CN212706865U

CN212706865U - Regulation and control structure of robot

Info

Publication number: CN212706865U
Application number: CN202021148015.XU
Authority: CN
Inventors: 李季
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-06-19
Filing date: 2020-06-19
Publication date: 2021-03-16
Anticipated expiration: 2030-06-19

Abstract

The utility model discloses a regulation and control structure of a robot, which relates to the field of robots and comprises an installation bottom plate, two groups of counter weights and two adjusting components for adjusting the positions of the counter weights, wherein each group of counter weights comprises two counter weights, and each adjusting component comprises a connecting rod and a rodless cylinder; the gravity center position of the robot is controlled through the four balancing weights, and the positions of the four balancing weights are adjusted through the action of the two rodless cylinders, so that the integral gravity center position of the robot is changed, the stability of the robot can be guaranteed under different conditions, and the environmental conditions for using the robot are widened.

Description

Regulation and control structure of robot

Technical Field

The utility model relates to a robot field especially relates to a regulation and control structure of robot.

Background

A Robot (Robot) is a machine device for automatically executing work, which can receive human commands, run a pre-programmed program, and perform actions according to principles formulated by artificial intelligence technology, and has a task of assisting or replacing human work, such as production, construction, or dangerous work, but the existing Robot has a problem that the Robot is generally provided with a balancing weight, and the position of the balancing weight cannot be adjusted according to actual conditions.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a regulation and control structure of robot has just been designed in order to solve above-mentioned problem.

The utility model discloses a following technical scheme realizes above-mentioned purpose:

the regulation and control structure of robot, including mounting plate, two sets of counter weight components and two adjusting part that are used for adjusting the counter weight component position, mounting plate fixed mounting is inside the fuselage shell of robot, and two sets of counter weight component movable mounting are inside the fuselage shell of robot, and an adjusting part's regulation effect end acts on a set of counter weight component, two sets of counter weight component's regulation moving direction mutually perpendicular.

Further, each set of weights comprises two weights, each adjustment assembly comprising:

a connecting rod; two balancing weights of one group of balancing parts are respectively and fixedly connected with two ends of the connecting rod;

a rodless cylinder; the rodless cylinder is fixedly arranged on the mounting bottom plate, and a sliding block of the rodless cylinder is fixedly connected with the middle point of the connecting rod.

Furthermore, the centers of gravity of the four balancing weights are on the same plane, and the plane is perpendicular to the gravity direction.

The beneficial effects of the utility model reside in that: the center of gravity position of the robot is controlled by the four balancing weights, and the positions of the four balancing weights are adjusted by the action of the two rodless cylinders, so that the center of gravity position of the whole robot is changed, the robot can ensure the stability of the robot under different conditions, the environmental condition of the use of the robot is relaxed, for example, when the robot goes up a slope or a downslope, one rodless cylinder which controls the balancing weight to move towards the direction which is already moved or retreats is started, the four balancing weights are moved, so that the center of gravity of the robot is close to one end with a higher slope, the stability of the robot on the upslope or the downslope is improved, when the two sides of the robot are uneven due to unevenness of the ground when the robot walks, the two rodless cylinders are started to drive the four balancing weights to move, so as to ensure the stability of the robot when the robot walks on the ground, when the robot walks, at the moment, the two rodless cylinders drive the four balancing weights to move to the central annular array distribution of the bottom plate, and therefore the stability of the robot can be guaranteed.

Drawings

Fig. 1 is a schematic front view of a control structure of the robot of the present invention;

FIG. 2 is a schematic left view of the control structure of the robot of the present invention;

fig. 3 is a schematic top view of the mounting base plate in the control structure of the robot according to the present invention;

wherein corresponding reference numerals are:

1-mounting a bottom plate, 2-balancing weights, 3-connecting rods, 4-rodless cylinders, 5-supports and 6-sliding blocks.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings in the embodiments of the present invention are combined below to clearly and completely describe the technical solutions in the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "inner", "outer", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, or orientations or positional relationships that are conventionally placed when the products of the present invention are used, or orientations or positional relationships that are conventionally understood by those skilled in the art, and are merely for convenience of description of the present invention and simplifying the description, but do not indicate or imply that the device or element that is referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be further noted that, unless explicitly stated or limited otherwise, the terms "disposed" and "connected" are to be interpreted broadly, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; the connection may be direct or indirect via an intermediate medium, and may be a communication between the two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

The following describes in detail embodiments of the present invention with reference to the accompanying drawings.

