CN216229362U

CN216229362U - Anti-collision obstacle-avoiding robot with good protection

Info

Publication number: CN216229362U
Application number: CN202120914503.5U
Authority: CN
Inventors: 雷小军; 雷小伟; 雷志彬
Original assignee: Zigong Weibo Culture And Art Co ltd
Current assignee: Zigong Weibo Culture And Art Co ltd
Priority date: 2021-04-29
Filing date: 2021-04-29
Publication date: 2022-04-08
Anticipated expiration: 2031-04-29

Abstract

The utility model belongs to the technical field of obstacle avoidance robots, and discloses an anti-collision obstacle avoidance robot with good protection, which comprises a robot body, wherein a chassis is fixedly arranged on the bottom surface of the robot body, the left end of the chassis is movably connected with a rotating shaft, a rotating plate is fixedly arranged on the surface of the rotating shaft, the front end of the rotating plate is hinged with a push plate, the middle part of the rotating shaft is provided with a transmission groove, and the rear side surface of the inner cavity of the chassis is fixedly provided with a servo motor. When the robot body identifies an obstacle, the servo motor drives the first transmission wheel to rotate, the first transmission belt is in transmission connection with the first transmission groove, the rotating shaft drives the rotating plate and the push plate to rotate leftwards, and when the push plate is in contact with the obstacle and the obstacle is small and light, the push plate can push the obstacle to the rear side of the advancing direction of the device, so that the advancing path of the device is prevented from being changed, and the running accuracy of the device is improved.

Description

Anti-collision obstacle-avoiding robot with good protection

Technical Field

The utility model belongs to the technical field of obstacle avoidance robots, and particularly relates to an anti-collision obstacle avoidance robot with good protection.

Background

Keep away barrier robot carries on infrared sensor on intelligent robot's basis, detects whether there is the barrier to its direction of advance through infrared sensor, if have keep away barrier robot and can change the route of advancing automatically to the realization avoids the robot to collide with the barrier when advancing, makes the robot have good protective effect.

The existing obstacle avoidance robot scans the advancing direction through the infrared sensor to judge whether obstacles exist, if the scanning area only has small stones, or the scanning area is not enough to block small objects running by the obstacle avoidance robot, the sensor still can judge that the front of the obstacle avoidance robot has the obstacles, so that the obstacle avoidance robot can detour, and after the obstacle avoidance robot detours, the running direction of the obstacle avoidance robot can deviate, so that the moving accuracy of the obstacle avoidance robot is reduced.

The existing obstacle avoidance robot has the advantages that the stability is improved, the chassis of the obstacle avoidance robot is often arranged lower, the gravity center of the device is reduced, if a slope exists in the advancing direction of the device, the chassis at the bottom of the device is possibly supported by the chassis, the device is abraded, and the service life of the device is shortened.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problems, provides an anti-collision and obstacle-avoidance robot with good protection, and has the advantages of improving the movement accuracy of the obstacle-avoidance robot and prolonging the service life of the device.

In order to achieve the purpose, the utility model provides the following technical scheme: an anti-collision obstacle avoidance robot with good protection comprises a robot body, wherein a chassis is fixedly installed on the bottom surface of the robot body, a rotating shaft is movably connected to the left end of the chassis, a rotating plate is fixedly installed on the surface of the rotating shaft, a push plate is hinged to the front end of the rotating plate, when the push plate is in contact with an obstacle, the push plate cannot push the obstacle to move forward, the push plate cannot rotate along with the rotating plate at the moment, so that the push plate and the rotating plate are rotationally separated around a hinge, the force of the obstacle acting on the push plate is counteracted, a transmission groove is formed in the middle of the rotating shaft, a servo motor is fixedly installed on the rear side surface of an inner cavity of the chassis, a first transmission wheel is fixedly sleeved at the output end of the servo motor, a first transmission belt is connected with the surface of the first transmission groove, the servo motor drives the first transmission wheel to rotate, and is connected with the first transmission groove and the first transmission wheel through a transmission belt, the rotating shaft drives the rotating plate and the push plate to rotate leftwards, the right side faces of the rotating plate and the push plate are fixedly provided with hanging frames, the middle of each hanging frame is movably connected with a rotating block, and the middle of each rotating block is fixedly provided with a telescopic rod and a spring.

As a preferred technical scheme of the utility model, fixing frames are fixedly arranged on the front side and the rear side of the chassis, a fixing ring is fixedly arranged on the top surface of the bottom end of the fixing frame, a ball screw is movably connected to the inner cavity of the fixing ring, driving motors are fixedly arranged on the front side and the rear side of the inner cavity of the chassis, a second driving wheel is fixedly arranged at the output end of each driving motor and the bottom end of each ball screw, a second driving belt is connected to the surface of each second driving wheel in a transmission manner, a lifting plate is meshed with the surface of each ball screw, one surface, far away from the chassis, of each lifting plate is fixedly provided with a driving assembly, each driving motor drives each second driving wheel to rotate, and each second driving belt is in transmission connection with each second driving wheel, so that the ball screws are driven to rotate.

