Robot balancing structure

Abstract

The utility model provides a robot balance structure, belongs to the technical field of industrial robots, and aims to solve the problem that a robot is easy to roll over when encountering a gully or a rugged section due to the lack of balance support devices at two ends of the robot. The robot balancing structure comprises a robot body, a protection plate, fixing cylinders and sliding rods, the two fixing rods are fixedly installed on the inner end face of the protection plate, and the front end and the rear end of the protection plate are of an arc-shaped structure; a cavity is formed in the fixed cylinder, and two connecting plates are symmetrically mounted on the outer end surface; the middle part of the sliding rod is located in a cavity in the fixing cylinder, and the sliding rod is sleeved with a compression spring, so that the lower end face of the walking wheel can be attached to the ground all the time under the action of the elastic force of the compression spring when the robot body encounters a gully in the field and a crawler belt outside the driving wheel is in a suspended state; at the moment, the walking wheels and the sliding rods play a role in auxiliary supporting, and the robot body can be kept balanced and prevented from rolling over.

Description

Technical Field

[0001] The utility model belongs to the technical field of industrial robots, and in particular relates to a robot balancing structure for preventing rollover. Background Art

[0002] At present, robots are widely used in various fields. When conducting terrain surveys or environmental monitoring in the field, tracked robots are generally used to replace manual labor. However, existing robots still have some shortcomings when patrolling in the field, such as easy rollover when encountering complex terrain. When operating in the field, although the tracked power mode can increase off-road capabilities, when encountering gullies or rugged areas, the lack of balance support devices at both ends of the robot can easily cause the robot to roll over. Utility Model Content

[0003] In order to solve the above technical problems, the purpose of the utility model is to provide a robot balancing structure that prevents rollover.

[0004] The technical concept of the utility model is: a compression spring is sleeved on the outside of the sliding rod, and the lower end face of the compression spring is fixedly connected to the limit plate, so that when the robot body encounters a gully in the wild and the track outside the driving wheel is in a suspended state, the walking wheel at the lower end of the sliding rod can move downward under the action of the elastic force of the compression spring, so that the lower end face of the walking wheel can always fit with the ground. At this time, the walking wheel and the sliding rod play an auxiliary support role, which can keep the robot body balanced and prevent the robot body from tipping over.

[0005] Specifically, the technical purpose of the utility model is achieved as follows: a robot balancing structure, including a robot body, a protective plate, a fixed cylinder and a sliding rod;

[0006] Two driving wheels are respectively installed at the left and right ends of the robot body, a crawler is arranged between the two driving wheels, a mounting seat is arranged in the middle of the upper end surface of the robot body, and a monitor is installed on the upper end surface of the mounting seat;

[0007] The protective plates are symmetrically provided with two groups, and two fixing rods are fixedly installed on the inner end surfaces of the protective plates, and the front and rear ends of the protective plates are arc-shaped structures;

[0008] A cavity is provided inside the fixing tube, and two connecting plates are symmetrically mounted on the outer end surface of the fixing tube;

[0009] The middle part of the sliding rod is located in the cavity inside the fixing cylinder, and the outer part of the sliding rod is sleeved with a compression spring, which is located in the cavity inside the fixing cylinder.

[0010] Further preferably, one side of the inner end of the fixing rod is fixedly mounted on the outer end surface of the robot body, and the two fixing rods are located between the two driving wheels.

[0011] Further preferably, two sets of connecting screws are fixedly installed on the outer end surface of the protective plate, two connecting holes are opened on the surface of the connecting plate, the connecting screws are clamped inside the connecting holes, and a nut is provided on the surface of the connecting screw.

[0012] Further preferably, a through hole is respectively opened in the middle of the top plate and the bottom plate of the fixing tube, the sliding rod is slidably mounted inside the through hole, and the outer diameter of the sliding rod is the same as the inner diameter of the through hole.

[0013] Further preferably, a baffle is fixedly mounted on the top plate surface of the sliding rod, a limiting plate with a circular plate structure is fixedly mounted on the surface of the sliding rod, the outer end surface of the limiting plate fits the inner diameter of the fixed tube, and the limiting plate is located inside the fixed tube.

[0014] Further preferably, the lower end surface of the compression spring is fixedly connected to the limiting plate.

[0015] Further preferably, a walking wheel is fixedly mounted on the lower end surface of the sliding rod.

