A robot for clearing landslide roads

Abstract

The present invention discloses a robot for clearing landslide roads, which relates to the field of robotics. The robot comprises a body and a balance adjustment assembly, the body being provided with the balance adjustment assembly comprising a dual-axis motor, a connecting frame, a ball holder, an adjustment arm, and a translation block. By installing the balance adjustment assembly, the present invention enables adjustment of the robot chassis, resolving the problem of the robot's inability to adjust its posture according to the actual terrain, reducing the risk of the robot rolling over due to ground tilt, ensuring that the chassis remains level, and reducing downtime caused by terrain factors.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, in particular to a robot used for clearing landslide roads. Background Art

[0002] Landslides are geological disasters. Traditional manual clearing methods are inefficient and risky, while complex terrain conditions, such as accumulated debris, muddy roads, and boulder obstacles, place even more stringent demands on mechanical equipment.

[0003] Traditional robot chassis lack active leveling capabilities, making them difficult to adapt to changes in slope or ground collapse. When traveling up or down slopes or across ravines, the chassis cannot automatically adjust to the horizontal position, which can cause the center of gravity to shift, reducing operational stability and even causing the vehicle to tilt or overturn.

[0004] Patent CN209126846U discloses a highly safe landslide disaster rescue robot. The above patent provides stable support for the intelligent robot, preventing it from tipping over during excavation. It is convenient for people to use and can hold personal rescue items, thereby improving rescue efficiency.

[0005] The above patent provides stable support for the intelligent robot, solving the problem that the intelligent robot is prone to tipping over when digging in landslide areas with relatively loose surface soil, thereby causing personal injury. However, there is still room for improvement in the balance of the robot when moving. This application adjusts the posture of the robot according to the actual terrain, solving the problem of the robot tipping over due to ground tilt when the robot is moving or working.

[0006] To this end, the present application proposes a robot that can adjust the robot chassis for use in clearing landslide roads. Summary of the Invention

[0007] The object of the present invention is to provide a robot for clearing landslide roads, so as to solve the technical problem of the robot rolling over due to the tilt of the ground when the robot moves or works, as mentioned in the background art.

[0008] To achieve the above-mentioned object, the present invention provides the following technical solution: a robot for clearing landslide roads, comprising a body and a balance adjustment component, wherein the body is provided with the balance adjustment component;

[0009] The balance adjustment assembly includes: a dual-axis motor, a connecting frame, a ball rack, an adjustment arm and a translation block;

[0010] A chassis is provided at the bottom of the body, a connecting frame is symmetrically fixedly installed on the chassis, the connecting frame is movably mounted on the outer wall of the ball rack, the ball rack is symmetrically arranged in the connecting frame, the side wall of the ball rack is fixedly connected to an adjusting arm, the outer wall of the adjusting arm is rotatably connected to a mounting plate, the bottom of the outer wall of the mounting plate is fixedly connected to a translation block, the outer wall of the translation block is movably mounted on the frame, a dual-axis motor is symmetrically fixedly installed in the frame, a symmetry axis is symmetrically and movably mounted on the outer wall of the dual-axis motor, and the outer wall of the symmetry axis is connected to the translation block through a thread.

[0011] Preferably, the connecting frame is provided with a stabilizing component, and the stabilizing component is selected from a stop mechanism and a resistance mechanism;

[0012] The stopping mechanism includes: a telescopic device, a push plate, a stopping plate and a stopping piece;

[0013] A stop groove is provided in the connecting frame, and the stop groove is movably mounted on the outer wall of the stop plate. A stop piece is symmetrically fixedly connected to the bottom of the outer wall of the stop plate. The stop piece is above the ball frame. The outer wall of the stop plate is symmetrically fixedly connected to a reset plate. The outer wall of the reset plate is movably mounted on the connecting frame. The bottom of the outer wall of the reset plate is fixedly connected to a reset spring. The bottom of the outer wall of the reset spring is fixedly connected to the connecting frame. An open groove is provided on the top of the connecting frame. A telescopic device is symmetrically fixedly connected in the chassis. A push plate is fixedly connected to the bottom of the outer wall of the telescopic device. The push plate is in the open groove, and the open groove is communicated with the stop groove.

[0014] Preferably, the resistance mechanism comprises: a first motor, a lifting plate, a pressure sensor, a pushing rod, a pushing column and a compression spring;

[0015] A first motor is fixedly installed in the connecting frame, a first rotating shaft is movably installed on the top of the outer wall of the first motor, a lifting plate is connected to the outer wall of the first rotating shaft by a thread, the outer wall of the lifting plate is movably covered with a chassis, the outer wall of the lifting plate is symmetrically fixedly connected with a positioning plate, a positioning groove is symmetrically opened in the chassis, the positioning groove is movably covered on the outer wall of the positioning plate, a pressure sensor is symmetrically fixedly connected to the bottom of the outer wall of the lifting plate, the pressure sensor is connected to the first motor via Bluetooth, a pushing rod is fixedly connected to the bottom of the outer wall of the pressure sensor, a pushing column is movably covered on the outer wall of the pushing rod, a compression spring is fixedly connected to the bottom of the outer wall of the compression spring, a pushing column is fixedly connected to the outer wall of the pushing column, a connecting frame is movably covered on the outer wall of the pushing column, and the pushing column is in contact with the adjusting arm.

