CN213005292U - Automatic mobile navigation robot in unknown environment - Google Patents
Automatic mobile navigation robot in unknown environment Download PDFInfo
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- CN213005292U CN213005292U CN202022104903.8U CN202022104903U CN213005292U CN 213005292 U CN213005292 U CN 213005292U CN 202022104903 U CN202022104903 U CN 202022104903U CN 213005292 U CN213005292 U CN 213005292U
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- 229910052742 iron Inorganic materials 0.000 claims description 22
- 238000004146 energy storage Methods 0.000 claims description 14
- 239000004575 stone Substances 0.000 abstract description 26
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Abstract
An automatic mobile navigation robot in an unknown environment belongs to the technical field of robots; the stone-proof plate can enable stones on the ground to stay on the surface of the stone-proof plate, and the movable plate at the top of the stone-proof plate can continuously move back and forth, so that the stones on the surface of the stone-proof plate are pushed away from the stone-proof plate, and the stone-proof plate is positioned on the right side of the driving wheel, so that the robot cannot fluctuate due to the stones on the ground in the process of moving to the right, and the situation that the robot topples and is damaged due to the stones is greatly avoided; the turnover bedplate can extend into interim workstation, installs outside robotic arm on the robotic arm mount table, and when robotic arm's focus was towards the one side of the robot ectosome, the balancing weight removed the opposite side to the robot ectosome on the slide rail, realizes improving the stationarity of the robot ectosome, and has improved robotic arm's the weight of getting the thing equally.
Description
Technical Field
The utility model belongs to the technical field of the robot equipment, specifically be relate to an automatic mobile navigation robot under unknown environment.
Background
A robot is an intelligent machine that can work semi-autonomously or fully autonomously. The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.
And the navigation robot that is used for under the unknown environment among the current industrial production can only respond to great object at the removal in-process to can produce undulant because the contact of the small stone piece on drive wheel and ground, consequently can topple over when serious, cause the navigation robot to damage, have certain limitation, and robotic arm when rotating, can topple over because of the overweight emergence of object.
Disclosure of Invention
The utility model discloses solve the technical problem that above-mentioned prior art exists, provide an automatic mobile navigation robot under unknown environment.
The above technical problem of the present invention can be solved by the following technical solutions: an automatic mobile navigation robot under unknown environment comprises a driving device, a robot outer body, a driving wheel and an electric steering wheel, and is characterized in that the driving device is arranged at the lower right side of the inner part of the robot outer body, the electric steering wheel is arranged at the lower left side of the robot outer body, an output shaft of the driving device is fixedly connected with the center of the driving wheel, a rotating shaft is arranged at the right side of the driving device, a conveying belt is arranged between the output shaft of the driving device and the rotating shaft, baffle plates are arranged on the outer body of the robot and at the two sides of the rotating shaft, the two ends of the rotating shaft are rotatably connected with the baffle plates, a stone-proof plate is arranged between the baffle plates at the two sides, the two sides of the stone-proof plate are fixedly connected with the baffle plates, a first gear is arranged at the left end of the rotating shaft, a first driving wheel is arranged at the right end of the rotating shaft, a second gear is arranged at, the front surface of the second gear is rotationally connected with the baffle, the back surface of the second gear is provided with a first positioning hole, the lower side of the first driving wheel is provided with a second driving wheel, the first driving wheel is in transmission connection with the second driving wheel, the back surface of the second driving wheel is in rotational connection with the baffle, the front surface of the second driving wheel is provided with a second positioning hole, the lower side of the rotating shaft is provided with a driving shaft, two ends of the driving shaft are provided with positioning iron blocks, the second driving wheel is movably connected with the positioning iron blocks, third gears are arranged at two ends of the driving shaft and at the inner sides of the positioning iron blocks, the driving shaft penetrates through the third gears, the lower side of the driving shaft is provided with a threaded rod, the lower sides of the third gears at two sides of the driving shaft are provided with fourth gears, the centers of the fourth gears are fixedly penetrated by the threaded rod, and two, the threaded rod is provided with a bolt, the threaded rod is connected with the inner wall of the bolt through threads, and the bottom of the bolt is fixedly connected with a movable plate.
