WO2019041070A1 - Intelligent universal moving wheel for robot - Google Patents
Intelligent universal moving wheel for robot Download PDFInfo
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- WO2019041070A1 WO2019041070A1 PCT/CN2017/099211 CN2017099211W WO2019041070A1 WO 2019041070 A1 WO2019041070 A1 WO 2019041070A1 CN 2017099211 W CN2017099211 W CN 2017099211W WO 2019041070 A1 WO2019041070 A1 WO 2019041070A1
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- rotating shaft
- robot
- moving wheel
- telescopic
- base
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- 230000005484 gravity Effects 0.000 claims abstract description 24
- 238000003466 welding Methods 0.000 claims 1
- 239000000428 dust Substances 0.000 description 6
- 239000000463 material Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
Definitions
- the invention relates to the technical field of a universal moving wheel, in particular to a smart universal moving wheel for a robot.
- a robot is a machine that automatically performs work. It can accept human command, run pre-programmed procedures, or act on principles that are based on artificial intelligence techniques. Its mission is to assist or replace the work of human work, such as production, construction, or dangerous work. It is the product of advanced integrated cybernetics, mechatronics, computers, materials, and bionics. It has important applications in the fields of industry, medicine, agriculture, construction, and even military. However, there are a series of defects in the common robots on the market. For example, most of the existing robots have a single mobile function and only have one-way mobile functions. Moreover, the existing robots have unstable center of gravity and are easy to fall and cause damage. The existence of these problems affects the use of robots on the market and can not meet the needs of use. To this end, we propose a smart universal moving wheel for robots.
- the object of the present invention is to provide a smart universal moving wheel for a robot, which solves the above-mentioned background art and proposes that most of the existing robots have a single mobile function, and only have a one-way moving function, and the existing robot moves the center of gravity unstable and easy. The problem of damage caused by falling.
- a smart universal moving wheel for a robot comprising a main body, a base is fixed on the main body, and a surface of the base is fixed with a fixing bolt, and the inside of the fixing bolt a rotating shaft is connected, a rotating electric machine is disposed at a top end of the rotating shaft, and a telescopic rotating shaft is fixed to both sides of the base, a connecting seat is connected to a surface of the telescopic rotating shaft, and a telescopic arm is welded to a lower end of the connecting base.
- a first end of the telescopic rotating shaft is provided with a center of gravity sensor, a distal end of the telescopic arm is fixed with a supporting palm, and a front surface of the base is mounted with an obstacle sensor, and the rotating shaft is
- a baffle is welded on the lower side, and a support frame is connected to both sides of the baffle.
- the inner and outer sides of the support frame are provided with fixing bolts.
- the fixing bolt is internally connected with an axle, and the center of the axle is mounted with a movement. wheel.
- the rotating electrical machine is electrically connected to the rotating shaft, and the rotating shaft is movably connected to the fixing bolt.
- the support frame is fixedly connected to the baffle, and the baffle is tightly welded to the rotating shaft.
- the obstacle sensor is connected to the base, and the obstacle sensor is connected to the rotating electrical machine signal.
- the telescopic rotating shaft is provided with two, and the telescopic rotating shaft is inserted and connected with the connecting seat.
- the center of gravity sensor is connected to the telescopic arm, and the support palm is connected to the telescopic arm.
- the utility model has the beneficial effects that the smart universal moving wheel of the robot is provided with a rotating electric machine and a rotating shaft, the rotating electric machine is electrically connected to the rotating shaft, and the rotating shaft and the fixing are fixed.
- Tie active connection the existing robot on the market moves in a single way, can not adjust the moving position by itself, so there will be a lot of trouble to move.
- the device is equipped with a rotating shaft, which can adjust the moving position by rotating the motor, making the device more Intelligently, the support frame is fixedly connected with the baffle, and the baffle is tightly welded to the rotating shaft, and the baffle above the moving wheel can block the flying dust brought by the robot to prevent splashing when moving.
- the flying dust smudges the robot itself, thereby eliminating the usual cleaning work, saving a lot of time and labor, thereby improving work efficiency, the obstacle sensor being connected to the base, and the obstacle sensor and the Rotating motor signal connection, the existing robots on the market can not change the moving position by factors such as environmental terrain, such as the front side when moving The wall, the ordinary robot does not change its orientation to move.