[0016] Preferably, the adjusting arm is provided with a support assembly, which includes: a first support plate, a second support plate, a support cylinder and a support column;

[0017] The side wall of the adjusting arm is fixedly connected to the second mounting body, the side wall of the second mounting body is rotatably connected to the second support plate, the side wall of the second support plate is rotatably connected to the first support plate, the side wall of the first support plate is rotatably connected to the first mounting body, the first mounting body is symmetrically arranged on both sides of the first mounting body, the first mounting body is fixedly connected to the top of the outer wall of the frame, the side wall of the first support plate is rotatably connected to the support tube, the support tube is movably mounted on the outer wall of the support column, and the side wall of the support column is rotatably connected to the second support plate.

[0018] Preferably, a protection assembly is provided on the frame, and the protection assembly includes: a first telescopic tube, a second telescopic tube, a protection plate and a first spring;

[0019] A protective groove is symmetrically provided on the top of the outer wall of the frame, and the protective groove is movably sleeved on the outer wall of the protective plate. The protective plate is in contact with the chassis. The bottom of the outer wall of the protective plate is fixedly connected to a first spring, and the bottom of the outer wall of the first spring is fixedly connected to the frame. The side wall of the frame is fixedly connected to a first telescopic tube, one side of the translation block is fixedly connected to the first telescopic tube, and the other side of the translation block is fixedly connected to the second telescopic tube. The side wall of the second telescopic tube is fixedly connected to the frame, and the first telescopic tube and the second telescopic tube are sleeved on the outer wall of the symmetry axis.

[0020] Preferably, the frame is provided with a walking mechanism, the top of the outer wall of the frame is fixedly connected with a central frame, the central frame is movably mounted on the outer wall of the supporting frame, and the outer wall of the supporting frame is fixedly connected with a chassis.

[0021] Preferably, the side wall of the support column is fixedly connected to a built-in plate, the outer wall of the built-in plate is movably fitted with a support tube, the support tube is movably fitted on the outer wall of the extrusion plate, the side wall of the extrusion plate is fixedly connected to a second spring, the side wall of the second spring is fixedly connected to the built-in plate, the outer wall of the extrusion plate is fixedly connected to an electric push rod, and the electric push rod is fixedly installed in the support column.

[0022] Preferably, the side wall of the protective plate is fixedly connected to the side plate, the side wall of the protective plate is fixedly connected to the second motor, the side wall of the second motor is movably installed with a second rotating shaft, the outer wall of the second rotating shaft is connected to the first translation plate through a thread, the top of the outer wall of the first translation plate is fixedly connected to a fitting piece, the fitting piece is in contact with the protective plate, the side wall of the fitting piece is fixedly connected to the second translation plate, and the outer wall of the second translation plate is symmetrically provided with a cleaning plate.

[0023] Preferably, the side wall of the first translation plate is fixedly connected to the limiting block, the outer wall of the limiting block is movably fitted with a protective plate, the second translation plate is movably fitted on the outer wall of the limiting bar, the side wall of the limiting bar is fixedly connected to a cleaning plate, the side wall of the cleaning plate is fixedly connected to a connector, the cleaning plates are symmetrically arranged on both sides of the connector, the top of the outer wall of the connector is fixedly connected to a third spring, the top of the outer wall of the third spring is fixedly connected to the second translation plate, the cleaning plate is in contact with the frame, and the cleaning plate is in contact with the protective plate.

[0024] Preferably, the outer wall of the connecting frame is symmetrically provided with a first movable groove, the bottom of the outer wall of the chassis is symmetrically provided with a second movable groove, and the first movable groove is communicated with the second movable groove.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The present invention installs a balance adjustment component to achieve adjustment of the robot chassis, solving the problem of the robot's inability to adjust its posture according to the actual terrain. It reduces the risk of the robot rolling over due to ground tilt, ensures that the chassis always remains level, and reduces downtime caused by terrain factors.

[0027] 2. The present invention installs a stabilizing component to achieve fixed stop of the robot ball frame and adjustment arm, solves the unnecessary displacement of the robot chassis caused by vibration, and improves the stability and safety of the robot operation;

[0028] 3. The present invention implements support for the robot's adjustment arm by installing a support assembly, thereby solving the problem of excessive stress concentration in a local area of ​​the robot and enhancing the robot's stability on landslides with complex terrain and steep slopes.

[0029] 4. The present invention solves the problem of external impurities such as mud, rocks, and rainwater affecting the robot chassis adjustment by installing a protective component, thereby improving the stability of the robot chassis adjustment and extending the service life of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a side structural schematic diagram of the present invention;

[0031] Figure 2 A schematic diagram of a balance adjustment component of the present invention;

[0032] Figure 3 This is a schematic diagram of the cross-sectional structure of the frame of the present invention;

[0033] Figure 4 This is a schematic diagram of the cross-sectional structure of the support tube of the present invention;

[0034] Figure 5 is a schematic diagram of the stop mechanism of the present invention;

[0035] Figure 6 A schematic diagram of the conflict mechanism of the present invention;

[0036] Figure 7 is a schematic diagram of the protective assembly of the present invention;

[0037] Figure 8 Schematic diagram of the second translation plate of the present invention.

