Anti-rollover robot base

Abstract

The utility model discloses an anti-rollover robot base which comprises a base body, a control center is arranged in the middle of the top of the base body, driving wheels are arranged on the left side and the right side of the bottom of the base body and close to the middle, universal wheels are arranged on the bottom of the base body and close to the outer side, and pressure sensors are evenly arranged in a shell. A second connector is arranged between the pressure sensor and the control center, a stop block is fixedly connected to the surface of the rotating rod, a bearing is arranged above the stop block, and a pressing ring is arranged at the top of the bearing. According to the rollover prevention robot base, the tops of the universal wheels on the periphery are provided with the pressing rings and the pressure sensors, when the road surface is uneven, the universal wheels are extruded to be lifted upwards, so that the pressing rings are extruded, the pressure sensors receive signals, and information is transmitted into a control center through a second connector; the height change of the road surface is judged according to the pressure borne by the universal wheel pressing ring, so that the driving wheel is guided to change the direction to avoid rollover.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an anti-rollover robot base. Background Technique

[0002] A robot is a machine device that automatically performs work. It can either accept human commands or run pre-programmed programs. Its task is to assist or replace human work. However, since robots cannot intelligently distinguish road conditions, they are easily tripped and may shake and roll over. Because the robot parts are complex and high-end, if one end rolls over and hits the ground, it is easy to damage the internal parts and render the robot scrapped. Traditional robots do not have corresponding anti-rollover protection measures, which easily cause unstable robot operation and affect the service life. In the prior art, corresponding anti-rollover robot bases have been proposed. For example, in the prior art: CN205085964U, an anti-rollover robot base, includes a bottom plate seat. A roller body is provided at the bottom of the bottom plate seat. A concave arc-shaped protection plate is provided at the outer end of the bottom plate seat. One end of the concave arc-shaped protection plate is fixed to the side end face of the bottom plate seat, and the other end of the concave arc-shaped protection plate protrudes from the end face of the bottom plate seat. A plurality of convex dot blocks are further provided on the outer arc-shaped end face of the concave arc-shaped protection plate.

[0003] There is also prior art as follows:

[0004] CN207273265U, a robot anti-rollover base;

[0005] CN214604418U, an anti-rollover device for a fighting robot.

[0006] For the anti-rollover robot bases mentioned in the above prior art, only by adding corresponding protection devices to avoid rollover, the robot cannot identify dangerous areas and cannot fundamentally solve the rollover danger. Content of the Utility Model

[0007] The purpose of the utility model is to provide an anti-rollover robot base to solve the problems raised in the above background technique.

[0008] To achieve the above purpose, the utility model provides the following technical solution: an anti-rollover robot base, including a base. It is characterized in that: a housing is arranged above the base, a control center is arranged at the middle position of the top of the base, drive wheels are arranged at the left and right sides of the bottom of the base close to the middle position, universal wheels are arranged at the outer side of the bottom of the base, pressure sensors are evenly arranged inside the housing, a connector two is arranged between the pressure sensors and the control center, a rotating rod is arranged above the universal wheel, a blocking block is fixedly connected to the surface of the rotating rod, a bearing is arranged above the blocking block, and a retaining ring is arranged at the top of the bearing.

[0009] Preferably, a rotating shaft is installed through the center of the driving wheel. A driving motor is arranged on one side of the rotating shaft. A first connector is arranged at the other end of the driving motor. The other end of the first connector is connected to the control center. A fixing seat is sleeved on the surface of the rotating shaft.

[0010] Preferably, the driving wheel and other driving components are symmetric about the center of the base left and right. There are a total of [number] universal wheels, which are evenly distributed around the central axis of the base.

[0011] Preferably, there is one roller on each of the front and back of the driving wheel.

[0012] Preferably, a connection hole is opened through the center of the outer shell. A column is fixedly connected inside the outer shell within the inner circle of the pressure sensor. The bottom of the column is connected to the top of the base.

[0013] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0014] 1. For the anti-rollover robot base, there are pressure rings and pressure sensors on the tops of multiple universal wheels around. When the road surface is uneven, the universal wheels are squeezed and lifted upward together with the rotating rods, thereby squeezing the pressure rings. The pressure sensors receive signals and transmit the information to the control center through the second connector. The control center judges the change of the road surface height according to the pressure received by the pressure rings of the universal wheels, and then guides the driving wheels to change the direction to avoid this place and thus prevent rollover.