- the device is equipped with an obstacle sensor, which can sense the obstacle in front, and then transmit the information to the rotating electric machine to turn the rotating shaft, so that the robot can adjust the movement according to the terrain and other factors.
- the shaft is provided with two, and the telescopic rotating shaft is inserted and connected with the connecting seat.
- the center of gravity sensor is connected with the telescopic arm, and the supporting palm is connected with the telescopic arm.
- the common robot is not provided with anti-drop protection measures.
- the center of gravity is unstable and tilts, and it falls. It is very likely that the robot is damaged or malfunctions.
- the device is equipped with a center of gravity sensor, which can quickly sense when the robot moves the center of gravity and the tilt is unstable, and transmits the information.
- the telescopic arm the telescopic arm is normally in a stowed state, parallel to the base, and when it receives the signal from the center of gravity sensor, it rapidly rotates and elongates, so that the support palm contacts the ground to support the robot, and then continues to stretch to make the robot return.
- the state, the support palm is made of rubber material, which can increase the friction with the ground, prevent the ground from being smooth and fail to prevent falling, so that the device has higher stability and safety.
- Figure 1 is a schematic view of the overall structure of the present invention
- FIG. 2 is a schematic structural view of a telescopic support device according to the present invention.
- FIG. 3 is a schematic structural view of a structural operation process of the present invention.
- a smart universal moving wheel for a robot including 1, a main body, 2, a base, 3, a fixed bolt, 4, a rotating shaft, 5, a rotating electric machine, 6 Telescopic transfer Shaft, 7, connecting seat, 701, center of gravity sensor, 702, telescopic arm, 703, support palm, 8, obstacle sensor, 9, baffle, 10, fixing bolt, 11, moving wheel, 12, axle, 13, A support frame is fixed on the upper side of the main body 1.
- the surface of the base 2 is mounted with a fixing bolt 3.
- the inside of the fixing bolt 3 is connected with a rotating shaft 4, and the top end of the rotating shaft 4 is provided with a rotating electric machine. 5.
- the existing robot moves on the market is relatively simple, and it is not possible to adjust the moving position by itself.
- the device is provided with a rotating shaft 4, which can adjust the moving position by the rotating motor 5, making the device more Intelligently, the two sides of the base 2 are fixed with a telescopic rotating shaft 6, the surface of the telescopic rotating shaft 6 is connected with a connecting seat 7, and the lower end of the connecting base 7 is welded with a telescopic arm 702, and the front end of the telescopic rotating shaft 4
- a center of gravity sensor 701 is provided, and the end of the telescopic arm 702 is fixed with a support palm 703.
- the common robot does not have a fall protection measure. When the robot moves, the center of gravity is tilted and then falls, which may damage the robot.
- the device is provided with a center of gravity sensor 701, which can be quickly sensed when the moving center of gravity of the robot is tilted, and transmits information to the telescopic arm 702.
- the telescopic arm 702 is normally in a stowed state, parallel to the base 2, and received.
- the signal of the center of gravity sensor 701 is fast, it is rotated and extended, so that the supporting palm 703 contacts the ground to support the robot, and then continues to extend to return the robot to the previous state, and the supporting palm 703 is made of rubber material, which can increase the ground and the ground.
- the front surface of the base 2 is equipped with an obstacle sensor 8, and the existing robot on the market cannot pass through the environmental terrain.
- the factors change the moving position by itself, for example, there is a wall in front of the moving, the ordinary robot does not move the azimuth to move, and the device is provided with an obstacle sensor 8, which can sense the obstacle in front and transmit the information to the rotating electric machine 5 Rotating the rotating shaft 4, thereby realizing the purpose of the robot to adjust the moving orientation according to factors such as terrain, below the rotating shaft 4
- a baffle 9 is connected, and the support frame 13 is connected to the two sides of the baffle 9 .
- the inner and outer sides of the support frame 13 are provided with a fixing bolt 10 , and the inner side of the fixing bolt 10 is connected with an axle 12 .
- the center of the axle 12 is provided with a moving wheel 11, and the baffle 9 above the moving wheel 11 can block the flying dust brought by the movement of the robot, preventing the flying dust splashed during the movement from smudging the robot itself, thereby eliminating the usual time. Cleaning work, saving a lot of time and Labor, which makes work more efficient.
