CN110370294A - Robot - Google Patents
Robot Download PDFInfo
- Publication number
- CN110370294A CN110370294A CN201910530907.1A CN201910530907A CN110370294A CN 110370294 A CN110370294 A CN 110370294A CN 201910530907 A CN201910530907 A CN 201910530907A CN 110370294 A CN110370294 A CN 110370294A
- Authority
- CN
- China
- Prior art keywords
- car body
- robot
- counterweight
- adjusting screw
- screw rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/002—Balancing devices using counterweights
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
Abstract
A kind of robot provided by the invention, including car body, counterweight, adjusting screw rod and actuator, counterweight are movably arranged on car body, and counterweight offers adjusting screw hole；Adjusting screw rod and car body are rotatablely connected, and adjusting screw rod is engaged with screw hole is adjusted, and adjusting screw rod can drive counterweight to move on the car body, to adjust the position of centre of gravity of car body；Actuator is installed on the car body, actuator is for driving adjusting screw rod to rotate, the program is compared with the existing technology, actuator drives adjusting screw rod in rotation, counterweight can be along the axial movement of screw rod, enable to counterweight that can change position on the car body, accomplish that the center of gravity of robot is adjusted, when so that robot walking on the ground, the position of centre of gravity of robot can be adjusted according to the gradient on ground, when the gradient of robot on the ground being avoided to change, the problem of robot turns on one's side.
Description
Technical field
The present invention relates to robot fields, more particularly to a kind of robot.
Background technique
Robot is the automatic installations for executing work, it can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology, and its task is to assist or replace the mankind
The work of work, such as: fire-fighting, production industry, construction industry, or dangerous work.
Existing robot can be in face of complicated landform, such as abrupt slope or stair etc., and robot is in abrupt slope or stair uplink
When walking, it may occur that the phenomenon that rollover.
Summary of the invention
A kind of balance weight assembly provided by the invention is walked on abrupt slope or stair for solving robot in the prior art
When, the technical issues of robot can turn on one's side.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme:
A kind of robot, comprising:
Car body；
Counterweight is movably arranged on the car body, and the counterweight offers adjusting screw hole；
Adjusting screw rod is rotatablely connected with the car body, and the adjusting screw rod is engaged with the adjusting screw hole, the adjusting spiral shell
Bar can drive the counterweight to move on the car body, to adjust the position of centre of gravity of the car body；
Actuator is installed on the car body, and the actuator is for driving the adjusting screw rod to rotate.
It further includes guidance set in one of the embodiments, and the guidance set is arranged in the counterweight and institute
It states between car body, the counterweight can be moved by the guidance set along the car body.
The guidance set includes the guiding axis being installed on the car body, the counterweight in one of the embodiments,
The guide groove with guiding axis cooperation is offered on part.
The quantity of the guiding axis is two in one of the embodiments, and the quantity of the guide groove is two, two
The guiding axis wears the guide groove correspondingly.
The car body is equipped with the first mounting base in one of the embodiments, and first mounting base is for installing institute
State guiding axis.
The second mounting base is additionally provided on the car body in one of the embodiments, second mounting base is for installing
The adjusting screw rod.
It further includes detection unit in one of the embodiments, and the detection unit is installed on the car body, described
Detection unit is used to detect the angle of the relative horizontal position of the car body, and will test resulting angle feed-back to the driving
Part, so that the actuator drives the adjusting screw rod to adjust the counterweight in the position of the car body.
It further includes water cannon in one of the embodiments, and the water cannon is installed on the car body, to spray water
Out.
It further includes binocular camera and combined aural and visual alarm in one of the embodiments, the binocular camera with
And the combined aural and visual alarm is installed on the car body, the binocular camera is to observe ambient enviroment, the acousto-optic report
Alert device is for providing alarm sound and light signal.
It further includes water collector in one of the embodiments, and the water collector is installed on the car body, described to catchment
Device is used to the water flow of fire hydrant being integrated into robot.
