CN120443577A - A robot for clearing landslide roads - Google Patents
A robot for clearing landslide roadsInfo
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- CN120443577A CN120443577A CN202510741060.7A CN202510741060A CN120443577A CN 120443577 A CN120443577 A CN 120443577A CN 202510741060 A CN202510741060 A CN 202510741060A CN 120443577 A CN120443577 A CN 120443577A
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- frame
- robot
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Abstract
本发明公开了一种用于山体滑坡道路清理的机器人，涉及机器人技术领域，包括机体和平衡调节组件，所述机体上设置有平衡调节组件；所述平衡调节组件包括：双轴电机、连接架、球架、调节臂和平移块。本发明通过安装有平衡调节组件，实现机器人底盘的调节，解决机器人无法根据实际地形调整机器人的姿态的问题，减少因地面倾斜而导致的机器人侧翻风险，确保底盘始终保持水平，减少因地形因素导致的停机时间。
The present invention discloses a robot for clearing landslide roads, relating to the field of robotics. The robot comprises a body and a balance adjustment assembly, the body being provided with the balance adjustment assembly comprising a dual-axis motor, a connecting frame, a ball holder, an adjustment arm, and a translation block. By installing the balance adjustment assembly, the present invention enables adjustment of the robot chassis, resolving the problem of the robot's inability to adjust its posture according to the actual terrain, reducing the risk of the robot rolling over due to ground tilt, ensuring that the chassis remains level, and minimizing downtime caused by terrain factors.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot for cleaning landslide roads.
Background
Landslide belongs to frequent geological disasters, often causes road interruption and traffic paralysis, and can threaten rescue efficiency and personnel safety. Traditional manual cleaning methods are inefficient and at higher risk, while complex terrain conditions, such as crushed stone accumulation, muddy roads, boulder obstructions, etc., place more stringent demands on mechanical equipment.
The traditional robot chassis lacks an active leveling function, and is difficult to adapt to gradient change or ground collapse. When going up and down a slope or crossing a gully, the chassis cannot be automatically adjusted horizontally, which can lead to center of gravity deviation, lower operation stability and even possible inclination and overturning of a vehicle body.
Patent CN209126846U discloses a landslide land disaster rescue robot that security is high, and above-mentioned patent has realized the steady support to intelligent robot, avoids intelligent robot to empty when the excavation, and the people of being convenient for use can place personal rescue article, improves rescue efficiency.
The intelligent robot is stably supported, so that the problem that people are injured due to the fact that the intelligent robot is easy to topple when excavating a landslide area with loose earth quality on the ground is solved, but space is optimized in the aspect of balance when the robot moves.
Therefore, the application provides a robot for cleaning landslide roads, which can realize adjustment of a robot chassis.
Disclosure of Invention
The invention aims to provide a robot for cleaning landslide roads, which aims to solve the technical problem that the robot is laterally turned over due to the inclination of the ground when the robot moves or works in the background technology.
The invention provides a technical scheme that the robot for cleaning mountain landslide roads comprises a machine body and a balance adjusting assembly, wherein the machine body is provided with the balance adjusting assembly;
The balance adjusting assembly comprises a double-shaft motor, a connecting frame, a ball frame, an adjusting arm and a shifting block;
The bottom of the machine body is provided with a chassis, the chassis is symmetrically and fixedly provided with a connecting frame, the connecting frame is movably sleeved on the outer wall of the ball frame, the ball frame is symmetrically arranged in the connecting frame, the side wall of the ball frame is fixedly connected with an adjusting arm, the outer wall of the adjusting arm is rotatably connected with a mounting plate, the device is characterized in that a translation block is fixedly connected to the bottom of the outer wall of the mounting plate, a frame is movably sleeved on the outer wall of the translation block, a double-shaft motor is symmetrically and fixedly installed in the frame, a symmetry axis is symmetrically and movably installed on the outer wall of the double-shaft motor, and the translation block is connected to the outer wall of the symmetry axis through threads.
Preferably, the connecting frame is provided with a stabilizing component, and the stabilizing component adopts one of a stop mechanism and a collision mechanism;
The stop mechanism comprises a telescopic device, a push plate, a stop plate and a stop piece;
The locking groove is formed in the connecting frame, the locking groove is movably sleeved on the outer wall of the locking plate, the locking piece is symmetrically and fixedly connected to the bottom of the outer wall of the locking plate and located above the ball frame, the reset plate is symmetrically and fixedly connected to the outer wall of the locking plate, the connecting frame is movably sleeved on the outer wall of the reset plate, the reset spring is fixedly connected to the bottom of the outer wall of the reset plate, the connecting frame is fixedly connected to the bottom of the outer wall of the reset spring, the opening groove is formed in the top of the connecting frame, the telescopic device is symmetrically and fixedly connected to the bottom of the outer wall of the telescopic device, the pushing plate is located in the opening groove, and the opening groove is communicated with the locking groove.
