Robot dynamic balancing device

Abstract

The utility model relates to the technical field of robot walking, in particular to a robot dynamic balancing device which comprises a movable base, a balancing and buffering assembly is arranged at the top of the movable base, a robot body is arranged above the balancing and buffering assembly, and the balancing and buffering assembly comprises a fixed box arranged at the top of the movable base. The bottom of the fixing box is fixedly connected with the top of the movable base, a supporting table is arranged at the top of an inner cavity of the fixing box, the top of the supporting table extends to the outside of the fixing box, the top of the supporting table is fixedly connected with the bottom of a robot body, and limiting grooves are formed in the left side and the right side of the inner cavity of the fixing box correspondingly. Limiting blocks are fixedly connected to the left side and the right side of the supporting table correspondingly, the surfaces of the two limiting blocks are slidably connected with the inner walls of the two limiting grooves correspondingly, a transverse rod is arranged at the bottom of an inner cavity of the fixing box, and stability of the robot during walking can be kept.

Description

Technical Field

[0001] The utility model relates to the technical field of robot walking, in particular to a robot dynamic balancing device. Background Art

[0002] A robot is a machine device that performs work automatically. It can accept human commands, run pre-programmed programs, or act according to principles formulated with artificial intelligence technology. Its task is to assist or replace human work, such as manufacturing, construction, or dangerous work. When a robot walks on an uneven road, the vibration generated makes the robot prone to shaking during operation. If the robot shakes severely, it is easy to lose balance, resulting in poor stability in use and easy damage to the robot's internal components. Utility Model Content

[0003] The purpose of the utility model is to provide a robot dynamic balancing device to solve the problems raised in the above background technology.

[0004] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0005] A robot dynamic balancing device comprises a mobile base, a balancing buffer assembly is arranged on the top of the mobile base, and a robot body is arranged above the balancing buffer assembly;

[0006] The balance buffer assembly includes a fixed box arranged on the top of the mobile base, the bottom of the fixed box is fixedly connected to the top of the mobile base, a support platform is arranged on the top of the inner cavity of the fixed box, the top of the support platform extends to the outside of the fixed box, the top of the support platform is fixedly connected to the bottom of the robot body, limiting grooves are provided on the left and right sides of the inner cavity of the fixed box, and limiting blocks are fixedly connected on the left and right sides of the support platform, the surfaces of the two limiting blocks are respectively slidably connected to the inner walls of the two limiting grooves, a cross bar is arranged at the bottom of the inner cavity of the fixed box, and the left and right ends of the cross bar are fixedly connected to support plates, and the bottoms of the two support plates are fixedly connected to the bottom of the inner cavity of the fixed box.

[0007] As a preferred solution of the utility model, moving blocks are slidably connected to the left and right sides of the surface of the cross bar, and a first buffer spring is sleeved on the surface of the cross bar. The first buffer spring is arranged between the two moving blocks, and the left and right ends of the first buffer spring are respectively fixedly connected to the opposite sides of the two moving blocks, and the tops of the two moving blocks are rotatably connected to connecting shafts, and the other ends of the two connecting shafts are fixedly connected to the bottom of the support platform.

[0008] As a preferred solution of the utility model, connecting plates are fixedly connected to the left and right sides of the bottom of the support platform, the left and right ends of the two connecting plates are bent downward, and the middle parts of the bottoms of the two connecting plates are fixedly connected to sleeve rods, and the other ends of the two sleeve rods are provided with sleeves, and the bottom ends of the two sleeve rods respectively extend to the interior of the two sleeves and are fixedly connected to extrusion blocks.

[0009] As a preferred solution of the utility model, the side walls of the two extrusion blocks are respectively slidably connected to the inner walls of the two sleeves, the bottom ends of the two extrusion blocks are fixedly connected with second buffer springs, and the bottom ends of the two second buffer springs are respectively fixedly connected to the bottom of the inner cavity of the two sleeves.

[0010] As a preferred solution of the utility model, the bottoms of the two sleeves are fixedly connected with support blocks, the bottoms of the two support blocks are fixedly connected to the left and right sides of the bottom of the inner cavity of the fixed box, the left and right sides of the tops of the two support blocks are provided with first axle seats, the left and right sides of the tops of the two support blocks are provided with sliding grooves, the bottoms of the four first axle seats are fixedly connected with sliders, the surfaces of the four sliders are respectively slidably connected to the inner walls of the four sliding grooves, and the inner sides of the four first axle seats are rotatably connected with rotating connecting rods.