[0038] In the figure: 1. body; 2. chassis; 3. frame; 4. walking mechanism; 5. connecting body; 6. dual-axis motor; 7. connecting frame; 8. first movable groove; 9. ball rack; 10. adjusting arm; 11. mounting plate; 12. translation block; 13. symmetric axis; 14. first telescopic tube; 15. second telescopic tube; 16. first mounting body; 17. first support plate; 18. second support plate; 19. second mounting body; 20. supporting cylinder; 21. supporting column; 22. protective plate; 23. first spring; 24. protective groove; 25. built-in plate; 26. second spring; 27. extrusion plate; 28. electric push rod; 29. ​​second movable groove; 3 0. First motor; 31. First rotating shaft; 32. Lifting plate; 33. Pressure sensor; 34. Push rod; 35. Push column; 36. Compression spring; 37. Positioning slot; 38. Positioning plate; 39. Telescopic device; 40. Push plate; 41. Opening slot; 42. Stop plate; 43. Stop slot; 44. Reset plate; 45. Reset spring; 46. Second rotating shaft; 47. First translation plate; 48. Second motor; 49. Stop plate; 50. Support frame; 51. Central frame; 52. Side plate; 53. Limit block; 54. Fitting plate; 55. Cleaning plate; 56. Second translation plate; 57. Third spring; 58. Limit strip. DETAILED DESCRIPTION

[0039] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0040] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0041] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc., should be understood in a broad sense. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection or an electrical connection; it may refer to a direct connection or an indirect connection through an intermediate medium; it may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0042] See also Figure 1 、 Figure 2 and Figure 3 , an embodiment of the present invention provides: a robot for clearing landslide roads, comprising a body 1 and a balance adjustment component, wherein the body 1 is provided with a balance adjustment component; the balance adjustment component comprises: a dual-axis motor 6, a connecting frame 7, a ball rack 9, an adjustment arm 10 and a translation block 12; a chassis 2 is provided at the bottom of the body 1, a connecting frame 7 is symmetrically fixedly installed on the chassis 2, the connecting frame 7 is movably sleeved on the outer wall of the ball rack 9, the ball rack 9 is symmetrically arranged in the connecting frame 7, the side wall of the ball rack 9 is fixedly connected to the adjustment arm 10, the outer wall of the adjustment arm 10 is rotatably connected to the mounting plate 11, the bottom of the outer wall of the mounting plate 11 is fixedly connected to the translation block 12, the outer wall of the translation block 12 is movably sleeved on the frame 3, the dual-axis motor 6 is symmetrically fixedly installed in the frame 3, the outer wall of the dual-axis motor 6 is symmetrically and movably installed with a symmetry axis 13, and the outer wall of the symmetry axis 13 is connected to the translation block 12 by a thread;

[0043] The frame 3 is provided with a walking mechanism 4, the top of the outer wall of the frame 3 is fixedly connected to a central frame 51, the central frame 51 is movably mounted on the outer wall of the supporting frame 50, and the outer wall of the supporting frame 50 is fixedly connected to the chassis 2; the outer wall of the connecting frame 7 is symmetrically provided with a first movable groove 8, and the bottom of the outer wall of the chassis 2 is symmetrically provided with a second movable groove 29, and the first movable groove 8 is communicated with the second movable groove 29.

[0044] Furthermore, in complex terrain with landslides, the ground is often extremely uneven. When the walking mechanism 4 passes through the uneven ground, the body 1, chassis 2, and frame 3 will tilt. When the integrated gyroscope, accelerometer, inclination sensor, and other sensors in the body 1 detect that the body 1 is tilted and has not recovered to a level level after a time exceeding a preset threshold, the control system in the robot starts the dual-axis motor 6, and the dual-axis motor 6 drives the symmetry axis 13 to rotate, and the symmetry axis 13 drives the translation block 12 to move, so that the translation blocks 12 on both sides of the dual-axis motor 6 move closer to or away from each other, and the translation block 12 drives the mounting plate 11 moves, the mounting plate 11 drives the adjustment arm 10, the adjustment arm 10 drives the ball rack 9, the ball rack 9 drives the connecting rack 7, the connecting rack 7 drives the chassis 2, and according to the tilt direction of the body 1, chassis 2, and frame 3, the dual-axis motor 6 in the corresponding direction is controlled to start and adjust the chassis 2. For example: the robot tilts left and right, the left side of the body 1, chassis 2, and frame 3 is high, and the right side is low. The control system in the robot starts the dual-axis motor 6 on the right side of the frame 3, so that the dual-axis motor 6 on the right side rotates forward, and the translation blocks 12 on both sides of the dual-axis motor 6 approach each other, so that the translation block 1 2 drives, mounting plate 11, adjustment arm 10, ball rack 9, connecting rack 7, chassis 2, so that the right side of chassis 2 gradually moves upward, thereby making chassis 2 and body 1 gradually level. In addition, if the sensor in body 1 detects that the robot is tilted at a large angle, it is not enough to start the dual-axis motor 6 on one side to ensure that chassis 2 and body 1 are level. The control system starts frame 3 and simultaneously starts the dual-axis motors 6 on both sides, so that the dual-axis motor 6 on the right side of frame 3 rotates forward and the dual-axis motor 6 on the left side of frame 3 rotates reversely, so that the translation blocks 12 on the right side of frame 3 are close to each other. The translation blocks 12 on the left side of the frame 3 move away from each other, thereby gradually moving the right side of the chassis 2 upward and the left side of the chassis 2 upward, so that the body 1 and the chassis 2 remain level. In addition, if the tilt of the robot has a certain angle with the direction of action of the frame 3 or the front-back direction, and only starting the left and right dual-axis motors 6 or the front and back dual-axis motors 6 is not enough to ensure that the chassis 2 and the body 1 are level, the control system starts multiple dual-axis motors 6 of the frame 3 according to the tilt angle of the body 1 and the chassis 2, and adjusts the body 1 and the chassis 2 together through the four dual-axis motors 6.