Preferably, the abutting mechanism comprises a first motor, a lifting plate, a pressure sensor, a pushing rod, a pushing column and a compression spring;
The connecting frame is internally and fixedly provided with a first motor, the top of the outer wall of the first motor is movably provided with a first rotating shaft, the outer wall of the first rotating shaft is connected with a lifting plate through threads, the outer wall of the lifting plate is movably sleeved with a chassis, the outer wall of the lifting plate is symmetrically and fixedly connected with a positioning plate, the chassis is internally and symmetrically provided with positioning grooves, the positioning grooves are movably sleeved on the outer wall of the positioning plate, the outer wall of the lifting plate is symmetrically and fixedly connected with a pressure sensor, the pressure sensor is connected with a first motor through Bluetooth, the outer wall bottom of the pressure sensor is fixedly connected with a pushing rod, the outer wall of the pushing rod is movably sleeved with a pushing column, the outer wall bottom of the pushing rod is fixedly connected with a compression spring, the outer wall of the compression spring is fixedly connected with a pushing column, the outer wall of the pushing column is movably sleeved with a connecting frame, and the pushing column is contacted with an adjusting arm.
Preferably, the adjusting arm is provided with a supporting component, and the supporting component comprises a first supporting plate, a second supporting plate, a supporting cylinder and a supporting column;
adjust arm lateral wall fixedly connected with second installation body, second installation body lateral wall rotation is connected with the second backup pad, second backup pad lateral wall rotation is connected with first backup pad, first backup pad lateral wall rotation is connected with first installation body, first installation body symmetry sets up in first installation body both sides, first installation body fixed connection is at frame outer wall top, first backup pad lateral wall rotation is connected with a support section of thick bamboo, a support section of thick bamboo movable sleeve dress is at the support column outer wall, support column lateral wall rotation is connected with the second backup pad.
Preferably, the rack is provided with a protection assembly, and the protection assembly comprises a first telescopic pipe, a second telescopic pipe, a protection plate and a first spring;
The protection groove has been seted up to frame outer wall top symmetry, and protection groove movable sleeve is at the guard plate outer wall, and the guard plate contacts with the chassis, and guard plate outer wall bottom fixedly connected with first spring, first spring outer wall bottom fixedly connected with frame, the first flexible pipe of frame lateral wall fixedly connected with, the first flexible pipe of translation piece one side fixedly connected with, the flexible pipe of translation piece opposite side fixedly connected with second, flexible pipe lateral wall fixedly connected with frame of second, first flexible pipe and second flexible pipe cover are established at the symmetry axis outer wall.
Preferably, the walking mechanism is arranged on the frame, the top of the outer wall of the frame is fixedly connected with the central frame, the central frame is movably arranged on the outer wall of the bearing frame, and the outer wall of the bearing frame is fixedly connected with the chassis.
Preferably, the support column lateral wall fixedly connected with built-in plate, built-in plate outer wall movable sleeve is equipped with the support section of thick bamboo, and support section of thick bamboo movable sleeve dress is at the stripper plate outer wall, stripper plate lateral wall fixedly connected with second spring, second spring lateral wall fixedly connected with built-in plate, stripper plate outer wall fixedly connected with electric putter, electric putter fixed mounting in the support column.
Preferably, the guard plate lateral wall fixedly connected with curb plate, guard plate lateral wall fixedly connected with second motor, second motor lateral wall movable mounting have the second pivot, and second pivot outer wall has first translation board through threaded connection, first translation board outer wall top fixedly connected with laminating piece, laminating piece contact with the guard plate, laminating piece lateral wall fixedly connected with second translation board, second translation board outer wall symmetry is provided with the clearance board.
Preferably, the stopper is fixed on the side wall of the first translation plate, the protection plate is movably sleeved on the outer wall of the stopper, the second translation plate is movably sleeved on the outer wall of the limit bar, the cleaning plate is fixed on the side wall of the limit bar, the connecting bodies are fixedly connected on the side wall of the cleaning plate, the cleaning plates are symmetrically arranged on the two sides of the connecting bodies, the top of the outer wall of the connecting bodies is fixedly connected with a third spring, the top of the outer wall of the third spring is fixedly connected with the second translation plate, the cleaning plate is contacted with the frame, and the cleaning plate is contacted with the protection plate.
Preferably, the outer wall of the connecting frame is symmetrically provided with a first movable groove, the bottom of the outer wall of the chassis is symmetrically provided with a second movable groove, and the first movable groove is communicated with the second movable groove.
Compared with the prior art, the invention has the beneficial effects that:
1. According to the invention, the balance adjusting assembly is arranged to realize the adjustment of the chassis of the robot, so that the problem that the robot cannot adjust the posture of the robot according to the actual terrain is solved, the rollover risk of the robot caused by the inclination of the ground is reduced, the chassis is ensured to be always kept horizontal, and the downtime caused by the terrain factors is reduced;
2. according to the invention, the stabilizing component is arranged, so that the fixed stop of the robot ball frame and the adjusting arm is realized, the unnecessary displacement of the robot chassis caused by vibration is solved, and the stability and safety of the robot operation are improved;
3. According to the invention, the support assembly is arranged to realize the support of the robot adjusting arm, so that the problem of excessive concentration of stress on the local part of the robot is solved, and the stability of the robot on a mountain sliding ramp road with complex terrain and larger gradient is enhanced;
4. according to the invention, the protection component is arranged, so that the problem that impurities such as external mud stones and rainwater affect the adjustment of the robot chassis is solved, the stability of the adjustment of the robot chassis is improved, and the service life of the robot is prolonged.