Preferably, the positioning iron block, the first positioning hole and the second positioning hole are all hexagonal in shape, and magnets are fixedly connected to the inner walls of the first positioning hole and the second positioning hole.
Preferably, both sides of the middle part of the transmission shaft are sleeved with limiting sleeves, and the outer walls of the limiting sleeves are fixedly connected with the stone-proof plates.
Preferably, the transmission shaft is rotatably connected with the first transmission plate and the second transmission plate, one side of the first transmission plate is fixedly connected with one end of the energy storage spring, and the other end of the energy storage spring is fixedly connected with the third transmission plate.
Preferably, the third driving plate is slidably connected to the stone-proof plate, and the third driving plate is disposed between the first driving plate and the second driving plate.
Preferably, the number of the first transmission plate, the second transmission plate, the third transmission plate and the energy storage springs is two, and the two groups of the first transmission plate, the second transmission plate, the third transmission plate and the energy storage springs are symmetrically arranged at two ends of the transmission shaft.
Preferably, a turning table plate is arranged on the right side of the upper side face of the outer body of the robot, a rotating shaft is arranged between the left end portion of the turning table plate and the outer body of the robot, an electric cylinder is arranged on the right side of the inner portion of the outer body of the robot, the middle portion of the electric cylinder is rotatably connected with the outer body of the robot, and the front end of a piston rod of the electric cylinder is hinged to the lower side of the turning table plate.
As preferred, both sides all are equipped with the spout around the side on the robot ectosome, the bottom of spout is equipped with the inside communicating spout opening of robot ectosome, be equipped with the slider in the spout, the lower extreme at slider center is equipped with the connecting rod, be located the lower extreme of connecting rod and in the inside of robot ectosome is equipped with the counter weight storehouse, counter weight storehouse fixed connection is in the lower extreme of connecting rod, the inboard bottom in counter weight storehouse is equipped with the slide rail, the upside of slide rail is equipped with the balancing weight, the inside of balancing weight runs through and is equipped with a lead screw, both ends all with the inner wall swing joint in counter weight storehouse around the lead screw, the rear side in counter weight storehouse is equipped with step motor, step motor's output shaft is connected with the one end of lead screw, the upside of slider is equipped with.
Preferably, the left side and the right side of the lower side face of the outer body of the robot are both provided with infrared detectors.
The utility model discloses beneficial effect who has:
in the walking process of the driving wheel driving robot, stone blocks on the ground can stay on the surface of the driving wheel driving robot, and the movable plate at the top of the stone block can continuously move back and forth in a reciprocating mode, so that the stone blocks on the surface of the stone block are pushed away from the stone block, and the stone block is located on the right side of the driving wheel, so that the robot cannot fluctuate due to the stone blocks on the ground in the process of moving right, and the situation that the robot topples and is damaged due to the stone blocks is greatly avoided; the positioning iron block is matched with the magnets in the first positioning hole and the second positioning hole, so that the fixing of the position of the transmission shaft can be assisted, the second gear and the second transmission wheel can drive the transmission shaft and the third gear to rotate through the positioning iron block, and the movable plate can move to clean stones on the surface of the stone-proof plate; the turnover table plate is pushed by the electric cylinder, so that the turnover table plate can be extended into a temporary working table; an external mechanical arm is arranged on a mechanical arm mounting table, when the gravity center of the mechanical arm faces one side of the outer body of the robot, a lead screw is driven to rotate through a stepping motor, so that a balancing weight block moves to the other side of the outer body of the robot on a sliding rail, the stability of the outer body of the robot is improved, and the fetching weight of the mechanical arm is also improved; electric steering wheel makes the utility model discloses can realize turning to, infrared detector makes the utility model discloses can discover the big barrier of the square of advance when the walking.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a right-side view of the stone-proof plate of the present invention;
FIG. 3 is an enlarged view of portion A of FIG. 2;
FIG. 4 is an enlarged view of the portion B of FIG. 2;
fig. 5 is a rear view of the second gear of the present invention;
fig. 6 is a schematic front view of the second driving wheel of the present invention;
fig. 7 is a schematic side view of the present invention;
fig. 8 is a usage state diagram of the present invention.
