CN208325425U - A kind of anti-tipping apparatus for robot of climbing - Google Patents
A kind of anti-tipping apparatus for robot of climbing Download PDFInfo
- Publication number
- CN208325425U CN208325425U CN201820482314.3U CN201820482314U CN208325425U CN 208325425 U CN208325425 U CN 208325425U CN 201820482314 U CN201820482314 U CN 201820482314U CN 208325425 U CN208325425 U CN 208325425U
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- China
- Prior art keywords
- installing frame
- rotating block
- support rod
- robot
- telescopic rod
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Abstract
The utility model discloses a kind of anti-tipping apparatus of robot of climbing, and are related to robot assisted equipment technical field.The utility model includes installing frame, installing frame is rectangle framework structure, installing frame is equipped with gravity sensor, control mainboard and electric cabinet, gravity sensor and electric cabinet is electrically connected in control mainboard, the framework of installing frame is equipped with the first rotating block and support rod, support rod is equipped with runner, support rod is rotatablely connected installing frame by the first rotating block, installing frame is equipped with spring, the bar wall of the other end connection support bar of spring, cylinder is electrically connected control mainboard, and support plate is rotatablely connected on telescopic rod by the second rotating block.The utility model on installing frame by being arranged the support rod equipped with idler wheel and cylinder of the setting equipped with support plate on telescopic rod, so that climbing robot will not incline to, and it can be adjusted back in inclination and just solve the problems, such as to be easy to topple over when present climbing robot climbing.
Description
Technical field
The utility model belongs to robot assisted equipment technical field, more particularly to a kind of overturning-preventing of robot of climbing
Device.
Background technique
With the development of robot technology and being growing for social demand, robot plays work in every field
With, for example, play the role of in the field works such as mining, agriculture fruit picking and transport, fruits and vegetables spray it is huge, in practical execution
During task, robot inevitably encounters the landform that road conditions are more complicated, ramp is more, and climbing robot is climbing
When, by selecting optimal ground supports point using its discrete foothold in the rough gradient, to realize climbing
The purpose of advance, but often cause body nodal point unstable very because of the variation of the gradient in acclive place walking
To the occurrence of toppling is had, robot is caused to damage, enable job interruption, causes economic loss.
Utility model content
The purpose of this utility model is to provide a kind of anti-tipping apparatus of robot of climbing, by being arranged on installing frame
Support rod equipped with idler wheel and on telescopic rod setting the cylinder of support plate is housed so that climbing robot will not incline to, and
It can be adjusted back in inclination and just solve the problems, such as to be easy to topple over when present climbing robot climbing.
In order to solve the above technical problems, the utility model is achieved through the following technical solutions:
The utility model is a kind of anti-tipping apparatus of robot of climbing, including installing frame, and the installing frame is rectangle
Frame structure, the installing frame are equipped with gravity sensor, control mainboard and electric cabinet, and the control mainboard is electrically connected
The gravity sensor and electric cabinet are equipped with the first rotating block, institute in the middle part of four lateral surfaces in the framework of the installing frame
The first rotating block is stated as semicircle, four lateral surfaces of the framework of the installing frame are equipped with support rod, each first rotating block
It is all connected with one end of the support rod on corresponding installation circle face, the other end of the support rod is equipped with runner, and the runner turns
Dynamic to be connected on the support rod, the support rod is rotatablely connected the installing frame by the first rotating block, the installing frame
Four lateral surfaces of framework are equipped with spring, and one end of each spring is all connected with the installing frame, and the other end of the spring connects
Connect the bar wall of the support rod on corresponding installation circle face；
Wherein, be equipped with cylinder on each support rod, the cylinder is equipped with telescopic rod, the central axes of the telescopic rod with
Horizontal plane, and contact spring, one end of the telescopic rod do not connect the output end of the cylinder, the gas to the telescopic rod
Cylinder is electrically connected the control mainboard, and the telescopic rod is all connected with support plate far from one end of cylinder；
Wherein, the second rotating block is equipped in each support plate, second rotating block is semicircle, and the support plate is logical
Second rotating block is crossed to be rotatablely connected on the telescopic rod.
Further, rubber layer and anti-slip layer are successively arranged in one side of the support plate far from the second rotating block.
The utility model has the following beneficial effects:
1, the utility model continues climbing robot in slight inclination by the way that runner is arranged on support rod
Advance, will not turn on one's side, spring plays buffer function protection support rod at this time.
2, the utility model incudes the position of center of gravity by setting gravity sensor, feeds back to control mainboard, control mainboard
The cylinder of control corresponding position stretches, and returns to normal position to adjust climbing robot position of centre of gravity, makes inclined climbing
Robot returns just.
