CN111452062B - Industrial remote shape balancing robot - Google Patents
Industrial remote shape balancing robot Download PDFInfo
- Publication number
- CN111452062B CN111452062B CN202010358460.7A CN202010358460A CN111452062B CN 111452062 B CN111452062 B CN 111452062B CN 202010358460 A CN202010358460 A CN 202010358460A CN 111452062 B CN111452062 B CN 111452062B
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- fixed
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
An industrial allopatric balance robot relates to the technical field of robots, wherein a housing is provided with a windshield, a gravity block, fixing plates and a sliding groove, the top surface of the housing is provided with the windshield and the sliding groove, the bottom of the housing is provided with the gravity block, two sides of the housing are respectively provided with the fixing plates, the fixing plates are provided with fixing tubes, the fixing tubes are provided with walking feet, a containing groove is arranged in the sliding groove, a hydrogen balloon is arranged above the containing groove, the hydrogen balloon is provided with a fixing band, the fixing band is provided with a fixing rod and a pull rope, the fixing band is connected with the containing groove through the pull rope, a rolling device is arranged in the sliding groove between the containing groove and the housing and consists of a fixing shell and a second ball, the bottom of the containing groove is provided with the fixing shell, the second ball is arranged in the fixing shell, and the walking device is arranged on the fixing plate; the invention has simple structure, ensures that the robot safely walks in different places, and solves the problem of inaccurate detection data caused by unbalance of detection instruments when the robot walks.
Description
[ technical field ] A
The invention relates to the technical field of robots, in particular to an industrial remote shape balancing robot.
[ background ] A method for producing a semiconductor device
The robot is a tool for replacing human beings to work, the robot is required to work in more and more fields at present, the design of the robot is also changeable, detection equipment is required to keep balance when the shape of a different place is detected, the balance detection is very difficult when the robot walks through the robot, the current robot is very troublesome when the shape of the different place is detected and cannot meet the current detection requirement, so the detection efficiency is greatly influenced, the robot adopting a rolling or crawler type mode has great trouble when the robot walks in the different place and cannot accurately detect the balance of the shape of the different place, and great inconvenience is brought to the detection work.
[ summary of the invention ]
In order to overcome the defects in the background art, the invention discloses an industrial alloplastic balance robot, which achieves the aim of detecting alloplastic terrain by arranging a containing groove in a shell, arranging a hydrogen balloon above the containing groove, arranging a rolling device at the bottom of the containing groove, and arranging a walking device and walking feet on the outer side surface of the shell.
In order to realize the purpose, the invention adopts the following technical scheme:
the utility model provides an industrial allopatric balance robot, includes the casing, the windshield, the hydrogen balloon, the fixed band, the dead lever, the stay cord, hold the groove, gravity piece, the fixed plate, fixed pipe, the walking foot, rolling device and running gear, be equipped with the windshield on the casing, gravity piece, fixed plate and sliding tray, be equipped with windshield and sliding tray on the top face of casing, the bottom of casing is equipped with gravity piece, and the both sides of casing respectively are equipped with a fixed plate, are equipped with fixed pipe on the fixed plate, are equipped with the walking foot on the fixed pipe, be equipped with in the sliding tray and hold the groove, hold the groove top and be equipped with the hydrogen balloon, be equipped with the fixed band on the hydrogen balloon, be equipped with dead lever and stay cord on the fixed band, the fixed band is connected with holding the groove through the stay cord, holds and is equipped with the rolling device in the sliding tray between groove and the casing, and the rolling device comprises fixed shell and second ball, is equipped with the set shell in the bottom that holds the groove, be equipped with the second ball on the fixed shell, running gear is equipped with the walking foot and is connected.
