Multi-redundancy stable supporting leg structure

Abstract

The utility model discloses a multi-redundancy stable supporting leg structure. The top of the supporting foot structure is connected with the bottom of a robot body to support the robot body, a control groove is formed in the bottom of the robot body, and the supporting foot structure is characterized by comprising a controller, the controller is composed of a single chip microcomputer and a shell, and the controller is arranged in the control groove in the bottom of the robot body. The bottom inclination angle of the robot body is detected through the inclination angle sensor, when the inclination angle of the robot body exceeds a preset threshold value, the controller controls the electric telescopic cylinder on one side of the inclination direction to stretch, the supporting wheels make contact with the ground support, and supporting compensation can be conducted on the unbalanced side; therefore, the stability of the robot body during movement is improved, and the damage loss caused by rollover of the robot is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a multiple redundant stable support leg structure. Background Art

[0002] At present, my country has included robots and intelligent manufacturing into the priority areas of national scientific and technological innovation. my country's high-risk industries refer to industries with greater risks and higher danger factors. Intelligent inspection robots first focus on the petrochemical field, a representative high-risk industry, and are mainly used in refining, chemical industry, natural gas, oil and gas chemical storage tanks, oil fields, oil storage tanks and gas stations. "Machines replace people" to complete high-risk tasks and help companies reduce costs.

[0003] Multiple redundant stabilizing legs refers to a design method that uses multiple legs in a mechanical structure to increase stability and safety. The legs are evenly distributed at the bottom of the equipment or machine to ensure that the weight is evenly distributed. The distance between the legs should be reasonably planned according to the size and weight of the equipment to ensure maximum stability, thereby reducing the probability of the equipment tipping over.

[0004] The existing intelligent high-risk robots are driven by multiple sets of shock-absorbing power wheels at the bottom to achieve the function of a mobile robot. When the robot is under a heavy load or the road surface is uneven during operation, the robot's center of gravity will shift, causing the robot to become unbalanced and roll over and be damaged. Therefore, a stable support structure is needed to stabilize the robot's stability during movement. Utility Model Content

[0005] The purpose of the utility model is to provide a multiple redundant stable support leg structure to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a multiple redundant stable support leg structure, the top of the support leg structure is connected to the bottom of the robot body to support the robot body, a control groove is opened at the bottom of the robot body, and the support leg structure includes a controller, an inclination sensor, a support plate, a support block, a support leg, a support seat, and a support wheel.

[0007] The controller is composed of a single-chip microcomputer and a shell, and the controller is placed inside the control slot at the bottom of the robot body; the output end of the inclination sensor is electrically connected to the input end of the controller, and the inclination sensor is placed inside the control slot, and the inclination sensor is kept horizontal with the bottom of the robot body; there are four groups of support plates and they are welded to the bottom of the robot body; the support block is placed on the outside of the support plate, and the bottom of the support block is an inclined surface; the support foot is composed of an electric telescopic cylinder, and the support foot is placed on the bottom inclined surface of the support block, and the support plate and the support block can fix and support the support foot; the support seat is arranged at the bottom of the support foot; the support wheel is placed on one side of the support seat, and the support wheel remains in a vertical state.

[0008] By adopting the above technical solution, the device detects the bottom inclination angle of the robot body through the inclination sensor. When the inclination angle of the robot body is too large, the controller controls the electric telescopic cylinder on one side of the inclination direction to extend, so that the support wheel contacts the ground support, and the unbalanced side can be supported and compensated, thereby improving the stability of the robot body during movement and reducing the loss caused by damage caused by the robot rolling over.

[0009] Preferably, the supporting foot comprises:

[0010] A connecting head is located at the bottom of the telescopic rod of the supporting foot, and the connecting head is fixed to the supporting seat by screws.

[0011] By adopting the above technical solution, the support base is fixed with a connecting head and screws, so that the support base and the support wheel are easy to disassemble. After the support wheel is damaged after repeated use, it is easy to disassemble and replace it, so as to ensure the normal and stable use of the robot body.

[0012] Preferably, the foot structure comprises:

[0013] A connecting strip, with two ends of the connecting strip located on the outer wall of the supporting foot on the same side.

[0014] By adopting the above technical solution, the supporting feet can be connected to form an integral structure by using connecting strips to be connected to the outer walls of the supporting feet on the same side, thereby improving the supporting stability.

[0015] Preferably, a threaded hole is formed on one side of the support plate, a fastening bolt is threadedly connected to one side of the support block, and the fastening bolt is disposed in the threaded hole of the support plate.

[0016] By adopting the above technical solution, the support block can be installed on the support plate by tightening the bolts to achieve the fixing function. It can also be disassembled for maintenance when replacement or repair is needed, thereby reducing the difficulty of maintaining the robot body.

[0017] Preferably, the controller is composed of an LC-AVR-M128 single chip microcomputer and a housing, and a power cord of the controller is connected to a power supply of the robot body.