Drawings
FIG. 1 is a schematic side view of the present invention;
FIG. 2 is a schematic diagram of a balance adjustment assembly according to the present invention;
FIG. 3 is a schematic cross-sectional view of a frame of the present invention;
FIG. 4 is a schematic cross-sectional view of a support cylinder of the present invention;
FIG. 5 is a schematic view of a stop mechanism according to the present invention;
FIG. 6 is a schematic view of a pressing mechanism according to the present invention;
FIG. 7 is a schematic view of a protective assembly according to the present invention;
Fig. 8 is a schematic view of a second translation plate of the present invention.
In the figure, 1, a machine body; 2, a chassis; the device comprises a frame, 4, a travelling mechanism, 5, a connecting body, 6, a double-shaft motor, 7, a connecting frame, 8, a first movable groove, 9, a ball frame, 10, an adjusting arm, 11, a mounting plate, 12, a translation block, 13, a symmetrical shaft, 14, a first telescopic pipe, 15, a second telescopic pipe, 16, a first mounting body, 17, a first supporting plate, 18, a second supporting plate, 19, a second mounting body, 20, a supporting cylinder, 21, a supporting column, 22, a protection plate, 23, a first spring, 24, a protection groove, 25, a built-in plate, 26, a second spring, 27, a squeezing plate, 28, an electric push rod, 29, a second movable groove, 30, a first motor, 31, a first rotating shaft, 32, a lifting plate, 33, a pressure sensor, 34, a pushing rod, 35, a pushing post, 36, a compression spring, 37, a positioning groove, 38, a positioning plate, 39, a telescopic device, 40, a pushing plate, 41, an opening groove, 42, a stop plate, 43, a stop groove, 44, a reset plate, 45, a reset spring, 46, a second motor, a second moving plate, 47, a second limiting plate, 48, a second moving plate, a limit plate, a first rotating shaft, a second limiting plate, a limit plate, a moving plate, a frame, a bearing plate, a third rotating shaft, a limiting plate, a moving plate, a frame, a moving plate, and a supporting plate, a frame.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, unless explicitly stated or limited otherwise, the terms "mounted," "configured to," "connected," and the like are to be construed broadly as, for example, "connected" may be a fixed connection, may be a removable connection, or an integral connection, may be a mechanical connection or an electrical connection, may be a direct connection or may be an indirect connection via an intermediary, or may be a communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Referring to fig. 1, 2 and 3, the robot for cleaning landslide roads provided by the invention comprises a machine body 1 and a balance adjusting assembly, wherein the machine body 1 is provided with the balance adjusting assembly, the balance adjusting assembly comprises a double-shaft motor 6, a connecting frame 7, a ball frame 9, an adjusting arm 10 and a translation block 12, a chassis 2 is arranged at the bottom of the machine body 1, the connecting frame 7 is symmetrically and fixedly arranged on the chassis 2, the connecting frame 7 is movably sleeved on the outer wall of the ball frame 9, the ball frame 9 is symmetrically arranged in the connecting frame 7, the side wall of the ball frame 9 is fixedly connected with the adjusting arm 10, the outer wall of the adjusting arm 10 is rotationally connected with a mounting plate 11, the bottom of the outer wall of the mounting plate 11 is fixedly connected with the translation block 12, the outer wall of the translation block 12 is movably sleeved with a frame 3, the double-shaft motor 6 is symmetrically and movably arranged in the frame 3, the outer wall of the double-shaft motor 6 is symmetrically and movably provided with a symmetrical shaft 13, and the outer wall of the symmetrical shaft 13 is connected with the translation block 12 through threads;
The walking mechanism 4 is arranged on the frame 3, the top of the outer wall of the frame 3 is fixedly connected with a central frame 51, the central frame 51 is movably arranged on the outer wall of the bearing frame 50, the outer wall of the bearing frame 50 is fixedly connected with the chassis 2, the outer wall of the connecting frame 7 is symmetrically provided with a first movable groove 8, the bottom of the outer wall of the chassis 2 is symmetrically provided with a second movable groove 29, and the first movable groove 8 is communicated with the second movable groove 29.
