CN221232552U

CN221232552U - Degree of freedom adjusting structure of security robot

Info

Publication number: CN221232552U
Application number: CN202322896749.6U
Authority: CN
Inventors: 耿坚
Original assignee: Anhui Jiuzhou Agricultural Technology Co ltd
Current assignee: Anhui Jiuzhou Agricultural Technology Co ltd
Priority date: 2023-10-27
Filing date: 2023-10-27
Publication date: 2024-06-28
Anticipated expiration: 2033-10-27

Abstract

The utility model discloses a degree-of-freedom adjusting structure of a security robot, which comprises a robot body, wherein the upper end surface of the robot body is fixedly connected with a fixing sheet, the upper end surface of the fixing sheet is fixedly connected with a fixing column, a camera is arranged above the fixing column, a movable groove is formed in the robot body, a T-shaped circular groove is formed in the inner top wall of the movable groove, a T-shaped cylinder is rotationally connected with the inner side of the T-shaped circular groove, the lower end surface of the T-shaped cylinder is fixedly connected with an electric telescopic column, the movable end of the electric telescopic column is fixedly connected with a supporting disc, the upper wall of the movable groove is fixedly connected with a first gear, the robot can be rapidly turned, the problem that the robot works is influenced due to the fact that the robot is troublesome to turn through a small space is avoided, a great deal of time is consumed in the turning of the robot, the flexibility and the mobility in the using process of the robot are improved, and the robot can be better adjusted.

Description

Degree of freedom adjusting structure of security robot

Technical Field

The utility model relates to the field of robots, in particular to a freedom degree adjusting structure of a security robot.

Background

The security robot is a robot which is semi-autonomous, autonomous or assists a human being to complete security work under complete control of the human being, when the security robot is used, the surrounding environment is required to be monitored or photographed in multiple directions, so that the security robot is used, the flexibility of the freedom degree is required to be adjusted, the security robot can be conveniently applied to practice, and the flexibility and the maneuverability of the security robot are improved.

When the existing security robot is used, the security robot needs to be used in different environments, once the road conditions are complex, the normal running of the security robot can be influenced, most of the existing security robot can only rotate through the forward or backward auxiliary steering wheel, if the space is narrow or the passing space is effective, the robot can run to meet the obstacle, the robot is turned or the direction is changed to be relatively troublesome, a certain time is required to be consumed, and therefore the practicability is reduced.

Disclosure of utility model

The utility model provides a degree-of-freedom adjusting structure of a security robot, which can enable a supporting disc to be in contact with the ground through the use of an electric telescopic column, so that the whole robot is supported, then the rotation of a first positive and negative motor can enable a second gear to be meshed with a first gear for rotation, so that the second gear is enabled to carry out rapid direction adjustment on the whole robot, the rapid direction adjustment of the robot can be realized, the problems that the robot is troublesome to turn and consumes a large amount of time to influence the operation of the robot through a small space are avoided, the flexibility and the maneuverability of the robot in the use process are improved, and the robot can be better adjusted and used.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a degree of freedom regulation structure of security protection robot, includes the robot body, robot body up end fixedly connected with stationary blade, stationary blade up end fixedly connected with fixed column, the fixed column top is equipped with the camera, the internal movable groove that has seted up of robot, set up T type circular slot on the movable inslot roof, T type circular slot internal rotation is connected with T type cylinder, terminal surface fixedly connected with electric telescopic column under the T type cylinder, electric telescopic column expansion end fixedly connected with supporting disk, fixedly connected with first gear on the movable inslot roof, first gear with robot body fixedly connected with, the standing groove has been seted up to the robot body in, fixedly connected with first positive and negative motor in the standing groove, first positive and negative motor output is connected with the axis of rotation, the axis of rotation is kept away from the one end fixedly connected with second gear of first positive and negative motor, the second gear outer edge with first gear engagement.

The beneficial effects of the utility model are as follows: through setting up electric telescopic column and supporting disk, can support whole robot, realize going up and down, under the effect of first positive and negative motor, can make the second gear drive first gear rotation to make whole robot and T type cylinder take place to rotate, carry out quick adjustment to the formal form direction of robot, improve the flexibility in the robot use:

In order to realize the rapid turning around of the robot in a narrow space, the mobility of the robot in the use process is improved:

As a further improvement of the above technical scheme: the fixed column is kept away from the one end rotation of stationary blade is connected with the link, it has the dwang to articulate on the link, fixedly connected with fixed block on the dwang surface, the fixed block with camera fixed connection, link one side fixedly connected with locating plate, locating plate up end fixedly connected with second positive and negative motor, second positive and negative motor output is connected with the third gear, the outer meshing of third gear has the sector tooth piece, the sector tooth piece with dwang fixed connection.