Compared with prior art, a kind of robot provided by the invention, has the advantages that
Actuator drives adjusting screw rod in rotation, and counterweight can enable to counterweight along the axial movement of screw rod
Position on the car body can be changed, accomplish that the center of gravity of robot is adjusted, it, can when so that robot walking on the ground
The position of centre of gravity that robot is adjusted according to the gradient on ground, when the gradient of robot on the ground being avoided to change, robot
The problem of turning on one's side.
Detailed description of the invention
The following drawings is only used for that those skilled in the art is made to more fully understand technical solution of the present invention, is not to this hair
Bright limitation, those skilled in the art can obtain other attached drawings according to the technique and scheme of the present invention.
Fig. 1 is the structural schematic diagram of the robot of an embodiment provided by the invention；
Fig. 2 is the structural schematic diagram of car body in Fig. 1；
Fig. 3 is another viewing angle constructions schematic diagram of car body in Fig. 1；
Fig. 4 is the control flow block diagram of the actuator of an embodiment provided by the invention；
Tu5Wei robot upward slope process force analysis figure；
Tu6Wei robot descending process force analysis figure.
Label declaration:
100, robot；10, car body；11, counterweight；12, adjusting screw rod；121, the second mounting base；13, actuator；14,
Guidance set；141, guiding axis；142, the first mounting base；15, traveling crawler；20, water cannon；30, binocular camera；31, it goes up and down
Platform；40, combined aural and visual alarm；50, water collector；60, detection unit；70, control unit.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to better describe and illustrate embodiments herein, one or more attached drawing can refer to, but attached for describing
The additional detail or example of figure are not construed as to present invention creation, current described embodiment or preferred side
The limitation of the range of any one in formula.
It should be noted that when component be referred to as with another component " connection " when, it can directly with another component
It connects or there may also be components placed in the middle.When a component is considered as " being set to " another component, it be can be directly
It connects and is arranged on another component or may be simultaneously present component placed in the middle.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein " and/or " it include one or more phases
Any and all combinations of the listed item of pass.
As shown in Figure 1, the present invention provides a kind of robot 100, the robot 100 can be fire-fighting robot, inspection
Robot etc..
Specifically, robot 100 includes car body 10 and water cannon 20, the water cannon 20 is mounted on the car body 10, is used
Water to be sprayed.
It is understood that the water cannon 20 in robot 100 passes through fire hose (not shown) and fire hydrant (not shown)
Docking, water cannon 20 can spray the water in fire hydrant.By the movement of car body 10, fire hose movement can be dragged, so that
Robot 100 enters in the scene of a fire, and the angle of water is then sprayed by the adjustment of water cannon 20, plays the effect convenient for fire extinguishing.
Wherein, water cannon 20 can be rotated relative to car body 10, and water cannon 20 is adjusted according to 100 climbings of robot/descending,
To play the position of centre of gravity for adjusting robot 100, when the gradient of robot 100 on the ground being avoided to change, robot 100
The problem of turning on one's side.Specifically, when robot 100 climbs, the water jet of water cannon 20 is towards the front end of robot 100, phase
Instead, when robot 100 needs descending, the water jet of water cannon 20 is towards the rear end of robot 100.
Further, in other implementations, traveling crawler 15 is installed in the bottom of car body 10.Traveling crawler 15 can be with
Band motor vehicles bodies 10 are mobile.
Certainly in other embodiments, traveling crawler 15 also could alternatively be other walkings in addition to traveling crawler 15
Unit.As long as the walking unit can be realized band, mobile robot 100 is mobile.Specifically, robot 100 is in traveling crawler 15
Drive under, enter the scene of a fire.
Further, as shown in Figure 1, it further includes binocular camera 30, the binocular camera 30 is mounted on the vehicle
On body 10, the binocular camera 30 to observe ambient enviroment,
It is understood that communicating to connect between binocular camera 30 and car body 10, binocular camera 30 is to real-time
The ambient enviroment of supervisory-controlled robot 100, and the image data that binocular camera 30 is shot is sent to operator, operator according to
The walking path of image data adjustment robot 100.