The casing is the semicircle sphere type structure, and the center department of the top face of casing is equipped with the sliding tray, is equipped with the sliding tray opening on the sliding tray, and the sliding tray opening part is equipped with the spacing collar, and the spacing collar is connected for dismantling with the sliding tray opening of sliding tray, is equipped with the gravity piece on the bottom face in the casing, and the bottom face of gravity piece is convex structure, and the gravity piece moves about on the bottom face in the casing.
The spacing collar is ring type structure, is equipped with the external screw thread on the lateral surface of spacing collar ring, and the spacing collar passes through the internal thread mesh mutually on the sliding tray opening inner wall of external screw thread and casing.
The utility model discloses a wind-proof cover, including the housing, the housing is equipped with the hasp, the wind-proof cover is half dome type structure, and the wind-proof cover is formed by transparent material preparation, and the top face of wind-proof cover and housing is for dismantling to be connected, is equipped with the hasp in the edge of wind-proof cover, and the wind-proof cover is connected through the edge of the top face of hasp and housing.
The hydrogen balloon is of a circular structure, a fixing band is arranged in the middle of the hydrogen balloon, an inflation inlet is formed in the bottom of the hydrogen balloon, the hydrogen balloon is fixedly connected with the fixing band, at least two fixing rods are arranged at the top of the fixing band and are of cylindrical or prismatic structures, the fixing rods are distributed on the top surface of the fixing band in an equidistant mode by taking the center of the fixing band as the circle center, at least two pull ropes are arranged on the bottom surface of the fixing band, and the pull ropes are distributed on the bottom surface of the fixing band in an equidistant mode by taking the center of the fixing band as the circle center.
The fixing rods are of cylindrical or prismatic structures, one end of each fixing rod is fixedly connected with the top face of the fixing belt, the included angle of the horizontal plane of each fixing rod and the horizontal plane of the top face of the fixing belt is identical, a rolling groove is formed in the other end of each fixing rod, a first ball is arranged in each rolling groove, a movable block is arranged at the edge of each rolling groove, a pin is arranged on each movable block, each movable block is connected with the end of each fixing rod through the corresponding pin, and each movable block seals the corresponding first ball in each rolling groove.
The containing groove is of a semi-sphere hollow structure, an opening is formed in the center of the top face of the containing groove, a cover is arranged at the opening, a rolling device is arranged on the outer face of the bottom face of the containing groove, and the rolling device is arranged right below the center of the top face of the containing groove.
The fixed plate is a rectangular plate-shaped structure, one side face of the fixed plate is fixedly connected with the shell, a plurality of fixed tubes are arranged on the other side face of the fixed plate, the fixed tubes are distributed on the fixed plate in a straight line equidistance mode, the fixed tubes are perpendicularly arranged on the fixed plate, walking devices are arranged in the fixed tubes, walking feet move through the walking devices, the fixed plates are two, the two fixed plates are symmetrically arranged on the two side faces of the shell, the two fixed plates are parallel to each other, the fixed tubes on the two fixed plates are the same in number and are in a one-to-one corresponding structure, and each fixed tube is internally provided with one walking foot.
Running gear is by the roll dish, the rotation axis, the spliced pole, chain and gear constitute, be equipped with the roll dish on the side of fixed plate, the quantity of roll dish is unanimous with the quantity of fixed pipe, all be equipped with a roll dish in every fixed pipe, the roll dish is circular platelike structure, the center department of roll dish is equipped with the rotation axis, be equipped with the spliced pole on the roll dish of rotation axis one side, the spliced pole forms eccentric structure with the roll dish, the spliced pole is connected with walking foot is fixed, the rotation axis passes the fixed plate and is connected with the gear on the fixed plate another side, the gear on the fixed plate on the another side is connected through the chain, be equipped with the motor on the rotation axis of the arbitrary end department of fixed plate.