[0018] By adopting the above technical solution, the structure can provide power to the controller through the robot body. Under the action of the internal single-chip microcomputer, the telescopic length of the electric telescopic cylinder can be controlled, and the two groups on different sides can be adjusted, thereby improving the response speed of support compensation.

[0019] Preferably, the output end of the tilt sensor is electrically connected to the input end of the controller single chip microcomputer.

[0020] By adopting the above technical solution, this type of inclination sensor can detect the X-axis and Y-axis. When the robot body is tilted, the inclination value can be quickly detected and reflected to the single-chip microcomputer, which is convenient for controlling the electric telescopic cylinder for support compensation and improving the stability and responsiveness of the support structure.

[0021] Preferably, a bottom plate is clamped at the bottom of the control slot, and the four corners of the bottom plate are fixed to the bottom of the robot body by screws.

[0022] By adopting the above technical solution, the detection equipment in the control slot can be protected by installing a bottom plate at the bottom, thereby improving the protection capability in high-risk environments and extending the service life of the controller and the inclination sensor.

[0023] Compared with the prior art, the beneficial effects of the utility model are:

[0024] (1) The bottom tilt angle of the robot body is detected by the inclination sensor. When the tilt angle of the robot body exceeds the preset threshold, the controller controls the electric telescopic cylinder on one side of the tilt direction to extend so that the support wheel contacts the ground support, which can support and compensate the unbalanced side, thereby improving the stability of the robot body during movement and reducing the loss caused by the robot rolling over;

[0025] (2) The device can improve the support compensation strength by installing two sets of support feet and support wheels on both sides and fixing them with connecting strips. At the same time, it can also provide support corresponding to different side inclination angles, thereby improving the load capacity of the robot body and its ability to move stably on complex terrain. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the device of the utility model;

[0027] Figure 2 This is a bottom view of the overall structure of the device of the utility model;

[0028] Figure 3 This is a schematic diagram of the support wheel structure of the utility model;

[0029] Figure 4 This is a bottom view of the overall structure of the device of the utility model;

[0030] Figure 5 It is a side view of the overall structure of the device of the utility model.

[0031] In the figure: 1. Robot body; 2. Control slot; 3. Controller; 4. Inclination sensor; 5. Support plate; 6. Support block; 7. Support foot; 8. Support seat; 9. Support wheel; 10. Connector; 11. Connecting strip; 12. Fastening bolts; 13. Bottom plate. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0033] The following is combined with Figure 1-5 The utility model is described in further detail.

[0034] Example 1, please refer to Figures 1 to 5 The utility model provides an embodiment: a multiple redundant stable support leg structure, the top of the support leg structure is connected to the bottom of the robot body 1 to support the robot body, the bottom of the robot body 1 is provided with a control slot 2, and the support leg structure includes: a controller 3, an inclination sensor 4, a support plate 5, a support block 6, a support leg 7, a support seat 8 and a support wheel 9.

[0035] The controller 3 is composed of a single chip microcomputer and a shell. The controller 3 is placed inside the control slot 2 at the bottom of the robot body 1. The controller 3 is fixed in the control slot 2 with screws. The control slot 2 protects the controller 3, and the single chip microcomputer controls the supporting structure at the bottom.

[0036] The output end of the inclination sensor 4 is electrically connected to the input end of the controller. The inclination sensor 4 is placed inside the control slot 2, and the inclination sensor 4 is kept level with the bottom of the robot body 1. The inclination sensor 4 can detect the bottom level of the robot body 1. When the bottom is tilted, the specific tilt value can be detected. After exceeding the set tilt angle threshold, the controller 3 can control support compensation;

[0037] There are four groups of support plates 5 and they are welded to the bottom of the robot body 1. The support plates 5 are welded to the bottom of the robot body 1 by four groups. Support structures can be installed on the support plates 5 for telescopic support to ensure that the tilted side can be supported and compensated, thereby improving the stability during movement.

[0038] The support block 6 is placed outside the support plate 5, and the bottom of the support block 6 is an inclined surface;

[0039] The support legs are composed of electric cylinder telescopic cylinders. The support legs 7 are placed on the bottom slope of the support block. The support plate 5 and the support block 6 can fix and support the support legs 7. By welding the support legs 7 to the support block 6 on the slope, the four groups of support legs 7 can be made to have a certain inclination angle. When the electric telescopic cylinder is extended, the support strength of the support legs 7 can be increased, thereby improving the stability of the robot body 1 when it moves.

[0040] The support base 8 is arranged at the bottom of the support foot 7;

[0041] The support wheel 9 is placed on one side of the support seat 8 and remains in a vertical state. By rotating the support wheel 9 and connecting it to the support seat 8, the support wheel 9 can be brought into contact with the ground after the support foot 7 is extended, thereby lifting the robot body 1 on the tilted side and restoring its balance state.

[0042] Example 2, please refer to Figure 3 On the basis of the above embodiment, the supporting foot 7 includes a connecting head 10 and a connecting strip 11.