- the overall structure of the device should be briefly understood, and then the robot is fixed with the main body 1 so that the robot starts moving through the moving wheel 11, and the moving wheel 11 is above.
- the baffle 9 can block the flying dust brought up when the robot moves, preventing the flying dust splashed during the movement from smudging the robot itself, and the obstacle sensor is sensed when the device senses an obstacle in front by the obstacle sensor 8 while moving.
- the device adds a telescopic rotating shaft 6 on both sides of the base 2.
- the surface of the telescopic rotating shaft 6 is provided with a center of gravity sensor, and the center of gravity sensor 701 can be unstable when the center of gravity of the robot moves. When it is tilted, it is quickly sensed, and the information is transmitted to the telescopic arm 702.
- the telescopic arm 702 is normally in a stowed state, parallel to the base 2, and receives the gravity sensor 701. When the signal is fast, it rotates and stretches, so that the supporting palm 703 contacts the ground to support the robot, and then continues to stretch to return the robot to the previous state.
- the supporting palm 703 is made of rubber material, which can increase the friction with the ground and prevent the ground. Smoothness does not play a fall-proof effect, and the above is the entire working principle of the present invention.
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Abstract
An intelligent universal moving wheel for a robot, comprising a body (1), above which a base (2) is fixed above the body; deadbolts (3) are mounted on the surface of the base; a rotating shaft (4) is fixed inside each deadbolt; the top end of the rotating shaft is provided with a rotating motor (5); telescopic rotating shafts (6) are fixed on two sides of the base; the surface of each telescopic rotating shaft is connected to a connecting seat (7); a telescopic arm (702) is welded to the lower end of the connecting seat; the head end of each telescopic rotating shaft is provided with a gravity center sensor (701), and a support palm (703) is fixed to the tail end; an obstacle sensor (8) is mounted on the front side of the base; a baffle plate (9) is welded below the rotating shaft; two sides of the baffle plate are connected to support frames (13); both inner and outer sides of each support frame are provided with fixing bolts (10). The intelligent universal moving wheel for a robot is provided with rotating motors and rotating shafts, and thus can implement automatic sensing and steering according to different environments so as to make the robot more intelligent.
Description
本发明涉及万向移动轮技术领域，具体为一种机器人用智能万向移动轮。The invention relates to the technical field of a universal moving wheel, in particular to a smart universal moving wheel for a robot.
机器人是自动执行工作的机器装置。它既可以接受人类指挥，又可以运行预先编排的程序，也可以根据以人工智能技术制定的原则纲领行动。它的任务是协助或取代人类工作的工作，例如生产业、建筑业，或是危险的工作。它是高级整合控制论、机械电子、计算机、材料和仿生学的产物。在工业、医学、农业、建筑业甚至军事等领域中均有重要用途，但是，市场上常见的机器人都存在着一系列缺陷，比如现有的机器人大多移动功能单一，只具备单向移动功能，且现有的机器人移动重心不稳定，容易摔倒造成损坏，这些问题的存在都影响了市场上机器人的使用，满足不了使用的需求，为此，我们提出一种机器人用智能万向移动轮。A robot is a machine that automatically performs work. It can accept human command, run pre-programmed procedures, or act on principles that are based on artificial intelligence techniques. Its mission is to assist or replace the work of human work, such as production, construction, or dangerous work. It is the product of advanced integrated cybernetics, mechatronics, computers, materials, and bionics. It has important applications in the fields of industry, medicine, agriculture, construction, and even military. However, there are a series of defects in the common robots on the market. For example, most of the existing robots have a single mobile function and only have one-way mobile functions. Moreover, the existing robots have unstable center of gravity and are easy to fall and cause damage. The existence of these problems affects the use of robots on the market and can not meet the needs of use. To this end, we propose a smart universal moving wheel for robots.
发明内容Summary of the invention
本发明的目的在于提供一种机器人用智能万向移动轮，以解决上述背景技术中提出现有的机器人大多移动功能单一，只具备单向移动功能，且现有的机器人移动重心不稳定，容易摔倒造成损坏的问题。The object of the present invention is to provide a smart universal moving wheel for a robot, which solves the above-mentioned background art and proposes that most of the existing robots have a single mobile function, and only have a one-way moving function, and the existing robot moves the center of gravity unstable and easy. The problem of damage caused by falling.