The fixed pipe is cylinder type or prismatic structure, and is parallel to each other between the fixed pipe, and fixed pipe equidistance sets up on the fixed plate, and the fixed intraductal roll dish that is equipped with of fixed pipe and fixed plate junction, spliced pole on every two adjacent roll dishes sets up respectively in the different one side of rotation axis.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
the invention relates to an industrial allopatric balance robot, which comprises a shell, a windshield, hydrogen balloons, fixing belts, fixing rods, pull ropes, a containing groove, a gravity block, a fixing plate, fixing pipes, walking feet, rolling devices and walking devices, wherein the containing groove is formed in the shell, the hydrogen balloons are arranged above the containing groove, the rolling devices are arranged at the bottom of the containing groove, and the walking devices and the walking feet are arranged on the outer side surface of the shell, so that the purpose of detecting allopatric topography is achieved; the robot walking device is simple in structure and convenient and fast to operate, can ensure that the robot can walk safely in different shapes, solves the problem that detection data is inaccurate due to unbalance of detection instruments when the robot walks, and greatly facilitates daily work.
[ description of the drawings ]
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of a connection structure of a fixing rod and a first ball according to the present invention;
FIG. 3 is a schematic view of the internal structure of the housing of the present invention;
FIG. 4 is a schematic perspective view of the tank of the present invention;
FIG. 5 is a schematic view of the rolling device of the present invention;
FIG. 6 is a side view of the fixing plate of the present invention;
FIG. 7 is a schematic view of the gear and chain connection structure of the present invention;
in the figure: 1. a hydrogen balloon; 2. fixing the rod; 3. a windshield; 4. pulling a rope; 5. a containing groove; 6. a sliding groove; 7. a housing; 8. a fixing plate; 9. a fixed tube; 10. a walking foot; 11. a gravity block; 12. a pin; 13. a movable block; 14. a rolling groove; 15. a first ball bearing; 16. the sliding groove is opened; 17. a limiting ring; 18. a cover; 19. a rolling device; 20. a stationary case; 21. the fixed shell is provided with an opening; 22. a second ball bearing; 23. connecting columns; 24. a rotating shaft; 25. a scroll pan; 26. a chain; 27. a gear; 28. and (7) fixing the belt.
[ detailed description ] embodiments
The present invention will be explained in detail by the following examples, which are disclosed for the purpose of protecting all technical improvements within the scope of the present invention.
The industrial allopatric balance robot comprises a shell 7, a windshield 3, a hydrogen balloon 1, a fixing belt 28, a fixing rod 2, a pull rope 4, a containing groove 5, a gravity block 11, a fixing plate 8, a fixing pipe 9, walking feet 10, a rolling device 19 and a walking device, wherein the windshield 3, the gravity block 11, the fixing plate 8 and a sliding groove 6 are arranged on the shell 7, the windshield 3 and the sliding groove 6 are arranged on the top surface of the shell 7, the gravity block 11 is arranged at the bottom of the shell 7, the fixing plates 8 are respectively arranged on two sides of the shell 7, the fixing pipe 9 is arranged on the fixing plate 8, the walking feet 10 are arranged on the fixing pipe 9, the containing groove 5 is arranged in the sliding groove 6, the hydrogen balloon 1 is arranged above the containing groove 5, the fixing belt 28 is arranged on the fixing rod 2 and the pull rope 4, the fixing belt 28 is connected with the containing groove 5 through the pull rope 4, the rolling device 19 is arranged in the sliding groove 6 between the containing groove 5 and the shell 7, the rolling device 19 is composed of a fixing shell 20 and a second ball 22, the fixing shell 20 is arranged in the bottom of the fixing groove 5, and the walking device 10 is connected with the walking device 10.
The casing 7 is a semi-sphere structure, the center of the top surface of the casing 7 is provided with the sliding groove 6, the sliding groove 6 is provided with a sliding groove opening 16, the sliding groove opening 16 is provided with a limiting ring 17, the limiting ring 17 is detachably connected with the sliding groove opening 16 of the sliding groove 6, the bottom surface in the casing 7 is provided with the gravity block 11, the bottom surface of the gravity block 11 is of an arc-shaped structure, and the gravity block 11 moves on the bottom surface in the casing 7.