[0016] Compared with the prior art, the utility model has the following beneficial effects:

[0017] (1) The protective plate is fixedly connected to the robot body through a fixing rod. The protective plate is located outside the track. The protective plate can protect the driving wheel and prevent mud or debris on the surface from entering the driving wheel. Two sets of connecting screws are fixedly installed on the outside of the protective plate, and connecting holes are opened on the surface of the connecting plate. The connecting screws are clamped in the connecting holes, and then the nuts on the surface of the connecting screws are tightened to fix the fixing tube on the outside of the protective plate.

[0018] (2) A compression spring is sleeved on the outside of the sliding rod, and the lower end surface of the compression spring is fixedly connected to the limit plate. When the robot body encounters a gully in the wild and the track outside the driving wheel is in a suspended state, the elastic force of the compression spring can make the walking wheel at the lower end of the sliding rod move downward so that the lower end surface of the walking wheel can always be in contact with the ground. At this time, the walking wheel and the sliding rod play an auxiliary support role, which can keep the robot body balanced and prevent the robot body from tipping over. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall device structure of the utility model.

[0020] Figure 2 It is a schematic diagram of the robot body structure of the utility model.

[0021] Figure 3 It is a schematic diagram of the connection structure between the protective plate and the fixing tube of the utility model.

[0022] Figure 4 This utility model Figure 3 Schematic diagram of the local enlarged structure at point A in the middle.

[0023] Figure 5 It is a schematic diagram of the cross-sectional structure of the fixing cylinder of the utility model.

[0024] Figure 6 It is a structural schematic diagram of a sliding rod and a fixed cylinder of the utility model.

[0025] In the figure, the corresponding relationship between the component names and the figure numbers is as follows:

[0026] 1. Robot body; 101. Mounting seat; 1011. Monitor; 102. Driving wheel; 1021. Track; 2. Protective plate; 201. Fixing rod; 202. Connecting screw; 3. Fixing cylinder; 301. Connecting plate; 3011. Connecting hole; 302. Cavity; 3021. Through hole; 4. Sliding rod; 401. Baffle; 402. Limiting plate; 5. Traveling wheel; 6. Compression spring. DETAILED DESCRIPTION

[0027] The implementation of the utility model is further described in detail below in conjunction with the drawings and examples.

[0028] Embodiment 1

[0029] like Figures 1 to 6 As shown: The utility model designs a robot balancing structure, and its components and connection relationships include:

[0030] Robot body 1: Two driving wheels 102 are respectively installed at the left and right ends of the robot body 1, and a crawler 1021 is provided between the two driving wheels 102. A mounting seat 101 is provided in the middle of the upper end surface of the robot body 1, and a monitor 1011 is installed on the upper end surface of the mounting seat 101;

[0031] Protective plate 2: two groups of protective plates 2 are symmetrically provided, two fixing rods 201 are fixedly installed on the inner end surface of the protective plate 2, and the front and rear ends of the protective plate 2 are arc-shaped structures;

[0032] Fixed tube 3: A cavity 302 is provided inside the fixed tube 3, and two connecting plates 301 are symmetrically mounted on the outer end surface of the fixed tube 3;

[0033] Sliding rod 4: The middle part of the sliding rod 4 is located in the cavity 302 inside the fixing tube 3, and the lower end surface of the sliding rod 4 is fixedly mounted with a walking wheel 5.

[0034] Among them, one side of the inner end of the fixed rod 201 is fixedly installed on the outer end surface of the robot body 1, the two fixed rods 201 are located between the two driving wheels 102, and two sets of connecting screws 202 are fixedly installed on the outer end surface of the protective plate 2. Two connecting holes 3011 are opened on the surface of the connecting plate 301, and the connecting screw 202 is clamped inside the connecting hole 3011. A nut is provided on the surface of the connecting screw 202. By adopting the above scheme, the technical effect brought about is: the protective plate 2 is fixedly connected to the robot body 1 through the fixing rod 201, the protective plate 2 is located outside the crawler 1021, the protective plate 2 can protect the driving wheel 102, and the mud or debris on the surface of the field enters the driving wheel 102, and two sets of connecting screws 202 are fixedly installed on the outside of the protective plate 2, and a connecting hole 3011 is opened on the surface of the connecting plate 301. The worker can clamp the connecting screw 202 into the connecting hole 3011, and then tighten the nut on the surface of the connecting screw 202, so as to fix the fixing tube 3 to the outside of the protective plate 2, providing conditions for the setting of the balancing component.

[0035] Among them, a through hole 3021 is respectively opened in the middle position of the top plate and the bottom plate surface of the fixed cylinder 3, and the sliding rod 4 is slidably mounted inside the through hole 3021. The outer diameter of the sliding rod 4 is the same as the inner diameter of the through hole 3021. When in use, when the sliding rod 4 moves up and down, since the outer diameter of the sliding rod 4 is the same as the inner diameter of the through hole 3021, the sliding rod 4 will only move vertically up and down, and will not swing left and right.

