CN209078786U - Robot balanced structure - Google Patents
Robot balanced structure Download PDFInfo
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- CN209078786U CN209078786U CN201821802795.8U CN201821802795U CN209078786U CN 209078786 U CN209078786 U CN 209078786U CN 201821802795 U CN201821802795 U CN 201821802795U CN 209078786 U CN209078786 U CN 209078786U
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Abstract
The utility model discloses a kind of robot balanced structures, fixed part and the self-service balancing device of stress are provided on pedestal, the force mechanism of the self-service balance of stress is correspondingly arranged with mobile device, force mechanism includes guide cylinder, stressed member and actuator, stressed member includes lower movable plate, connecting rod and stress foot, stress gap is preset between stress foot and the mobile face of robot, actuator includes upper mobile board and drive rod, it is connected between upper mobile board and lower movable plate by the first compressed spring, balance adjustment mechanism includes strut and balancing pole, strut and balancing pole are rotatablely connected, the compression groove at balancing pole both ends, arc compression plate is provided in compression groove, second compressed spring and pressure sensitive plate, gravity regulating part and driving mechanism are provided in the gravity regulating tank in the middle position of balancing pole.Robot balanced structure provided by the utility model can make robot keep balance, and structure is simple, be convenient for Operation and maintenance.
Description
Technical field
The utility model relates to robotic technology fields, and in particular to a kind of robot balanced structure.
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.Its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work.
The working environment as locating for robot is complicated, requires the balanced structure of robot just more stringent.But
It is that existing robot balanced structure still has certain defect when in use, existing robot balanced structure is multiple with structure
It is miscellaneous, it is troublesome in poeration, repair cumbersome, the disadvantages of cost is high.
Utility model content
The purpose of the utility model is to provide a kind of robot balanced structures, to solve above-mentioned deficiency in the prior art
Place.
To achieve the goals above, the utility model provides the following technical solutions:
A kind of robot balanced structure, including pedestal are provided with the fixed part of stationary machines people, the bottom on the pedestal
The bottom of seat is provided with mobile device, further includes the self-service balancing device of stress, the self-service balancing device of stress includes stress machine
Structure and balance adjustment mechanism, the force mechanism are correspondingly arranged with the mobile device, and the mobile device edge moves forward and backward
Direction at least provided with a force mechanism, the force mechanism includes guide cylinder, stressed member and actuator, institute
It states guide cylinder to be arranged through the pedestal upper and lower surface, is provided with sliding slot in the guide cylinder, the stressed member includes lower activity
Plate, connecting rod and stress foot, the two sides of the lower movable plate are provided with sliding block, and the sliding block is limited in the sliding slot, the company
The upper end of bar is fixed on the lower surface of the lower movable plate, and the stress foot is fixed on the lower end of the connecting rod, the stress foot
Stress gap is preset between the mobile face of the robot；The actuator includes upper mobile board and drive rod, it is described on
The two sides of movable plate are also equipped with the sliding block, and the sliding block is limited in the sliding slot, the upper mobile board and lower movable plate
Between be connected by the first compressed spring, the drive rod is fixed on the upper surface of the upper mobile board, the drive rod
Top is provided with arc pressure section；The balance adjustment mechanism includes strut and balancing pole, and the lower end of the strut is fixed on institute
It states on pedestal, the middle position of the balancing pole is provided with rotating member, and the upper end of the rotating member and the strut is rotatablely connected,
The both ends of the balancing pole are provided with compression zone, the compression zone include include that being pressed inside the balancing pole is set
Slot, the compression slot opening are arranged towards the arc pressure section, are provided with arc compression plate, second in the compression groove
Compressed spring and pressure sensitive plate, the pressure sensitive plate are located at the bottom of the compression groove, and second compressed spring connects
The pressure sensitive plate and the arc compression plate are connect, the arc compression plate is blocked in the movement that the drive rod moves upwards
On stroke, the middle position of the balancing pole is provided with gravity regulating tank, is provided with gravity regulating part in the gravity regulating tank
And driving mechanism.