[0043] The connector 10 is located at the bottom of the telescopic rod of the support foot 7. The connector 10 is fixed to the support base 8 by screws. The connector 10 and the screws are fixed to the support base 8, so that the support base 8 and the support wheel 9 are easy to disassemble. After the support wheel 9 is damaged after repeated use, it is easy to disassemble and replace it to ensure the normal and stable use of the robot body 1. The support foot structure includes:

[0044] The two ends of the connecting strip 11 are located on the outer wall of the supporting foot 7 on the same side. The connecting strips 11 are respectively connected to the outer walls of the supporting feet 7 on the same side, and the supporting feet 7 can be connected to form an integral structure to improve the support stability. A threaded hole is provided on one side of the supporting plate 5, and a fastening bolt 12 is threadedly connected to one side of the supporting block 6. The fastening bolt 12 is set in the threaded hole of the supporting plate 5. The fastening bolt 12 can fix the supporting block 6 on the supporting plate 5. When the fixing function is achieved, it can also be disassembled for maintenance when replacement or maintenance is needed, thereby reducing the difficulty of maintaining the robot body 1.

[0045] See also Figure 2 and Figure 4, the controller 3 is composed of a LC-AVR-M128 single-chip microcomputer and a shell. The power line of the controller 3 is connected to the power supply of the robot body 1, and the power is provided to the controller 3 through the robot body 1. Under the action of the internal single-chip microcomputer, the telescopic length of the electric telescopic cylinder can be controlled, and the two groups on different sides can be adjusted, thereby improving the reaction speed of the support compensation. The model of the inclination sensor 4 is LCT543T. The inclination sensor 4 of this model can detect the X-axis and the Y-axis, with high accuracy and can respond quickly. The output end of the inclination sensor 4 is electrically connected to the input end of the single-chip microcomputer of the controller 3. When the robot body 1 tilts, the inclination value can be quickly detected and reflected to the single-chip microcomputer, which is convenient for controlling the electric telescopic cylinder for support compensation and improving the stability and reaction ability of the support structure. A bottom plate 13 is clamped at the bottom of the control slot 2. The four corners of the bottom plate 13 are fixed to the bottom of the robot body 1 by screws. The bottom installation of the bottom plate 13 can protect the detection equipment in the control slot 2, improve the protection ability in a high-risk environment, and extend the service life of the controller 3 and the inclination sensor 4.

[0046] Working principle: When in use, when the robot body 1 is tilted due to increased load or the road surface is tilted, the inclination sensor 4 detects the inclination angle of the tilted side. When it exceeds the set threshold, the single-chip microcomputer in the controller 3 controls the support foot 7 on the tilted side to extend the electric telescopic cylinder to support the support wheel 9 on the ground, so that the robot body 1 can restore the horizontal state and move. When it moves to the horizontal ground, the inclination sensor 4 senses that the tilt direction has changed, and the controller 3 controls the electric telescopic cylinder on the extended side to recover and restore the original state.

[0047] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention.

Claims

1. A multi-redundant stable support leg structure, the top of which is connected to the bottom of a robot body to support the robot body, and a control slot is provided at the bottom of the robot body, characterized in that: The support leg structure includes: A controller, which is composed of a single chip microcomputer and a housing, and is placed inside a control slot at the bottom of the robot body; An inclination sensor, wherein an output end of the inclination sensor is electrically connected to an input end of the controller, the inclination sensor is placed inside the control slot, and the inclination sensor is kept level with the bottom of the robot body; Support plates, which have four groups and are welded to the bottom of the robot body; A support block, the support block is placed on the outside of the support plate, and the bottom of the support block is an inclined surface; Support legs, which are composed of electric cylinder telescopic cylinders, are placed on the bottom slope of the support block, and the support plate and the support block can provide fixed support for the support legs; A support base, the support base is arranged at the bottom of the support foot; The supporting wheel is placed on one side of the supporting seat and is kept in a vertical state.

2. The multiple redundant stabilizing leg structure according to claim 1, characterized in that: The supporting foot comprises a connecting head, the connecting head is located at the bottom of the telescopic rod of the supporting foot, and the connecting head is fixed to the supporting seat by screws.

3. The multiple redundant stabilizing leg structure according to claim 1, characterized in that: The support leg structure comprises a connecting strip, both ends of which are located on the outer wall of the support leg on the same side.

4. The multiple redundant stabilizing leg structure according to claim 1, characterized in that: A threaded hole is provided on one side of the support plate, a fastening bolt is threadedly connected to one side of the support block, and the fastening bolt is arranged in the threaded hole of the support plate.

5. The multiple redundant stabilizing leg structure according to claim 1, characterized in that: The controller is composed of an LC-AVR-M128 single chip microcomputer and a shell, and a power line of the controller is connected to a power source of the robot body.

6. The multiple redundant stabilizing leg structure according to claim 5, characterized in that: The output end of the tilt sensor is electrically connected to the input end of the controller single chip microcomputer.

7. The multiple redundant stabilizing leg structure according to claim 1, characterized in that: A bottom plate is clamped at the bottom of the control slot, and four corners of the bottom plate are fixed to the bottom of the robot body by screws.

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