为实现上述目的，本发明提供如下技术方案：一种机器人用智能万向移动轮，包括主体，所述主体的上方固定有底座，所述底座的表面安装有固定栓，所述固定栓的内部连接有旋转轴，所述旋转轴的顶端设有旋转电机，所述底座的两侧固定有伸缩转轴，所述伸缩转轴的表面连接有连接座，所述连接座的下端焊接有伸缩臂，所述伸缩转轴的首端设有重心感应器，所述伸缩臂的末端固定有支撑掌，所述底座的正面安装有障碍感应器，所述旋转轴的
下方焊接有挡板，所述挡板的两侧连接有支撑架，所述支撑架的内外两侧均设有固定螺栓，所述固定螺栓的内部连接有轮轴，所述轮轴的中心安装有移动轮。In order to achieve the above object, the present invention provides the following technical solution: a smart universal moving wheel for a robot, comprising a main body, a base is fixed on the main body, and a surface of the base is fixed with a fixing bolt, and the inside of the fixing bolt a rotating shaft is connected, a rotating electric machine is disposed at a top end of the rotating shaft, and a telescopic rotating shaft is fixed to both sides of the base, a connecting seat is connected to a surface of the telescopic rotating shaft, and a telescopic arm is welded to a lower end of the connecting base. a first end of the telescopic rotating shaft is provided with a center of gravity sensor, a distal end of the telescopic arm is fixed with a supporting palm, and a front surface of the base is mounted with an obstacle sensor, and the rotating shaft is
A baffle is welded on the lower side, and a support frame is connected to both sides of the baffle. The inner and outer sides of the support frame are provided with fixing bolts. The fixing bolt is internally connected with an axle, and the center of the axle is mounted with a movement. wheel.
优选的，所述旋转电机与所述旋转轴电性连接，且旋转轴与所述固定栓活动连接。Preferably, the rotating electrical machine is electrically connected to the rotating shaft, and the rotating shaft is movably connected to the fixing bolt.
优选的，所述支撑架与所述挡板固定连接，且挡板与所述旋转轴紧密焊接。Preferably, the support frame is fixedly connected to the baffle, and the baffle is tightly welded to the rotating shaft.
优选的，所述障碍感应器与所述底座相连接，且障碍感应器与所述旋转电机信号连接。Preferably, the obstacle sensor is connected to the base, and the obstacle sensor is connected to the rotating electrical machine signal.
优选的，所述伸缩转轴设有两个，且伸缩转轴与连接座穿插连接。Preferably, the telescopic rotating shaft is provided with two, and the telescopic rotating shaft is inserted and connected with the connecting seat.
优选的，所述重心感应器与所述伸缩臂信号连接，所述支撑掌与所述伸缩臂相连接。Preferably, the center of gravity sensor is connected to the telescopic arm, and the support palm is connected to the telescopic arm.
与现有技术相比，本发明的有益效果是：该机器人用智能万向移动轮设置有旋转电机与旋转轴，所述旋转电机与所述旋转轴电性连接，且旋转轴与所述固定栓活动连接，市场上现有的机器人移动方式较为单一，不能自行调节移动方位，这样移动起来会有许多麻烦，该装置设有旋转轴，可通过旋转电机自行调节移动方位，使得该装置更加的智能化，所述支撑架与所述挡板固定连接，且挡板与所述旋转轴紧密焊接，移动轮上方的挡板可将机器人移动时带起的飞尘格挡，防止移动时溅起的飞尘弄脏机器人本身，从而省去了平时的清洗工作，节省了大量的时间与劳动力，从而使得工作效率提高，所述障碍感应器与所述底座相连接，且障碍感应器与所述旋转电机信号连接，市场上现有的机器人不能通过环境地形等因素自行转变移动方位，比如移动时前方有一面墙体，普通机器人不会自行转变方位进行移动，该装置设有障碍感应器，可感应出前方障碍物，从而将信息传递到旋转电机使得旋转轴转向，进而实现机器人根据地形等因素自行调节移动方位的目的，所述伸缩转
轴设有两个，且伸缩转轴与连接座穿插连接，所述重心感应器与所述伸缩臂信号连接，所述支撑掌与所述伸缩臂相连接，常见的机器人未设有防摔保护措施，机器人在移动时重心不稳发生倾斜进而摔倒，很有可能使机器人损坏或发生故障，该装置设有重心感应器，可在机器人移动重心不稳发生倾斜时快速感应到，并将信息传递给伸缩臂，伸缩臂平时为收起状态，与底座平行，收到重心感应器的信号时，快速转动且伸长，使支撑掌接触到地面将机器人支撑，紧接着继续伸长使机器人回归之前状态，支撑掌为橡胶材质，可增大其与地面的摩擦力，防止地面光滑未能起到防摔作用，从而使得装置具有更高的稳定性与安全性。