The beneficial effects of this improvement are: through the effect of second positive and negative motor, can make the meshing between third gear and the fan-shaped tooth piece, make the fan-shaped tooth piece take the dwang to rotate, carry out nimble adjustment to the shooting pitch angle of camera, improve the shooting scope of camera at shooting in-process:

In order to realize the angle adjustment that the camera shot, improve the shooting scope of camera:

As a further improvement of the above technical scheme: the fixed column is internally provided with a mounting groove, a rotating groove is formed above the mounting groove, the mounting groove is communicated with the rotating groove, a third positive and negative motor is fixedly connected in the mounting groove, the output end of the third positive and negative motor is connected with a rotating column, and the rotating column is fixedly connected with the connecting frame.

The beneficial effects of this improvement are: through the use of third positive and negative motor and column spinner, can conveniently rotate whole link through the column spinner, can be better carry out nimble adjustment to the shooting direction of making a video recording, realize making a video recording and pass through shooting at the degree of surrounding no dead angle, can nimble left and right rotation or rotation improves the flexibility that the camera used:

In order to realize the flexibility of camera rotation or rotation, shoot in the use of being convenient for:

As a further improvement of the above technical scheme: the support plate is characterized in that a plurality of rubber blocks are fixedly connected to the lower end face of the support plate, the rubber blocks are uniformly distributed on the axis of the support plate, and a plurality of uniformly distributed heat dissipation holes are formed in the support plate.

The beneficial effects of this improvement are: four rubber blocks can produce the frictional force that increases between ground, become the steadiness of big supporting disk and ground, can provide stable guarantee for robot reverse direction, and the louvre can carry out effectual heat dissipation to the heat that first positive and negative motor produced, prolongs the life-span of first positive and negative motor use, reduces the emergence of fault rate:

in order to achieve stabilization between the robot and the ground:

as a further improvement of the above technical scheme: the robot body lower terminal surface fixedly connected with a plurality of universal wheels.

The beneficial effects of this improvement are: the traveling direction of the robot can be flexibly adjusted through the universal wheels, and the flexibility of the robot in the use process is improved:

In order to facilitate better control of the driving track in the use process of the robot:

As a further improvement of the above technical scheme: and the fixing column is provided with a plurality of through holes, and the through holes are communicated with the mounting groove.

The beneficial effects of this improvement are: through a plurality of through-holes, can carry out quick heat dissipation with the heat that third positive and negative motor produced, avoid third positive and negative motor temperature too high, influence normal use:

In order to realize effective heat dissipation of the third forward and reverse motor:

As a further improvement of the above technical scheme: a rotating groove is formed in the inner wall of the movable groove and is communicated with the movable groove and the placing groove

The beneficial effects of this improvement are: the groove of rotation can make things convenient for first gear and second gear contact, prevents to block when second gear rotates, provides effectual space for the meshing rotation between first gear and the second gear:

in order to achieve an efficient coupling rotation between the first gear and the second gear:

Drawings

FIG. 1 is a schematic perspective view of the present utility model;

FIG. 2 is an enlarged view of the utility model at A in FIG. 1;

FIG. 3 is a schematic diagram of a second perspective structure of the present utility model;

FIG. 4 is a top view of the present utility model;

FIG. 5 is a perspective cross-sectional view of the utility model at A-A in FIG. 3;

Fig. 6 is a top view of the present utility model.

In the figure: 1. a robot body; 21. a fixing piece; 22. fixing the column; 23. a camera; 24. a movable groove; 25. a T-shaped round groove; 26. a T-shaped cylinder; 27. an electric telescopic column; 28. a support plate; 29. a first gear; 30. a placement groove; 31. a first reversible motor; 32. a rotating shaft; 33. a second gear; 41. a connecting frame; 42. a rotating lever; 43. a fixed block; 44. a positioning plate; 45. a second forward and reverse motor; 46. a third gear; 47. sector tooth blocks; 51. a mounting groove; 52. a rotary groove; 53. a third forward and reverse motor; 54. a spin column; 55. a rubber block; 56. a heat radiation hole; 61. a universal wheel; 62. a through hole; 63. the groove is rotated.

Detailed Description

In order that those skilled in the art may better understand the technical solutions of the present utility model, the following detailed description of the present utility model with reference to the accompanying drawings is provided for exemplary and explanatory purposes only and should not be construed as limiting the scope of the present utility model.