Specifically, the blind behaviour of robot 100 is generally based on image, acquired around robot 100 by binocular camera 30
Image and convert the image into picture signal, picture signal is transmitted to display screen (not shown), and display screen receives picture signal,
And be presented robot 100 according to picture signal, operator adjusts the walking road of robot 100 according to the auxiliary of image
Diameter, then the position of the robot 100 of adjustment in time, plays robot 100 and avoids barrier, avoids existing with other device collisions
Together, robot 100 is reduced to collide.
In the present embodiment, binocular camera 30 has the characteristics that the depth of field is but very deep, automatic range, more convenient for operator
The ambient enviroment of good enough observer robots 100.Certainly, binocular camera 30 can also be substituted for other photographing elements, only
Will the photographing element can convenient for operator preferably reach observer robot 100 ambient enviroment.
Further, lifting platform 31 is installed, the binocular camera 30 is installed on the lifting platform on the car body 10
On 31, and oneself height is adjusted under the drive of the lifting platform 31.
It is understood that lifting platform 31 is taken the photograph for driving binocular camera 30 to move with respect to car body 10 with changing binocular
As the level height of first 30 opposite car bodies 10, so that the field range of binocular camera 30 is bigger.
In present embodiment, lifting platform 31 also could alternatively be other lifting units except lifting platform 31, as long as the liter
Drop unit can be realized the height for changing binocular camera 30.
Wherein, binocular camera 30 can be bolted on lifting platform 31, in order to the dismounting of binocular camera 30
It certainly in other implementations, can also, riveting solid using glue between binocular camera 30 and lifting platform 31 with adjusting
Or the modes such as welding are fixed to each other；Binocular camera 30 can also be fixed on lifting platform 31 using other structures.
Wherein, lifting platform 31 can be bolted on car body 10, in order to the dismounting and adjusting of lifting platform 31, when
It so, in other implementations, can also the modes phase such as, riveting solid using glue or welding between lifting platform 31 and car body 10
It is mutually fixed；Lifting platform 31 can also be fixed on car body 10 using other structures.
Further, as shown in Figure 1, robot 100 further includes combined aural and visual alarm 40, the combined aural and visual alarm 40 is mounted on
On the car body 10, the combined aural and visual alarm 40 is for providing alarm sound and light signal.
It is understood that the process that combined aural and visual alarm 40 is walked in robot 100, can by sound and various light come
Warning signal is issued to people, it is dangerous herein to warn.Simultaneously, additionally it is possible to provide machine to the user of operation robot 100
The orientation of people 100.
Further, as shown in Figure 1, robot 100 further includes water collector 50, the water collector 50 is mounted on the car body
On 10, the water collector 50 is used to the water flow of fire hydrant being integrated into robot 100.
It is understood that the water flow of fire hydrant (not shown) enters water collector 50 by fire hose (not shown)
Interior, water flow is integrated in water collector 50, is sprayed finally by water cannon 20.Wherein, the water in fire hydrant is entered by water collector 50
To water cannon 20, water cannon 20 can freely adjust the pressure of water flow ejection.In such manner, it is possible to which the water in fire hydrant is avoided to enter directly into
Water cannon 20 leads to the problem of can not adjusting the hydraulic pressure in water cannon 20.
Further, as shown in figures 2 and 3, the robot 100 further includes counterweight 11, adjusting screw rod 12 and driving
Part 13, the counterweight 11 are movably arranged on the car body 10, and the counterweight 11 offers adjusting screw hole；The adjusting spiral shell
Bar 12 and the car body 10 are rotatablely connected, and the adjusting screw rod 12 is engaged with the adjusting screw hole, and the adjusting screw rod 12 can
The counterweight 11 is driven to move on the car body 10, to adjust the position of centre of gravity of the car body 10；The actuator 13 is pacified
On the car body 10, the actuator 13 is for driving the adjusting screw rod 12 to rotate.
It is understood that the output end of actuator 12 is connect with adjusting screw rod 12, one end of adjusting screw rod 12 is close to machine
The front end of device people 100, the other end is close to the rear end of robot 100, the external screw thread of adjusting screw rod 12 and the internal screw thread energy of adjustment hole
Enough engagements, actuator 13 drive adjusting screw rod 12 in rotation, and counterweight 11, can be along screw rod in the case where rotation does not occur
Axial movement, enable to counterweight 11 that can change the position on car body 10, accomplish to carry out the center of gravity of robot 100
It adjusts, when so that robot 100 walking on the ground, the position of centre of gravity of robot 100 can be adjusted according to the gradient on ground, is avoided
When the gradient of robot 100 on the ground changes, the problem of robot 100 turns on one's side.
