CN109434799A - A kind of robot - Google Patents
A kind of robot Download PDFInfo
- Publication number
- CN109434799A CN109434799A CN201811574522.7A CN201811574522A CN109434799A CN 109434799 A CN109434799 A CN 109434799A CN 201811574522 A CN201811574522 A CN 201811574522A CN 109434799 A CN109434799 A CN 109434799A
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- CN
- China
- Prior art keywords
- connecting portion
- robot
- wheel
- shaft
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
本发明公开了一种机器人，包括机器人主体，所述机器人主体包括：主体部，所述主体部包括第一连接部和第二连接部，所述第二连接部通过转轴与所述第一连接部转动连接，所述转轴沿第一方向设置；车轮，与所述第一连接部转动连接；第一驱动电机，设置在所述第一连接部上，所述第一驱动电机与所述车轮连接，用于带动所述车轮相对于所述第一连接部旋转，以使所述车轮能够带动所述主体部行走；驱动装置，设置在所述主体部上，所述驱动装置用于驱动所述第二连接部以所述转轴为中心相对于所述第一连接部旋转；执行装置，设置在所述第二连接部上。本发明可提高机器人使用时的可靠性。The present invention discloses a robot including a robot body, the robot body including: a main body portion including a first connecting portion and a second connecting portion, the second connecting portion being connected to the first connection through a rotating shaft a rotating connection, the rotating shaft is disposed in a first direction; a wheel is rotatably connected to the first connecting portion; a first driving motor is disposed on the first connecting portion, the first driving motor and the wheel a connection for driving the wheel to rotate relative to the first connecting portion to enable the wheel to drive the main body portion to travel; a driving device disposed on the main body portion, the driving device being used for driving the device The second connecting portion rotates relative to the first connecting portion about the rotating shaft; and an executing device is disposed on the second connecting portion. The invention can improve the reliability of the robot when it is used.
Description
Technical field
The present invention relates to walking arrangement technology more particularly to a kind of robots.
Background technique
With the high speed development of modern science and technology, robot is gradually applied to the every aspect of Working Life, to the life of people
It is living to bring many conveniences, save human and material resources.
The inspections such as existing machinery equipment work also starts to operate using crusing robot, and crusing robot can be patrolled periodically
Each machinery equipment is examined, to timely feedback equipment situation, valid data is acquired, ensures industry security.
However, existing crusing robot needs to detect each equipment by mobile in inspection, hinder when encountering
The device data of each position can not be then detected when hindering and moving inconvenience, to reduce the reliability that robot uses.
Summary of the invention
In view of the above problems, the present invention provides a kind of robot, to improve reliability when using.
The present invention provides a kind of robot characterized by comprising robot body, the robot body include: master
Body portion, the main part include first connecting portion and second connecting portion, and the second connecting portion is connected by shaft and described first
Socket part rotation connection, the shaft are arranged along first direction；Wheel is rotatablely connected with the first connecting portion；First driving electricity
Machine is arranged in the first connecting portion, and first driving motor is connect with the wheel, for driving the wheel opposite
It is rotated in the first connecting portion, so that the wheel is able to drive the main part walking；Driving device is arranged in the master
In body portion, the driving device is for driving the second connecting portion centered on the shaft relative to the first connecting portion
Rotation；Executive device is arranged in the second connecting portion.
Based on above-mentioned, robot provided by the invention, wheel can be driven to drive main part walking by the first driving motor,
When encountering obstacle and can not walk, it can drive second connecting portion centered on shaft relative to the first connection by driving device
Portion is rotated to respective angles, so that executive device can be moved to target position and carry out corresponding operation, or is connected by adjusting second
Avoidance is realized in the position of socket part and executive device, so that so that wheel is able to drive main part runs to target position progress operation,
Reliability when robot uses is improved as a result,.Certainly, in the case where obstacle is encountered in robot, driving can also be passed through
Device driving second connecting portion is rotated relative to first connecting portion to respective angles centered on shaft, so that executive device can
It is moved to target position and carries out corresponding operation, from the movement for having not been able to reduce robot entirety, improve the spirit that robot uses
Activity and convenience.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
The following detailed description is read with reference to the accompanying drawings, above-mentioned and other mesh of exemplary embodiment of the invention
, feature and advantage will become prone to understand.In the accompanying drawings, if showing by way of example rather than limitation of the invention
Dry embodiment, in which:
In the accompanying drawings, identical or corresponding label indicates identical or corresponding part.
