阅读说明：本技术 一种面向楼梯运输机器人的自动质心调平载重装置 (Automatic center of mass leveling load-carrying device for stair transportation robot ) 是由 阚江明 王德鹏 高垚垚 于 2020-10-22 设计创作，主要内容包括：本发明涉及特种机器人,尤其涉及一种楼梯运输过程中平衡楼梯颠簸对物品造成影响的质心调平载重装置。在生产生活中,运输重物通过楼梯,如果不将物品与攀爬车固定,通过楼梯时的颠簸有可能对物品造成损坏。因此需将重物与载重装置固定,防止重物在运输过程中滑落和与载重装置发生碰撞,损坏物品,造成损失。但固定与松懈物品占据了整个运输过程的大部分时间,导致生产效率低下。对物品固定一般采用的捆绑的方式,本身就会损坏一些脆弱物品；此外,搬运无盖容器盛装的液体时,由于通过楼梯的颠簸,会造成液体的倾洒,造成浪费和损失。设计一种运输过程中质心自动调节,不需固定重物的,能平衡颠簸的载重装置对生产生活是十分必要的。(The invention relates to a special robot, in particular to a mass center leveling and loading device for balancing influence of stair bumping on articles in a stair transportation process. In production and life, when heavy objects are transported through the stairs, if the objects are not fixed with the climbing vehicle, the objects can be damaged by bumping when passing through the stairs. Therefore, the heavy object needs to be fixed with the load-carrying device, so that the heavy object is prevented from sliding off and colliding with the load-carrying device in the transportation process, and the object is prevented from being damaged to cause loss. But the fixed and loose objects occupy most of the time of the whole transportation process, resulting in low production efficiency. The binding mode generally adopted for fixing the articles can damage some fragile articles per se; in addition, when carrying the liquid contained in the uncovered container, the liquid can be poured out due to the bumping of the stairs, and the waste and the loss are caused. The design of a load-carrying device which can automatically adjust the mass center in the transportation process, does not need to fix heavy objects and can balance jolt is necessary for production and life.)

1. The utility model provides an automatic barycenter leveling load device towards stair transportation robot which characterized in that: comprises a base and a loading platform; the base comprises a bearing plate and a telescopic supporting rod, and can be welded or fixed on a vehicle through screws; the load platform comprises an object carrying plate and an adjusting bracket, the object carrying plate is used for carrying heavy objects, and the adjusting bracket is used for adjusting the relative position of the object carrying plate.

2. The automatic center of mass leveling load carrying device for the stair transportation robot as claimed in claim 1, wherein the bearing plate of the base is hinged to the telescopic bracket through a hinged support, and the telescopic bracket can change the length of the push rod extending out of the front seat through an electric push rod, so that the shape of the telescopic bracket can be changed.

3. The automatic center of mass leveling and loading device for the stair transportation robot as claimed in claim 1, wherein the adjusting bracket comprises a bearing cross bar and a suspension arm, the object carrying platform is erected on the telescopic support rod through the adjusting bracket, the object carrying platform can lift along with the extension and retraction of the electric push rod, the suspension arm is hinged with the bearing cross bar, and in the stair climbing process, the object carrying plate can rotate relatively around the bearing cross bar along with the suspension arm in order to keep the object carrying plate parallel to the horizontal ground all the time.

Technical Field

The invention relates to a special robot, in particular to a mass center leveling and loading device for balancing influence of stair bumping on articles in a stair transportation process.

Background

In production and life, when heavy objects are transported through the stairs, if the objects are not fixed with the climbing vehicle, the objects can be damaged by bumping when passing through the stairs. Therefore, the heavy object needs to be fixed with the load-carrying device, so that the heavy object is prevented from sliding off and colliding with the load-carrying device in the transportation process, and the object is prevented from being damaged to cause loss. But the fixed and loose objects occupy most of the time of the whole transportation process, resulting in low production efficiency. The binding mode generally adopted for fixing the articles can damage some fragile articles per se; in addition, when carrying the liquid contained in the uncovered container, the liquid can be poured out due to the bumping of the stairs, and the waste and the loss are caused.

The design of a load-carrying device which can automatically adjust the mass center in the transportation process, does not need to fix heavy objects and can balance jolt is necessary for production and life.

Disclosure of Invention

The invention aims to provide an automatic center of mass leveling and loading device for a stair transport robot, and aims to solve the problem that bumping causes influence on articles when heavy objects are carried through stairs in the prior art.

In order to achieve the purpose, the invention adopts the technical scheme that:

1. the utility model provides an automatic barycenter leveling load device towards stair transportation robot which characterized in that: comprises a base and a loading platform; the base comprises a bearing plate and a telescopic supporting rod, and can be welded or fixed on a vehicle through screws; the load platform comprises an object carrying plate and an adjusting bracket, the object carrying plate is used for carrying heavy objects, and the adjusting bracket is used for adjusting the relative position of the object carrying plate.

2. The automatic center of mass leveling load carrying device for the stair transportation robot as claimed in claim 1, wherein the bearing plate of the base is hinged to the telescopic bracket through a hinged support, and the telescopic bracket can change the length of the push rod extending out of the front seat through an electric push rod, so that the shape of the telescopic bracket can be changed.