Specifically, when robot 100 needs to climb, counterweight 11 moves to the front end of robot 100, can be by robot
100 center of gravity moves to the front end of robot 100；On the contrary, counterweight 11 moves to robot 100 when robot 100 needs descending
Rear end, the center of gravity of robot 100 can be moved to the rear end of robot 100.The center of gravity of robot 100 can be from robot
100 front end is adjusted to the rear end of robot 100, so that the wider effect of centre of gravity adjustment range of robot 100 becomes apparent from.
Meanwhile robot 100, when walking on level land, counterweight 11 moves to the center of robot 100, so that machine
The center of gravity of people 100 can also be placed in the center of robot 100.It can more preferably guarantee that the decrement of spring damper (not shown) is equal
The mean forced of weighing apparatus and thrust wheel (not shown), is able to extend making for spring damper, supporting wheel bearing and traveling crawler 15
Use the service life
Furthermore the center of gravity of robot 100 is adjusted to the center of robot 100, it can guarantee 100 level land of robot just
The stability often walked improves the reliability of product the problems such as reducing abnormal sound, shake.
In the present embodiment, it is to be understood that the front end of robot 100 and the rear end of robot 100, with the machine
When device people 100 advances, it is placed in the front end that 100 front side of robot is robot 100, being placed at 100 rear side of robot is machine
The rear end of device people 100.
It wherein, just can be along the axis of adjusting screw rod 12 with middle part when only the rotation of adjusting screw rod 12 or counterweight 11 rotate
To movement.It when adjusting screw rod 12 and counterweight 11 do not rotate, can prevent counterweight 11 from moving on car body 10, prevent simultaneously
Only the center of gravity in robot 100 changes.
Preferably, the car body 10 is equipped with the second mounting base 121, and second mounting base 121 is for installing the tune
Save screw rod 12.The second groove (not shown) is offered in second mounting base 121, adjusting screw rod 12 when being mounted on car body 10,
It needs one end by adjusting screw rod 12 to be placed in the second groove, plays the effect of adjusting screw rod 12 easy to disassemble.
Wherein, the quantity of the second mounting base 121 be two, be separately positioned on the both ends of adjusting screw rod 12, play convenient for pair
The effect that adjusting screw rod 12 supports, prevents the gravity of counterweight 11 when on adjusting screw rod 12, and shape occurs for adjusting screw rod 12
The problem of change.
Further, in present embodiment, actuator 13 is motor.It is appreciated that in other implementations, driving
Part 13 also could alternatively be in addition to motor other be driven by electricity element.As long as this, which is driven by electricity element, can be realized drive tune
Screw rod 12 is saved to rotate.
Further, in the present embodiment, the counterweight 11 is battery.Battery can mention for robot 100
For electric energy, the weight of battery accounts for 25% or so of entire 100 weight of robot, and has density big, in set of volumes
Characteristic.By the position of centre of gravity of mobile change robot 100 of the battery in robot 100, the good results are evident.
Certainly, in other embodiments, counterweight 11 is the counterweight 11 other than battery, as long as the counterweight 11 exists
When moving in robot 100, the position of centre of gravity of robot 100 can be changed.
Further, as shown in figures 2 and 3, robot 100 further includes guidance set 14, and the setting of guidance set 14 exists
Between the counterweight 11 and the car body 10, the counterweight 11 can be moved by the guidance set 14 along the car body 10
It is dynamic.
It is understood that counterweight 11 is on car body 10 when moving, it can be to 11 phase of counterweight by guidance set 14
The movement of car body 10 is oriented to, guidance set 14 moves counterweight 11 along fixed direction, realizes the fortune to counterweight 11
Dynamic direction is limited.
Preferably, the guidance set 14 includes the guiding axis 141 that is mounted on the car body 10, on the counterweight 11
Offer the guide groove (not shown) with the guiding axis 141 cooperation.