[0045] During the process of the balance adjustment component adjusting the body 1 and the chassis 2, the chassis 2 drives the supporting frame 50 to move in the central frame 51. The supporting frame 50 and the central frame 51 provide support to avoid stress concentration on the adjustment arm 10, the ball rack 9, the connecting frame 7 and other components, which may cause damage to the components, thereby improving the safety of the device and extending the service life of the device; the setting of the first movable groove 8 and the second movable groove 29 provides a range of motion for the adjustment arm 10 to avoid the range of motion of the adjustment arm 10 being restricted by the connecting frame 7 and the frame 3; the device adjusts the posture of the robot according to the actual terrain, and by keeping the body 1 and the chassis 2 always level, it effectively reduces the risk of the robot rolling over due to ground tilt, ensures operation continuity and safety, enables the robot to continue operating in harsh environments, and reduces downtime due to terrain factors.

[0046] See also Figure 1 、 Figure 2 and Figure 5 The present invention provides an embodiment of a robot for clearing landslide roads, comprising a body 1 and a balance adjustment assembly, wherein the body 1 is provided with a balance adjustment assembly; the balance adjustment assembly comprises: a dual-axis motor 6, a connecting frame 7, a ball rack 9, an adjustment arm 10, and a translation block 12; the connecting frame 7 is provided with a stabilization assembly, which is selected from a stop mechanism or a resistance mechanism; the stop mechanism comprises: a telescopic device 39, a push plate 40, a stop plate 42, and a stop piece 49; a stop groove 43 is provided in the connecting frame 7, and the stop groove 43 is movably sleeved on the outer wall of the stop plate 42. The bottom of the outer wall of the stop plate 42 is symmetrically fixedly connected with a stop piece 49, and the stop piece 49 is above the ball rack 9. The outer wall of the stop plate 42 is symmetrically fixedly connected with a reset plate 44, and the outer wall of the reset plate 44 is movably sleeved with a connecting frame 7. The bottom of the outer wall of the reset plate 44 is fixedly connected with a reset spring 45, and the bottom of the outer wall of the reset spring 45 is fixedly connected to the connecting frame 7. An open groove 41 is provided on the top of the connecting frame 7. The chassis 2 is symmetrically fixedly connected with a telescopic device 39, and the bottom of the outer wall of the telescopic device 39 is fixedly connected with a push plate 40, and the push plate 40 is located in the open groove 41. The open groove 41 is communicated with the stop groove 43.

[0047] Furthermore, in the process of adjusting the body 1 and the chassis 2, the control system in the robot first starts the telescopic device 39 in the chassis 2, so that the telescopic device 39 gradually contracts, and the telescopic device 39 drives the push plate 40, and the push plate 40 no longer contacts the stop plate 42, and the push plate 40 gradually moves out of the opening groove 41, and the reset spring 45 recovers from the compressed state to the original state, and the reset spring 45 drives the reset plate 44, and the reset plate 44 drives the stop plate 42 to move in the stop groove 43, and the stop plate 42 drives the stop plate 49 to no longer contact the ball rack 9, thereby releasing the stop of the ball rack 9. At this time, the control system starts the required dual-axis motor 6 according to the sensor detection result, thereby adjusting the chassis 2, The body 1 remains level; after the adjustment of the chassis 2 and the body 1 is completed, the control system turns off the dual-axis motor 6 and starts the telescopic device 39, so that the telescopic device 39 gradually extends, and the telescopic device 39 drives the push plate 40 to move into the opening groove 41, and the push plate 40 gradually contacts the stop plate 42. The push plate 40 drives the stop plate 42 to move in the stop groove 43, and the stop plate 42 drives the reset plate 44 to compress the reset spring 45. The stop plate 42 drives the stop plate 49 to contact the ball rack 9 and make the stop plate 49 squeeze the ball rack 9, thereby squeezing and fixing the ball rack 9 to prevent the ball rack 9 from moving in the connecting frame 7 due to the continuous vibration of the robot when passing through a flat ground, thereby affecting the level of the body 1 and the chassis 2.