In the figure: 1. a drive device; 2. a drive wheel; 3. a conveyor belt; 4. a rotating shaft; 5. a baffle plate; 6. preventing flagstone; 7. a first drive pulley; 8. a first gear; 9. a second gear; 91. a first positioning hole; 10. a second transmission wheel; 101. a second positioning hole; 11. positioning an iron block; 12. a drive shaft; 121. a limiting sleeve; 122. a first drive plate; 123. a second drive plate; 13. a third gear; 14. a fourth gear; 15. a threaded rod; 16. a bolt; 17. a movable plate; 18. an energy storage spring; 19. a third drive plate; 21. an electric steering wheel; 112. turning over the bedplate; 113. a rotating shaft; 114. an electric cylinder; 211. a chute; 212. the chute is opened; 213. a slider; 214. a connecting rod; 215. a counterweight cabin; 216. a slide rail; 217. a screw rod; 218. a stepping motor; 219. a mechanical arm mounting table; 220. a balancing weight; 311. an infrared detector; 312. an existing controller; 313. and a mechanical arm.
Detailed Description
The technical solution of the present invention is further specifically described below by way of examples and with reference to the accompanying drawings.
Example (b): an automatic mobile navigation robot under unknown environment is disclosed, as shown in fig. 1-7, comprising a driving device, a robot outer body, a driving wheel and an electric steering wheel, wherein the driving device is arranged at the lower right side inside the robot outer body, the electric steering wheel is arranged at the lower left side of the robot outer body, an output shaft of the driving device is fixedly connected with the center of the driving wheel, a rotating shaft is arranged at the right side of the driving device, a conveying belt is arranged between the output shaft of the driving device and the rotating shaft, baffle plates are arranged on the two sides of the rotating shaft and positioned on the robot outer body, the two ends of the rotating shaft are rotatably connected with the baffle plates, a stone-proof plate is arranged between the baffle plates at the two sides, the two sides of the stone-proof plate are fixedly connected with the baffle plates, a first gear is arranged at the left end of the rotating shaft, a first driving wheel is arranged at the right end of the, the first gear is meshed with the second gear, the front surface of the second gear is rotatably connected with the baffle, the back surface of the second gear is provided with a first positioning hole, the lower side of the first driving wheel is provided with a second driving wheel, the first driving wheel is in transmission connection with the second driving wheel, the back surface of the second driving wheel is in rotation connection with the baffle, the front surface of the second driving wheel is provided with a second positioning hole, the lower side of the rotating shaft is provided with a transmission shaft, two ends of the transmission shaft are respectively provided with a positioning iron block, the second driving wheel is movably connected with the positioning iron blocks, third gears are respectively arranged at two ends of the transmission shaft and at the inner sides of the positioning iron blocks, the transmission shaft penetrates through the third gear, the lower side of the transmission shaft is provided with a threaded rod, the lower sides of the third gears at two sides of the transmission shaft are respectively provided with a fourth gear, and the center, the both ends and the baffle rotation of threaded rod are connected, be equipped with the bolt on the threaded rod, the threaded connection of threaded rod and bolt inner wall, the bottom fixedly connected with fly leaf of bolt, at drive wheel drive robot walking in-process, prevent that the slabstone can make the stone on ground stop on its surface to prevent the fly leaf at slabstone top and can make a round trip reciprocating motion constantly, and then make and prevent that the stone on slabstone surface is pushed away from and prevent the slabstone, and because prevent that the slabstone is located the drive wheel right side, so this robot moves the in-process to the right and can not produce undulantly because of the stone on ground, the condition emergence that has greatly avoided leading to the robot.