It is understood that the axis of guiding axis 141 and adjusting screw rod 12 are arranged in an axially parallel mode, guiding axis 141 is installed
On car body 10, with middle part when along the axial movement of adjusting screw rod 12, opposite sliding between counterweight 11 and guiding axis 141,
Guiding axis 141 plays the effect for limiting the moving direction of counterweight 11, while can play prevents counterweight 11 from rotating.
Further, the car body 10 is equipped with the first mounting base 142, and first mounting base 142 is described for installing
Guiding axis 141.The first groove (not shown) is offered in first mounting base 142, guiding axis 141 when being mounted on car body 10,
It needs one end by guiding axis 141 to be placed in the first groove, plays the effect of guiding axis 141 easy to disassemble.
Wherein, the quantity of the first mounting base 142 is two, is separately positioned on the both ends of guiding axis 141, is played convenient for leading
The effect supported to axis 141, prevents the gravity of counterweight 11 when on guiding axis 141, and deformation occurs asks for guiding axis 141
Topic.
Preferably, the quantity of the guiding axis 141 is two, and the quantity of the guide groove is two, two guiding
Axis 141 wears the guide groove correspondingly.The quantity of guiding axis 141 be two, guiding axis 141 can to counterweight 11 into
Row support, prevents the gravity of counterweight 11 on adjusting screw rod 12, can extend the service life of adjusting screw rod 12.
Further, as shown in figure 4, robot 100 further includes detection unit 60, the detection unit 60 is mounted on described
On car body 10, the detection unit 60 is used to detect the angle of the relative horizontal position of the car body 10, and will test resulting
Angle feed-back gives the actuator 13, so that the actuator 13 drives the adjusting screw rod 12 to exist to adjust the counterweight 11
The position of the car body 10.
It is understood that be additionally provided with control unit 70 in robot 100, detection unit 60 and actuator 13 respectively with control
It is communicated to connect between unit 70 processed, the angle signal that detection unit 60 acquires the angle of 10 relative horizontal position of car body is sent to control
Unit 70 processed, 70 receiving angle signal of control unit, and adjusting screw rod 12 is driven according to position signal control actuator 13, make to match
Heavy mail 11 is moved along the axial direction of adjusting screw rod 12, to play the position of centre of gravity for adjusting robot 100.
Wherein, control unit 70 is single-chip microcontroller, PLC or FPGA etc., it is to be understood that control unit 70 is this field skill
The electronic device that can complete above-mentioned function that art personnel understand, the present embodiment are not specifically limited.To avoid insufficient disclosure
The problem of.
Wherein, detection unit 60 be gyroscope, it is to be understood that detection unit 60 be those skilled in the art understand that
The electronic device of above-mentioned function can be completed, the present embodiment is not specifically limited.The problem of to avoid insufficient disclosure.
As shown in figure 5, the control algolithm for adjusting 11 position of counterweight meets following mathematical modulo when robot 100 goes up a slope
Type.
Coordinate system is established at 100 tail ground connection of robot, force analysis is carried out to the upward slope process of robot 100:
Wherein FN indicates 100 normal pressure of robot, and θ indicates ramp angle, GdIndicate that 100 gravity of robot (removes counterweight system
System, water cannon), GcIndicate water cannon gravity, GpIndicate 11 gravity of counterweight, l1Indicate GdRelative to the arm of force distance of coordinate origin O, l2
Indicate GcRelative to the arm of force distance of coordinate origin O, l3Indicate GpRelative to the arm of force distance of coordinate origin O, l4Indicate FNRelatively
In the arm of force distance of coordinate origin O, l5It indicates to adjust 11 position of counterweight.