[0048] See also Figure 1 、 Figure 2 and Figure 6 , the present invention provides an embodiment: a robot for clearing landslide roads, including a body 1 and a balance adjustment component, the body 1 is provided with a balance adjustment component; the balance adjustment component includes: a dual-axis motor 6, a connecting frame 7, a ball rack 9, an adjustment arm 10 and a translation block 12; a stabilizing component is provided on the connecting frame 7, and the stabilizing component uses a stop mechanism or a resistance mechanism; the resistance mechanism includes: a first motor 30, a lifting plate 32, a pressure sensor 33, a pushing rod 34, a pushing column 35 and a compression spring 36; a first motor 30 is fixedly installed in the connecting frame 7, a first rotating shaft 31 is movably installed on the top of the outer wall of the first motor 30, and the outer wall of the first rotating shaft 31 is connected to The lifting plate 32 has a chassis 2 on its outer wall, and a positioning plate 38 is symmetrically fixedly connected to the outer wall of the lifting plate 32. A positioning groove 37 is symmetrically provided in the chassis 2. The positioning groove 37 is movably mounted on the outer wall of the positioning plate 38. The bottom of the outer wall of the lifting plate 32 is symmetrically fixedly connected to a pressure sensor 33. The pressure sensor 33 is connected to the first motor 30 via Bluetooth. The bottom of the outer wall of the pressure sensor 33 is fixedly connected to a pushing rod 34. The outer wall of the pushing rod 34 is movably mounted with a pushing column 35. The bottom of the outer wall of the pushing rod 34 is fixedly connected to a compression spring 36. The bottom of the outer wall of the compression spring 36 is fixedly connected to a pushing column 35. The outer wall of the pushing column 35 is movably mounted with a connecting frame 7. The pushing column 35 is in contact with the adjusting arm 10.

[0049] Furthermore, in the process of adjusting the body 1 and the chassis 2, the control system in the robot first starts the first motor 30, so that the first motor 30 drives the first rotating shaft 31 to rotate forward, and the first rotating shaft 31 drives the lifting plate 32 to move upward, and the lifting plate 32 drives the positioning plate 38 to move in the positioning groove 37. The positioning plate 38 and the positioning groove 37 prevent the lifting plate 32 from offset when moving. The lifting plate 32 drives the pressure sensor 33 and the pushing rod 34, and the compression spring 36 gradually recovers from the compressed state. At this time, the control system starts the required dual-axis motor 6 according to the detection results of the sensor in the body 1, thereby adjusting the chassis 2 to keep the chassis 2 and the body 1 level. In the process of adjusting the chassis 2, under the action of the elastic force of the compression spring 36, the compression spring 36 drives the pushing column 35, so that the pushing column 35 is always in contact with the adjusting arm 10, and the pushing column 35 will not affect the adjustment The movement of the joint arm 10; after the adjustment of the chassis 2 and the body 1 is completed, the control system turns off the dual-axis motor 6 and starts the first motor 30, so that the first motor 30 drives the first rotating shaft 31 to rotate in the opposite direction, and the first rotating shaft 31 drives the lifting plate 32 to move downward, and the lifting plate 32 drives the pressure sensor 33 and the pushing rod 34, and the pushing rod 34 gradually squeezes the compression spring 36. When the two pressure sensors 33 on the lifting plate 32 detect that the pressure data reaches the threshold range, the pressure sensor 33 turns off the first motor 30, the compression spring 36 squeezes the pushing column 35, and the pushing column 35 squeezes the adjusting arm 10. At this time, the adjusting arm 10 cannot drive the pushing column 35 to continue to compress the compression spring 36, thereby fixing the adjusting arm 10; compared with the stop mechanism, the interference mechanism will not wear the ball rack 9, thereby avoiding the increase of the gap between the ball rack 9 and the connecting frame 7, resulting in reduced device accuracy.

[0050] See also Figure 1 、 Figure 2 and Figure 4 , an embodiment of the present invention provides: a robot for clearing landslide roads, the adjusting arm 10 is provided with a support assembly, the support assembly includes: a first support plate 17, a second support plate 18, a support tube 20 and a support column 21; the side wall of the adjusting arm 10 is fixedly connected to the second mounting body 19, the side wall of the second mounting body 19 is rotatably connected to the second support plate 18, the side wall of the second support plate 18 is rotatably connected to the first support plate 17, the side wall of the first support plate 17 is rotatably connected to the first mounting body 16, the first mounting body 16 is symmetrically arranged on both sides of the first mounting body 16, the first mounting body 16 is fixedly connected to the top of the outer wall of the frame 3, the side wall of the first support plate 17 is rotatably connected to the support tube 20, the support tube 20 is movably sleeved on the outer wall of the support column 21, and the side wall of the support column 21 is rotatably connected to the second support plate 18;

[0051] The side wall of the support column 21 is fixedly connected to the built-in plate 25, the outer wall of the built-in plate 25 is movably fitted with the support tube 20, the support tube 20 is movably fitted on the outer wall of the extrusion plate 27, the side wall of the extrusion plate 27 is fixedly connected to the second spring 26, the side wall of the second spring 26 is fixedly connected to the built-in plate 25, the outer wall of the extrusion plate 27 is fixedly connected to the electric push rod 28, and the electric push rod 28 is fixedly installed in the support column 21.