Above-mentioned robot balanced structure, further includes pressure inductor and controller, the pressure inductor and the pressure
Power tablet is connected, and the pressure inductor and the driving mechanism are connected with the controller.
Above-mentioned robot balanced structure, the gravity regulating part include multiple weighted spherical balls, are set in the gravity regulating tank
It is equipped with adjusting rod, the weighted spherical ball is slidably connected on the adjusting rod.
Above-mentioned robot balanced structure, the stress foot includes U-board, and the U-board is fixed on the connecting rod lower end
And opening down setting, stressed plate is provided with below the U-board, and motion bar, the U-board are provided on the stressed plate
Downside on be provided with loose slot, the motion bar is limited in the loose slot, the top of the stressed plate and the U-board
Third compressed spring is provided between portion.
Above-mentioned robot balanced structure, the two sides of the mobile device are provided with auxiliary stress balance part, the auxiliary
Stress balance part includes the stress support rod being fixed in the mobile device, and the lower end connection of the stress support rod is flexible
Bolster.
Above-mentioned robot balanced structure, the resilient snubber include connecting plate, hydraulically extensible column, the 4th compressed spring
And supporting block, the connecting plate are fixed on the lower end of the stress support rod, the hydraulically extensible column is fixed on the connecting plate
Lower surface, the supporting block is fixed on the lower end of the hydraulically extensible column, and the 4th compressed spring is connected to the connection
Between the lower surface of plate and the upper surface of supporting block.
In the above-mentioned technical solutions, robot balanced structure provided by the utility model is provided with stationary machines on pedestal
The fixed part of people, the bottom of pedestal are provided with mobile device, and the self-service balancing device of stress is additionally provided on pedestal, and stress is self-service flat
Weighing apparatus device includes force mechanism and balance adjustment mechanism, and force mechanism includes guide cylinder, stressed member and actuator, stressed member and drive
It is provided with compressed spring between moving part, plays the role of buffering when can tilt to robot by compressed spring, makes robot
Keep balance, balance adjustment mechanism includes setting strut and balancing pole, the fixation of strut on the base, the centre of balancing pole
Position and the top of strut are rotatablely connected, and the middle position of balancing pole is provided with gravity regulating tank, sets in the gravity regulating tank
It is equipped with gravity regulating part and driving mechanism, so when robot run-off the straight, stressed member can offset with the mobile face of robot
Pressure, so that actuator be pushed to move along guide cylinder, actuator drives balancing pole rotation, and balancing pole and gravity regulating part match,
So that the centre-of gravity shift of robot, keeps the balance of robot, while the compression zone at balancing pole both ends includes pressure sensitive
Plate is able to detect actuator to its pressure by pressure sensitive plate, so that passing through driving mechanism drives the movement of gravity regulating part
So that robot keeps balance, the self-service balance device structure of this stress is simple, is convenient for Operation and maintenance.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only to record in the utility model
Some embodiments be also possible to obtain other drawings based on these drawings for those of ordinary skill in the art.
Fig. 1 is the structural schematic diagram of robot balanced structure provided by the embodiment of the utility model；
Fig. 2 is the structural schematic diagram of balance adjustment mechanism provided by the embodiment of the utility model；
Fig. 3 is the structural schematic diagram of auxiliary stress balance part provided by the embodiment of the utility model.
Description of symbols:
1, pedestal；1.1, mobile device；2, robot；3, force mechanism；3.1, guide cylinder；3.2, lower movable plate；3.3,
Connecting rod；3.4, the first compressed spring；3.5, upper mobile board；3.6, drive rod；4, balance adjustment mechanism；4.1, strut；4.2, it puts down
Weigh bar；4.2.1, compression groove；4.2.2, gravity regulating tank；4.3, rotating member；4.4, arc compression plate；4.5, the second compression bullet
Spring；4.6, pressure sensitive plate；4.7, gravity regulating part；4.8, driving mechanism；5, controller；6, stress foot；6.1, U-board；
6.2, stressed plate；6.3, motion bar；6.4, third compressed spring；7, stress balance part is assisted；7.1, connecting plate；7.2, hydraulic to stretch
Contracting column；7.3, the 4th compressed spring；7.4, supporting block；7.5, stress support rod.
