A three-axis stabilizing holder for a quadruped robot to patrol

Abstract

The utility model discloses a three -axis stabilizing holder for four -legged robot inspection belongs to robot auxiliary equipment technical field, including base, pillar and holder, is provided with the dismounting subassembly between the pillar and holder, the dismounting subassembly includes the limiting post fixed in the inside of the pillar, the connecting column that can slide and accommodate in the inside of the limiting post is extended from the bottom of holder, and the rotating ring is rotationally connected to the outer wall of limiting post, and the connecting column outer wall is fixed with the clamping block, and the rotating ring inner wall is equipped with the locking surface of the abutment of clamping block and the sliding slot for clamping block, and the locking or release of connecting column is realized through the rotation rotating ring, and is provided with first spring between the limiting post and connecting column. The utility model discloses through setting quick -release subassembly and clamping subassembly, realized holder and equipment's exempt from tool quick installation and dismounting, convenient operation has improved the use efficiency and maintenance convenience of inspection equipment.

Description

Technical Field

[0001] This utility model belongs to the field of robot auxiliary equipment technology, and in particular relates to a three-axis stabilization gimbal bracket for quadruped robot inspection. Background Technology

[0002] With the rapid development of robotics technology, quadruped robots have shown unique advantages in fields such as complex terrain inspection and environmental monitoring. In order to expand their functions, various inspection equipment, such as vision cameras and thermal imagers, are usually installed on the top of the quadruped robot. These devices are usually integrated on the gimbal bracket for easy installation and adjustment.

[0003] However, existing robot gimbal brackets still face some challenges in practical applications. Due to the flexibility requirements of robot inspection tasks, it is necessary to frequently replace or disassemble the equipment on the gimbal, or maintain the gimbal itself. Existing fixing methods mostly use traditional mechanical connections such as bolt fastening. The disassembly and installation process is often time-consuming and labor-intensive, requiring the use of special tools, which greatly reduces work efficiency.

[0004] In addition, these supports are generally fixed to the robot body. Once the entire gimbal support needs to be removed from the robot for maintenance, upgrade or replacement, the same cumbersome operation problem is encountered. This makes it inconvenient to quickly deploy and maintain the equipment in actual use. This connection method, which lacks a quick disassembly and assembly mechanism, becomes a bottleneck that restricts efficiency when facing emergency situations or inspection tasks that require rapid response.

[0005] Therefore, this utility model proposes a gimbal bracket for quadruped robot inspection to solve the shortcomings of the prior art, such as the complex connection between the gimbal bracket and the robot and the low efficiency of equipment installation and fixing. Utility Model Content

[0006] To overcome the above shortcomings, this utility model provides a three-axis stabilization gimbal bracket for quadruped robot inspection, aiming to improve the problems of complex structure, cumbersome operation, and low assembly and disassembly efficiency in the existing technology of brackets connecting and fixing to the robot body and installing equipment on the bracket.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: The present invention provides a three-axis stabilization gimbal bracket for inspection of a quadruped robot, comprising: a base, a support column fixedly connected to the base, a gimbal frame, and a disassembly assembly disposed between the support column and the gimbal frame; The disassembly assembly includes a limiting post fixed inside the support column, a connecting post extending from the bottom of the gimbal frame and slidably housed inside the limiting post, and a rotating ring rotatably connected to the outer wall of the limiting post. Furthermore, the outer wall of the connecting column is fixed with a locking block, and the inner wall of the rotating ring is provided with a locking surface that abuts against the locking block and a sliding groove for the locking block to pass through. By rotating the rotating ring, the locking surface or sliding groove on the inner wall of the rotating ring is aligned with the locking block on the connecting column, thereby realizing the locking or releasing of the connection between the gimbal frame and the support column. Preferably, a first spring is provided between the inner bottom end of the limiting post and the bottom end of the connecting post; Preferably, the side wall of the gimbal frame is provided with a clamping assembly for holding the equipment; Preferably, the clamping assembly includes a baffle fixed to the gimbal frame and a clamping post slidably disposed on the baffle; Furthermore, the clamping assembly also includes a second spring, the two ends of which are respectively connected to the clamping post and the baffle; Furthermore, the clamping assembly also includes a support column fixed to the gimbal frame, the support column being located below the baffle; Preferably, the baffle is disposed opposite to the clamping column, and together with the top of the support column, defines the clamping space for accommodating the device; Preferably, a limiting ring is fixed to the outer wall of the clamping column, and the limiting ring is slidably fitted inside the baffle.

[0008] This utility model has the following beneficial effects: 1. This utility model solves the problems of complex disassembly and assembly structures, tool dependence, and low operation efficiency of existing gimbal brackets and robot bodies by setting a disassembly assembly consisting of limiting columns, connecting columns, locking blocks, and rotating rings. It achieves the technical effect of being able to quickly install and separate the entire gimbal frame by hand, greatly improving the convenience of equipment maintenance and replacement.