[0052] Furthermore, when the adjusting arm 10 moves, the electric push rod 28 is started, the electric push rod 28 is retracted, the electric push rod 28 drives the extrusion plate 27, the extrusion plate 27 stretches the second spring 26, the adjusting arm 10 drives the second mounting body 19, the second mounting body 19 drives the second support plate 18, the second support plate 18 drives the first support plate 17 and the support column 21, and the first support plate 17 drives the support cylinder 20; after the adjustment of the adjusting arm 10 is completed, the electric push rod 28 is started, the electric push rod 28 is extended, the electric push rod 28 drives the extrusion plate 27, and the extrusion plate 27 is gradually compressed The second spring 26 gradually puts the second spring 26 into an extreme compression state, so that the second mounting body 19, the second support plate 18, the first support plate 17, the support column 21 and the support tube 20 provide support for the adjustment arm 10. The external force exerted on the adjustment arm 10 is transmitted to the frame 3 through the second support plate 18, the first support plate 17, the support column 21, the support tube 20 and the first mounting body 16, avoiding stress concentration on the adjustment arm 10, causing bending or damage to the adjustment arm 10, improving the safety of the equipment during use, and extending the service life of the equipment.

[0053] See also Figure 1 、 Figure 2 and Figure 7 An embodiment of the present invention provides a robot for clearing landslide roads, wherein a protection assembly is provided on the frame 3, and the protection assembly includes: a first telescopic tube 14, a second telescopic tube 15, a protection plate 22 and a first spring 23; a protection groove 24 is symmetrically opened on the top of the outer wall of the frame 3, and the protection groove 24 is movably sleeved on the outer wall of the protection plate 22, and the protection plate 22 is in contact with the chassis 2, and the bottom of the outer wall of the protection plate 22 is fixedly connected to the first spring 23, and the bottom of the outer wall of the first spring 23 is fixedly connected to the frame 3. A first telescopic tube 14 is fixedly connected to the side wall of the frame 3, a first telescopic tube 14 is fixedly connected to one side of the translation block 12, a second telescopic tube 15 is fixedly connected to the other side of the translation block 12, and a side wall of the second telescopic tube 15 is fixedly connected to the frame 3, and the first telescopic tube 14 and the second telescopic tube 15 are sleeved on the outer wall of the symmetry axis 13; a walking mechanism 4 is provided on the frame 3, and a central frame 51 is fixedly connected to the top of the outer wall of the frame 3, and the central frame 51 is movably mounted on the outer wall of the supporting frame 50, and the outer wall of the supporting frame 50 is fixedly connected to the chassis 2.

[0054] Furthermore, in the process of adjusting the chassis 2, under the action of the elastic force of the first spring 23, the first spring 23 drives the protective plate 22 to move in the protective groove 24, and the protective plate 22 is always in contact with the chassis 2. Under the action of the protective plate 22, impurities such as mud and stones splashed on the walking mechanism 4 or rainwater brought by the environment will be blocked by the protective plate 22, preventing impurities from entering between the chassis 2 and the frame 3, and preventing impurities from splashing onto the central frame 51 and the supporting frame 50, causing wear on the central frame 51 and the supporting frame 50, affecting the stability and balance adjustment function of the robot; when the balance adjustment of the robot causes a gap between the protective plate 22 and the chassis 2, under the action of the first telescopic tube 14 and the second telescopic tube 15, the translation block 12 moves, driving the first telescopic tube 14 and the second telescopic tube 15 to retract or extend, and the first telescopic tube 14 and the second telescopic tube 15 are always arranged outside the symmetry axis 13, preventing impurities splashed from the outside from passing through the gap between the protective plate 22 and the chassis 2, preventing impurities from affecting the symmetry axis 13, thereby ensuring the balance adjustment effect of the robot.

[0055] See also Figure 1 、 Figure 2 、 Figure 7 and Figure 8 , an embodiment of the present invention provides: a robot for cleaning landslide roads, the side wall of the protective plate 22 is fixedly connected to the side plate 52, the side wall of the protective plate 22 is fixedly connected to the second motor 48, the side wall of the second motor 48 is movably installed with a second rotating shaft 46, the outer wall of the second rotating shaft 46 is connected to the first translation plate 47 by a thread, the top of the outer wall of the first translation plate 47 is fixedly connected to a bonding piece 54, the bonding piece 54 is in contact with the protective plate 22, the side wall of the bonding piece 54 is fixedly connected to the second translation plate 56, and the outer wall of the second translation plate 56 is symmetrically provided with a cleaning plate 55; the side wall of the first translation plate 47 is fixedly connected to the limiting block 53, the outer wall of the limiting block 53 is movable It is equipped with a protective plate 22, and the second translation plate 56 is movably mounted on the outer wall of the limit bar 58. The side wall of the limit bar 58 is fixedly connected with a cleaning plate 55, and the side wall of the cleaning plate 55 is fixedly connected with the connector 5. The cleaning plates 55 are symmetrically arranged on both sides of the connector 5. The top of the outer wall of the connector 5 is fixedly connected with a third spring 57, and the top of the outer wall of the third spring 57 is fixedly connected with the second translation plate 56. The cleaning plate 55 is in contact with the frame 3, and the cleaning plate 55 is in contact with the protective plate 22; a walking mechanism 4 is provided on the frame 3, and the top of the outer wall of the frame 3 is fixedly connected with a central frame 51, and the central frame 51 is movably mounted on the outer wall of the carrier frame 50, and the outer wall of the carrier frame 50 is fixedly connected with the chassis 2.

[0056] Furthermore, during the adjustment process of the chassis 2, when the chassis 2 drives the protective plate 22 to move downward, the protective plate 22 drives the first translation plate 47, the bonding plate 54, and the second translation plate 56. The second translation plate 56 moves on the limit bar 58, and the second translation plate 56 compresses the third spring 57. When the protective plate 22 moves upward, under the action of the third spring 57, the third spring 57 applies an elastic force to the connector 5, and the connector 5 applies an external force to the cleaning plate 55, so that the cleaning plate 55 is always in contact with the frame 3.