Compared with the prior art, the utility model has the beneficial effects that the smart universal moving wheel of the robot is provided with a rotating electric machine and a rotating shaft, the rotating electric machine is electrically connected to the rotating shaft, and the rotating shaft and the fixing are fixed. Tie active connection, the existing robot on the market moves in a single way, can not adjust the moving position by itself, so there will be a lot of trouble to move. The device is equipped with a rotating shaft, which can adjust the moving position by rotating the motor, making the device more Intelligently, the support frame is fixedly connected with the baffle, and the baffle is tightly welded to the rotating shaft, and the baffle above the moving wheel can block the flying dust brought by the robot to prevent splashing when moving. The flying dust smudges the robot itself, thereby eliminating the usual cleaning work, saving a lot of time and labor, thereby improving work efficiency, the obstacle sensor being connected to the base, and the obstacle sensor and the Rotating motor signal connection, the existing robots on the market can not change the moving position by factors such as environmental terrain, such as the front side when moving The wall, the ordinary robot does not change its orientation to move. The device is equipped with an obstacle sensor, which can sense the obstacle in front, and then transmit the information to the rotating electric machine to turn the rotating shaft, so that the robot can adjust the movement according to the terrain and other factors. Orientation purpose
The shaft is provided with two, and the telescopic rotating shaft is inserted and connected with the connecting seat. The center of gravity sensor is connected with the telescopic arm, and the supporting palm is connected with the telescopic arm. The common robot is not provided with anti-drop protection measures. When the robot moves, the center of gravity is unstable and tilts, and it falls. It is very likely that the robot is damaged or malfunctions. The device is equipped with a center of gravity sensor, which can quickly sense when the robot moves the center of gravity and the tilt is unstable, and transmits the information. For the telescopic arm, the telescopic arm is normally in a stowed state, parallel to the base, and when it receives the signal from the center of gravity sensor, it rapidly rotates and elongates, so that the support palm contacts the ground to support the robot, and then continues to stretch to make the robot return. The state, the support palm is made of rubber material, which can increase the friction with the ground, prevent the ground from being smooth and fail to prevent falling, so that the device has higher stability and safety.
图1为本发明整体结构示意图；Figure 1 is a schematic view of the overall structure of the present invention;
图2为本发明伸缩支撑装置结构示意图；2 is a schematic structural view of a telescopic support device according to the present invention;
图3为本发明结构运行过程结构示意图。3 is a schematic structural view of a structural operation process of the present invention.
图中：1、主体，2、底座，3、固定栓，4、旋转轴，5、旋转电机，6、伸缩转轴，7、连接座，701、重心感应器，702、伸缩臂，703、支撑掌，8、障碍感应器，9、挡板，10、固定螺栓，11、移动轮，12、轮轴，13、支撑架。In the figure: 1, main body, 2, base, 3, fixed bolt, 4, rotating shaft, 5, rotating electric machine, 6, telescopic shaft, 7, connecting seat, 701, center of gravity sensor, 702, telescopic arm, 703, support Palm, 8, obstacle sensor, 9, baffle, 10, fixing bolts, 11, moving wheels, 12, axles, 13, support frame.