[0011] As a preferred solution of the utility model, the other ends of the four rotating connecting rods are rotatably connected to the second axle seat, the surfaces of the four second axle seats are respectively fixedly connected to the left and right sides of the bottom of the two connecting plates, one side of the four rotating connecting rods is fixedly connected to the third buffer spring, and the ends of the four third buffer springs away from the rotating connecting rods are respectively fixedly connected to the left and right sides of the two sleeves.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] 1. In the utility model, the support platform moves downward by moving the base during the movement, squeezing the two connecting plates, so that the sleeve rod uses the squeezing block to squeeze the second buffer spring. During the downward movement of the connecting plate, the connecting rod is rotated to stretch the third buffer spring. At the same time, the two connecting shafts push the two moving blocks to move on the surface of the cross bar to stretch the first buffer spring, so that shock absorption and buffering are performed simultaneously in the horizontal and vertical directions to keep the equipment stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the utility model;

[0015] Figure 2 It is a schematic diagram of the cross-sectional structure of the balance buffer component of the utility model;

[0016] Figure 3 It is an enlarged structural schematic diagram of point A of the utility model.

[0017] In the figure: 1. mobile base; 2. robot body; 3. balance buffer assembly; 301. fixed box; 302. support table; 303. limit block; 304. limit groove; 305. support plate; 306. cross bar; 307. mobile block; 308. first buffer spring; 309. connecting shaft; 310. connecting plate; 311. sleeve rod; 312. sleeve; 313. extrusion block; 314. second buffer spring; 315. support block; 316. first shaft seat; 317. rotating connecting rod; 318. third buffer spring; 319. second shaft seat; 320. slide groove; 321. slider. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0019] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings, and several embodiments of the present invention are given. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0020] For examples, see Figure 1 , Figure 2 , the utility model provides a technical solution:

[0021] A robot dynamic balancing device comprises a mobile base 1, a balancing buffer assembly 3 is arranged on the top of the mobile base 1, a robot body 2 is arranged above the balancing buffer assembly 3, the balancing buffer assembly 3 comprises a fixed box 301 arranged on the top of the mobile base 1, the bottom of the fixed box 301 is fixedly connected to the top of the mobile base 1, a support platform 302 is arranged on the top of the inner cavity of the fixed box 301, the top of the support platform 302 extends to the outside of the fixed box 301, the top of the support platform 302 is fixedly connected to the bottom of the robot body 2, limiting grooves 304 are provided on the left and right sides of the inner cavity of the fixed box 301, and limiting blocks 303 are fixedly connected on the left and right sides of the support platform 302, the surfaces of the two limiting blocks 303 are respectively slidably connected to the inner walls of the two limiting grooves 304, a cross bar 306 is arranged at the bottom of the inner cavity of the fixed box 301, and the left and right ends of the cross bar 306 are fixedly connected to support plates 305, and the bottoms of the two support plates 305 are fixedly connected to the bottom of the inner cavity of the fixed box 301.

[0022] like Figure 2 As shown, the left and right sides of the surface of the cross bar 306 are slidably connected with moving blocks 307, the surface of the cross bar 306 is sleeved with a first buffer spring 308, the first buffer spring 308 is arranged between the two moving blocks 307, the left and right ends of the first buffer spring 308 are respectively fixedly connected to the opposite sides of the two moving blocks 307, the tops of the two moving blocks 307 are rotatably connected with connecting shafts 309, and the other ends of the two connecting shafts 309 are fixedly connected to the bottom of the support platform 302.

[0023] like Figure 3 As shown, the left and right sides of the bottom of the support platform 302 are fixedly connected with connecting plates 310, the left and right ends of the two connecting plates 310 are bent downward, the middle parts of the bottoms of the two connecting plates 310 are fixedly connected with sleeve rods 311, the other ends of the two sleeve rods 311 are provided with sleeves 312, the bottom ends of the two sleeve rods 311 extend to the inside of the two sleeves 312 respectively and are fixedly connected with extrusion blocks 313, the side walls of the two extrusion blocks 313 are slidably connected to the inner walls of the two sleeves 312 respectively, the bottom ends of the two extrusion blocks 313 are fixedly connected with second buffer springs 314, the bottom ends of the two second buffer springs 314 are fixedly connected to the bottoms of the inner cavities of the two sleeves 312 respectively, the bottoms of the two sleeves 312 are fixedly connected with support blocks 315, the bottoms of the two support blocks 315 are fixed to the left and right sides of the bottom of the inner cavity of the fixed box 301 The two sides are fixedly connected, the left and right sides of the top of the two support blocks 315 are provided with a first shaft seat 316, the left and right sides of the top of the two support blocks 315 are provided with a slide groove 320, the bottom of the four first shaft seats 316 are fixedly connected with a slider 321, the surfaces of the four sliders 321 are respectively slidably connected to the inner walls of the four slide grooves 320, the inner sides of the four first shaft seats 316 are rotatably connected with a rotating connecting rod 317, the other ends of the four rotating connecting rods 317 are rotatably connected with a second shaft seat 319, the surfaces of the four second shaft seats 319 are respectively fixedly connected to the left and right sides of the bottom of the two connecting plates 310, one side of the four rotating connecting rods 317 is fixedly connected with a third buffer spring 318, and the ends of the four third buffer springs 318 away from the rotating connecting rod 317 are respectively fixedly connected to the left and right sides of the two sleeves 312.