3, the utility model on telescopic rod by by being arranged rotary support plate, when telescopic rod drives support plate
When contacting ground, support plate can be adjusted according to the actual grade on ground, and the anti-slip layer in support plate improves support plate
Frictional force, rubber layer keeps the lower end surface of support plate and ground compactness high, improves cylinder and climbs in center-of-gravity regulating robot
Stability.
Certainly, any product for implementing the utility model does not necessarily require achieving all the advantages described above at the same time.
Detailed description of the invention
In order to illustrate more clearly of the technical solution of the utility model embodiment, make required for being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the drawings in the following description are merely some embodiments of the present invention,
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Other attached drawings.
Fig. 1 is a kind of structural schematic diagram of the anti-tipping apparatus for robot of climbing of the utility model.
In attached drawing, parts list represented by the reference numerals are as follows:
1- installing frame, 2- support rod, 3- spring, 4 cylinders, 5- support plate, 101- gravity sensor, 102- control mainboard,
103- electric cabinet, the first rotating block of 104-, 201- runner, 401- telescopic rod, the second rotating block of 501-, 502- rubber layer, 503-
Anti-slip layer.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without creative efforts
All other embodiment obtained, fall within the protection scope of the utility model.
In the description of the present invention, it should be understood that term " aperture ", "upper", "lower", " thickness ", "top",
" in ", " length ", "inner", indicating positions or the positional relationship such as " surrounding ", be merely for convenience of description the utility model and simplification
Description, rather than the component or element of indication or suggestion meaning must have a particular orientation, and are constructed and grasped with specific orientation
Make, therefore should not be understood as limiting the present invention.
Refering to Figure 1, the utility model is a kind of anti-tipping apparatus of robot of climbing, including installing frame 1, installation
Frame 1 is rectangle framework structure, and installing frame 1 is equipped with gravity sensor 101, control mainboard 102 and electric cabinet 103, control master
Gravity sensor 101 and electric cabinet 103 is electrically connected in plate 102, and climbing robot passes through gravity sensor in climbing
The position of 101 induction centers of gravity, feeds back to control mainboard 102, and electric cabinet 103 provides electric energy to control mainboard 102, installing frame 1
The first rotating block 104 is equipped in the middle part of four lateral surfaces in framework, the first rotating block 104 is semicircle, the framework of installing frame 1
Four lateral surfaces be equipped with support rod 2, each first rotating block 104 is all connected with the support rod 2 on corresponding 1 frame face of installing frame
The other end of one end, support rod 2 is equipped with runner 201, and runner 201 is rotatably connected on support rod 2, and support rod 2 passes through first
Rotating block 104 is rotatablely connected installing frame 1, and four lateral surfaces of the framework of installing frame 1 are equipped with spring 3, one end of each spring 3
It is all connected with installing frame 1, the other end of spring 3 connects the bar wall of the support rod 2 on corresponding 1 frame face of installing frame, when climbing robot
When anti-raw inclination, the support rod 2 of four lateral surfaces of the framework of installing frame 1 is provided a supporting role, and due to being provided with runner
201, it can also allow climbing robot to move in slight inclination, will not turn on one's side, spring 3 plays buffer function at this time
Protect support rod 2；
Wherein, cylinder 4 is equipped on each support rod 2, cylinder 4 is equipped with telescopic rod 401, the central axes of telescopic rod 401
With horizontal plane, and not contact spring 3 of telescopic rod 401, the output end of one end connection cylinder 4 of telescopic rod 401,4 electricity of cylinder
Property connection control mainboard 102, telescopic rod 401 is all connected with support plate 5 far from one end of cylinder 4, rolls when climbing robot is anti-raw
When cannot advance, gravity sensor 101 incudes the position of center of gravity, feeds back to control mainboard 102, control mainboard 102 controls accordingly
The cylinder 4 of position stretches, and returns to normal position to adjust climbing robot position of centre of gravity, makes inclined climbing robot
It can continue to climb；
Wherein, the second rotating block 501 is equipped in each support plate 5, the second rotating block 501 is semicircle, and support plate 5 is logical
It crosses on the second rotating block 501 rotation connection telescopic rod 401, by the way that rotary support plate 5 is arranged on telescopic rod 401, when
When telescopic rod 401 drives support plate 5 to contact ground, support plate 5 can be adjusted according to the actual grade on ground, make support plate
5 is bigger with ground contact surface, improves cylinder 4 and climbs in center-of-gravity regulating the stability of robot.
Support plate 5 is successively arranged rubber layer 502 and anti-slip layer 503, anti-slip layer in the one side far from the second rotating block 501
503 improve the frictional force of support plate 5, and rubber layer 502 keeps the lower end surface of support plate 5 and ground compactness high, improve cylinder 4 and are adjusting
The stability of climbing robot when saving center of gravity.