[0057] The second motor 48 on the side plate 52 is started, and the second motor 48 drives the second rotating shaft 46 to rotate, and the second rotating shaft 46 drives the first translation plate 47 to move, and the first translation plate 47 drives the limit block 53 and the bonding sheet 54 to move. The limit block 53 prevents the first translation plate 47 from deflecting when moving, and the bonding sheet 54 drives the second translation plate 56 to move, and the second translation plate 56 drives the cleaning plate 55 to move. The cleaning plate 55 cleans the side of the protective plate 22 facing the external environment to prevent mud and stones splashing onto the protective plate 22 from adhering to the protective plate 22, affecting the movement of the protective plate 22, and then affecting the adjustment of the chassis 2; because the bonding sheet 54 is very thin, when the bonding sheet 54 is between the protective plate 22 and the chassis 2, it will not affect the protective plate 22, and will not increase the gap between the protective plate 22 and the chassis 2, affecting the protective effect of the protective plate 22.

[0058] Working principle: When the walking mechanism 4 passes through uneven ground, the body 1, chassis 2, and frame 3 tilt, and the control system starts the telescopic device 39 or the first motor 30 to release the stop of the ball rack 9 and the adjustment arm 10;

[0059] Start the dual-axis motor 6, which drives the symmetry axis 13, which drives the translation block 12, which drives the mounting plate 11, which drives the adjustment arm 10, which drives the ball rack 9, which drives the connecting frame 7, which drives the chassis 2, so that the chassis 2 and the body 1 remain level. The chassis 2 drives the protective plate 22, and the translation block 12 drives the first telescopic tube 14 and the second telescopic tube 15.

[0060] The adjusting arm 10 drives the second mounting body 19, the second support plate 18, the first support plate 17, and the support column 21. The first support plate 17 drives the support tube 20. The second mounting body 19, the second support plate 18, the first support plate 17, the support column 21 and the support tube 20 provide support for the adjusting arm 10. The protective plate 22, the first telescopic tube 14, and the second telescopic tube 15 provide protection.

[0061] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A robot for clearing landslide roads, characterized by: It comprises a machine body (1) and a balance adjustment component, wherein the machine body (1) is provided with the balance adjustment component; The balance adjustment assembly comprises: a dual-axis motor (6), a connecting frame (7), a ball frame (9), an adjustment arm (10) and a translation block (12); The body (1) is provided with a chassis (2) at the bottom, a connecting frame (7) is symmetrically fixedly installed on the chassis (2), the connecting frame (7) is movably mounted on the outer wall of the ball rack (9), the ball rack (9) is symmetrically arranged in the connecting frame (7), the side wall of the ball rack (9) is fixedly connected to an adjusting arm (10), the outer wall of the adjusting arm (10) is rotatably connected to a mounting plate (11), the bottom of the outer wall of the mounting plate (11) is fixedly connected to a translation block (12), the outer wall of the translation block (12) is movably mounted on the frame (3), a dual-axis motor (6) is symmetrically fixedly installed in the frame (3), a symmetry axis (13) is symmetrically mounted on the outer wall of the dual-axis motor (6), and the outer wall of the symmetry axis (13) is connected to the translation block (12) through a thread. The connecting frame (7) is provided with a stabilizing component, which is selected from a stop mechanism and a resistance mechanism; The stopping mechanism comprises: a telescopic device (39), a push plate (40), a stopping plate (42) and a stopping piece (49); A stop groove (43) is provided in the connecting frame (7), and the stop groove (43) is movably mounted on the outer wall of the stop plate (42). The bottom of the outer wall of the stop plate (42) is symmetrically fixedly connected with a stop plate (49), and the stop plate (49) is located above the ball rack (9). The outer wall of the stop plate (42) is symmetrically fixedly connected with a reset plate (44), and the outer wall of the reset plate (44) is movably mounted on the connecting frame (7). The bottom of the outer wall of the reset plate (44) is fixedly connected with a reset spring (45), and the bottom of the outer wall of the reset spring (45) is fixedly connected with the connecting frame (7). An opening groove (41) is provided on the top of the connecting frame (7), and a telescopic device (39) is symmetrically fixedly connected in the chassis (2). The bottom of the outer wall of the telescopic device (39) is fixedly connected with a push plate (40), and the push plate (40) is located in the opening groove (41), and the opening groove (41) is communicated with the stop groove (43); The resistance mechanism comprises: a first motor (30), a lifting plate (32), a pressure sensor (33), a pushing rod (34), a pushing column (35) and a compression spring (36); A first motor (30) is fixedly installed in the connecting frame (7), a first rotating shaft (31) is movably installed on the top of the outer wall of the first motor (30), a lifting plate (32) is connected to the outer wall of the first rotating shaft (31) by a thread, the outer wall of the lifting plate (32) is movably sleeved with the chassis (2), the outer wall of the lifting plate (32) is symmetrically fixedly connected with a positioning plate (38), a positioning groove (37) is symmetrically opened in the chassis (2), the positioning groove (37) is movably sleeved on the outer wall of the positioning plate (38), and the bottom of the outer wall of the lifting plate (32) is symmetrically fixedly connected A pressure sensor (33) is provided, the pressure sensor (33) is connected to a first motor (30) via Bluetooth, a push rod (34) is fixedly connected to the bottom of the outer wall of the pressure sensor (33), a push column (35) is movably mounted on the outer wall of the push rod (34), a compression spring (36) is fixedly connected to the bottom of the outer wall of the push rod (34), a push column (35) is fixedly connected to the bottom of the outer wall of the compression spring (36), a connecting frame (7) is movably mounted on the outer wall of the push column (35), and the push column (35) is in contact with the adjustment arm (10).