Further, in the complex topography of mountain landslide, the ground tends to be extremely uneven, when running gear 4 passes through uneven ground, organism 1, chassis 2, frame 3 can incline, integrated gyroscope in organism 1, accelerometer, sensors such as inclination sensor start biax motor 6 when detecting organism 1 and when time exceeds the threshold value of predetermineeing and does not resume the level, biax motor 6 in the robot, biax motor 6 drives symmetry axis 13 rotation, symmetry axis 13 drives translation piece 12 and removes, make translation piece 12 each other of biax motor 6 both sides be close to or keep away from, translation piece 12 drives mounting panel 11 and removes, mounting panel 11 drives adjusting arm 10, adjusting arm 10 drives ball frame 9, ball frame 9 drives link 7, link 7 drives chassis 2, according to organism 1, chassis 2, the inclination of frame 3, control the biax motor 6 start of corresponding direction, adjust chassis 2, for example: the robot tilts left and right, the machine body 1, the chassis 2 and the machine frame 3 are high in left side and low in right side, a control system in the robot starts a double-shaft motor 6 on the right side of the machine frame 3, so that the double-shaft motor 6 on the right side rotates positively, translation blocks 12 on two sides of the double-shaft motor 6 are close to each other, the translation blocks 12 drive, the mounting plate 11, the adjusting arm 10, the ball frame 9, the connecting frame 7 and the chassis 2, so that the right side of the chassis 2 moves upwards gradually, the whole chassis 2 and the machine body 1 are horizontal gradually, in addition, if a sensor in the machine body 1 detects that the tilting angle of the robot is large, the control system starts the double-shaft motor 6 on one side only, so that the chassis 2 and the machine body 1 are not guaranteed to be horizontal, the control system starts the double-shaft motor 6 on the left side and the right side simultaneously, so that the double-shaft motor 6 on the right side of the machine frame 3 rotates positively, in addition, if the inclination generated by the robot has a certain angle with the action direction or the front-back direction of the frame 3, the two-shaft motors 6 on the left side and the right side are only started, or the two-shaft motors 6 on the front-back side are not enough to ensure the level of the chassis 2 and the chassis 1, the control system starts a plurality of the two-shaft motors 6 of the frame 3 according to the inclination angles of the frame 1 and the chassis 2, and the chassis 2 are kept level by jointly adjusting the four two-shaft motors 6;
In the process of adjusting the machine body 1 and the chassis 2 by the balance adjusting component, the chassis 2 drives the bearing frame 50 to move in the central frame 51, the bearing frame 50 and the central frame 51 provide supporting function, stress is prevented from being concentrated on parts such as the adjusting arm 10, the ball frame 9 and the connecting frame 7, the parts are prevented from being damaged, the use safety of the device is improved, the service life of the device is prolonged, the first movable groove 8 and the second movable groove 29 are arranged to provide a movable range for the adjusting arm 10, the movable range of the adjusting arm 10 is prevented from being limited by the connecting frame 7 and the machine frame 3, the device adjusts the posture of the robot according to actual topography, the robot rollover risk caused by the inclination of the ground is effectively reduced by keeping the machine body 1 and the chassis 2 always horizontal, the operation continuity and the safety are ensured, the robot can continuously operate in a severe environment, and the downtime caused by the topography factors is reduced.
Referring to fig. 1, 2 and 5, an embodiment of the invention provides a robot for cleaning landslide roads, which comprises a machine body 1 and a balance adjusting assembly, wherein the machine body 1 is provided with the balance adjusting assembly, the balance adjusting assembly comprises a double-shaft motor 6, a connecting frame 7, a ball frame 9, an adjusting arm 10 and a translation block 12, the connecting frame 7 is provided with a stabilizing assembly, the stabilizing assembly is one of a stop mechanism and a collision mechanism, the stop mechanism comprises a telescopic device 39, a pushing plate 40, a stop plate 42 and a stop plate 49, a stop groove 43 is formed in the connecting frame 7, the stop groove 43 is movably sleeved on the outer wall of the stop plate 42, the bottom of the outer wall of the stop plate 42 is symmetrically and fixedly connected with the stop plate 49, the stop plate 49 is positioned above the ball frame 9, the outer wall of the stop plate 42 is symmetrically and fixedly connected with a reset plate 44, the outer wall of the reset plate 44 is movably sleeved with the connecting frame 7, the bottom of the outer wall of the reset plate 44 is fixedly connected with a reset spring 45, the bottom of the outer wall of the reset spring 45 is fixedly connected with the connecting frame 7, the top of the connecting frame 7 is provided with an open slot 41, the inner part of the connecting frame 7 is fixedly connected with the bottom of the reset plate 44, the telescopic device 39 is fixedly connected with the bottom of the telescopic device 40, and the bottom 40 is fixedly connected with the open slot 41, and the open slot 41 is fixedly connected with the open slot 41.
Further, in the process of adjusting the machine body 1 and the chassis 2, a control system in the robot starts a telescopic device 39 in the chassis 2 at first to enable the telescopic device 39 to gradually shrink, the telescopic device 39 drives a push plate 40, the push plate 40 is not contacted with a stop plate 42 any more, the push plate 40 gradually moves out of an opening groove 41, a return spring 45 is restored to an original state from a compressed state, the return spring 45 drives a return plate 44, the return plate 44 drives the stop plate 42 to move in the stop groove 43, the stop plate 42 drives a stop plate 49 to be not contacted with the ball frame 9 any more, so that the stop of the ball frame 9 is relieved, at the moment, the control system starts a required double-shaft motor 6 according to a detection result of a sensor, so that the chassis 2 and the machine body 1 are adjusted to be kept horizontal, after the machine body 1 and the chassis 2 are adjusted, the control system closes the double-shaft motor 6, and starts the telescopic device 39 to enable the telescopic device 39 to gradually stretch, the push plate 40 moves into the opening groove 41, the push plate 40 gradually contacts with the stop plate 42, the push plate 40 drives the stop plate 42 to move in the stop groove 43, the stop plate 42 drives the stop plate 44 to move in the compression plate 44, and the stop plate 45 drives the stop plate 49 to be contacted with the ball frame 9, and the ball frame 9 is prevented from being pressed by the robot to be in contact with the ball frame 9, and the ball frame 9 is prevented from being pressed and being influenced by the vibration of the robot, and the ball frame 9 when the robot is pressed to be in contact with the ball frame 9, and the ball frame 9 is kept horizontal, and the vibration frame 9 is prevented from being pressed, the vibration frame 9 is caused.