As a preferred technical scheme of the present invention, the driving assembly includes a supporting plate, the supporting plate is fixedly mounted on a surface of the lifting plate away from the chassis, moving wheels are movably connected to left and right ends of the supporting plate, a driving box is connected to a middle portion of the moving wheels in a transmission manner, the driving box is fixedly mounted on a middle portion of the supporting plate, the driving box drives the moving wheels to rotate, the device is driven to advance by rotation of the moving wheels, and when the device advances, an infrared device carried on the robot body scans the ground in the advancing direction to determine whether an obstacle exists.

As a preferred technical scheme of the utility model, the hanger is located below the chassis in the vertical direction, the spring is movably sleeved outside the telescopic rod, when the rotating shaft drives the rotating plate to reset, the elasticity of the spring can push the two rotating blocks relatively, so that the push plate rotates towards the rotating plate, the push plate and the rotating plate reset at the left end of the chassis, after the push plate resets the obstacle which cannot be pushed, the infrared device sweeps the obstacle again, and the device is driven to change the advancing route.

As a preferable technical scheme of the present invention, the top end of the rotating shaft is movably connected to the top surface of the inner cavity of the chassis, the height values of the rotating plate and the push plate are equal, the bottom surfaces of the rotating plate and the push plate and the bottom surface of the moving wheel are in the same horizontal plane, when the push plate contacts with an obstacle, if the obstacle is small and light, the push plate can push the obstacle to the rear side of the advancing direction of the device, thereby preventing the device from changing the advancing route.

As a preferable technical scheme of the utility model, the lifting plates are movably connected to the middle part of the fixing frame, the two lifting plates are respectively positioned at the front side and the rear side of the chassis, one end of the second transmission belt far away from the chassis penetrates through and extends to the outer side of the chassis, the ball screw drives the lifting plates meshed on the surface of the ball screw to relatively move downwards when rotating, and the distance between the lifting plates and the ground cannot be changed, so that the ball screw drives the chassis to ascend through the fixing frame when rotating, and the distance between the bottom surface of the chassis and the ground is increased.

Compared with the prior art, the utility model has the following beneficial effects:

1. when the robot body identifies an obstacle, the servo motor drives the first transmission wheel to rotate, the first transmission belt is in transmission connection with the first transmission groove, the rotating shaft drives the rotating plate and the push plate to rotate leftwards, and when the push plate is in contact with the obstacle and the obstacle is small and light, the push plate can push the obstacle to the rear side of the advancing direction of the device, so that the advancing path of the device is prevented from being changed, and the running accuracy of the device is improved.

2. The driving motor drives the second driving wheels to rotate, the second driving wheels are in transmission connection with the second driving belts, so that the ball screw is driven to rotate, the lifting plate meshed on the surface of the ball screw is driven to move downwards relatively when the ball screw rotates, and the distance between the lifting plate and the ground cannot be changed, so that the ball screw rotates to drive the chassis to ascend through the fixing frame, the distance between the bottom surface of the chassis and the ground is increased, the bottom supporting phenomenon of the device when the device moves to a slope is avoided, the abrasion of the device is reduced, and the service life of the device is prolonged.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic cross-sectional view of a structural chassis of the present invention;

FIG. 3 is a schematic view of the structural shaft of the present invention in exploded connection;

FIG. 4 is a schematic view of an exploded connection of the structural drive assembly of the present invention;

FIG. 5 is a schematic view of the structural mount of the present invention in an exploded connection;

fig. 6 is a schematic diagram showing the moving trend of the rotating plate and the push plate in the structure of the utility model.

In the figure: 1. a robot body; 2. a chassis; 3. a rotating shaft; 4. a rotating plate; 5. pushing the plate; 6. a transmission groove; 7. a servo motor; 8. a first transmission wheel; 9. a first transmission belt; 10. a hanger; 11. rotating the block; 12. a telescopic rod; 13. a spring; 14. a fixed mount; 15. a fixing ring; 16. a ball screw; 17. a drive motor; 18. a second driving wheel; 19. a second transmission belt; 20. a lifting plate; 21. a drive assembly; 2101. a support plate; 2102. a moving wheel; 2103. and driving the cartridge.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 6, the utility model provides an anti-collision obstacle-avoiding robot with good protection, which comprises a robot body 1, wherein a chassis 2 is fixedly installed on the bottom surface of the robot body 1, a rotating shaft 3 is movably connected to the left end of the chassis 2, a rotating plate 4 is fixedly installed on the surface of the rotating shaft 3, a push plate 5 is hinged to the front end of the rotating plate 4, when the push plate 5 contacts with an obstacle, the push plate 5 cannot push the obstacle to move forward, at the moment, the push plate 5 cannot rotate along with the rotating plate 4, so that the push plate 5 and the rotating plate 4 rotate around a hinge to separate, the force of the obstacle acting on the push plate 5 is counteracted, a transmission groove 6 is formed in the middle of the rotating shaft 3, a servo motor 7 is fixedly installed on the rear side surface of an inner cavity of the chassis 2, a transmission wheel 8 is fixedly sleeved on the output end of the servo motor 7, and a transmission belt 9 is connected to the surface of the transmission groove 6, the servo motor 7 drives the first driving wheel 8 to rotate, the first driving belt 9 is used for driving the first driving groove 6 and the first driving wheel 8 to be connected, the rotating shaft 3 drives the rotating plate 4 and the push plate 5 to rotate leftwards, the hanging bracket 10 is fixedly mounted on the right side faces of the rotating plate 4 and the push plate 5, the middle of the hanging bracket 10 is movably connected with the rotating block 11, and the telescopic rod 12 and the spring 13 are fixedly mounted in the middle of the rotating block 11.