As shown in fig. 1 to 6, the degree of freedom adjusting structure of a security robot provided by the embodiment of the utility model comprises a robot body 1, wherein a fixing piece 21 is fixedly connected to the upper end surface of the robot body 1, a fixing column 22 is fixedly connected to the upper end surface of the fixing piece 21, a camera 23 is arranged above the fixing column 22, the fixing column 22 can effectively support and fix the camera 23, a movable groove 24 is arranged in the robot body 1, a T-shaped circular groove 25 is arranged on the inner top wall of the movable groove 24, a T-shaped cylinder 26 is rotationally connected to the T-shaped circular groove 25, an electric telescopic column 27 is fixedly connected to the lower end surface of the T-shaped cylinder 26, the cooperation between the T-shaped circular groove 25 and the T-shaped cylinder 26 is realized, Can ensure that the condition of shaking and falling off can not occur in the process of stretching and retracting the electric telescopic column 27, the movable end of the electric telescopic column 27 is fixedly connected with the supporting disk 28, the inner top wall of the movable groove 24 is fixedly connected with the first gear 29, the first gear 29 is fixedly connected with the robot body 1, the placing groove 30 is arranged in the robot body 1, the first positive and negative motor 31 is fixedly connected in the placing groove 30, the output end of the first positive and negative motor 31 is connected with the rotating shaft 32, one end of the rotating shaft 32 far away from the first positive and negative motor 31 is fixedly connected with the second gear 33, the outer edge of the second gear 33 is meshed with the first gear 29, the first positive and negative motor 31 rotates, The second gear 33 and the first gear 29 can be meshed, so that the robot body 1 rotates between the parts such as the camera 23 and the support disc 28, the robot body 1 can be quickly rotated, one end of the fixed column 22, which is far away from the fixed sheet 21, is rotationally connected with the connecting frame 41, the connecting frame 41 can ensure the stability of the camera 23 in the use process, the inner wall of the movable groove 24 is provided with the rotating groove 63, the rotating groove 63 is communicated with the movable groove 24 and the placing groove 30, the rotating groove 63 can provide an effective space for the movement between the first gear 29 and the second gear 33, the first gear 29 is prevented from being clamped in the rotating process, The connecting frame 41 is hinged with a rotating rod 42, a fixed block 43 is fixedly connected on the outer surface of the rotating rod 42, the fixed block 43 is fixedly connected with the camera 23, the rotating rod 42 carries the camera 23 on the fixed block 43 to rotate at a certain pitch angle, one side of the connecting frame 41 is fixedly connected with a positioning plate 44, the upper end surface of the positioning plate 44 is fixedly connected with a second positive and negative motor 45, the output end of the second positive and negative motor 45 is connected with a third gear 46, the outer edge of the third gear 46 is meshed with a sector-shaped tooth block 47, the sector-shaped tooth block 47 is fixedly connected with the rotating rod 42, the third gear 46 is meshed with the sector-shaped tooth block 47 in cooperation with the rotation of the second positive and negative motor 45, Further, the pitch angle shot by the camera 23 is well controlled, the mounting groove 51 is arranged in the fixed column 22, the rotary groove 52 is arranged above the mounting groove 51, the mounting groove 51 is communicated with the rotary groove 52, the third positive and negative motor 53 is fixedly connected in the mounting groove 51, the fixed column 22 is provided with a plurality of through holes 62, the through holes 62 are communicated with the mounting groove 51, the plurality of through holes 62 can radiate heat generated by the third positive and negative motor 53, the service life of the third positive and negative motor 53 is prolonged, the output end of the third positive and negative motor 53 is connected with the rotary column 54, the rotary column 54 is fixedly connected with the connecting frame 41, the third positive and negative motor 53 rotates, The rotating column 54 can carry the connecting frame 41 to rotate 360 degrees with the axle center of the fixed column 22 without dead angles, meanwhile, the camera 23 can be conveniently driven left and right, the using possibility of the camera 23 is improved, the flexibility is improved, the lower end surface of the supporting disk 28 is fixedly connected with a plurality of rubber blocks 55, the plurality of rubber blocks 55 are uniformly distributed with the axle center of the supporting disk 28, the supporting disk 28 is provided with a plurality of uniformly distributed heat dissipation holes 56, the rubber blocks 55 can increase the friction force with the ground, the whole robot is ensured to be more stable and not to topple or skew when the robot turns around, avoid the robot to make the damage, the louvre 56 can be with the quick heat dissipation of first positive and negative motor 31 production heat, terminal surface fixedly connected with a plurality of universal wheels 61 under the robot body 1, and the universal wheel 61 can conveniently control the robot, improves the motion track of robot in the process of traveling, improves the flexibility ratio of using.