Referring to fig. 1,2 and 6, an embodiment of the invention provides a robot for cleaning landslide roads, which comprises a machine body 1 and a balance adjusting assembly, wherein the machine body 1 is provided with the balance adjusting assembly, the balance adjusting assembly comprises a double-shaft motor 6, a connecting frame 7, a ball frame 9, an adjusting arm 10 and a translation block 12, the connecting frame 7 is provided with a stabilizing assembly, the stabilizing assembly is one of a stop mechanism and a collision mechanism, the collision mechanism comprises a first motor 30, a lifting plate 32, a pressure sensor 33, a pushing rod 34, a pushing post 35 and a compression spring 36, a first motor 30 is fixedly arranged in the connecting frame 7, a first rotating shaft 31 is movably arranged at the top of the outer wall of the first motor 30, the outer wall of the first rotating shaft 31 is connected with a lifting plate 32 through threads, the outer wall of the lifting plate 32 is movably sleeved with a base plate 2, the outer wall of the lifting plate 32 is symmetrically and fixedly connected with a positioning plate 38, the inner wall of the base plate 2 is symmetrically provided with a positioning groove 37, the positioning groove 37 is movably sleeved on the outer wall of the positioning plate 38, the bottom of the lifting plate 32 is fixedly connected with a Bluetooth motor 33, the pushing rod 33 is fixedly connected with the pushing rod 35, the pushing rod 35 is fixedly connected with the bottom of the compression post 35, the pushing rod 35 is fixedly connected with the pushing rod 35, and the pushing rod 35 is fixedly connected with the bottom of the compression post 35, and the pushing rod 35 is fixedly connected with the pushing rod 35, and the lifting rod is movably sleeved on the outer wall by the lifting plate 32.
Further, in the process of adjusting the machine body 1 and the chassis 2, the control system in the robot starts the first motor 30 at first, so that the first motor 30 drives the first rotating shaft 31 to rotate positively, the first rotating shaft 31 drives the lifting plate 32 to move upwards, the lifting plate 32 drives the positioning plate 38 to move in the positioning groove 37, the positioning plate 38 and the positioning groove 37 avoid the offset when the lifting plate 32 moves, the lifting plate 32 drives the pressure sensor 33 and the pushing rod 34, the compression spring 36 is gradually recovered from a compressed state, at the moment, the control system starts the required double-shaft motor 6 according to the detection result of the sensor in the machine body 1, thereby adjusting the chassis 2 and the machine body 1 to be horizontal, and in the process of adjusting the chassis 2, under the elastic force of the compression spring 36, the compression spring 36 drives the pushing column 35 to be always contacted with the adjusting arm 10, and meanwhile, the pushing column 35 does not influence the movement of the adjusting arm 10; after the chassis 2 and the machine body 1 are regulated, the control system turns off the double-shaft motor 6 and starts the first motor 30, so that the first motor 30 drives the first rotating shaft 31 to reversely rotate, the first rotating shaft 31 drives the lifting plate 32 to downwards move, the lifting plate 32 drives the pressure sensor 33 and the pushing rod 34, the pushing rod 34 gradually presses the compression spring 36, when the two pressure sensors 33 on the lifting plate 32 detect that the pressure data reach the threshold range, the pressure sensor 33 turns off the first motor 30, the compression spring 36 presses the pushing column 35, the pushing column 35 presses the regulating arm 10, at the moment, the regulating arm 10 cannot drive the pushing column 35 to continuously compress the compression spring 36 so as to fix the regulating arm 10, compared with the stop mechanism, the abutting mechanism cannot wear the ball frame 9, the gap between the ball frame 9 and the connecting frame 7 is prevented from being increased, resulting in reduced device accuracy.
Referring to fig. 1, 2 and 4, in an embodiment of the present invention, a supporting assembly is disposed on an adjusting arm 10, and the supporting assembly includes a first supporting plate 17, a second supporting plate 18, a supporting cylinder 20 and a supporting column 21, wherein a second mounting body 19 is fixedly connected to a side wall of the adjusting arm 10, a second supporting plate 18 is rotatably connected to a side wall of the second mounting body 19, a first supporting plate 17 is rotatably connected to a side wall of the second supporting plate 18, a first mounting body 16 is rotatably connected to a side wall of the first supporting plate 17, the first mounting bodies 16 are symmetrically disposed at two sides of the first mounting body 16, the first mounting body 16 is fixedly connected to the top of an outer wall of a frame 3, the supporting cylinder 20 is movably sleeved on an outer wall of the supporting column 21, and the second supporting plate 18 is rotatably connected to a side wall of the supporting column 21;
The support column 21 lateral wall fixedly connected with built-in plate 25, built-in plate 25 outer wall activity cover is equipped with support section of thick bamboo 20, and support section of thick bamboo 20 activity cover dress is at the stripper plate 27 outer wall, stripper plate 27 lateral wall fixedly connected with second spring 26, second spring 26 lateral wall fixedly connected with built-in plate 25, stripper plate 27 outer wall fixedly connected with electric putter 28, electric putter 28 fixed mounting is in support column 21.