[0009] 2. This utility model solves the problem that the gimbal frame still needs to be pulled out completely by external force after unlocking by adding a first spring between the limiting post and the connecting post of the disassembly component. It achieves the technical effect of automatically popping out the gimbal frame by using the spring force at the moment of unlocking, making the disassembly process more labor-saving and smooth.

[0010] 3. This utility model solves the problems of cumbersome adjustment and unstable clamping when fixing cameras and other equipment by setting a clamping assembly consisting of a baffle, a support column, a sliding clamping column and a second spring. It achieves the technical effect of quickly and stably clamping equipment of different sizes. The structure is simple and the clamping is reliable. Attached Figure Description

[0011] Figure 1This is a perspective view of a three-axis stabilization gimbal bracket for quadruped robot inspection proposed in this utility model. Figure 2 This is a schematic diagram of the outer wall structure of the support column of a three-axis stabilization gimbal bracket for quadruped robot inspection proposed in this utility model. Figure 3 This is a schematic diagram of the gimbal frame side wall structure of a three-axis stabilization gimbal bracket for quadruped robot inspection proposed in this utility model. Figure 4 for Figure 3 Enlarged view of point A in the middle; Figure 5 This is an exploded view of the disassembly components of a three-axis stabilization gimbal bracket for quadruped robot inspection proposed in this utility model.

[0012] Legend: 1. Base; 2. Support column; 3. Disassembly assembly; 301. Connecting column; 302. Locking block; 303. Rotating ring; 304. First spring; 305. Limiting column; 4. Gimbal frame; 5. Clamping assembly; 501. Support column; 502. Clamping column; 503. Limiting ring; 504. Second spring; 505. Baffle. Detailed Implementation

[0013] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0014] Reference Figures 1-5This utility model provides an embodiment of a three-axis stabilized gimbal bracket for quadruped robot inspection, including a base 1 and a support column 2 fixedly connected to the base 1. The base 1 is used for connection, and the support column 2 is used for supporting the gimbal frame 4. A disassembly assembly 3 is provided between the support column 2 and the gimbal frame 4. The disassembly assembly 3 is used to realize the quick separation and installation between the gimbal frame 4 and the support column 2. The disassembly assembly 3 includes a limiting post 305 fixed inside the support column 2, a connecting post 301 extending from the bottom of the gimbal frame 4, and a rotating ring 30 rotatably connected to the outer wall of the limiting post 305. 3. The connecting post 301 is slidably housed inside the limiting post 305, and a locking block 302 is fixedly connected to the outer wall of the connecting post 301. The inner wall of the rotating ring 303 is provided with a locking surface that abuts against the locking block 302 and a sliding groove for the locking block 302 to pass through. By rotating the rotating ring 303, the sliding groove on the inner wall of the rotating ring 303 can be aligned with the position of the locking block 302, thereby releasing the limiting of the connecting post 301, or the locking surface on the inner wall of the rotating ring 303 can be made to abut against the position of the locking block 302, thereby locking the connecting post 301 and preventing the connecting post 301 from coming out of the limiting post 305. The locking block 302 slides out of the slide groove to realize the quick disassembly of the gimbal frame 4 and improve the convenience of disassembly. A first spring 304 is also provided between the bottom of the inner end of the limiting post 305 and the bottom end of the connecting post 301. When the connecting post 301 is inserted into the limiting post 305, the first spring 304 is compressed. When the rotating ring 303 unlocks the connecting post 301, the elastic energy stored in the first spring 304 will pop the connecting post 301 upward, making it easy for the user to remove the gimbal frame 4. The system further includes a clamping assembly 5 disposed on the side wall of the pan-tilt frame 4. The clamping assembly 5 is used to quickly fix inspection equipment such as cameras. The clamping assembly 5 includes a baffle 505 and a support column 501 fixed to the pan-tilt frame 4, and a clamping column 502 slidably disposed on the baffle 505. The support column 501 is fixed to the pan-tilt frame 4 and located below the baffle 505 to support the equipment from the bottom. A limit ring 503 is fixed to the outer wall of the clamping column 502. The limit ring 503 is slidably engaged inside the baffle 505 to guide and limit the sliding of the clamping column 502. Meanwhile, a second spring 504 is connected between the clamping column 502 and the baffle 505. The two ends of the second spring 504 are respectively connected to the clamping column 502 and the baffle 505. In the assembled state, the baffle 505 and the clamping column 502 are arranged opposite to each other, and the baffle 505 and the clamping column 502 together define the clamping space for accommodating the equipment with the top of the support column 501. By pulling the clamping column 502, the second spring 504 is stretched to expand the clamping space. After the equipment is placed in, it is released, and the retraction force of the second spring 504 will drive the clamping column 502 to clamp the equipment. A first spring 304 is provided between the bottom of the inner end of the limiting post 305 and the bottom end of the connecting post 301. The first spring 304 is compressed when the connecting post 301 is inserted into the limiting post 305, storing elastic potential energy, so that the gimbal frame 4 separates more quickly. A limiting ring 503 is fixed on the outer wall of the clamping post 502. The outer contour of the limiting ring 503 slides with the inner part of the baffle 505, thereby providing guidance for the linear movement of the clamping post 502. The baffle 505 is arranged opposite to the clamping post 502, and the clamping surface of the baffle 505 and the clamping surface of the clamping post 502, together with the top supporting surface of the support post 501, defines the clamping space for accommodating the equipment. The equipment can be supported from the bottom and clamped laterally.

