Flexible self-adaptive robot tail boom mechanism

Abstract

The utility model discloses a flexible self-adaptive robot tail boom mechanism, which relates to the tail boom mechanism field, and comprises a mounting piece, a rotating mechanism and a support shell, one end of the support shell is rotatably connected with the mounting piece, the middle part of the outer wall of a fixed shaft is fixedly connected with a mounting head, and a support roller is rotatably mounted at the end part of the outer wall of the fixed shaft; the connecting assembly is arranged between the mounting head and the supporting shell, one end of the connecting shaft is fixedly connected with the mounting head, the outer wall of the connecting shaft is rotationally connected with the supporting shell through the locking assembly, and the limiting assembly is arranged between the connecting shaft and the supporting shell. The mounting head, the fixing shaft, the supporting rollers and the connecting assembly are used in a matched mode, under the action of the locking assembly, the connecting shaft and the supporting shell can be kept in a stable rotating connection state, and therefore the fixing shaft can rotate with the connecting shaft as the center, and the supporting rollers at the two ends of the fixing shaft are both in contact with the ground. And the service life is prolonged.

Description

Technical Field

[0001] The utility model relates to the field of tail support mechanisms, in particular to a flexible and self-adaptive robot tail support mechanism. Background Art

[0002] Due to the development of modern intelligence, unmanned automated tracked robots have been widely recognized in military and civilian fields. Tracked robots are machines with extremely strong obstacle-crossing capabilities and are suitable for operations in various complex terrains. When tracked robots are climbing slopes or stairs, the angle is too large, or the robotic arm is operating, it is easy to overturn. At this time, the tail support can provide effective support to the rear of the robot, allowing the robot to complete the task more efficiently.

[0003] The existing tail support mechanism is usually composed of a bracket, a rotating mechanism and a roller mechanism. The roller mechanism is usually composed of a fixed shaft and two supporting rollers. When the supporting rollers support the tail of the large torque self-locking robot, the stability of the large torque self-locking robot in climbing can be ensured.

[0004] However, the two support rollers are usually rotatably connected to the two ends of the fixed shaft, and the fixed shaft is usually fixedly connected to the bracket in the middle through a locking piece. In this way, when the ground is uneven, one support roller will touch the ground while the other support roller will float in the air. At this time, a torque force will be applied between the fixed shaft and the locking piece, which will cause the connection between the fixed shaft and the locking piece to loosen or be damaged, thus causing certain defects. Utility Model Content

[0005] The purpose of the present utility model is to provide a flexible and adaptive robot tail support mechanism to solve the problems raised in the above background technology.

[0006] To achieve the above objectives, the present invention provides the following technical solutions: a flexible and adaptive robot tail support mechanism, comprising:

[0007] A mounting member and a supporting shell, wherein one end of the supporting shell is rotatably connected to the mounting member;

[0008] a rotating mechanism, the rotating mechanism being disposed between the mounting member and the supporting housing;

[0009] Also includes:

[0010] A mounting head, the mounting head being arranged at the other end of the supporting shell;

[0011] A fixed shaft and a supporting roller, wherein the middle portion of the outer wall of the fixed shaft is fixedly connected to the mounting head, and the supporting roller is rotatably mounted on the end portion of the outer wall of the fixed shaft;

[0012] A connecting assembly is provided between the mounting head and the support housing, and includes:

[0013] A connecting shaft and a locking assembly, wherein one end of the connecting shaft is fixedly connected to the mounting head, and an outer wall of the connecting shaft is rotatably connected to the support housing through the locking assembly;

[0014] A limiting assembly is arranged between the connecting shaft and the supporting shell.

[0015] Preferably, the limiting component includes:

[0016] A limiting plate, the outer wall of which is slidably engaged with the connecting shaft;

[0017] A limit spring, the end of which is pressed and fitted with the limit plate, and the limit spring is used to give the limit plate an elastic force to restore horizontal balance.

[0018] Preferably, a slot is provided at the other end of the connecting shaft, the outer wall of the limiting plate is slidably engaged with the inner cavity of the slot, and the limiting plate and the limiting spring are both located inside the supporting shell.

[0019] Preferably, the limiting component further includes:

[0020] A fixing block, the fixing block being fixedly connected to the interior of the supporting shell;

[0021] An arc rod, wherein the end of the arc rod is fixedly connected to the fixed block, the outer wall of the arc rod is slidably inserted and sleeved with the limit plate, and the limit spring is slidably sleeved on the outside of the arc rod;

[0022] A positioning block is fixedly connected to the interior of the supporting shell and is used to limit the rotation of the limiting plate.