(1) when robot 100 close under limit ramp angle when advancing:
At this point, water cannon is adjusted to preposition, 11 position of counterweight is adjusted to from origin O most amphi position to improve ramp angle θ
It sets, therefore limit ramp angle θmaxIt can be expressed as follows:
(2) when robot 100 advances under small ramp angle:
The ramp angle at this point, robot 100 does not reach capacity, without adjusting 11 position of counterweight to most from origin O
Distant positions；It, can be by adjusting 11 position of counterweight meanwhile to improve kinetic stability of the fire-fighting when crossing light grade obstacle
l5Come 100 machine gravity position of balanced robot.Based on infinitesimal thought, 100 complete machine gravity point of robot and robot 100
Positive pressure point is identical, therefore l4 is expressed as follows:
As can be seen that wherein working as l4Tend to (0.5l when 100 chassis midpoint of robot5max), position of centre of gravity and machine
100 normal pressure position of people is on same vertical line, its stability of climbing is most strong at this time.
Wherein l5maxIt indicates to adjust maximum distance of the counterweight 11 relative to coordinate origin O.
Tilt angle theta when therefore being climbed by the obstacle detouring that gyroscope acquires robot 100, is then adjusted according to formula (4)
Whole l5Numerical value, can effectively by vehicle center of gravity be adjusted to ground line midpoint near, greatly improve climbing stability it is most strong, effectively
Avoid the occurrence of the wild effects such as " new line " or " sticking up tail ".
As shown in fig. 6, when 100 descending of robot, it is similarly and guarantees that its anti-overturning can be by the water jet court of water cannon 20
To the rear end of robot 100, counterweight 11 is adjusted to 100 tail portion of robot, wherein the title of each variable is constant, therefore mathematics
Model is identical, therefore is not repeated modeling.When 100 descending of robot, the control algolithm of front can also be continued to use.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of robot characterized by comprising
Car body；
Counterweight is movably arranged on the car body, and the counterweight offers adjusting screw hole；
Adjusting screw rod is rotatablely connected with the car body, and the adjusting screw rod is engaged with the adjusting screw hole, the adjusting screw rod energy
The counterweight is driven to move on the car body, enough to adjust the position of centre of gravity of the car body；
Actuator is installed on the car body, and the actuator is for driving the adjusting screw rod to rotate.
2. robot according to claim 1, which is characterized in that it further includes guidance set, the guidance set setting
Between the counterweight and the car body, the counterweight can be moved by the guidance set along the car body.
3. robot according to claim 2, which is characterized in that the guidance set includes being installed on the car body
Guiding axis offers the guide groove with guiding axis cooperation on the counterweight.
4. robot according to claim 3, which is characterized in that the quantity of the guiding axis is two, the guide groove
Quantity be two, two guiding axis wear the guide groove correspondingly.
5. robot according to claim 3 or 4, which is characterized in that the car body is equipped with the first mounting base, and described the
One mounting base is for installing the guiding axis.
6. robot according to claim 1, which is characterized in that it is additionally provided with the second mounting base on the car body, described
Two mounting bases are for installing the adjusting screw rod.
7. robot according to claim 1, which is characterized in that it further includes detection unit, the detection unit installation
On the car body, the detection unit is used to detect the angle of the relative horizontal position of the car body, and will test resulting
Angle feed-back gives the actuator, so that the actuator drives the adjusting screw rod to adjust the counterweight in the car body
Position.
8. a kind of robot according to claim 1, which is characterized in that it further includes water cannon, and the water cannon is mounted on institute
It states on car body, to spray water.
9. a kind of robot according to claim 1, which is characterized in that it further includes binocular camera and sound-light alarm
Device, the binocular camera and the combined aural and visual alarm are installed on the car body, and the binocular camera is to observe
Ambient enviroment, the combined aural and visual alarm is for providing alarm sound and light signal.
10. a kind of robot according to claim 1, which is characterized in that it further includes water collector, the water collector installation
On the car body, the water collector is used to the water flow of fire hydrant being integrated into robot.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112757314A (en) * | 2020-12-28 | 2021-05-07 | 河南大学 | Deep layer mine hole surveys two rounds of robots based on 5G communication technology |
| CN112870614A (en) * | 2021-01-08 | 2021-06-01 | 浙江华消科技有限公司 | Robot control method, robot, and storage medium |
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| CN112870614A (en) * | 2021-01-08 | 2021-06-01 | 浙江华消科技有限公司 | Robot control method, robot, and storage medium |
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| CN110370294B (en) | 2021-06-22 |
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