Further, when the adjusting arm 10 moves, the electric push rod 28 is started, the electric push rod 28 contracts, the electric push rod 28 drives the extrusion plate 27, the extrusion plate 27 stretches the second spring 26, the adjusting arm 10 drives the second installation body 19, the second installation body 19 drives the second support plate 18, the second support plate 18 drives the first support plate 17 and the support column 21, the first support plate 17 drives the support cylinder 20, after the adjusting arm 10 is adjusted, the electric push rod 28 is started, the electric push rod 28 stretches, the electric push rod 28 drives the extrusion plate 27, the extrusion plate 27 gradually compresses the second spring 26, the second spring 26 is gradually in a limit compression state, and accordingly the second installation body 19, the second support plate 18, the first support plate 17, the support column 21 and the support cylinder 20 provide a supporting effect for the adjusting arm 10, external force borne by the adjusting arm 10 is transmitted to the frame 3 through the second support plate 18, the first support plate 17, the support cylinder 20 and the first installation body 16, stress is prevented from being concentrated on the adjusting arm 10, bending or damaging the adjusting arm 10 is avoided, safety of the equipment is improved, and the service life of the equipment is prolonged.
Referring to fig. 1,2 and 7, in an embodiment of the present invention, a protection assembly is provided on a frame 3 of a robot for cleaning landslide roads, the protection assembly includes a first telescopic tube 14, a second telescopic tube 15, a protection plate 22 and a first spring 23, a protection slot 24 is symmetrically provided at the top of the outer wall of the frame 3, the protection slot 24 is movably sleeved on the outer wall of the protection plate 22, the protection plate 22 contacts with a chassis 2, the bottom of the outer wall of the protection plate 22 is fixedly connected with the first spring 23, the bottom of the outer wall of the first spring 23 is fixedly connected with the frame 3, a side wall of the frame 3 is fixedly connected with the first telescopic tube 14, one side of a translation block 12 is fixedly connected with the first telescopic tube 14, the other side of the translation block 12 is fixedly connected with the second telescopic tube 15, the side wall of the second telescopic tube 15 is fixedly connected with the frame 3, the first telescopic tube 14 and the second telescopic tube 15 are sleeved on the outer wall of the symmetry axis 13, a travelling mechanism 4 is provided on the frame 3, the top of the outer wall of the frame 3 is fixedly connected with a central frame 51, the central frame 51 is movably mounted on the outer wall of the carrier 50, and the outer wall of the carrier 50 is fixedly connected with the chassis 2.
Further, in the process of adjusting the chassis 2, under the action of the elastic force of the first spring 23, the first spring 23 drives the protection plate 22 to move in the protection groove 24, the protection plate 22 is always in contact with the chassis 2, under the action of the protection plate 22, impurities such as mud stones splashed on the travelling mechanism 4 or rainwater brought by the environment can be blocked by the protection plate 22, the impurities are prevented from entering between the chassis 2 and the frame 3, the impurities are prevented from splashing on the central frame 51 and the bearing frame 50, abrasion is caused on the central frame 51 and the bearing frame 50, the stability and balance adjusting function of the robot are affected, when the balance adjustment of the robot causes a gap between the protection plate 22 and the chassis 2, under the action of the first telescopic pipe 14 and the second telescopic pipe 15, the translation block 12 is driven to stretch or stretch, the first telescopic pipe 14 and the second telescopic pipe 15 are always sleeved outside the symmetrical shaft 13, the impurities splashed outside are prevented from affecting the symmetrical shaft 13 through the gap between the protection plate 22 and the chassis 2, and the balance adjusting effect of the robot is ensured.
Referring to fig. 1, fig. 2, fig. 7 and fig. 8, in an embodiment of the present invention, a side plate 52 is fixedly connected to a side wall of a protection plate 22, a second motor 48 is fixedly connected to a side wall of the protection plate 22, a second rotating shaft 46 is movably mounted on a side wall of the second motor 48, a first translation plate 47 is connected to an outer wall of the second rotating shaft 46 through threads, an attaching plate 54 is fixedly connected to an outer wall top of the first translation plate 47, the attaching plate 54 contacts with the protection plate 22, a second translation plate 56 is fixedly connected to a side wall of the attaching plate 54, a cleaning plate 55 is symmetrically arranged on an outer wall of the second translation plate 56, a limiting block 53 is fixedly connected to a side wall of the first translation plate 47, the protection plate 22 is movably sleeved on an outer wall of the limiting block 58, a cleaning plate 55 is fixedly connected to a cleaning plate 55, a connecting body 5 is fixedly connected to a side wall of the cleaning plate 55, the cleaning plate 55 is symmetrically arranged on two sides of the connecting body 5, a third spring 57 is fixedly connected to an outer wall top of the connecting body 5, a second translation plate 56 is fixedly connected to an outer wall top of the third spring 57, a second translation plate 56 is symmetrically arranged on the connecting body 55, a frame 55 is fixedly connected to a frame 3, a chassis is fixedly connected to the frame 3, and is in contact with the frame 50, and is fixedly connected to the frame 50.