Specific embodiment
In order to make those skilled in the art more fully understand the technical solution of the utility model, below in conjunction with attached drawing pair
The utility model is further detailed.
As shown in Figure 1-3, a kind of robot balanced structure provided by the embodiment of the utility model, including pedestal 1, pedestal 1
On be provided with the fixed part of stationary machines people 2, the bottom of pedestal 1 is provided with mobile device 1.1, further includes the self-service balance dress of stress
It sets, the self-service balancing device of stress includes force mechanism 3 and balance adjustment mechanism 4, and force mechanism 3 is corresponding with mobile device 1.1 to be set
It sets, for mobile device 1.1 at least provided with a force mechanism 3 along the direction to move forward and backward, force mechanism 3 includes guiding
Cylinder 3.1, stressed member and actuator, guide cylinder 3.1 are arranged through 1 upper and lower surface of pedestal, are provided with sliding slot in guide cylinder 3.1, by
Power part includes lower movable plate 3.2, connecting rod 3.3 and stress foot 6, and the two sides of lower movable plate 3.2 are provided with sliding block, and sliding block is limited in cunning
In slot, the upper end of connecting rod 3.3 is fixed on the lower surface of lower movable plate 3.2, and stress foot 6 is fixed on the lower end of connecting rod 3.3, stress foot
A stress gap is preset between 6 and the mobile face of robot 2；Actuator includes upper mobile board 3.5 and drive rod 3.6, on
The two sides of movable plate 3.5 are also equipped with sliding block, and sliding block is limited in sliding slot, pass through between upper mobile board 3.5 and lower movable plate 3.2
First compressed spring 3.4 is connected, and drive rod 3.6 is fixed on the upper surface of upper mobile board 3.5, the top setting of drive rod 3.6
There is arc pressure section；Balance adjustment mechanism 4 includes that setting strut 4.1 and balancing pole 4.2, the lower end of strut 4.1 are fixed on pedestal 1
On, the middle position of balancing pole 4.2 is provided with rotating member 4.3, the upper end rotation connection of rotating member 4.3 and strut 4.1, balancing pole
4.2 both ends are provided with compression zone, compression zone include include the compression groove 4.2.1 being arranged in inside balancing pole 4.2, pressed
Slot 4.2.1 opening is arranged towards arc pressure section, is provided with arc compression plate 4.4, the second compressed spring in compression groove 4.2.1
4.5 and pressure sensitive plate 4.6, pressure sensitive plate 4.6 is located at the bottom of compression groove 4.2.1, the second compressed spring 4.5 connection pressure
Power tablet 4.6 and arc compression plate 4.4, arc compression plate 4.4 are blocked in the movement travel that drive rod 3.6 moves upwards,
The middle position of balancing pole 4.2 is provided with gravity regulating tank 4.2.2, is provided with gravity regulating part 4.7 in gravity regulating tank 4.2.2
With driving mechanism 4.8.