The windshield 3 is a semi-sphere structure, the windshield 3 is made of transparent materials, the windshield 3 is detachably connected with the top surface of the shell 7, a lock catch is arranged at the edge of the windshield 3, and the windshield 3 is connected with the edge of the top surface of the shell 7 through the lock catch.
The hydrogen balloon 1 is of a circular structure, a fixing band 28 is arranged in the middle of the hydrogen balloon 1, an inflation inlet is arranged at the bottom of the hydrogen balloon 1, the hydrogen balloon 1 is fixedly connected with the fixing band 28, at least two fixing rods 2 are arranged at the top of the fixing band 28, the fixing rods 2 are of cylindrical or prismatic structures, the fixing rods 2 are equidistantly distributed on the top surface of the fixing band by taking the center of the fixing band as a circle center, at least two pull ropes 4 are arranged on the bottom surface of the fixing band 2, and the pull ropes 4 are equidistantly distributed on the bottom surface of the fixing band 28 by taking the center of the fixing band as a circle center.
The fixing rod 2 is of a cylindrical or prismatic structure, one end of the fixing rod 2 is fixedly connected with the top surface of the fixing belt, the included angle of the horizontal plane of each fixing rod 2 and the top surface of the fixing belt 28 is the same, the other end of the fixing rod 2 is provided with a rolling groove 14, a first ball 15 is arranged in the rolling groove 14, the edge of the rolling groove 14 is provided with a movable block 13, the movable block 13 is provided with a pin 12, the movable block 13 is connected with the end of the fixing rod 2 through the pin 12, and the movable block 13 seals the first ball 15 in the rolling groove 14.
The containing groove 5 is of a semi-spherical hollow structure, an opening is formed in the center of the top face of the containing groove 5, a cover 18 is arranged at the opening, a rolling device 19 is arranged on the outer face of the bottom face of the containing groove 5, and the rolling device 19 is arranged right below the center of the top face of the containing groove 5.
The fixed plate 8 is a rectangular plate-shaped structure, one side surface of the fixed plate 8 is fixedly connected with the shell 7, a plurality of fixed tubes 9 are arranged on the other side surface of the fixed plate 8, the fixed tubes 9 are distributed on the fixed plate 8 in a straight line and at equal intervals, the fixed tubes 9 are vertically arranged on the fixed plate 8, a walking device is arranged in the fixed tubes 9, the walking feet 10 move through the walking device, the fixed plates 8 are two, the two fixed plates 8 are symmetrically arranged on the two side surfaces of the shell 7, the two fixed plates 8 are parallel to each other, the fixed tubes 9 on the two fixed plates 8 are the same in number and are in a one-to-one correspondence structure, and one walking foot 10 is arranged in each fixed tube 9.
The walking device is composed of rolling discs 25, a rotating shaft 24, connecting columns 23, chains 26 and gears 27, wherein the rolling discs 25 are arranged on one side face of the fixing plate 8, the number of the rolling discs 25 is consistent with that of the fixing tubes 9, one rolling disc 25 is arranged in each fixing tube 9, the rolling discs 25 are of circular plate-shaped structures, the rotating shaft 24 is arranged at the center of each rolling disc 25, the connecting columns 23 are arranged on the rolling discs 25 on one side of the rotating shaft 24, the connecting columns 23 and the rolling discs 25 form eccentric structures, the connecting columns 24 are fixedly connected with walking feet 10, the rotating shaft 24 penetrates through the fixing plate 8 to be connected with the gears 27 on the other side face of the fixing plate 8, the gears 27 on the other side face of the fixing plate 8 are connected through the chains 26, and the motor is arranged on the rotating shaft 24 at any end of the fixing plate 8.