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
请参阅图1-3，本发明提供一种技术方案：一种机器人用智能万向移动轮，包括1、主体，2、底座，3、固定栓，4、旋转轴，5、旋转电机，6、伸缩转
轴，7、连接座，701、重心感应器，702、伸缩臂，703、支撑掌，8、障碍感应器，9、挡板，10、固定螺栓，11、移动轮，12、轮轴，13、支撑架，所述主体1的上方固定有底座2，所述底座2的表面安装有固定栓3，所述固定栓3的内部连接有旋转轴4，所述旋转轴4的顶端设有旋转电机5，市场上现有的机器人移动方式较为单一，不能自行调节移动方位，这样移动起来会有许多麻烦，该装置设有旋转轴4，可通过旋转电机5自行调节移动方位，使得该装置更加的智能化，所述底座2的两侧固定有伸缩转轴6，所述伸缩转轴6的表面连接有连接座7，所述连接座7的下端焊接有伸缩臂702，所述伸缩转轴4的首端设有重心感应器701，所述伸缩臂702的末端固定有支撑掌703，常见的机器人未设有防摔保护措施，机器人在移动时重心不稳发生倾斜进而摔倒，很有可能使机器人损坏或发生故障，该装置设有重心感应器701，可在机器人移动重心不稳发生倾斜时快速感应到，并将信息传递给伸缩臂702，伸缩臂702平时为收起状态，与底座2平行，收到重心感应器701的信号时，快速转动且伸长，使支撑掌703接触到地面将机器人支撑，紧接着继续伸长使机器人回归之前状态，支撑掌703为橡胶材质，可增大其与地面的摩擦力，防止地面光滑未能起到防摔作用，从而使得装置具有更高的稳定性与安全性，所述底座2的正面安装有障碍感应器8，市场上现有的机器人不能通过环境地形等因素自行转变移动方位，比如移动时前方有一面墙体，普通机器人不会自行转变方位进行移动，该装置设有障碍感应器8，可感应出前方障碍物，从而将信息传递到旋转电机5使得旋转轴4转向，进而实现机器人根据地形等因素自行调节移动方位的目的，所述旋转轴4的下方焊接有挡板9，所述挡板9的两侧连接有支撑架13，所述支撑架13的内外两侧均设有固定螺栓10，所述固定螺栓10的内部连接有轮轴12，所述轮轴12的中心安装有移动轮11，移动轮11上方的挡板9可将机器人移动时带起的飞尘格挡，防止移动时溅起的飞尘弄脏机器人本身，从而省去了平时的清洗工作，节省了大量的时间与
劳动力，从而使得工作效率提高。1-3, the present invention provides a technical solution: a smart universal moving wheel for a robot, including 1, a main body, 2, a base, 3, a fixed bolt, 4, a rotating shaft, 5, a rotating electric machine, 6 Telescopic transfer
Shaft, 7, connecting seat, 701, center of gravity sensor, 702, telescopic arm, 703, support palm, 8, obstacle sensor, 9, baffle, 10, fixing bolt, 11, moving wheel, 12, axle, 13, A support frame is fixed on the upper side of the main body 1. The surface of the base 2 is mounted with a fixing bolt 3. The inside of the fixing bolt 3 is connected with a rotating shaft 4, and the top end of the rotating shaft 4 is provided with a rotating electric machine. 5. The existing robot moves on the market is relatively simple, and it is not possible to adjust the moving position by itself. This will cause a lot of trouble to move. The device is provided with a rotating shaft 4, which can adjust the moving position by the rotating motor 5, making the device more Intelligently, the two sides of the base 2 are fixed with a telescopic rotating shaft 6, the surface of the telescopic rotating shaft 6 is connected with a connecting seat 7, and the lower end of the connecting base 7 is welded with a telescopic arm 702, and the front end of the telescopic rotating shaft 4 A center of gravity sensor 701 is provided, and the end of the telescopic arm 702 is fixed with a support palm 703. The common robot does not have a fall protection measure. When the robot moves, the center of gravity is tilted and then falls, which may damage the robot. Or hair In the fault, the device is provided with a center of gravity sensor 701, which can be quickly sensed when the moving center of gravity of the robot is tilted, and transmits information to the telescopic arm 702. The telescopic arm 702 is normally in a stowed state, parallel to the base 2, and received. When the signal of the center of gravity sensor 701 is fast, it is rotated and extended, so that the supporting palm 703 contacts the ground to support the robot, and then continues to extend to return the robot to the previous state, and the supporting palm 703 is made of rubber material, which can increase the ground and the ground. Friction, preventing the smoothness of the ground from failing to prevent the device from having a higher stability and safety, the front surface of the base 2 is equipped with an obstacle sensor 8, and the existing robot on the market cannot pass through the environmental terrain. The factors change the moving position by itself, for example, there is a wall in front of the moving, the ordinary robot does not move the azimuth to move, and the device is provided with an obstacle sensor 8, which can sense the obstacle in front and transmit the information to the rotating electric machine 5 Rotating the rotating shaft 4, thereby realizing the purpose of the robot to adjust the moving orientation according to factors such as terrain, below the rotating shaft 4 A baffle 9 is connected, and the support frame 13 is connected to the two sides of the baffle 9 . The inner and outer sides of the support frame 13 are provided with a fixing bolt 10 , and the inner side of the fixing bolt 10 is connected with an axle 12 . The center of the axle 12 is provided with a moving wheel 11, and the baffle 9 above the moving wheel 11 can block the flying dust brought by the movement of the robot, preventing the flying dust splashed during the movement from smudging the robot itself, thereby eliminating the usual time. Cleaning work, saving a lot of time and
Labor, which makes work more efficient.