The preferred embodiment in the utility model disclosed above is only intended to help to illustrate the utility model.Preferred embodiment is simultaneously
There is no the details that detailed descriptionthe is all, also not limiting the utility model is only the specific embodiment.Obviously, according to this theory
The content of bright book can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to preferably
The principles of the present invention and practical application are explained, so that skilled artisan be enable to better understand and utilize this
Utility model.The utility model is limited only by the claims and their full scope and equivalents.
Claims (2)
1. a kind of anti-tipping apparatus for robot of climbing, it is characterised in that: including installing frame (1), the installing frame (1) is rectangular
Shape frame structure, the installing frame (1) is equipped with gravity sensor (101), control mainboard (102) and electric cabinet (103), described
The gravity sensor (101) and electric cabinet (103), the framework of the installing frame (1) is electrically connected in control mainboard (102)
On four lateral surfaces in the middle part of be equipped with the first rotating block (104), first rotating block (104) be semicircle, the installation
Four lateral surfaces of the framework of frame (1) are equipped with support rod (2), and each first rotating block (104) is all connected with corresponding installing frame (1)
The other end of one end of the support rod (2) on frame face, the support rod (2) is equipped with runner (201), and the runner (201) turns
Dynamic to be connected on the support rod (2), the support rod (2) is rotatablely connected the installing frame by the first rotating block (104)
(1), four lateral surfaces of the framework of the installing frame (1) are equipped with spring (3), and one end of each spring (3) is all connected with described
Installing frame (1), the other end of the spring (3) connect the bar wall of the support rod (2) on corresponding installing frame (1) frame face；
Wherein, it is equipped with cylinder (4) on each support rod (2), the cylinder (4) is equipped with telescopic rod (401), the telescopic rod
(401) central axes and horizontal plane, and the telescopic rod (401) not contact spring (3), the one of the telescopic rod (401)
End connects the output end of the cylinder (4), and the cylinder (4) is electrically connected the control mainboard (102), the telescopic rod
(401) one end far from cylinder (4) is all connected with support plate (5)；
Wherein, it is equipped with the second rotating block (501) on each support plate (5), second rotating block (501) is semicircle, institute
Support plate (5) are stated to be rotatablely connected on the telescopic rod (401) by second rotating block (501).
2. a kind of anti-tipping apparatus of robot of climbing according to claim 1, which is characterized in that the support plate (5)
Rubber layer (502) and anti-slip layer (503) are successively arranged in one side far from the second rotating block (501).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820482314.3U CN208325425U (en) | 2018-04-04 | 2018-04-04 | A kind of anti-tipping apparatus for robot of climbing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820482314.3U CN208325425U (en) | 2018-04-04 | 2018-04-04 | A kind of anti-tipping apparatus for robot of climbing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208325425U true CN208325425U (en) | 2019-01-04 |
Family
ID=64780427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820482314.3U Expired - Fee Related CN208325425U (en) | 2018-04-04 | 2018-04-04 | A kind of anti-tipping apparatus for robot of climbing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208325425U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109703636A (en) * | 2019-01-30 | 2019-05-03 | 刘智慧 | A kind of the anti-rollover method and its system of all-terrain vehicle |
| CN111547094A (en) * | 2020-05-14 | 2020-08-18 | 诸暨市金猴游乐设备制造有限公司 | High-stability rollover-prevention climbing rail car and climbing method thereof |
| CN111645085A (en) * | 2020-06-02 | 2020-09-11 | 仇晨艺 | Walking chassis structure of intelligent service robot |
| CN114131576A (en) * | 2022-01-07 | 2022-03-04 | 孟凡文 | Automatic control robot with prevent empting structure |
-
2018
- 2018-04-04 CN CN201820482314.3U patent/CN208325425U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109703636A (en) * | 2019-01-30 | 2019-05-03 | 刘智慧 | A kind of the anti-rollover method and its system of all-terrain vehicle |
| CN109703636B (en) * | 2019-01-30 | 2021-02-09 | 刘智慧 | Rollover prevention method and system of all-terrain vehicle |
| CN111547094A (en) * | 2020-05-14 | 2020-08-18 | 诸暨市金猴游乐设备制造有限公司 | High-stability rollover-prevention climbing rail car and climbing method thereof |
| CN111645085A (en) * | 2020-06-02 | 2020-09-11 | 仇晨艺 | Walking chassis structure of intelligent service robot |
| CN111645085B (en) * | 2020-06-02 | 2021-05-11 | 台州精微顺自动化有限公司 | Walking chassis structure of intelligent service robot |
| CN114131576A (en) * | 2022-01-07 | 2022-03-04 | 孟凡文 | Automatic control robot with prevent empting structure |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190104 Termination date: 20210404 |