2020-06-16 | 行星算力(深圳)科技有限公司 | Multifunctional all-terrain transportation robot |
| CN111284582B (en) * | 2020-03-26 | 2023-11-17 | 行星算力(深圳)科技有限公司 | Multifunctional all-terrain transportation robot |
| CN113317933A (en) * | 2021-05-31 | 2021-08-31 | 西安理工大学 | Electric stair climbing transportation stretcher |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181113 Termination date: 20210202 |
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| CF01 | Termination of patent right due to non-payment of annual fee |