Further, in the adjusting process of the chassis 2, when the chassis 2 drives the protection plate 22 to move downwards, the protection plate 22 drives the first translation plate 47, the attaching piece 54 and the second translation plate 56, the second translation plate 56 moves on the limit strip 58, the second translation plate 56 compresses the third spring 57, when the protection plate 22 moves upwards, under the action of the third spring 57, the third spring 57 applies the elastic force of the connecting body 5, and the connecting body 5 applies the external force of the cleaning plate 55, so that the cleaning plate 55 always contacts with the frame 3;
The second motor 48 on the side plate 52 is started, the second motor 48 drives the second rotating shaft 46 to rotate, the second rotating shaft 46 drives the first translation plate 47 to move, the first translation plate 47 drives the limiting block 53 and the attaching plate 54 to move, the limiting block 53 avoids the offset when the first translation plate 47 moves, the attaching plate 54 drives the second translation plate 56 to move, the second translation plate 56 drives the cleaning plate 55 to move, the cleaning plate 55 cleans one side of the protection plate 22 facing the external environment, mud stones splashed onto the protection plate 22 are prevented from adhering to the protection plate 22, the movement of the protection plate 22 is influenced, and then the adjustment of the chassis 2 is influenced, and because the thickness of the attaching plate 54 is very thin, when the attaching plate 54 is positioned between the protection plate 22 and the chassis 2, the protection plate 22 is not influenced, the gap between the protection plate 22 and the chassis 2 is not increased, and the protection effect of the protection plate 22 is not influenced.
The working principle is that when the traveling mechanism 4 passes through uneven ground, the machine body 1, the chassis 2 and the machine frame 3 incline, the control system starts the telescopic device 39 or the first motor 30, and the stop of the ball rack 9 and the adjusting arm 10 is released;
Starting the double-shaft motor 6, wherein the double-shaft motor 6 drives a symmetrical shaft 13, the symmetrical shaft 13 drives a translation block 12, the translation block 12 drives a mounting plate 11, the mounting plate 11 drives an adjusting arm 10, the adjusting arm 10 drives a ball frame 9, the ball frame 9 drives a connecting frame 7, the connecting frame 7 drives a chassis 2, the chassis 2 and a machine body 1 are kept horizontal, the chassis 2 drives a protection plate 22, and the translation block 12 drives a first telescopic pipe 14 and a second telescopic pipe 15;
The adjusting arm 10 drives the second installation body 19, the second support plate 18, the first support plate 17 and the support column 21, the first support plate 17 drives the support cylinder 20, the second installation body 19, the second support plate 18, the first support plate 17, the support column 21 and the support cylinder 20 provide supporting functions for the adjusting arm 10, and the protection plate 22, the first telescopic pipe 14 and the second telescopic pipe 15 provide protection functions.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. The robot for cleaning landslide roads is characterized by comprising a machine body (1) and a balance adjusting assembly, wherein the balance adjusting assembly is arranged on the machine body (1);
The balance adjusting assembly comprises a double-shaft motor (6), a connecting frame (7), a ball frame (9), an adjusting arm (10) and a translation block (12);
The utility model discloses a machine frame, including frame (1), chassis (1), link (7) movable sleeve is at ball frame (9) outer wall, ball frame (9) symmetry sets up in link (7), ball frame (9) lateral wall fixedly connected with adjusting arm (10), adjusting arm (10) outer wall rotation is connected with mounting panel (11), mounting panel (11) outer wall bottom fixedly connected with translation piece (12), translation piece (12) outer wall movable sleeve has frame (3), symmetrical fixed mounting has biax motor (6) in frame (3), biax motor (6) outer wall symmetry movable sleeve has symmetry axis (13), symmetry axis (13) outer wall is through threaded connection has translation piece (12).
2. The robot for cleaning landslide roads according to claim 1, wherein the connecting frame (7) is provided with a stabilizing component, and the stabilizing component is one of a stop mechanism and a collision mechanism;
the stop mechanism comprises a telescopic device (39), a pushing plate (40), a stop plate (42) and a stop piece (49);
A stop groove (43) is formed in a connecting frame (7), the stop groove (43) is movably sleeved on the outer wall of a stop plate (42), a stop plate (49) is symmetrically and fixedly connected to the bottom of the outer wall of the stop plate (42), the stop plate (49) is located above a ball frame (9), a reset plate (44) is symmetrically and fixedly connected to the outer wall of the stop plate (42), the connecting frame (7) is movably sleeved on the outer wall of the reset plate (44), a reset spring (45) is fixedly connected to the bottom of the outer wall of the reset plate (44), the connecting frame (7) is fixedly connected to the bottom of the outer wall of the reset spring (45), an open slot (41) is formed in the top of the connecting frame (7), a telescopic device (39) is symmetrically and fixedly connected to a pushing plate (40) at the bottom of the outer wall of the chassis (2), the pushing plate (40) is located in the open slot (41), and the open slot (41) is communicated with the stop groove (43).
3. The robot for mountain landslide road cleaning as claimed in claim 2, wherein the collision mechanism comprises a first motor (30), a lifting plate (32), a pressure sensor (33), a pushing rod (34), a pushing column (35) and a compression spring (36);
The utility model provides a fixed mounting has first motor (30) in link (7), first motor (30) outer wall top movable mounting has first pivot (31), first pivot (31) outer wall is through threaded connection has lifter plate (32), lifter plate (32) outer wall movable sleeve is equipped with chassis (2), lifter plate (32) outer wall symmetry fixedly connected with locating plate (38), locating slot (37) have been seted up to the symmetry in chassis (2), locating slot (37) movable sleeve is at locating plate (38) outer wall, lifter plate (32) outer wall bottom symmetry fixedly connected with pressure sensor (33), pressure sensor (33) are connected with first motor (30) through bluetooth, pressure sensor (33) outer wall bottom fixedly connected with bulldozes pole (34), bulldozing pole (34) outer wall movable sleeve is equipped with pushing post (35), pushing post (35) outer wall bottom fixedly connected with compression spring (36), pushing post (35) outer wall movable sleeve is equipped with link (7), pushing post (35) are contacted with adjusting arm (10).