工作原理：在使用该种机器人用智能万向移动轮之前，应先对装置的整体结构做简单的了解，之后将机器人与主体1固定，使机器人通过移动轮11开始移动，移动轮11上方的挡板9可将机器人移动时带起的飞尘格挡，防止移动时溅起的飞尘弄脏机器人本身，当装置在移动时通过障碍感应器8感应到前方有障碍物时，障碍感应器8会将信息传递到旋转电机5使得旋转轴4转向，进而实现机器人根据地形等因素自行调节移动方位的目的，且该装置的移动轮11可进行三百六十度全方位旋转，为防止机器人在移动时重心不稳摔倒造成损坏或故障，该装置在底座2的两侧加了伸缩转轴6，伸缩转轴6的表面设有重心感应器，重心感应器701可在机器人移动重心不稳发生倾斜时快速感应到，并将信息传递给伸缩臂702，伸缩臂702平时为收起状态，与底座2平行，收到重心感应器701的信号时，快速转动且伸长，使支撑掌703接触到地面将机器人支撑，紧接着继续伸长使机器人回归之前状态，支撑掌703为橡胶材质，可增大其与地面的摩擦力，防止地面光滑未能起到防摔作用，以上就是本发明的整个工作原理。Working principle: Before using the intelligent universal moving wheel of the robot, the overall structure of the device should be briefly understood, and then the robot is fixed with the main body 1 so that the robot starts moving through the moving wheel 11, and the moving wheel 11 is above. The baffle 9 can block the flying dust brought up when the robot moves, preventing the flying dust splashed during the movement from smudging the robot itself, and the obstacle sensor is sensed when the device senses an obstacle in front by the obstacle sensor 8 while moving. 8 will transmit information to the rotating electrical machine 5 to make the rotating shaft 4 turn, thereby realizing the purpose of the robot to adjust the moving orientation according to factors such as terrain, and the moving wheel 11 of the device can perform 360-degree rotation in all directions to prevent the robot When the center of gravity is unstable and falls, causing damage or malfunction, the device adds a telescopic rotating shaft 6 on both sides of the base 2. The surface of the telescopic rotating shaft 6 is provided with a center of gravity sensor, and the center of gravity sensor 701 can be unstable when the center of gravity of the robot moves. When it is tilted, it is quickly sensed, and the information is transmitted to the telescopic arm 702. The telescopic arm 702 is normally in a stowed state, parallel to the base 2, and receives the gravity sensor 701. When the signal is fast, it rotates and stretches, so that the supporting palm 703 contacts the ground to support the robot, and then continues to stretch to return the robot to the previous state. The supporting palm 703 is made of rubber material, which can increase the friction with the ground and prevent the ground. Smoothness does not play a fall-proof effect, and the above is the entire working principle of the present invention.
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。
While the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art The scope of the invention is defined by the appended claims and their equivalents.