In the embodiment 1, when the industrial allopatric balance robot is used, firstly, a lock catch on the windshield 3 is opened, the windshield 3 is taken down, then, a cover 18 on the sliding groove 5 is opened, equipment to be detected is placed into the sliding groove 5 from an opening on the top surface of the sliding groove 5, meanwhile, the detection equipment is fixed, then, the cover 18 is covered, then, the hydrogen balloon 1 is inflated through an inflation bottle of hydrogen, the main purpose of the hydrogen balloon 1 is to provide upward traction on the top surface of the accommodating groove 5 for correcting, then, the windshield 3 is covered, a pull rope 4 at the bottom of the hydrogen balloon 1 is just stretched in a horizontal state, the hydrogen balloon 1 drives the fixing rod 2 to enable a first ball 15 at one end of the fixing rod 2 to move freely on the inner wall of the windshield 3, and the walking device adopts an eccentric wheel multi-legged mode, the advantage is that the robot is suitable for different terrains, the fixing plate 8 can be made of elastic metal materials, so that the passing rate of the robot can be greatly improved in the walking process, the robot is more practical and can walk in different terrains, when the shell 7 inclines, as the rolling device 19 is arranged between the containing groove 5 and the shell 7, the containing groove 5 can slide in the sliding groove 6 of the shell 7, in order to prevent the containing groove 5 from leaving the sliding groove 6, the sliding groove 6 is provided with the limiting ring 17, the limiting ring 17 enables the containing groove 5 to move better in the sliding groove, and at the moment, the traction force of the hydrogen balloon 1 is the best correcting tool, the top surface of the containing groove 5 is kept horizontal by the hydrogen balloon 1, so that the balance detection of the robot is facilitated, and the gravity block 11 in the shell 7 can move freely in the shell 7, consequently, the robot is very steady in the walking, no matter what the circumstances appears, the assorting of robot makes whole robot can keep balance, and the motor only need set up on the different rotation axes 24 of two fixed plates 8 just can, can adopt remote control or hand switch to control the motor, very big improvement to the nature controlled of robot to further improve the efficiency and the accuracy of work, brought the facility for daily detection work.
While the invention has been particularly shown and described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (5)
1. The utility model provides an industrial strange land shape balance robot, includes casing, windshield, hydrogen balloon, fixed band, dead lever, stay cord, holds groove, gravity piece, fixed plate, fixed pipe, walking foot, rolling device and running gear, characterized by: the hydrogen balloon is provided with a fixing band, the fixing band is provided with a fixing rod and a pull rope, the fixing band is connected with the containing groove through the pull rope, a rolling device is arranged in the sliding groove between the containing groove and the shell, the fixing shell is arranged at the bottom of the containing groove, the second ball is arranged in the fixing shell, the walking device is arranged on the fixing plate, and the walking device is connected with the walking feet;
the shell is of a semi-spherical structure, a sliding groove is formed in the center of the top face of the shell, a sliding groove opening is formed in the sliding groove, a limiting ring is arranged at the sliding groove opening, the limiting ring is detachably connected with the sliding groove opening of the sliding groove, a gravity block is arranged on the bottom face in the shell, the bottom face of the gravity block is of an arc-shaped structure, and the gravity block moves on the bottom face in the shell;
the limiting ring is of a circular ring type structure, external threads are arranged on the outer side face of the limiting ring circular ring, and the limiting ring is meshed with internal threads on the inner wall of the opening of the sliding groove of the shell through the external threads;
the windproof cover is of a semi-spherical structure and is made of transparent materials, the windproof cover is detachably connected with the top surface of the shell, a lock catch is arranged at the edge of the windproof cover, and the windproof cover is connected with the edge of the top surface of the shell through the lock catch;
the hydrogen balloon is of a circular structure, the middle part of the hydrogen balloon is provided with a fixing belt, the bottom of the hydrogen balloon is provided with an inflation inlet, the hydrogen balloon is fixedly connected with the fixing belt, the top of the fixing belt is provided with at least two fixing rods, the fixing rods are of cylindrical or prismatic structures, the fixing rods are equidistantly distributed on the top surface of the fixing belt by taking the center of the fixing belt as a circle center, the bottom surface of the fixing belt is provided with at least two pull ropes, and the pull ropes are equidistantly distributed on the bottom surface of the fixing belt by taking the center of the fixing belt as a circle center;
the fixed rod is of a cylindrical or prismatic structure, one end of the fixed rod is fixedly connected with the top surface of the fixed belt, the included angle of the horizontal plane of each fixed rod and the top surface of the fixed belt is the same, the other end of the fixed rod is provided with a rolling groove, a first ball is arranged in the rolling groove, the edge of the rolling groove is provided with a movable block, a pin is arranged on the movable block, the movable block is connected with the end of the fixed rod through the pin, and the movable block seals the first ball in the rolling groove.