As shown in fig. 1, 2 and 3, the regulating structure of the robot comprises a mounting base plate 1, two groups of counterweight components and two adjusting components for adjusting the positions of the counterweight components, wherein the mounting base plate 1 is fixedly mounted inside a machine body shell of the robot, the two groups of counterweight components are movably mounted inside the machine body shell of the robot, an adjusting action end of one adjusting component acts on one group of counterweight components, and adjusting moving directions of the two groups of counterweight components are mutually perpendicular.

As shown in fig. 1, 2, 3, each set of weights comprises two weights 2, each adjustment assembly comprising:

a connecting rod 3; two balancing weights 2 of one group of balancing parts are respectively and fixedly connected with two ends of a connecting rod 3;

a rodless cylinder 4; the rodless cylinder 4 is fixedly arranged on the mounting base plate 1, and a sliding block 6 of the rodless cylinder 4 is fixedly connected with the middle point of the connecting rod 3.

Two rodless cylinders 4 are vertically and relatively vertically arranged, the central axes of the two rodless cylinders 4 are coincided with the central axis of the mounting base plate 1, the two ends of the rodless cylinder 4 above are fixed on the mounting base plate 1 through the support 5, and the sliding block 6 of the rodless cylinder 1 above faces downwards.

As shown in fig. 1, 2 and 3, the centers of gravity of the four counterweights 2 are on the same plane, and the plane is perpendicular to the direction of gravity.

The utility model discloses the theory of operation of the regulation and control structure of robot as follows:

the overall state of the robot is detected through the electronic level meter, the detected state data of the robot is transmitted to the central controller, the central controller obtains a result according to data comparison and analysis and controls the work of the two rodless cylinders 4 according to the result, if the electronic level meter detects that the robot is in an up-slope or down-slope state, the central controller controls one rodless cylinder 4 to be started, the rodless cylinder 4 drives the connecting rod 3 fixed on the sliding block 6 and the two balancing weights 2 fixed on the connecting rod 3 to move towards one end with a high slope, the stability of the robot on the up-slope or the down-slope is improved, and when the electronic level meter detects that the robot is in the up-slope or down-slope state, the central controller controls the two rodless cylinders 4 to be started to drive the four balancing weights 2 to move so as to ensure the stability of the robot when the robot walks on uneven ground, when the electronic level meter detects that the robot walks on a flat ground, the central controller controls the two rodless cylinders 4 to be started, the four balancing weights 2 are driven to move to be distributed in a central annular array mode relative to the bottom plate, the robot is enabled to recover a balance state, the stability of the robot can be guaranteed under different conditions, and the use environment of the robot is widened.

The technical scheme of the utility model is not limited to the restriction of above-mentioned specific embodiment, all according to the utility model discloses a technical scheme makes technical deformation, all falls into within the protection scope of the utility model.

Claims

1. Regulation and control structure of robot, its characterized in that: the robot comprises a mounting base plate, two groups of counterweight components and two adjusting components used for adjusting the positions of the counterweight components, wherein the mounting base plate is fixedly mounted inside a machine body shell of the robot, the two groups of counterweight components are movably mounted inside the machine body shell of the robot, an adjusting action end of one adjusting component acts on one group of counterweight components, and the adjusting moving directions of the two groups of counterweight components are perpendicular to each other.

2. The control structure of a robot according to claim 1, wherein: each set of weight member includes two balancing weights, and each adjusting part includes:

3. The control structure of a robot according to claim 2, wherein: the centers of gravity of the four balancing weights are on the same plane, and the plane is vertical to the gravity direction.