Claims (8)
- 一种机器人用智能万向移动轮，包括主体(1)，其特征在于：所述主体(1)的上方固定有底座(2)，所述底座(2)的表面安装有固定栓(3)，所述固定栓(3)的内部连接有旋转轴(4)，所述旋转轴(4)的顶端设有旋转电机(5)，所述底座(2)的两侧固定有伸缩转轴(6)，所述伸缩转轴(6)的表面连接有连接座(7)，所述连接座(7)的下端焊接有伸缩臂(702)，所述伸缩转轴(4)的首端设有重心感应器(701)，所述伸缩臂(702)的末端固定有支撑掌(703)，所述底座(2)的正面安装有障碍感应器(8)，所述旋转轴(4)的下方焊接有挡板(9)，所述挡板(9)的两侧连接有支撑架(13)，所述支撑架(13)的内外两侧均设有固定螺栓(10)，所述固定螺栓(10)的内部连接有轮轴(12)，所述轮轴(12)的中心安装有移动轮(11)。A smart universal moving wheel for a robot, comprising a main body (1), characterized in that: a base (2) is fixed on the upper side of the main body (1), and a fixing bolt (3) is mounted on a surface of the base (2) The fixed pin (3) is internally connected with a rotating shaft (4), the top end of the rotating shaft (4) is provided with a rotating electric machine (5), and the rotating base (6) is fixed with a telescopic rotating shaft (6) The surface of the telescopic rotating shaft (6) is connected with a connecting seat (7), and the lower end of the connecting seat (7) is welded with a telescopic arm (702), and the first end of the telescopic rotating shaft (4) is provided with a center of gravity sensing (701), the end of the telescopic arm (702) is fixed with a supporting palm (703), and the front surface of the base (2) is mounted with an obstacle sensor (8), and the rotating shaft (4) is welded below a baffle plate (9), a support frame (13) is connected to both sides of the baffle plate (9), and the inner and outer sides of the support frame (13) are provided with fixing bolts (10), and the fixing bolts (10) The inner connection is provided with an axle (12), and a center of the axle (12) is mounted with a moving wheel (11).
- 根据权利要求1所述的一种机器人用智能万向移动轮，其特征在于：所述旋转电机(5)与所述旋转轴(4)电性连接，且旋转轴(4)与所述固定栓(3)活动连接。A smart universal moving wheel for a robot according to claim 1, wherein the rotating electric machine (5) is electrically connected to the rotating shaft (4), and the rotating shaft (4) and the fixing Plug (3) active connection.
- 根据权利要求1所述的一种机器人用智能万向移动轮，其特征在于：所述支撑架(13)与所述挡板(9)固定连接，且挡板(9)与所述旋转轴(4)紧密焊接。A smart universal moving wheel for a robot according to claim 1, wherein said support frame (13) is fixedly coupled to said baffle (9), and said baffle (9) and said rotating shaft (4) Tight welding.
- 根据权利要求1所述的一种机器人用智能万向移动轮，其特征在于：所述障碍感应器(8)与所述底座(2)相连接，且障碍感应器(8)与所述旋转电机(5)信号连接。A smart universal moving wheel for a robot according to claim 1, wherein the obstacle sensor (8) is connected to the base (2), and the obstacle sensor (8) and the rotation Motor (5) signal connection.
- 根据权利要求1所述的一种机器人用智能万向移动轮，其特征在于：所述伸缩转轴(6)设有两个，且伸缩转轴(6)与连接座(7)穿插连接。A smart universal moving wheel for a robot according to claim 1, characterized in that the telescopic rotating shaft (6) is provided with two, and the telescopic rotating shaft (6) is inserted and connected with the connecting seat (7).
- 根据权利要求1所述的一种机器人用智能万向移动轮，其特征在于：所述重心感应器(701)与所述伸缩臂(702)信号连接，所述支撑掌(703)与所述伸缩臂(702)相连接。The smart universal moving wheel for a robot according to claim 1, wherein the center of gravity sensor (701) is connected to the telescopic arm (702), and the supporting palm (703) is The telescopic arms (702) are connected.
- 根据权利要求1所述的一种机器人用智能万向移动轮，其特征在于： 所述移动轮(11)为多个。A smart universal moving wheel for a robot according to claim 1, wherein: The moving wheels (11) are plural.
- 根据权利要求7所述的一种机器人用智能万向移动轮，其特征在于，所述移动轮(11)为三个或四个。 A smart universal moving wheel for a robot according to claim 7, wherein the moving wheels (11) are three or four.
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|---|---|---|---|
| PCT/CN2017/099211 WO2019041070A1 (en) | 2017-08-27 | 2017-08-27 | Intelligent universal moving wheel for robot |
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| PCT/CN2017/099211 WO2019041070A1 (en) | 2017-08-27 | 2017-08-27 | Intelligent universal moving wheel for robot |
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| CN113059544A (en) * | 2021-03-29 | 2021-07-02 | 捷时行(苏州)智能科技有限公司 | High firm type education robot |
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