Fig. 1 is a kind of structural schematic diagram of robot provided in an embodiment of the present invention；
Fig. 2 is a kind of partial structural diagram of robot provided in an embodiment of the present invention.
Specific embodiment
To keep the purpose of the present invention, feature, advantage more obvious and understandable, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, and not all embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
Fig. 1 is a kind of structural schematic diagram of robot provided in an embodiment of the present invention, and Fig. 2 is provided in an embodiment of the present invention
A kind of partial structural diagram of robot.Fig. 1 and Fig. 2 are please referred to, the embodiment of the present invention provides a kind of robot, comprising: machine
Device human agent 10, robot body 10 include: main part, and main part includes first connecting portion 19 and second connecting portion 18, and second
Interconnecting piece 18 is rotatablely connected by shaft 12 and first connecting portion 19, and shaft 12 is arranged along first direction；Wheel 11 connects with first
Socket part 19 is rotatablely connected；First driving motor is arranged in first connecting portion 19, and the first driving motor is connect with wheel 11, uses
It is rotated in band motor car wheel 11 relative to first connecting portion 19, so that wheel 11 is able to drive main part walking；Driving device, setting
On main part, driving device is for driving second connecting portion 18 to rotate centered on shaft 12 relative to first connecting portion 19；
Executive device 14 is arranged in second connecting portion 18.
Robot in the present embodiment can drive wheel 11 to drive main part walking, when encountering by the first driving motor
Obstacle and when can not walk, can drive second connecting portion 18 centered on shaft 12 relative to first connecting portion by driving device
19 rotations are to respective angles, so that executive device 14 can be moved to target position and carry out corresponding operation, or by adjusting second
The position of interconnecting piece 18 and executive device 14 realize avoidance, thus make wheel 11 be able to drive main part run to target position into
Row operation improves reliability when robot uses as a result,.Certainly, in the case where obstacle is encountered in robot, can also lead to
Over-driving device drives second connecting portion 18 to rotate relative to first connecting portion 19 to respective angles centered on shaft 12, so that
Executive device 14 can be moved to target position and carry out corresponding operation, from the movement for having not been able to reduce robot entirety, improve
The flexibility and convenience that robot uses.
Specifically, second connecting portion 18 can be driven to turn by driving device when robot needs to reduce height obstacle detouring
It is rotated by 90 ° centered on axis 12 relative to first connecting portion 19, so that first connecting portion 19 and second connecting portion 18 are located at same water
In plane, so that wheel 11 can surmount obstacles with mobile robot, therefore energy when the first driving motor driving wheel 11 rotates
The mobile flexibility for enough effectively improving robot improves reliability when robot uses.
In the present embodiment, it is preferred that robot further includes balance system, and balance system is arranged on main part, for making
Robot body 10 keeps equilibrium state.Due to that robot body 10 can be made to keep equilibrium state by the way that balance system is arranged,
Therefore, when wheel 11 is one or two, it still is able to make robot body 10 to keep equilibrium state by balance system, and vehicle
The reduction of wheel 11 is conducive to reduce the volume of robot, to improve the passability and flexibility of robot.Wherein, balance system can
Including gyroscope, Weighting system and controller, gyroscope and Weighting system are connected with controller respectively, and gyroscope is for sensing
The attitude parameter of robot body 10 is simultaneously supplied to controller, and controller controls Weighting system according to attitude parameter and carries out with readjustment
It is whole to make robot body 10 keep equilibrium state.
Specifically, in the case where wheel 11 is one or two, when robot needs to adjust the position of executive device 14
When, second connecting portion 18 can be made angled relative to first connecting portion 19, make the robot body 10 with respect to the horizontal plane be
Heeling condition, balance system can make robot body 10 keep equilibrium state at this time, when wheel 11 drives main part walking, put down
Balance system still then is able to make the robot body portion 10 under walking states to keep balance is unlikely to topple over during the motion, from
And improve the reliability and flexibility when robot uses.
Fig. 2 is a kind of partial structural diagram of robot provided in an embodiment of the present invention.Referring to FIG. 2, the present embodiment
In, second connecting portion 18 is ring-shaped guide rail, and driving device includes the second driving motor 13 and directive wheel 131, the second driving motor
13 output end is connect with 131 bias of directive wheel, and ring-shaped guide rail is set on directive wheel 131 and is slidably connected with directive wheel 131,
Second driving motor 13 is for driving directive wheel 131 to be eccentrically rotated centered on the axis of the second driving motor 13, so that guiding
Wheel 131 slides in ring-shaped guide rail, so that ring-shaped guide rail be driven to rotate centered on shaft 12 relative to first connecting portion 19.