3. The stair transportation robot-oriented automatic center-of-mass leveling load-carrying device according to claim 1, wherein the adjusting bracket comprises a bearing cross bar and a suspension arm, the object carrying platform is erected on the telescopic support rod through the adjusting bracket, and the object carrying platform can lift and descend along with the telescopic action of the electric push rod. The suspension arm is hinged with the bearing cross rod, and in the stair climbing process, the object carrying plate can rotate relatively around the bearing cross rod along with the suspension arm in order to keep the object carrying plate parallel with the horizontal ground all the time.

The automatic center of mass leveling and loading device for the stair transport robot has the advantages that: the bearing plate is hinged with the telescopic supporting rod, so that the electric push rod can be started or stopped conveniently to change a triangle formed between the telescopic supporting rod and the bearing plate, and the aim of lifting the telescopic supporting rod is fulfilled. The raised object carrying platform and the telescopic support rod form a structure similar to a swing, and when the stair transport robot jolts, the suspension arm can rotate to a certain degree around the bearing cross rod to balance and jolt, so that automatic center of mass leveling is realized, and the object carrying plate is kept in a state of being parallel to the horizontal ground all the time.

Drawings

FIG. 1 is a schematic diagram of the general structure of an automatic center of mass leveling device facing a stair transport robot;

FIG. 2 is a connection diagram of the boom of the automatic center of mass leveling device facing a stair transport robot;

FIG. 3 is a cross-sectional view of a load-carrying platform of the automatic center of mass leveling device facing a stair-transport robot;

FIG. 4 is a diagram of the boom and carrier plate hinge of the automatic center of mass leveling device facing a stair transportation robot;

FIG. 5 is a view of the hinge of the electric push rod and the bearing plate of the automatic center of mass leveling device facing the stair transportation robot;

FIG. 6 is a drawing of a linkage of a pull rod and a load bearing plate of the automatic center of mass leveling device facing a stair transportation robot;

FIG. 7 is a schematic view of the automatic center of mass leveling device before being activated for a stair transport robot;

FIG. 8 is a schematic view of the automatic center of mass leveling device moving towards the stair transport robot;

fig. 9 is a partially enlarged schematic view of the automatic center of mass leveling device facing the stair transport robot.

Reference numerals:

3-connecting a supporting rod; 4, the push rod extends out of the front seat; 5, an electric push rod base; 6, a bearing plate; 7, a pull rod; 8-comparing the support; 9-carrying plate; 10-a boom; 11-a load-bearing rail; 12-barrel; 21 a-bolt with hole.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.

The preferred embodiment of the automatic center of mass leveling device facing the stair transport robot of the invention is shown in fig. 1 to 4:

as shown in figure 1, the automatic center of mass leveling load-carrying device facing the stair transport robot comprises a moving platform 14, a base 1 and a load-carrying platform 2.

The moving platform 14 of the automatic center of mass leveling and loading device facing the stair transportation robot is a crawler capable of freely climbing stairs in a building and can also be other moving platforms with the same function.

The base is used for adjusting the lifting and falling of the loading platform 2 through the electric push rod 5, wherein the connecting support rod 3 and the push rod extend out of the front seat 3 to be welded, so that the connecting support rod and the push rod form a whole; the bearing plate 6 is hinged with the electric push rod base 5 and the pull rod 7 through a hinged support 8, and the electric push rod base 5 and the pull rod 7 can move relative to the bearing plate 6. When the push rod extends out of the front seat 4 and stretches, the triangle formed by the pull rod 7, the bearing plate 6, the electric push rod base 5 and the connecting support rod 3 can deform, the height of the triangle is changed, and the loading platform 2 is lifted and put down.

The bearing cross rod frame 11 is arranged on the telescopic supporting rod, the bearing cross rod 11 is hinged with the suspension arm 10 through a bolt with a hole 21a, and the suspension arm 10 is hinged with the object carrying plate 9 through a hinged support. When the stair transportation robot bumps through stairs, the carrying platform 2 is suspended by the telescopic support rods, and the lifting arm 10 correspondingly rotates around the bearing cross rod 11 due to the fact that the bearing cross rod 11 is hinged with the lifting arm 10, so that the carrying plate 9 is kept parallel to the horizontal ground; the hinged connection between the suspension arm 10 and the object carrying plate 9 can effectively balance the shaking of the suspension arm 10 in the rotation process, and the purposes of automatically adjusting the mass center and keeping the mass center stable are achieved.

The following description is made for carrying water through stairs by using the automatic center-of-mass leveling load-carrying device facing the stair transportation robot:

the load-carrying device is fixed with the moving platform 14, the heavy object is placed in the center of the load-carrying plate 9 (as shown in a barrel 14 in fig. 7), the electric push rod is started, the push rod extends out of the front seat 4 to be extended, due to the adoption of hinging, the pull rod 7, the load-carrying plate 6, the triangle formed by the electric push rod base 5 and the connecting support rod 3 is deformed, the load-carrying plate 9 leaves the load-carrying plate (as shown in fig. 8), the electric push rod stops after the push rod extends out of the front seat 4 and reaches the maximum extension length, and the triangle is fixed. The moving platform is started, and when the moving platform passes through stairs, because the suspension arm 10 is hinged with the bearing rod 11, the barrel 12 and the object carrying plate 9 rotate for a certain angle around the bearing cross rod 11, the center of mass position is automatically adjusted, and the object carrying plate 9 is kept parallel to the horizontal ground all the time. After the transportation is finished, the electric push rod is started, extends out of the front seat 4, shortens the length before the transportation, and restores to the state shown in fig. 7.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.