[0015] 2. For the anti-rollover robot base, the two driving wheels for the mobile robot are powered by two different driving motors. The control center can give different signals to the two control motors to make the rotational speeds of the two driving wheels different, so that the moving direction of the robot deflects. When the rotational directions of the two driving wheels are opposite, the effect of turning in place can be achieved, making the robot more flexible. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of the present utility model;

[0017] Figure 2 is a schematic diagram of the top of the base of the structure of the present utility model;

[0018] Figure 3 is a schematic diagram of the inside of the outer shell and the bottom of the base of the structure of the present utility model;

[0019] Figure 4 is a schematic diagram of the universal wheel of the structure of the present utility model.

[0020] In the figure: 1, base; 2, outer shell; 3, drive wheel; 4, universal wheel; 5, control center; 201, column; 202, connection hole; 301, rotating shaft; 302, fixed seat; 303, drive motor; 304, connector 1; 401, rotating rod; 402, stop block; 403, bearing; 404, retaining ring; 405, pressure sensor; 406, connector 2. Detailed implementation manner

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0022] Embodiment: Please refer to Figure 1 , the present invention provides a technical solution: an anti-overturning robot base.

[0023] Among them, an outer shell 2 is arranged above the base 1, a control center 5 is arranged in the middle of the top of the base 1, drive wheels 3 are arranged on the left and right sides of the bottom of the base 1 near the middle position, universal wheels 4 are arranged near the outside of the bottom of the base 1, pressure sensors 405 are evenly arranged inside the outer shell 2, a connector 2 406 is arranged between the pressure sensors 405 and the control center 5, a rotating rod 401 is arranged above the universal wheel 4, a stop block 402 is fixedly connected to the surface of the rotating rod 401, a bearing 403 is arranged above the stop block 402, and a retaining ring 404 is arranged at the top of the bearing 403.

[0024] In this embodiment, the universal wheel 4 can rotate freely. Above the rotating rod 401 at the top of each universal wheel 4, there are a pressure ring 404 and a pressure sensor 405 corresponding to each other. The rotating rod 401 passes through the base 1, and a bearing 403 is sleeved on the rotating rod 401, and the bearing 403 is fixed by a stopper 402. There are two bearings 403 in total. The lower bearing 403 is arranged in the counterbore of the base 1 passing through the rotating rod 401, and the upper bearing 403 is located at the top of the rotating rod 401, and a pressure ring 404 is arranged above it. The pressure ring 404 contacts the outer ring of the bearing 403, without affecting the rotation of the inner ring bearing 403 and the rotating rod 401. When the universal wheel 4 moves and hits a protrusion on the road, the universal wheel 4 drives the rotating rod 401 to lift, and the pressure ring 404 at the top will be squeezed. The pressure ring 404 itself is made of an elastic material and can rebound when subjected to a certain amount of extrusion. This part of the pressure will be transmitted to the pressure sensor 405, and the pressure sensor 405 transmits the pressure value to the control center 5 through the connector two 406. The control center 5 calculates the height of the protrusion to determine whether it will affect the progress of the robot, and then makes the next operation to avoid the robot tipping over due to too high debris or other factors on the road.

[0025] Among them, a rotating shaft 301 is installed through the center of the driving wheel 3. On one side of the rotating shaft 301, there is a driving motor 303. On the other end of the driving motor 303, there is a connector one 304, and the other end of the connector one 304 is connected to the control center 5. A fixing seat 302 is sleeved on the surface of the rotating shaft 301.

[0026] In this embodiment, the control center 5 controls the rotation of the driving motor 303 through the connector one 304, and then controls the driving wheel 3 through the rotating shaft 301 to control the forward and backward movement of the entire base. The entire device is fixed to the bottom of the base 1 through the fixing seat 302.

[0027] Among them, the driving components such as the driving wheel 3 are symmetric about the center of the base 1 left and right. There are 6 universal wheels 4 in total, and they are evenly distributed about the central axis of the base 1.