The shape of location iron plate, first locating hole and second locating hole is the hexagon, first locating hole and second locating hole inner wall fixedly connected with magnet, the cooperation of location iron plate and the inside magnet of first locating hole and second locating hole can play the additional action to the fixed of transmission shaft position to make second gear and second drive wheel can drive transmission shaft and third gear rotation through the location iron plate, and then realize that the fly leaf removes the stone on stone slab surface is prevented in the clearance.
The both sides at transmission shaft middle part all are equipped with the stop collar, the stop collar outer wall with prevent slabstone fixed connection, the stop collar makes the transmission shaft remove more stably.
The transmission shaft is rotatably connected with the first transmission plate and the second transmission plate, one side of the first transmission plate is fixedly connected with one end of an energy storage spring, and the other end of the energy storage spring is fixedly connected with the third transmission plate.
The third transmission plate is connected with the stone-proof plate in a sliding mode, and the third transmission plate is arranged between the first transmission plate and the second transmission plate.
The number of the first transmission plate, the second transmission plate, the third transmission plate and the energy storage springs is two, and the two groups of the first transmission plate, the second transmission plate, the third transmission plate and the energy storage springs are symmetrically arranged at two ends of the transmission shaft.
The turnover table plate is arranged on the right side of the upper side face of the outer body of the robot, a rotating shaft is arranged between the left end portion of the turnover table plate and the outer body of the robot, an electric cylinder is arranged on the right side of the inner portion of the outer body of the robot, the middle portion of the electric cylinder is rotatably connected with the outer body of the robot, the front end of a piston rod of the electric cylinder is hinged to the lower side of the turnover table plate, the turnover table plate is pushed through the electric cylinder, and the turnover table plate can be expanded into a temporary working table.
The robot comprises a robot outer body, a robot body, a connecting rod, a counterweight bin, a stepping motor, a mechanical arm mounting table, a sliding block, a connecting rod, a counterweight bin, a sliding rail, a counterweight block, a screw rod, a stepping motor, a motor shaft, a; install outside robotic arm on the robotic arm mount table, when robotic arm's focus was towards the one side of the robot ectosome, through the rotation of step motor drive lead screw, make the balancing weight remove to the opposite side of the robot ectosome on the slide rail, realize improving the stationarity of the robot ectosome, and improved robotic arm's the weight of getting the thing equally.
The left side and the right side of the lower side surface of the outer body of the robot are both provided with infrared detectors; the infrared detector makes the utility model discloses can discover the big barrier of the place of advance when the walking.
The principle of the utility model is as follows:
during operation or use, drive arrangement can make the drive wheel clockwise rotation, thereby make whole navigation robot move right, prevent that the slabstone can stop the stone on ground at its surface, and rotate the in-process at the drive wheel, the pivot also can rotate under the effect of conveyer belt, the first gear and the first drive wheel and the pivot syntropy of pivot both ends rotate, under the effect of first gear and first drive wheel, second gear and pivot antiport, the second drive wheel rotates with the pivot syntropy, so the rotation direction of second gear and second drive wheel is opposite.
When the positioning iron block is positioned in the first positioning hole, the second gear drives the transmission shaft to rotate through the positioning iron block, the third gear on the transmission shaft drives the fourth gear to rotate, the threaded rod rotates under the action of the fourth gear and drives the bolt to move, at the moment, the bolt moves towards the second transmission wheel, the movable plate moves in the same direction with the bolt under the action of the bolt, at the moment, the movable plate pushes the stone on the surface of the stone-proof plate away from the stone-proof plate, when the bolt pushes the third transmission plate to move, the third transmission plate can stretch the energy storage spring, due to the action of the positioning iron block and the magnet in the first positioning hole, the transmission shaft cannot move, when the third transmission plate is in contact with the second transmission plate and pushes the second transmission plate to move, the transmission shaft moves towards the second transmission wheel under the action of the second transmission plate, and the positioning iron block is inserted into the second positioning hole under the action of the magnetic force of the magnet in the second positioning, third gear and fourth gear engagement, the second drive wheel drives transmission shaft and third gear rotation this moment, and the third gear drives fourth gear rotation, rotates with fourth gear fixed connection's threaded rod, because the rotation direction of second gear and second drive wheel is opposite, so threaded rod rotation direction opposite this moment, bolt reverse movement to make fly leaf reverse movement, the fly leaf will prevent that the stone block at stone slab top promotes to keep away from and prevents the stone slab. When the bolt pushes the third movable plate close to the second gear to move, the positioning iron block moves to the inside of the second gear in the same principle, the third gear is meshed with the fourth gear, the rotating direction of the threaded rod is changed again, and the moving directions of the bolt and the movable plate are also changed. Under the continuous reciprocating motion, stones on the surface of the stone-proof plate can be pushed away from the stone-proof plate, and the robot is prevented from being influenced by excessive stone accumulation.