[0023] Preferably, the locking assembly comprises:

[0024] a connecting sleeve, one side of which is fixedly connected to the supporting shell;

[0025] A limiting collar is clamped between the connecting sleeve and the connecting shaft.

[0026] Preferably, an annular groove is provided on the outer wall of the connecting shaft, the limiting collar is rotatably sleeved on the inside of the annular groove, an annular groove matching the limiting collar is provided on the inner wall of the connecting sleeve, and an inner bolt for fixing the limiting collar is provided on the outer wall of the connecting sleeve.

[0027] The technical effects and advantages of this utility model are:

[0028] The utility model utilizes the coordinated use of an installation head, a fixed shaft, a support roller and a connecting assembly. The connecting assembly includes a connecting shaft, a locking assembly and a limit assembly. Under the action of the locking assembly, the connecting shaft can maintain a stable rotational connection state with the support shell, so that the fixed shaft can rotate relative to the connecting shaft as the center, so that the support rollers at both ends of the fixed shaft are in contact with the ground, thereby improving its service life. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0030] Figure 2 This is a schematic diagram of the overall structure of the support shell of the utility model.

[0031] Figure 3 This is a schematic diagram of the internal structure of the support shell part of the utility model.

[0032] Figure 4 This is a schematic diagram of the internal structure of the side of the support shell of the utility model.

[0033] In the figure: 1. Mounting part; 2. Support shell; 3. Mounting head; 4. Fixed shaft; 5. Support roller; 6. Connecting assembly; 61. Connecting shaft; 62. Locking assembly; 621. Connecting sleeve; 622. Limiting collar; 623. Inner bolt; 624. Annular slot; 63. Limiting assembly; 631. Limiting plate; 632. Fixed block; 633. Limiting spring; 634. Arc rod; 635. Positioning block. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described 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.

[0035] The utility model provides Figure 1-4The tail support mechanism of a flexible adaptive robot shown in the figure includes a mounting part 1, a rotating mechanism and a support shell 2. One end of the support shell 2 is rotatably connected to the mounting part 1. The rotating mechanism is arranged between the mounting part 1 and the support shell 2. The rotating mechanism is composed of a motor, a shaft, a worm gear and a worm. The motor drives the worm to rotate. The worm cooperates with the worm gear on the shaft to drive the support shell 2 to rotate relative to the mounting part 1 through the shaft, so that the support shell 2 is rotated to expand or retract. It also includes a mounting head 3, a fixed shaft 4, a support roller 5 and a connecting assembly 6. The mounting head 3 is arranged at the other end of the support shell 2. The middle part of the outer wall of the fixed shaft 4 is fixedly connected to the mounting head 3. The support roller 5 is rotatably installed on the end of the outer wall of the fixed shaft 4, and the connecting component 6 is arranged between the mounting head 3 and the support shell 2. The connecting component 6 includes a connecting shaft 61, a locking component 62 and a limit component 63. One end of the connecting shaft 61 is fixedly connected to the mounting head 3, and the outer wall of the connecting shaft 61 is rotatably connected to the support shell 2 through the locking component 62. Therefore, when the two support rollers 5 at both ends of the fixed shaft 4 are on an inclined ground, the connecting shaft 61 can rotate relative to the support shell 2, so that the fixed shaft 4 rotates with the connecting shaft 61 as the center, so that the bottoms of the two support rollers 5 are in contact with the ground, and the limit component 63 is arranged between the connecting shaft 61 and the support shell 2.

[0036] When the cam 631 is in the air, the limit spring 633 is pressed against the limit plate 631, and the limit spring 633 is used to give the limit plate 631 an elastic force to restore the horizontal balance. The other end of the connecting shaft 61 is provided with a slot, and the outer wall of the limit plate 631 is slidably engaged with the inner cavity of the slot, so that the connecting shaft 61 can slide to connect or separate with the limit plate 631. The limit plate 631 and the limit spring 633 are both located inside the support shell 2, and both sides of the top and bottom of the limit plate 631 are provided with limit springs 633. When the two support rollers 5 are floating, the limit spring 633 can give the limit plate 631 an elastic reset force, so that the limit plate 631 drives the connecting shaft 61 to rotate and reset, and then the mounting head 3 drives the fixed shaft 4 and the support roller 5 to rotate and reset.