Specifically, being provided with fixed part on pedestal 1, robot 2 can be fixed on pedestal 1 by fixed part, pedestal 1
Bottom is provided with mobile device 1.1, and mobile device 1.1 can be idler wheel mechanism, is also possible to crawler-type mobile mechanism, can be with
It is other structures in the prior art, is additionally provided with the self-service balancing device of stress on pedestal 1, the self-service balancing device of stress can be
Robot 2 is automatically adjusted the center of gravity of robot 2 to side tilting, so that robot 2 is able to maintain balance, will not go out
It now turns on one's side, the self-service balancing device of stress includes that 3 peace of force mechanism and regulating mechanism, force mechanism 3 are tilted in robot 2
When will receive pressure, force mechanism 3 is correspondingly arranged with mobile device 1.1, and in mobile device 1.1 along the direction to move forward and backward
On at least provided with a force mechanism 3, so certifiable robot 2 lean forward or swing back along moving direction can automatically into
Row balance adjustment, for example, when mobile device 1.1 be crawler-type mobile mechanism, set in the direction of advance side of crawler-type mobile mechanism
A force mechanism 3 is set, a force mechanism 3 is also provided in the direction of retreat side of crawler-type mobile mechanism, also such as moves
Device 1.1 is idler wheel mechanism, is also respectively provided with a force mechanism 3, stress machine in the front and rear sides of the rotating direction of idler wheel mechanism
Structure 3 includes guide cylinder 3.1, stressed member and actuator, and guide cylinder 3.1 is vertically fixed on pedestal 1, and guide cylinder 3.1 runs through bottom
The upper and lower surface of seat 1 is arranged, and sliding slot is provided in guide cylinder 3.1, and sliding slot is arranged along the vertical direction of guide cylinder 3.1, stressed member
Including lower movable plate 3.2, connecting rod 3.3 and stress foot 6, the two sides of lower movable plate 3.2 are provided with sliding block, and sliding block is limited in sliding slot
Interior, sliding block can slide up and down along the chute, and the upper end of connecting rod 3.3 is fixed on the lower surface of lower movable plate 3.2, and stress foot 6 is fixed
In the lower end of connecting rod 3.3, a stress gap, the i.e. height of stress foot 6 are preset between stress foot 6 and the mobile face of robot 2
Degree is slightly above the height in the mobile face of robot 2, so during 2 normal movement of robot, between stress foot 6 and mobile face
Mutually separate, it is inconsistent between stress foot 6 and mobile face when 2 run-off the straight of robot, so that stress foot 6 is under pressure, thus
Drive link 3.3 and lower movable plate 3.2 are moved upwards along guide cylinder 3.1, and actuator includes upper mobile board 3.5 and drive rod 3.6,
The two sides of upper mobile board 3.5 are also equipped with sliding block, and sliding is limited in sliding slot, and upper mobile board 3.5 is blocked in lower 3.2 edge of movable plate
In the movement travel that guide cylinder 3.1 moves upwards, the first compression bullet is provided between upper mobile board 3.5 and lower movable plate 3.2
Spring 3.4, drive rod 3.6 are fixed on the upper surface of upper mobile board 3.5, and the top of drive rod 3.6 is arranged cambered pressure section, works as machine
It is inconsistent between stress foot 6 and mobile face when device 2 run-off the straight of people, under the driving that stress foot 6 is under pressure, 3.3 He of connecting rod
Lower movable plate 3.2 is moved upwards along guide cylinder 3.1, to push the first compressed spring 3.4 to be pressurized and drive 3.5 He of upper mobile board
Drive rod 3.6 moves upwards, and can so drive to balance adjustment mechanism 4, so that balance adjustment mechanism 4 is to robot 2
Center of gravity be adjusted so that robot 2 is able to maintain balance, the first compressed spring 3.4 plays the role of buffering, to robot
2 slope trend is buffered, and robot 2 is avoided to topple over.