An existing controller is arranged in the outer body of the robot, the controller controls an electric cylinder, a driving device, a stepping motor, an electric steering wheel and an infrared detector, and the turnover table plate is pushed by the electric cylinder to be capable of being extended into a temporary working table; an external mechanical arm is arranged on a mechanical arm mounting table, when the gravity center of the mechanical arm faces one side of the outer body of the robot, a lead screw is driven to rotate through a stepping motor, so that a balancing weight block moves to the other side of the outer body of the robot on a sliding rail, the stability of the outer body of the robot is improved, and the fetching weight of the mechanical arm is also improved; electric steering wheel makes the utility model discloses can realize turning to, infrared detector makes the utility model discloses can discover the big barrier of the square of advance when the walking.
Finally, it should be noted that the above embodiments are merely representative examples of the present invention. Obviously, the present invention is not limited to the above-described embodiments, and many modifications are possible. Any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should be considered as belonging to the protection scope of the present invention.
Claims (9)
1. An automatic mobile navigation robot under unknown environment comprises a driving device, a robot outer body, a driving wheel and an electric steering wheel, and is characterized in that the driving device is arranged at the lower right side of the inner part of the robot outer body, the electric steering wheel is arranged at the lower left side of the robot outer body, an output shaft of the driving device is fixedly connected with the center of the driving wheel, a rotating shaft is arranged at the right side of the driving device, a conveying belt is arranged between the output shaft of the driving device and the rotating shaft, baffle plates are arranged on the outer body of the robot and at the two sides of the rotating shaft, the two ends of the rotating shaft are rotatably connected with the baffle plates, a stone-proof plate is arranged between the baffle plates at the two sides, the two sides of the stone-proof plate are fixedly connected with the baffle plates, a first gear is arranged at the left end of the rotating shaft, a first driving wheel is arranged at the right end, the first gear is meshed with the second gear, the front surface of the second gear is rotatably connected with the baffle, the back surface of the second gear is provided with a first positioning hole, the lower side of the first driving wheel is provided with a second driving wheel, the first driving wheel is in transmission connection with the second driving wheel, the back surface of the second driving wheel is in rotation connection with the baffle, the front surface of the second driving wheel is provided with a second positioning hole, the lower side of the rotating shaft is provided with a transmission shaft, two ends of the transmission shaft are respectively provided with a positioning iron block, the second driving wheel is movably connected with the positioning iron blocks, third gears are respectively arranged at two ends of the transmission shaft and at the inner sides of the positioning iron blocks, the transmission shaft penetrates through the third gear, the lower side of the transmission shaft is provided with a threaded rod, the lower sides of the third gears at two sides of the transmission shaft are respectively provided with a fourth gear, and the center, the both ends of threaded rod are rotated with the baffle and are connected, be equipped with the bolt on the threaded rod, the threaded connection of threaded rod and bolt inner wall, the bottom fixedly connected with fly leaf of bolt.
2. The automatic mobile navigation robot in the unknown environment according to claim 1, wherein the positioning iron block, the first positioning hole and the second positioning hole are hexagonal in shape, and magnets are fixedly connected to inner walls of the first positioning hole and the second positioning hole.
3. The automatic mobile navigation robot in the unknown environment according to claim 1, wherein limiting sleeves are sleeved on two sides of the middle of the transmission shaft, and the outer walls of the limiting sleeves are fixedly connected with stone-proof plates.