When the directive wheel 131 that the driving of the second driving motor 13 is connect with its bias rotates, directive wheel 131 is in ring-shaped guide rail
Interior sliding, and ring-shaped guide rail is driven to rotate centered on shaft 12 relative to first connecting portion 19, to make ring-shaped guide rail and the
Angle required for being capable of forming between one interconnecting piece 19 simultaneously makes executive device 14 reach target position, is convenient for avoidance and makees
Industry.Due to use directive wheel 131 and ring-shaped guide rail, conducive to the simplification and driving for making driving device and the structure of the second connector,
Reliable transmission.
Preferably, robot body 10 further includes telescopic rod 15, and telescopic rod 15 is connected to second connecting portion 18 and executes dress
It sets between 14, telescopic rod 15 is arranged in a second direction, and second direction is vertical with first direction.Dress is executed when robot needs to adjust
When the height set, the height for making executive device 14 reach target can be elongated or shortened in a second direction by telescopic rod 15
Degree, to carry out corresponding operation or carry out avoidance, to effectively improve the flexibility of robot used.
In the present embodiment, it is preferred that robot body 10 further includes third driving motor 16, and executive device 14 passes through connection
Axis 17 is connect with telescopic rod 15, and connecting shaft 17 is arranged in the same direction with flexible 15 bars, and third driving motor 16 is connect with connecting shaft 17, with
Executive device 14 is driven to rotate centered on connecting shaft 17 relative to telescopic rod 15.
In the present embodiment, executive device 14 is driven to be rotated relative to telescopic rod 15 by third driving motor 16, energy
The angle of enough convenient adjustment executive devices 14, improves the work flexibility ratio of robot.
In the present embodiment, it is preferred that executive device 14 includes data detection device, and data detection device is for reading instrument
The data of display.Robot can be used as crusing robot to detect the data that the instrument of electrical cabinet is shown as a result, optionally,
Executive device 14 may also include data transmission set, immediately will be related after crusing robot detects the data on electrical cabinet
Data are transmitted to data collector terminal by data transmission set, and the relevant personnel can uniformly carry out pair on data collector terminal
Data are monitored, and greatly improve the convenience and timeliness of inspection work.
In the present embodiment, it is preferred that executive device 14 includes temperature-detecting device, and temperature-detecting device is for detecting temperature
Parameter.
In the present embodiment, robot can be used as crusing robot to detect the temperature parameter of electrical equipment, likewise, holding
Luggage, which sets 14, may also include data transmission set, after crusing robot detects the temperature parameter of electrical equipment, can immediately by
Related parameter is transmitted to data collector terminal by data transmission set, and the relevant personnel unified on data collector terminal can carry out
Monitoring, to help to take corresponding measure in time, is reduced electrical to be conducive to find the excessively high electrical equipment of temperature in time
Equipment damage or fire possibility occurrence improve the convenience and timeliness of inspection work.
In the present embodiment, it is preferred that wheel 11 is two, and two wheels 11 are separately positioned on the two of first connecting portion 19
End, shaft 12 are located between two wheels 11, and the axis of wheel 11 is parallel with the axis of shaft 12 or coincides.Pass through setting
Two wheels 11 and shaft 12 are located between two wheels 11, conducive to the stability for improving robot, meanwhile, second connecting portion 18
Rotation relative to first connecting portion 19 is not influenced by wheel 11, is conducive to improve second connecting portion 18 relative to first connecting portion
The amplitude of 19 rotation.
In the present embodiment, it is preferred that the first driving motor is hub motor, when the first driving motor is hub motor,
Power device, transmission device and brake apparatus are integrated into wheel hub, so that the structure for being conducive to robot is simplified and minimizes, are had
Effect improves the mobile flexibility of robot.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (9)
1. a kind of robot, which is characterized in that including robot body, the robot body includes:
Main part, the main part include first connecting portion and second connecting portion, the second connecting portion by shaft with it is described
First connecting portion rotation connection, the shaft are arranged along first direction；
Wheel is rotatablely connected with the first connecting portion；
First driving motor is arranged in the first connecting portion, and first driving motor is connect with the wheel, is used for band
It moves the wheel to rotate relative to the first connecting portion, so that the wheel is able to drive the main part walking；
Driving device is arranged on the main part, and the driving device is for driving the second connecting portion with the shaft
Centered on relative to the first connecting portion rotate；
Executive device is arranged in the second connecting portion.