2. The industrial remote shape balancing robot as claimed in claim 1, wherein: the containing groove is of a semi-sphere hollow structure, an opening is formed in the center of the top face of the containing groove, a cover is arranged at the opening, a rolling device is arranged on the outer face of the bottom face of the containing groove, and the rolling device is arranged right below the center of the top face of the containing groove.
3. The industrial remote shape balancing robot as claimed in claim 1, wherein: the fixed plate is a rectangular plate-shaped structure, one side face of the fixed plate is fixedly connected with the shell, a plurality of fixed tubes are arranged on the other side face of the fixed plate, the fixed tubes are distributed on the fixed plate in a straight line equidistance mode, the fixed tubes are perpendicularly arranged on the fixed plate, walking devices are arranged in the fixed tubes, walking feet move through the walking devices, the fixed plates are two, the two fixed plates are symmetrically arranged on the two side faces of the shell, the two fixed plates are parallel to each other, the fixed tubes on the two fixed plates are the same in number and are in a one-to-one corresponding structure, and each fixed tube is internally provided with one walking foot.
4. The remote shape balancing robot for industrial use according to claim 1 or 3, wherein: running gear is by the roll dish, the rotation axis, the spliced pole, chain and gear constitute, be equipped with the roll dish on a side of fixed plate, the quantity of roll dish is unanimous with the quantity of fixed pipe, all be equipped with a roll dish in every fixed pipe, the roll dish is circular platelike structure, the center department of roll dish is equipped with the rotation axis, be equipped with the spliced pole on the roll dish of rotation axis one side, the spliced pole forms eccentric structure with the roll dish, the spliced pole is connected with walking foot is fixed, the rotation axis passes the fixed plate and is connected with the gear on the fixed plate another side, the gear on the fixed plate on the another side is connected through the chain, be equipped with the motor on the rotation axis of arbitrary end department of fixed plate.
5. The remote shape balancing robot for industrial use according to claim 1 or 3, wherein: the fixed pipe is cylinder type or prismatic structure, and is parallel to each other between the fixed pipe, and fixed pipe equidistance sets up on the fixed plate, and the fixed intraductal roll dish that is equipped with of fixed pipe and fixed plate junction, spliced pole on every two adjacent roll dishes sets up respectively in the different one side of rotation axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010358460.7A CN111452062B (en) | 2020-04-29 | 2020-04-29 | Industrial remote shape balancing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010358460.7A CN111452062B (en) | 2020-04-29 | 2020-04-29 | Industrial remote shape balancing robot |
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| CN111452062A CN111452062A (en) | 2020-07-28 |
| CN111452062B true CN111452062B (en) | 2022-12-06 |
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| CN202010358460.7A Active CN111452062B (en) | 2020-04-29 | 2020-04-29 | Industrial remote shape balancing robot |
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| GB1109171A (en) * | 1964-02-01 | 1968-04-10 | Elliptical Drives Ltd | Improvements in or relating to vehicle driving means |
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| CN111452062A (en) | 2020-07-28 |
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