4. The automatic mobile navigation robot in an unknown environment according to claim 1, wherein the transmission shaft is rotatably connected with a first transmission plate and a second transmission plate, one side of the first transmission plate is fixedly connected with one end of an energy storage spring, and the other end of the energy storage spring is fixedly connected with a third transmission plate.
5. The automatic mobile navigation robot in an unknown environment of claim 4, wherein the third driving plate is slidably coupled to the anti-slabstone, and the third driving plate is disposed between the first driving plate and the second driving plate.
6. The automatic mobile navigation robot in the unknown environment according to claim 4, wherein the number of the first driving plate, the second driving plate, the third driving plate and the energy storage spring is two, and two groups of the first driving plate, the second driving plate, the third driving plate and the energy storage spring are symmetrically arranged at two ends of the transmission shaft.
7. The automatic mobile navigation robot in the unknown environment according to claim 1, wherein a turning platen is arranged on the right side of the upper side of the outer body of the robot, a rotating shaft is arranged between the left end of the turning platen and the outer body of the robot, an electric cylinder is arranged on the right side of the inner part of the outer body of the robot, the middle part of the electric cylinder is rotatably connected with the outer body of the robot, and the front end of a piston rod of the electric cylinder is hinged to the lower side of the turning platen.
8. The automatic mobile navigation robot under the unknown environment according to claim 1, wherein the front and rear sides of the upper side surface of the outer body of the robot are provided with sliding grooves, the bottom of the chute is provided with a chute opening communicated with the interior of the outer body of the robot, a slide block is arranged in the chute, the lower end of the center of the sliding block is provided with a connecting rod, a counterweight cabin is arranged at the lower end of the connecting rod and inside the outer body of the robot, the counterweight cabin is fixedly connected with the lower end of the connecting rod, the bottom of the inner side of the counterweight cabin is provided with a slide rail, a balancing weight is arranged at the upper side of the slide rail, a lead screw penetrates through the balancing weight, the front end and the rear end of the lead screw are movably connected with the inner wall of the balancing weight bin, the rear side of the balance weight cabin is provided with a stepping motor, an output shaft of the stepping motor is connected with one end of the screw rod, and the upper side of the sliding block is provided with a mechanical arm mounting table.
9. The robot of claim 1, wherein the infrared detector is disposed on both left and right sides of the lower side of the outer body of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022104903.8U CN213005292U (en) | 2020-09-23 | 2020-09-23 | Automatic mobile navigation robot in unknown environment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022104903.8U CN213005292U (en) | 2020-09-23 | 2020-09-23 | Automatic mobile navigation robot in unknown environment |
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| Publication Number | Publication Date |
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| CN213005292U true CN213005292U (en) | 2021-04-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022104903.8U Active CN213005292U (en) | 2020-09-23 | 2020-09-23 | Automatic mobile navigation robot in unknown environment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923012A (en) * | 2020-09-23 | 2020-11-13 | 浙江精功机器人智能装备有限公司 | Automatic mobile navigation robot in unknown environment |
-
2020
- 2020-09-23 CN CN202022104903.8U patent/CN213005292U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111923012A (en) * | 2020-09-23 | 2020-11-13 | 浙江精功机器人智能装备有限公司 | Automatic mobile navigation robot in unknown environment |
| CN111923012B (en) * | 2020-09-23 | 2024-01-26 | 浙江精工集成科技股份有限公司 | Automatic mobile navigation robot in unknown environment |
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Effective date of registration: 20231108 Address after: No.1809 Jianhu Road, Huashe street, Keqiao District, Shaoxing City, Zhejiang Province Patentee after: Zhejiang Jinggong Integrated Technology Co.,Ltd. Address before: No.1809 Jianhu Road, Huashe street, Keqiao District, Shaoxing City, Zhejiang Province Patentee before: ZHEJIANG JINGGONG ROBOTICS & INTELLIGENT EQUIPMENT CO.,LTD. |
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