[0015] Working principle: When the gimbal frame 4 needs to be installed, first align the connecting post 301 at the bottom of the gimbal frame 4 with the limiting post 305 inside the support column 2 and insert it. During the insertion process, the connecting post 301 will compress the first spring 304 set between its bottom end and the bottom end inside the limiting post 305. After the connecting post 301 is fully inserted, manually rotate the rotating ring 303 so that the locking surface of the inner wall of the rotating ring 303 is aligned with the locking block 302 fixedly connected to the outer wall of the connecting post 301 and they abut against each other. At this time, the locking block 302 is blocked by the locking surface, and the connecting post 301 is firmly locked by the limiting post 305, so that the gimbal frame 4 and the support column 2 are firmly connected. When it is necessary to disassemble the gimbal frame 4, rotate the rotating ring 303 in the opposite direction to align the sliding groove on its inner wall with the locking block 302, thereby releasing the lock on the locking block 302. At this time, since the first spring 304 has been compressed during installation, its stored elastic potential energy will be released quickly, pushing the connecting column 301 to pop up the limiting column 305, thereby realizing the quick disassembly of the gimbal frame 4. The whole process does not require additional tools and is convenient and efficient to operate. When installing a camera or other equipment on the gimbal 4, first pull the clamping column 502 by hand. During the movement, the clamping column 502 will stretch the second spring 504 connected between the clamping column 502 and the baffle 505. At this time, the clamping column 502 moves away from the baffle 505 under the action of external force, which increases the clamping space formed between the clamping column 502 and the baffle 505. In addition, the limiting ring 503 on the outer wall of the clamping column 502 ensures the stable sliding of the clamping column 502 when it slides into the inside of the baffle 505. After placing the camera in place, let the bottom of the camera abut against the top of the support column 501, and at the same time, let one side of the camera abut against the baffle 505. Then release the clamping column 502. The second spring 504 is released in the stretched state. Its contraction force will drive the clamping column 502 to automatically move closer to the baffle 505, thereby firmly clamping the camera in the clamping space defined by the top of the support column 501, the baffle 505, and the clamping column 502.

Claims

1. A three-axis stabilization gimbal bracket for inspection of quadruped robots, comprising a base (1), a support column (2) fixedly connected to the base (1), and a gimbal frame (4), characterized in that, Includes a disassembly assembly (3), which is disposed between the support column (2) and the gimbal frame (4); The disassembly assembly (3) includes a limiting post (305), a connecting post (301), and a rotating ring (303). The limiting post (305) is fixed inside the support column (2). The connecting post (301) extends from the bottom of the gimbal frame (4) and is slidably housed inside the limiting post (305). A locking block (302) is fixed to the outer wall of the connecting post (301). The rotating ring (303) is rotatably connected to the outer wall of the limiting post (305). The inner wall of the rotating ring (303) is provided with a locking surface that abuts against the locking block (302) and a sliding groove for the locking block (302) to pass through. The rotation of the rotating ring (303) causes the locking block (302) to selectively abut against the locking surface or align with the sliding groove.

2. The three-axis stabilization gimbal bracket for quadruped robot inspection according to claim 1, characterized in that: A first spring (304) is provided between the bottom of the inner end of the limiting post (305) and the bottom of the connecting post (301).

3. The three-axis stabilization gimbal bracket for quadruped robot inspection according to claim 1, characterized in that: The side wall of the gimbal frame (4) is provided with a clamping assembly (5) for clamping the equipment.

4. The three-axis stabilization gimbal bracket for quadruped robot inspection according to claim 3, characterized in that: The clamping assembly (5) includes a baffle (505) and a clamping post (502). The baffle (505) is fixed on the gimbal frame (4), and the clamping post (502) is slidably disposed on the baffle (505).

5. The three-axis stabilization gimbal bracket for quadruped robot inspection according to claim 4, characterized in that: The clamping assembly (5) further includes a second spring (504), the two ends of which are connected to the clamping post (502) and the baffle (505), respectively.

6. The three-axis stabilization gimbal bracket for quadruped robot inspection according to claim 4, characterized in that: The clamping assembly (5) also includes a support column (501), which is fixed to the gimbal frame (4) and is located below the baffle (505).

7. A three-axis stabilization gimbal bracket for quadruped robot inspection according to claim 6, characterized in that: The baffle (505) is disposed opposite to the clamping column (502) and together with the top of the support column (501) defines the clamping space for accommodating the device.

8. The three-axis stabilization gimbal bracket for quadruped robot inspection according to claim 4, characterized in that: The outer wall of the clamping column (502) is fixed with a limiting ring (503), and the limiting ring (503) is slidably fitted inside the baffle (505).

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