The working principle and the using flow of the utility model are as follows: when the robot is used, firstly, when the robot runs to a narrow space and needs to turn quickly, the supporting disc 28 moves to the ground through the expansion and contraction of the electric expansion column 27, the four rubber blocks 55 at the bottom of the supporting disc 28 are in contact with the ground, when the supporting disc 28 is completely fixed with the ground, the first positive and negative motor 31 rotates, the second gear 33 and the first gear 29 are meshed and rotated, the first gear 29 rotates between the robot body 1 and the T-shaped cylinder 26, so that the robot body 1 is quickly turned, in the process of shooting the robot, if the shooting needs, the change of the pitching angle is needed, the third gear 46 and the sector gear block 47 can be meshed through the rotation of the second positive and negative motor 45, the pitching angle of the camera 23 is quickly adjusted through the rotation of the sector gear block 47, the camera 23 can be rotated or rotated in an all-around mode through the rotation of the third positive and negative motor 53, the flexibility of the camera 23 in the use process is improved, and the whole robot flexible use process is realized in sequence.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The principles and embodiments of the present utility model have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present utility model and its core ideas. The foregoing is merely illustrative of the preferred embodiments of the utility model, and it is noted that there is virtually no limit to the specific structure which may be imposed by those skilled in the art without departing from the spirit of the utility model, and that modifications, adaptations, or variations of the foregoing features may be combined in a suitable manner; such modifications, variations and combinations, or the direct application of the inventive concepts and aspects to other applications without modification, are contemplated as falling within the scope of the present utility model.

Claims

1. The utility model provides a degree of freedom regulation structure of security protection robot, includes robot body (1), its characterized in that: the novel robot comprises a robot body (1), wherein a fixing sheet (21) is fixedly connected to the upper end face of the robot body (1), a fixing column (22) is fixedly connected to the upper end face of the fixing sheet (21), a camera (23) is arranged above the fixing column (22), a movable groove (24) is formed in the robot body (1), a T-shaped circular groove (25) is formed in the inner top wall of the movable groove (24), a T-shaped cylinder (26) is rotationally connected to the T-shaped circular groove (25), and an electric telescopic column (27) is fixedly connected to the lower end face of the T-shaped cylinder (26);

The utility model discloses a motor-driven telescopic column, including motor-driven telescopic column (27), supporting disk (28) is connected with to motor-driven telescopic column (27) expansion end fixedly connected with, fixedly connected with first gear (29) on the roof in movable groove (24), first gear (29) with robot body (1) fixed connection, standing groove (30) have been seted up in robot body (1), fixedly connected with is first positive and negative motor (31) in standing groove (30), first positive and negative motor (31) output is connected with axis of rotation (32), axis of rotation (32) are kept away from one end fixedly connected with second gear (33) of first positive and negative motor (31), second gear (33) outer edge with first gear (29) meshing.

2. The degree of freedom adjustment structure of a security robot of claim 1, wherein: the utility model discloses a camera, including fixed column (22), fixed plate (41), fixed column (22), fixed plate (44), positive and negative motor (45) of locating plate (44) up end, positive and negative motor (45) output is connected with third gear (46), the meshing of third gear (46) outer edge has fan-shaped tooth piece (47), fan-shaped tooth piece (47) with dwang (42) fixed connection, fixed column (22) is kept away from one end rotation of fixed plate (21) is connected with link (41), articulated on link (41) have dwang (42), fixedly connected with fixed block (43) with camera (23), link (41) one side fixedly connected with locating plate (44), positive and negative motor (45) output is connected with third gear (46).

3. The degree of freedom adjustment structure of a security robot of claim 2, wherein: the fixing device is characterized in that a mounting groove (51) is formed in the fixing column (22), a rotating groove (52) is formed in the upper portion of the mounting groove (51), the mounting groove (51) is communicated with the rotating groove (52), a third positive and negative motor (53) is fixedly connected in the mounting groove (51), a rotating column (54) is connected to the output end of the third positive and negative motor (53), and the rotating column (54) is fixedly connected with the connecting frame (41).

4. The degree of freedom adjustment structure of a security robot of claim 1, wherein: the support plate (28) is fixedly connected with a plurality of rubber blocks (55), the rubber blocks (55) are used for evenly dividing the axle center of the support plate (28), and a plurality of evenly distributed radiating holes (56) are formed in the support plate (28).

5. The degree of freedom adjustment structure of a security robot of claim 1, wherein: the robot is characterized in that a plurality of universal wheels (61) are fixedly connected to the lower end face of the robot body (1).

6. A degree of freedom adjustment structure of a security robot according to claim 3, characterized in that: a plurality of through holes (62) are formed in the fixing columns (22), and the through holes (62) are communicated with the mounting grooves (51).

7. The degree of freedom adjustment structure of a security robot of claim 1, wherein: the inner wall of the movable groove (24) is provided with a rotary groove (63), and the rotary groove (63) is communicated with the movable groove (24) and the placing groove (30).