In the present embodiment, gentle regulating mechanism includes strut 4.1 and balancing pole 4.2, and the lower end of strut 4.1 is fixed on pedestal
On 1, the middle position of balancing pole 4.2 is provided with rotating member 4.3, the upper end rotation connection of rotating member 4.3 and strut 4.1, so that
Balancing pole 4.2 can be rotated around the upper end of strut 4.1, and the both ends of balancing pole 4.2 are provided with compression zone, and compression zone includes setting
The compression groove 4.2.1 inside balancing pole 4.2, the opening down arc pressure section setting of compression groove 4.2.1 are set, arc supports
Splenium can partially be located in compression groove 4.2.1, and when drive rod 3.6 moves upwards, radian pressure section is towards compression groove
4.2.1 bottom moves, and is provided with arc compression plate 4.4, the second compressed spring 4.5 and pressure sensitive plate 4.6 in stress groove,
Pressure sensitive plate 4.6 is located at the bottom of compression groove 4.2.1, and the second compressed spring 4.5 is fixed on the following table of pressure sensitive plate 4.6
On face, arc compression plate 4.4 is fixed on the lower end of the second compressed spring 4.5, and curved portion and the arc of arc compression plate 4.4 compress
Portion is correspondingly arranged, and arc compression plate 4.4 is blocked in the movement travel that drive rod 3.6 moves upwards, when drive rod 3.6 is being pressurized
It when being moved upwards under the action of mechanism, is pressed against each other between arc pressure section and arc compression plate 4.4, so that the second compression bullet
Spring 4.5 compresses and compresses pressure sensitive plate 4.6, and the second compressed spring 4.5 and the first compressed spring 3.4 match, can be to machine
Buffering is played the role of in the inclination of device people 2, keeps the balance of robot 2, the middle position of balancing pole 4.2 is provided with gravity tune
Slot 4.2.2 is saved, is provided with gravity regulating part 4.7 and driving mechanism 4.8 in gravity regulating tank 4.2.2, gravity regulating part 4.7 can be with
It is that gravity adjusts ball, adjusting block, is also possible to controller 5 and gravity adjusts the structure that ball is combined, can also be the prior art
In other structures, after the pressure that pressure sensitive plate 4.6 is subject to is more than predicted value, driving mechanism 4.8 and gravity regulating part 4.7
The center of gravity of robot 2 is adjusted, so that robot 2 is able to maintain balance.
Robot balanced structure provided by the embodiment of the utility model is provided with the fixation of stationary machines people 2 on pedestal 1
Portion, the bottom of pedestal 1 are provided with mobile device 1.1, and the self-service balancing device of stress, the self-service balance of stress are additionally provided on pedestal 1
Device includes force mechanism 3 and balance adjustment mechanism 4, and force mechanism 3 includes guide cylinder 3.1, stressed member and actuator, stressed member
It is provided with compressed spring between actuator, plays the role of buffering when can tilt to robot 2 by compressed spring, makes machine
Device people 2 keeps balance, and balance adjustment mechanism 4 includes that setting strut 4.1 and balancing pole 4.2, strut 4.1 are fixed on pedestal 1,
The middle position of balancing pole 4.2 and the top of strut 4.1 are rotatablely connected, and the middle position of balancing pole 4.2 is provided with gravity adjusting
It is provided with gravity regulating part 4.7 and driving mechanism 4.8 in slot 4.2.2, gravity regulating tank 4.2.2, so when robot 2 inclines
When oblique, stressed member can be pressed against each other with the mobile face of robot 2, so that actuator is pushed to move along guide cylinder 3.1, actuator driving
Balancing pole 4.2 rotates, and balancing pole 4.2 and gravity regulating part 4.7 match, so that the centre-of gravity shift of robot 2, keeps holding machine
The balance of device people 2, while the compression zone at 4.2 both ends of balancing pole includes pressure sensitive plate 4.6, it can by pressure sensitive plate 4.6
Detection actuator drives gravity regulating part 4.7 to move so that robot 2 is kept its pressure to pass through driving mechanism 4.8
Balance, the self-service balance device structure of this stress is simple, is convenient for Operation and maintenance.
In the present embodiment, it is preferred that it further include pressure inductor and controller 5, pressure inductor and pressure sensitive plate 4.6
It is connected, pressure inductor and driving mechanism 4.8 are connected with controller 5；Pressure inductor is connected with pressure sensitive plate 4.6
It connects, the pressure being able to detect on pressure sensitive plate 4.6, after the pressure on pressure sensitive plate 4.6 is more than preset value, controller 5
Control driving mechanism 4.8 drives gravity regulating part 4.7, is adjusted by center of gravity of the gravity regulating part 4.7 to robot 2
It is whole, avoid robot 2 from turning on one's side.