[0024] The working process of the utility model is as follows: when in use, the mobile base 1 will be vibrated and shaken during the process of moving on the road surface, and the support platform 302 moves downward, pushing the two first buffer springs 308 to push the two moving blocks 307 to slide in opposite directions on the surface of the cross bar 306 to stretch the first buffer spring 308. At the same time, the two connecting plates 310 push the sleeve rod 311 to move downward, and the two extrusion blocks 313 squeeze the second buffer spring 314. While the two connecting plates 310 move downward, the rotating connecting rods 317 on both sides rotate, pushing the first shaft seat 316 to drive the slider 321 to slide inside the slide groove 320, stretching the third buffer spring 318. The first buffer spring 308, the second buffer spring 314 and the third buffer spring 318 can buffer the vibration, avoid serious shaking, and keep the balance of the robot.

[0025] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot dynamic balancing device, comprising a mobile base (1), characterized in that: A balance buffer component (3) is arranged on the top of the mobile base (1), and a robot body (2) is arranged above the balance buffer component (3); The balancing buffer assembly (3) comprises a fixed box (301) arranged on the top of the mobile base (1), the bottom of the fixed box (301) is fixedly connected to the top of the mobile base (1), a support platform (302) is arranged on the top of the inner cavity of the fixed box (301), the top of the support platform (302) extends to the outside of the fixed box (301), the top of the support platform (302) is fixedly connected to the bottom of the robot body (2), and the left and right sides of the inner cavity of the fixed box (301) are A limiting groove (304) is provided, and the left and right sides of the support platform (302) are fixedly connected to the limiting blocks (303), and the surfaces of the two limiting blocks (303) are respectively slidably connected to the inner walls of the two limiting grooves (304). A cross bar (306) is provided at the bottom of the inner cavity of the fixed box (301), and the left and right ends of the cross bar (306) are fixedly connected to the support plates (305), and the bottoms of the two support plates (305) are fixedly connected to the bottom of the inner cavity of the fixed box (301).

2. A robot dynamic balancing device according to claim 1, characterized in that: The left and right sides of the surface of the cross bar (306) are slidably connected with moving blocks (307), the surface of the cross bar (306) is sleeved with a first buffer spring (308), the first buffer spring (308) is arranged between the two moving blocks (307), the left and right ends of the first buffer spring (308) are respectively fixedly connected to the opposite sides of the two moving blocks (307), the tops of the two moving blocks (307) are rotatably connected with connecting shafts (309), and the other ends of the two connecting shafts (309) are fixedly connected to the bottom of the support platform (302).

3. A robot dynamic balancing device according to claim 2, characterized in that: The left and right sides of the bottom of the support platform (302) are fixedly connected with connecting plates (310), the left and right ends of the two connecting plates (310) are bent downward, the middle parts of the bottoms of the two connecting plates (310) are fixedly connected with sleeve rods (311), the other ends of the two sleeve rods (311) are provided with sleeves (312), and the bottom ends of the two sleeve rods (311) respectively extend to the inside of the two sleeves (312) and are fixedly connected with extrusion blocks (313).

4. A robot dynamic balancing device according to claim 3, characterized in that: The side walls of the two extrusion blocks (313) are respectively slidably connected to the inner walls of the two sleeves (312); the bottom ends of the two extrusion blocks (313) are fixedly connected to the second buffer springs (314); and the bottom ends of the two second buffer springs (314) are respectively fixedly connected to the bottom of the inner cavities of the two sleeves (312).

5. A robot dynamic balancing device according to claim 4, characterized in that: The bottoms of the two sleeves (312) are fixedly connected with support blocks (315), the bottoms of the two support blocks (315) are fixedly connected with the left and right sides of the bottom of the inner cavity of the fixed box (301), the left and right sides of the tops of the two support blocks (315) are provided with first shaft seats (316), the left and right sides of the tops of the two support blocks (315) are provided with sliding grooves (320), the bottoms of the four first shaft seats (316) are fixedly connected with sliders (321), the surfaces of the four sliders (321) are respectively slidably connected with the inner walls of the four sliding grooves (320), and the inner sides of the four first shaft seats (316) are rotatably connected with rotating connecting rods (317).

6. A robot dynamic balancing device according to claim 5, characterized in that: The other ends of the four rotating links (317) are rotatably connected to a second shaft seat (319), and the surfaces of the four second shaft seats (319) are respectively fixedly connected to the left and right sides of the bottom of the two connecting plates (310), and one side of the four rotating links (317) is fixedly connected to a third buffer spring (318), and one end of the four third buffer springs (318) away from the rotating links (317) is respectively fixedly connected to the left and right sides of the two sleeves (312).

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