4. The robot for cleaning landslide roads according to claim 1, wherein the adjusting arm (10) is provided with a supporting component, and the supporting component comprises a first supporting plate (17), a second supporting plate (18), a supporting cylinder (20) and a supporting column (21);
The utility model provides an adjusting arm (10) lateral wall fixedly connected with second installation body (19), second installation body (19) lateral wall rotates and is connected with second backup pad (18), second backup pad (18) lateral wall rotates and is connected with first backup pad (17), first backup pad (17) lateral wall rotates and is connected with first installation body (16), first installation body (16) symmetry sets up in first installation body (16) both sides, first installation body (16) fixedly connected with is at frame (3) outer wall top, first backup pad (17) lateral wall rotates and is connected with support section of thick bamboo (20), support section of thick bamboo (20) movable sleeve is in support column (21) outer wall, support column (21) lateral wall rotates and is connected with second backup pad (18).
5. The robot for cleaning landslide roads according to claim 1, wherein a protective assembly is arranged on the frame (3), and comprises a first telescopic pipe (14), a second telescopic pipe (15), a protective plate (22) and a first spring (23);
The protection groove (24) has been seted up to frame (3) outer wall top symmetry, protection groove (24) movable sleeve is in guard plate (22) outer wall, guard plate (22) are contacted with chassis (2), first spring (23) of guard plate (22) outer wall bottom fixedly connected with frame (3), first flexible pipe (14) of frame (3) lateral wall fixedly connected with, first flexible pipe (14) of translation piece (12) one side fixedly connected with, flexible pipe (15) of translation piece (12) opposite side fixedly connected with second, flexible pipe (15) lateral wall fixedly connected with frame (3) of second, first flexible pipe (14) and flexible pipe (15) cover of second are established at symmetry axle (13) outer wall.
6. The robot for cleaning landslide roads according to claim 1, wherein the walking mechanism (4) is arranged on the frame (3), a central frame (51) is fixedly connected to the top of the outer wall of the frame (3), the central frame (51) is movably arranged on the outer wall of the bearing frame (50), and the chassis (2) is fixedly connected to the outer wall of the bearing frame (50).
7. The robot for cleaning landslide roads of claim 4, wherein the side wall of the supporting column (21) is fixedly connected with a built-in plate (25), the outer wall of the built-in plate (25) is movably sleeved with a supporting cylinder (20), the supporting cylinder (20) is movably sleeved on the outer wall of the extruding plate (27), the side wall of the extruding plate (27) is fixedly connected with a second spring (26), the side wall of the second spring (26) is fixedly connected with the built-in plate (25), the outer wall of the extruding plate (27) is fixedly connected with an electric push rod (28), and the electric push rod (28) is fixedly arranged in the supporting column (21).
8. The robot for cleaning landslide roads of claim 5, wherein a side plate (52) is fixedly connected to the side wall of the protection plate (22), a second motor (48) is fixedly connected to the side wall of the protection plate (22), a second rotating shaft (46) is movably mounted on the side wall of the second motor (48), a first translation plate (47) is connected to the outer wall of the second rotating shaft (46) through threads, a bonding sheet (54) is fixedly connected to the top of the outer wall of the first translation plate (47), the bonding sheet (54) is in contact with the protection plate (22), a second translation plate (56) is fixedly connected to the side wall of the bonding sheet (54), and cleaning plates (55) are symmetrically arranged on the outer wall of the second translation plate (56).
9. The robot for cleaning landslide roads of claim 8, wherein a limiting block (53) is fixedly connected to the side wall of the first translation plate (47), a protection plate (22) is movably sleeved on the outer wall of the limiting block (53), a second translation plate (56) is movably sleeved on the outer wall of a limiting strip (58), a cleaning plate (55) is fixedly connected to the side wall of the limiting strip (58), connecting bodies (5) are fixedly connected to the side wall of the cleaning plate (55), the cleaning plates (55) are symmetrically arranged on two sides of the connecting bodies (5), third springs (57) are fixedly connected to the top of the outer wall of the connecting bodies (5), a second translation plate (56) is fixedly connected to the top of the outer wall of the third springs (57), the cleaning plate (55) is in contact with the frame (3), and the cleaning plate (55) is in contact with the protection plate (22).
10. The robot for cleaning landslide roads of claim 1, wherein the outer wall of the connecting frame (7) is symmetrically provided with a first movable groove (8), the bottom of the outer wall of the chassis (2) is symmetrically provided with a second movable groove (29), and the first movable groove (8) is communicated with the second movable groove (29).
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| CN202510741060.7A CN120443577B (en) | 2025-06-05 | 2025-06-05 | Robot for cleaning landslide road |
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| CN202510741060.7A CN120443577B (en) | 2025-06-05 | 2025-06-05 | Robot for cleaning landslide road |
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| CN120443577B (en) | 2025-09-30 |
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