[0037] Furthermore, the limiting assembly 63 also includes a fixed block 632, an arc rod 634 and a positioning block 635. The fixed block 632 is fixedly connected to the inside of the support shell 2, and the end of the arc rod 634 is fixedly connected to the fixed block 632. The outer wall of the arc rod 634 is slidably inserted and sleeved with the limiting plate 631. The limiting spring 633 is slidably sleeved on the outside of the arc rod 634, and the arc center of the arc rod 634 is located on the center line of the connecting shaft 61. Therefore, when the connecting shaft 61 drives the limiting plate 631 to rotate, the limiting plate 631 can rotate relative to the arc rod 634, and the positioning block 635 is fixedly connected to the inside of the support shell 2. The positioning block 635 is used to limit the rotation of the limiting plate 631. The positioning block 635 can limit the angle of rotation of the limiting plate 631 following the connecting shaft 61 to avoid the limiting plate 631 causing pressure damage to the limiting spring 633.

[0038] Furthermore, the locking assembly 62 includes a connecting sleeve 621 and a limiting collar 622. One side of the connecting sleeve 621 is fixedly connected to the supporting shell 2. The limiting collar 622 is clamped between the connecting sleeve 621 and the connecting shaft 61. An annular groove is provided on the outer wall of the connecting shaft 61. The limiting collar 622 is rotatably sleeved on the inside of the annular groove. An annular groove 624 matching the limiting collar 622 is provided on the inner wall of the connecting sleeve 621. An inner bolt 623 for fixing the limiting collar 622 is provided on the outer wall of the connecting sleeve 621. By removing the inner bolt 623 and releasing the locking state of the limiting collar 622 inside the connecting sleeve 621, the connecting shaft 61 can drive the limiting collar 622 to slide out from the inside of the annular groove of the connecting sleeve 621, thereby disassembling the connecting shaft 61.

[0039] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A flexible and adaptive robot tail support mechanism, comprising: A mounting member (1) and a supporting shell (2), wherein one end of the supporting shell (2) is rotatably connected to the mounting member (1); A rotating mechanism, the rotating mechanism being arranged between the mounting member (1) and the supporting housing (2); It is characterized by further comprising: A mounting head (3), the mounting head (3) being arranged at the other end of the supporting shell (2); A fixed shaft (4) and a supporting roller (5), wherein the middle portion of the outer wall of the fixed shaft (4) is fixedly connected to the mounting head (3), and the supporting roller (5) is rotatably mounted on the end portion of the outer wall of the fixed shaft (4); A connecting assembly (6), the connecting assembly (6) being arranged between the mounting head (3) and the supporting shell (2), the connecting assembly (6) comprising: A connecting shaft (61) and a locking assembly (62), wherein one end of the connecting shaft (61) is fixedly connected to the mounting head (3), and the outer wall of the connecting shaft (61) is rotatably connected to the supporting shell (2) via the locking assembly (62); A limiting assembly (63) is provided between the connecting shaft (61) and the supporting shell (2).

2. The flexible adaptive robot tail support mechanism according to claim 1, characterized in that: The limiting component (63) comprises: A limiting plate (631), wherein the outer wall of the limiting plate (631) is slidably engaged with the connecting shaft (61); A limit spring (633), the end of which is pressed and fitted with the limit plate (631), and the limit spring (633) is used to provide the limit plate (631) with an elastic force to restore horizontal balance.

3. The flexible adaptive robot tail support mechanism according to claim 2, characterized in that: A slot is provided at the other end of the connecting shaft (61), and the outer wall of the limiting plate (631) is slidably engaged with the inner cavity of the slot. The limiting plate (631) and the limiting spring (633) are both located inside the supporting shell (2).

4. The flexible adaptive robot tail support mechanism according to claim 3, characterized in that: The limiting component (63) further includes: a fixing block (632), the fixing block (632) being fixedly connected to the interior of the supporting shell (2); An arc rod (634), the end of the arc rod (634) is fixedly connected to the fixed block (632), the outer wall of the arc rod (634) is slidably inserted and sleeved with the limiting plate (631), and the limiting spring (633) is slidably sleeved on the outside of the arc rod (634); A positioning block (635) is fixedly connected to the interior of the supporting shell (2), and the positioning block (635) is used to limit the rotation of the limiting plate (631).

5. The flexible adaptive robot tail support mechanism according to claim 1, characterized in that: The locking assembly (62) comprises: a connecting sleeve (621), one side of the connecting sleeve (621) being fixedly connected to the supporting shell (2); A limiting collar (622) is clamped between the connecting sleeve (621) and the connecting shaft (61).

6. The flexible adaptive robot tail support mechanism according to claim 5, characterized in that: The outer wall of the connecting shaft (61) is provided with an annular groove, the limiting collar (622) is rotatably sleeved inside the annular groove, the inner wall of the connecting sleeve (621) is provided with an annular groove (624) matching the limiting collar (622), and the outer wall of the connecting sleeve (621) is provided with an inner bolt (623) for fixing the limiting collar (622).

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