In the present embodiment, it is preferred that gravity regulating part 4.7 includes multiple weighted spherical balls, is provided in gravity regulating tank 4.2.2
Adjusting rod, weighted spherical ball are slidably connected on adjusting rod；Weighted spherical ball can be slided along adjusting rod, so when balancing pole 4.2 exists
After being rotated under the action of drive rod 3.6, weighted spherical ball can be slided along adjusting rod to the inclined opposite direction of robot 2 automatically,
To play the role of balance adjustment to robot 2, after robot 2 keeps balancing, balancing pole 4.2 keeps horizontal position,
Weighted spherical ball is restored to initial position at this time.
In the present embodiment, it is preferred that stress foot 6 includes U-board 6.1, and U-board 6.1 is fixed on 3.3 lower end of connecting rod and opening
It is arranged downward, the lower section of U-board 6.1 is provided with stressed plate 6.2, motion bar 6.3 is provided on stressed plate 6.2, U-board 6.1
Loose slot is provided on downside, motion bar 6.3 is limited in loose slot, is set between stressed plate 6.2 and the top of U-board 6.1
It is equipped with third compressed spring 6.4；When 2 run-off the straight of robot, it is pressed against each other between stressed plate 6.2 and mobile face, stressed plate 6.2
On motion bar 6.3 inwardly moved along loose slot, to compress third compressed spring 6.4, drive link 3.3 and lower movable plate
3.2 movements, can be to machine by the effect of the first compressed spring 3.4, the second compressed spring 4.5 and third compressed spring 6.4
Buffering is played the role of in the inclination of people 2, and robot 2 is enabled to be able to maintain balance when slight inclination occurs.
In the present embodiment, it is preferred that the two sides of mobile device 1.1 are provided with auxiliary stress balance part 7, assist stress balance
Part 7 includes the stress support rod 7.5 being fixed in mobile device 1.1, and the lower end of stress support rod 7.5 is connected with elastic buffer
Part, resilient snubber include connecting plate 7.1, hydraulically extensible column 7.2, the 4th compressed spring 7.3 and supporting block 7.4, connecting plate 7.1
It is fixed on the lower end of stress support rod 7.5, hydraulically extensible column 7.2 is fixed on the lower surface of connecting plate 7.1, and supporting block 7.4 is fixed
In the lower end of hydraulically extensible column 7.2, the 4th compressed spring 7.3 is connected to the lower surface of connecting plate 7.1 and the upper table of supporting block 7.4
Between face；By assisting stress balance part 7 that can prevent left and right sides run-off the straight of the robot 2 to moving direction, work as machine
Left and right sides run-off the straight from people 2 to moving direction when, be pressed against each other between supporting block 7.4 and mobile face, it is connecting plate 7.1, hydraulic
Telescopic mast 7.2 and stress support rod 7.5 play a supporting role to robot 2, prevent robot 2 from toppling over, while passing through the 4th pressure
Contracting spring 7.3 plays the role of buffering to the inclination of robot 2, increases the balance of robot 2.
It is above that certain exemplary embodiments of the utility model are only described by way of explanation, undoubtedly, for
Those skilled in the art can be with a variety of different without departing from the spirit and scope of the utility model
Mode is modified described embodiment.Therefore, above-mentioned attached drawing and description are regarded as illustrative in nature, and should not be construed as
Limitation to the utility model claims protection scope.