[0028] In this embodiment, the two driving wheels 3 for the mobile robot are powered by two different driving motors 303. The control center 5 can give different signals to the two driving motors 303 to make the rotational speeds of the two driving wheels 303 different. At this time, the robot will deflect in the direction of the driving wheel 3 with a slower rotational speed, so as to achieve steering. The greater the difference in the rotational speeds of the two driving wheels 3, the greater the steering angle. In addition, when the rotational directions of the two driving wheels 3 are set to be opposite, the robot can achieve a U-turn in place; and the 6 universal wheels 4 can surround the driving wheel 3 to test whether the road surface that the driving wheel 3 is about to pass through is flat. The universal wheel 4 itself can also adapt to various steering of the driving wheel 3 through the cooperation of the rotating rod 401 and the bearing 403.

[0029] Among them, there is one roller on each of the front and back of the driving wheel 3.

[0030] In this embodiment, the roller structures at these two locations are similar to the universal wheels 4, but there is no retaining ring 404 and pressure sensor 405 provided at the top. Their height is also flush with the driving wheels 3 and the universal wheels 4. They can achieve free steering but cannot move up and down. They cooperate with the driving wheels 3 to support the entire base, adding two support points on the basis of the two points of the driving wheels 3. The four support points cooperate with the other universal wheels 4 to make the base more stable during movement.

[0031] Among them, a connection hole 202 is centrally formed through the housing 2. Inside the housing 2, a column 201 is fixedly connected to the inner circle of the pressure sensor 405. The bottom of the column 201 is connected to the top of the base 1.

[0032] In this embodiment, the column 201 cooperates with the outer ring of the housing 2 to support the housing 2 on the top of the base 1, preventing the housing 2 from deforming due to the excessive weight of the robot body above the base. The robot body can be connected to the control center 5 through a circuit passing through the connection hole 202, so as to realize the control of the moving direction and speed of the base by the robot body.

[0033] Working principle: The control center 5 can give different signals to the two driving motors 303 to make the speeds of the two driving wheels 3 different, so that the robot turns during movement. When the road surface is uneven, a universal wheel 4 at a certain place around is squeezed and the rotating rod 401 is lifted upward together, thus squeezing the retaining ring 404. The pressure sensor 405 receives the signal and transmits the information to the control center 5 through the connector two 406. According to the magnitude of the pressure received by the pressure sensor 405, the change in the road surface height is judged, and then a judgment is made. The control center 5 then transmits the instruction to the driving motor 303 through the connector one 304. The two driving motors 303 change the speed and thus change the direction to avoid this place and prevent rollover.

[0034] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0035] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirits of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A rollover prevention robot base, comprising a base (1), characterized in that: A shell (2) is arranged above the base (1), a control center (5) is arranged at the middle position of the top of the base (1), driving wheels (3) are arranged near the middle position on the left and right sides of the bottom of the base (1), and universal wheels (4) are arranged near the outer side of the bottom of the base (1), pressure sensors (405) are evenly arranged inside the shell (2), a second connector (406) is arranged between the pressure sensors (405) and the control center (5), a rotating rod (401) is arranged above the universal wheel (4), a stopper (402) is fixedly connected to the surface of the rotating rod (401), a bearing (403) is arranged above the stopper (402), and a pressure ring (404) is arranged on the top of the bearing (403).

2. The anti-rollover robot base according to claim 1, characterized in that: A rotating shaft (301) is installed through the center of the driving wheel (3), a driving motor (303) is arranged on one side of the rotating shaft (301), a connector 1 (304) is arranged on the other end of the driving motor (303), and the other end of the connector 1 (304) is connected to the control center (5), and a fixing seat (302) is sleeved on the surface of the rotating shaft (301).

3. The anti-rollover robot base according to claim 1, characterized in that: The driving wheel (3) is bilaterally symmetrical with the center of the base (1) as the axis, and a total of six universal wheels (4) are provided and are evenly distributed with the center axis of the base (1) as the axis.

4. The anti-rollover robot base according to claim 1, characterized in that: The driving wheel (3) is provided with a roller on the front and back sides respectively.

5. The anti-rollover robot base according to claim 1, characterized in that: A connection hole (202) is provided through the center of the shell (2), and a column (201) is fixedly connected to the inner circle of the pressure sensor (405) inside the shell (2), and the bottom of the column (201) is connected to the top of the base (1).

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