2. robot according to claim 1, which is characterized in that further include balance system, the balance system setting exists
On main part, for making the robot body keep equilibrium state.
3. robot according to claim 2, which is characterized in that the wheel is two, and two wheels are set respectively
It sets at the both ends of the first connecting portion, the shaft is between described two wheels, the axis of the wheel and institute
The axis for stating shaft is parallel or coincide.
4. robot according to claim 3, which is characterized in that the second connecting portion is ring-shaped guide rail, the driving
Device includes the second driving motor and directive wheel, and the output end of second driving motor is connect with the directive wheel bias, institute
It states ring-shaped guide rail to be set on the directive wheel and be slidably connected with the directive wheel, second driving motor is for driving institute
It states directive wheel to be eccentrically rotated centered on the axis of second driving motor, so that the directive wheel is in the ring-shaped guide rail
Sliding, so that the ring-shaped guide rail be driven to rotate centered on the shaft relative to the first connecting portion.
5. robot according to claim 1, which is characterized in that the robot body further includes telescopic rod, described to stretch
Contracting bar is connected between the second connecting portion and executive device, and the telescopic rod is arranged in a second direction, the second direction
It is vertical with the first direction.
6. robot according to claim 5, which is characterized in that robot body further includes third driving motor, described
Executive device is connect by connecting shaft with the telescopic rod, and the connecting shaft is arranged in the same direction with the telescopic rod, and the third is driven
Dynamic motor and the connection axis connection, to drive the executive device to revolve centered on the connecting shaft relative to the telescopic rod
Turn.
7. robot according to claim 1, which is characterized in that the executive device includes data detection device, described
Data detection device is for reading the data that instrument is shown.
8. robot according to claim 1, which is characterized in that the executive device includes temperature-detecting device, described
Temperature-detecting device is for detecting temperature parameter.
9. robot according to claim 1, which is characterized in that first driving motor is hub motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811574522.7A CN109434799A (en) | 2018-12-21 | 2018-12-21 | A kind of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811574522.7A CN109434799A (en) | 2018-12-21 | 2018-12-21 | A kind of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109434799A true CN109434799A (en) | 2019-03-08 |
Family
ID=65537837
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811574522.7A Pending CN109434799A (en) | 2018-12-21 | 2018-12-21 | A kind of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109434799A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228053A (en) * | 2019-07-02 | 2019-09-13 | 北京史河科技有限公司 | Robot |
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| CN105511470A (en) * | 2015-12-25 | 2016-04-20 | 天津梅迪亚科技有限公司 | Intelligent inspection robot |
| CN206076836U (en) * | 2016-09-26 | 2017-04-05 | 国网江苏省电力公司检修分公司 | A kind of electric inspection process robot |
| CN107175643A (en) * | 2017-05-22 | 2017-09-19 | 宁德师范学院 | A kind of Post disaster relief robot and its control system and method based on machine vision |
| CN108515508A (en) * | 2018-02-11 | 2018-09-11 | 坎德拉（深圳）科技创新有限公司 | Two-wheel robot |
| CN209273426U (en) * | 2018-12-21 | 2019-08-20 | 北京史河科技有限公司 | A kind of robot |
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2018
- 2018-12-21 CN CN201811574522.7A patent/CN109434799A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009241169A (en) * | 2008-03-28 | 2009-10-22 | Nec Corp | Inverted pendulum type traveling apparatus |
| CN105511470A (en) * | 2015-12-25 | 2016-04-20 | 天津梅迪亚科技有限公司 | Intelligent inspection robot |
| CN206076836U (en) * | 2016-09-26 | 2017-04-05 | 国网江苏省电力公司检修分公司 | A kind of electric inspection process robot |
| CN107175643A (en) * | 2017-05-22 | 2017-09-19 | 宁德师范学院 | A kind of Post disaster relief robot and its control system and method based on machine vision |
| CN108515508A (en) * | 2018-02-11 | 2018-09-11 | 坎德拉（深圳）科技创新有限公司 | Two-wheel robot |
| CN209273426U (en) * | 2018-12-21 | 2019-08-20 | 北京史河科技有限公司 | A kind of robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228053A (en) * | 2019-07-02 | 2019-09-13 | 北京史河科技有限公司 | Robot |
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Application publication date: 20190308 |
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