Claims (6)
1. a kind of robot balanced structure, including pedestal, the fixed part of stationary machines people, the pedestal are provided on the pedestal
Bottom be provided with mobile device, which is characterized in that further include the self-service balancing device of stress, the self-service balancing device packet of stress
Force mechanism and balance adjustment mechanism are included, the force mechanism is correspondingly arranged with the mobile device, and the mobile device is before
At least provided with a force mechanism on into the direction with retrogressing, the force mechanism include guide cylinder, stressed member and
Actuator, the guide cylinder are arranged through the pedestal upper and lower surface, are provided with sliding slot, the stressed member packet in the guide cylinder
Lower movable plate, connecting rod and stress foot are included, the two sides of the lower movable plate are provided with sliding block, and the sliding block is limited in the sliding slot
Interior, the upper end of the connecting rod is fixed on the lower surface of the lower movable plate, and the stress foot is fixed on the lower end of the connecting rod, institute
It states and is preset with stress gap between stress foot and the mobile face of the robot；
The actuator includes upper mobile board and drive rod, and the two sides of the upper mobile board are also equipped with the sliding block, the cunning
Block is limited in the sliding slot, is connected between the upper mobile board and lower movable plate by the first compressed spring, the driving
Bar is fixed on the upper surface of the upper mobile board, and arc pressure section is provided at the top of the drive rod；
The balance adjustment mechanism includes strut and balancing pole, and the lower end of the strut is fixed on the base, the balance
The middle position of bar is provided with rotating member, the upper end rotation connection of the rotating member and the strut, the both ends of the balancing pole
It is provided with compression zone, the compression zone includes the compression groove being arranged in inside the balancing pole, compression slot opening court
It is arranged to the arc pressure section, is provided with arc compression plate, the second compressed spring and pressure sensitive plate in the compression groove,
The pressure sensitive plate is located at the bottom of the compression groove, and second compressed spring connects the pressure sensitive plate and described
Arc compression plate, the arc compression plate is blocked in the movement travel that the drive rod moves upwards, in the balancing pole
Meta position, which installs, is equipped with gravity regulating tank, is provided with gravity regulating part and driving mechanism in the gravity regulating tank.
2. robot balanced structure according to claim 1, which is characterized in that it further include pressure inductor and controller,
The pressure inductor is connected with the pressure sensitive plate, the pressure inductor and the driving mechanism with the control
Device is connected.
3. robot balanced structure according to claim 1, which is characterized in that the gravity regulating part includes multiple counterweights
Ball is provided with adjusting rod in the gravity regulating tank, and the weighted spherical ball is slidably connected on the adjusting rod.
4. robot balanced structure according to claim 1, which is characterized in that the stress foot includes U-board, the U
Shape plate is fixed on the connecting rod lower end and opening down setting, is provided with stressed plate below the U-board, on the stressed plate
It is provided with motion bar, loose slot is provided on the downside of the U-board, the motion bar is limited in the loose slot, institute
It states and is provided with third compressed spring between stressed plate and the top of the U-board.
5. robot balanced structure according to claim 1, which is characterized in that the two sides of the mobile device are provided with auxiliary
Stress balance part is helped, the auxiliary stress balance part includes the stress support rod being fixed in the mobile device, the stress
The lower end of support rod is connected with resilient snubber.
6. robot balanced structure according to claim 5, which is characterized in that the resilient snubber include connecting plate,
Hydraulically extensible column, the 4th compressed spring and supporting block, the connecting plate is fixed on the lower end of the stress support rod, described hydraulic
Telescopic mast is fixed on the lower surface of the connecting plate, and the supporting block is fixed on the lower end of the hydraulically extensible column, and the described 4th
Compressed spring is connected between the lower surface of the connecting plate and the upper surface of supporting block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821802795.8U CN209078786U (en) | 2018-11-02 | 2018-11-02 | Robot balanced structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821802795.8U CN209078786U (en) | 2018-11-02 | 2018-11-02 | Robot balanced structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209078786U true CN209078786U (en) | 2019-07-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821802795.8U Active CN209078786U (en) | 2018-11-02 | 2018-11-02 | Robot balanced structure |
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| CN (1) | CN209078786U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114193515A (en) * | 2021-12-30 | 2022-03-18 | 重庆特斯联智慧科技股份有限公司 | Warehouse stabilizing device of logistics robot and control method thereof |
-
2018
- 2018-11-02 CN CN201821802795.8U patent/CN209078786U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114193515A (en) * | 2021-12-30 | 2022-03-18 | 重庆特斯联智慧科技股份有限公司 | Warehouse stabilizing device of logistics robot and control method thereof |
| CN114193515B (en) * | 2021-12-30 | 2024-05-24 | 重庆特斯联智慧科技股份有限公司 | Warehouse stabilizing device of logistics robot and control method thereof |
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