2. The robot for clearing landslide roads according to claim 1, characterized in that: The regulating arm (10) is provided with a support assembly, which comprises: a first support plate (17), a second support plate (18), a support cylinder (20) and a support column (21); The side wall of the regulating arm (10) is fixedly connected to the second mounting body (19), the side wall of the second mounting body (19) is rotatably connected to the second support plate (18), the side wall of the second support plate (18) is rotatably connected to the first support plate (17), the side wall of the first support plate (17) is rotatably connected to the first mounting body (16), the first mounting body (16) is symmetrically arranged on both sides of the first mounting body (16), the first mounting body (16) is fixedly connected to the top of the outer wall of the frame (3), the side wall of the first support plate (17) is rotatably connected to the support tube (20), the support tube (20) is movably sleeved on the outer wall of the support column (21), and the side wall of the support column (21) is rotatably connected to the second support plate (18).

3. The robot for clearing landslide roads according to claim 1, characterized in that: The frame (3) is provided with a protection assembly, which comprises: a first telescopic tube (14), a second telescopic tube (15), a protection plate (22) and a first spring (23); A protective groove (24) is symmetrically provided on the top of the outer wall of the frame (3), and the protective groove (24) is movably sleeved on the outer wall of the protective plate (22). The protective plate (22) contacts the chassis (2), and the bottom of the outer wall of the protective plate (22) is fixedly connected to the first spring (23). The bottom of the outer wall of the first spring (23) is fixedly connected to the frame (3). The side wall of the frame (3) is fixedly connected to the first telescopic tube (14), one side of the translation block (12) is fixedly connected to the first telescopic tube (14), and the other side of the translation block (12) is fixedly connected to the second telescopic tube (15). The side wall of the second telescopic tube (15) is fixedly connected to the frame (3), and the first telescopic tube (14) and the second telescopic tube (15) are sleeved on the outer wall of the symmetry axis (13).

4. The robot for clearing landslide roads according to claim 1, characterized in that: The frame (3) is provided with a walking mechanism (4), the top of the outer wall of the frame (3) is fixedly connected to a central frame (51), the central frame (51) is movably mounted on the outer wall of the supporting frame (50), and the outer wall of the supporting frame (50) is fixedly connected to the chassis (2).

5. The robot for clearing landslide roads according to claim 2, characterized in that: The side wall of the support column (21) is fixedly connected to a built-in plate (25), the outer wall of the built-in plate (25) is movably fitted with a support cylinder (20), the support cylinder (20) is movably fitted on the outer wall of the extrusion plate (27), the side wall of the extrusion plate (27) is fixedly connected to a second spring (26), the side wall of the second spring (26) is fixedly connected to the built-in plate (25), the outer wall of the extrusion plate (27) is fixedly connected to an electric push rod (28), and the electric push rod (28) is fixedly installed in the support column (21).

6. The robot for clearing landslide roads according to claim 3, characterized in that: The side wall of the protective plate (22) is fixedly connected to a side plate (52), the side wall of the protective plate (22) is fixedly connected to a second motor (48), the side wall of the second motor (48) is movably mounted with a second rotating shaft (46), the outer wall of the second rotating shaft (46) is connected to a first translation plate (47) by a thread, the top of the outer wall of the first translation plate (47) is fixedly connected to a bonding sheet (54), the bonding sheet (54) is in contact with the protective plate (22), the side wall of the bonding sheet (54) is fixedly connected to the second translation plate (56), and the outer wall of the second translation plate (56) is symmetrically provided with a cleaning plate (55).

7. The robot for clearing landslide roads according to claim 6, characterized in that: The side wall of the first translation plate (47) is fixedly connected to the limit block (53), the outer wall of the limit block (53) is movably sleeved with a protective plate (22), the second translation plate (56) is movably sleeved on the outer wall of the limit bar (58), the side wall of the limit bar (58) is fixedly connected to a cleaning plate (55), the side wall of the cleaning plate (55) is fixedly connected to the connector (5), the cleaning plates (55) are symmetrically arranged on both sides of the connector (5), the top of the outer wall of the connector (5) is fixedly connected to a third spring (57), the top of the outer wall of the third spring (57) is fixedly connected to the second translation plate (56), the cleaning plate (55) is in contact with the frame (3), and the cleaning plate (55) is in contact with the protective plate (22).

8. The robot for clearing landslide roads according to claim 1, characterized in that: The outer wall of the connecting frame (7) is symmetrically provided with a first movable groove (8), and the bottom of the outer wall of the chassis (2) is symmetrically provided with a second movable groove (29), and the first movable groove (8) is communicated with the second movable groove (29).

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