[0036] Among them, a baffle 401 is fixedly installed on the top plate surface of the sliding rod 4, a limiting plate 402 of a circular plate structure is fixedly installed on the surface of the sliding rod 4, the outer end surface of the limiting plate 402 is in contact with the inner diameter of the fixed cylinder 3, the limiting plate 402 is located inside the fixed cylinder 3, and the outer sleeve of the sliding rod 4 is provided with a compression spring 6, the compression spring 6 is located in the cavity 302 inside the fixed cylinder 3, and the lower end surface of the compression spring 6 is fixedly connected with the limiting plate 402. By adopting the above scheme, the technical effect brought about is: when the robot body 1 is driving in the wild, once it encounters a rugged terrain with many gullies, when the track 1021 outside the robot driving wheel 102 is in a suspended state, under the action of the elastic force of the compression spring 6, the walking wheel 5 at the lower end of the sliding rod 4 can move downward, so that the lower end surface of the walking wheel 5 can always be in contact with the ground, and at this time, the walking wheel 5 and the sliding rod 4 play the role of auxiliary support, which can keep the robot body 1 balanced and prevent the robot body 1 from tipping over.

[0037] Embodiment 2

[0038] like Figure 3 , Figure 4As shown, based on the protective plate 2 designed in Example 1, two groups of connecting screws 202 are fixedly installed on the outer end surface of the protective plate 2 in this embodiment. In actual applications, workers can increase the number of connecting screws 202 according to the length of the protective plate 2. For each additional group of connecting screws 202, workers can add a fixed cylinder 3 to the outer end surface of the protective plate 2. Adding the fixed cylinder 3 also means increasing the number of sliding rods 4 and walking wheels 5. When the robot body 1 is about to tip over, the support strength for the robot body 1 can be increased.

Claims

1. A robot balancing structure, characterized in that: The robot body (1) comprises a robot body (1), a protective plate (2), a fixed cylinder (3) and a sliding rod (4); two driving wheels (102) are respectively installed at the left and right ends of the robot body (1); a crawler (1021) is arranged between the two driving wheels (102); a mounting seat (101) is arranged in the middle of the upper end surface of the robot body (1); a monitor (1011) is installed on the upper end surface of the mounting seat (101); the protective plate (2) is symmetrically provided with two groups, and the inner side of the protective plate (2) is provided with a plurality of movable members (1011); and the movable members (1011) are ... Two fixing rods (201) are fixedly installed on the end surface, and the front and rear ends of the protective plate (2) are arc-shaped structures; a cavity (302) is opened inside the fixing cylinder (3), and two connecting plates (301) are symmetrically installed on the outer end surface of the fixing cylinder (3); the middle part of the sliding rod (4) is located in the cavity (302) inside the fixing cylinder (3), and the outside of the sliding rod (4) is sleeved with a compression spring (6), and the compression spring (6) is located in the cavity (302) inside the fixing cylinder (3).

2. The robot balancing structure according to claim 1, characterized in that: One side of the inner end of the fixing rod (201) is fixedly mounted on the outer end surface of the robot body (1), and the two fixing rods (201) are located between the two driving wheels (102).

3. The robot balancing structure according to claim 1, characterized in that: Two sets of connecting screws (202) are fixedly mounted on the outer end surface of the protection plate (2), two connecting holes (3011) are provided on the surface of the connecting plate (301), the connecting screws (202) are clamped inside the connecting holes (3011), and a nut is provided on the surface of the connecting screw (202).

4. The robot balancing structure according to claim 1, characterized in that: A through hole (3021) is respectively provided in the middle of the top plate and the bottom plate of the fixed cylinder (3), and the sliding rod (4) is slidably mounted inside the through hole (3021), and the outer diameter of the sliding rod (4) is the same as the inner diameter of the through hole (3021).

5. The robot balancing structure according to claim 1, characterized in that: A baffle (401) is fixedly mounted on the top plate surface of the sliding rod (4), and a limiting plate (402) of a circular plate structure is fixedly mounted on the surface of the sliding rod (4). The outer end surface of the limiting plate (402) fits the inner diameter of the fixed cylinder (3), and the limiting plate (402) is located inside the fixed cylinder (3).

6. The robot balancing structure according to claim 5, characterized in that: The lower end surface of the compression spring (6) is fixedly connected to the limiting plate (402).

7. The robot balancing structure according to claim 1, characterized in that: A walking wheel (5) is fixedly mounted on the lower end surface of the sliding rod (4).

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