Wherein, the equal fixed mounting in two sides has mount 14 around chassis 2, the top surface fixed mounting in mount 14 bottom has solid fixed ring 15, gu fixed ring 15's inner chamber swing joint has ball 16, two equal fixed mounting in two sides around 2 inner chambers on chassis have driving motor 17, the equal fixed mounting in output of driving motor 17 and ball 16's bottom has second drive wheel 18, the surface transmission of second drive wheel 18 is connected with second drive belt 19, ball 16's surface toothing has lifter plate 20, the one side that chassis 2 was kept away from to lifter plate 20 is fixed there is drive assembly 21, driving motor 17 drives second 18 rotations of drive wheel, two second 18 of drive wheel are connected in the transmission of second drive belt 19, thereby it is rotatory to realize driving ball 16.

Wherein, drive assembly 21 includes backup pad 2101, backup pad 2101 fixed mounting is in the one side that chassis 2 was kept away from to lifter plate 20, both ends swing joint has the removal wheel 2102 about backup pad 2101, the middle part transmission of removal wheel 2102 is connected with drive box 2103, drive box 2103 fixed mounting is in the middle part of backup pad 2101, drive box 2103 drives and removes the rotation of wheel 2102, the rotation drive arrangement through removing wheel 2102 advances, when the device advances, the infrared device that carries on the robot body 1 scans the ground of direction of advance and judges whether there is the barrier.

Wherein, gallows 10 is located the below on chassis 2 on vertical direction, spring 13 activity cup joints the outside at telescopic link 12, when pivot 3 drove rotor plate 4 and resets, spring 13's elasticity can promote two rotatory pieces 11 relatively, thereby it is rotatory to make push pedal 5 to rotor plate 4, make push pedal 5 and rotor plate 4 reset at the left end on chassis 2, the barrier that can't promote resets at push pedal 5 after, the barrier is swept once more to infrared device, thereby take the device to change the route of advancing.

Wherein, the top swing joint of pivot 3 is at the top surface of chassis 2 inner chamber, and the height value of rotor plate 4 and push pedal 5 equals, and the bottom surface of rotor plate 4 and push pedal 5 and the bottom surface of removing wheel 2102 are in same horizontal plane, and when push pedal 5 and barrier contact, if the barrier is less when lighter, push pedal 5 can promote the barrier to the rear side of device advancing direction to the device route of advancing has been avoided changing.

Wherein, lifter plate 20 swing joint is in the middle part of mount 14, lifter plate 20 is total two, two lifter plates 20 are located chassis 2's front and back both sides respectively, the one end that chassis 2 was kept away from to drive belt two 19 runs through and extends to the outside on chassis 2, ball 16 is when rotatory, the lifter plate 20 that drives the meshing on ball 16 surface moves down relatively, because the distance between lifter plate 20 and the ground can't change, thereby realize that ball 16 is rotating and is driving chassis 2 through mount 14 and rise, thereby improve the distance between the bottom surface of chassis 2 and the ground.

The working principle and the using process of the utility model are as follows:

when the device advances, the driving box 2103 drives the moving wheel 2102 to rotate, the device is driven to advance by the rotation of the moving wheel 2102, and when the device advances, the infrared device carried on the robot body 1 scans the ground in the advancing direction to judge whether an obstacle exists;

when the robot body 1 recognizes that a barrier exists in the front, the servo motor 7 drives the first transmission wheel 8 to rotate, the first transmission belt 9 is in transmission connection with the first transmission groove 6 and the first transmission wheel 8, the rotating shaft 3 drives the rotating plate 4 and the push plate 5 to rotate leftwards, when the push plate 5 is in contact with the barrier, if the barrier is small and light, the push plate 5 can push the barrier to the rear side of the advancing direction of the device, and therefore the device is prevented from changing the advancing route;

when the barrier is large and heavy and cannot be pushed, when the push plate 5 is in contact with the barrier, the push plate 5 cannot push the barrier to move forward, at the moment, the push plate 5 cannot rotate along with the rotating plate 4, so that the push plate 5 and the rotating plate 4 are rotationally separated around the hinge, the force of the barrier acting on the push plate 5 is counteracted, when the rotating shaft 3 drives the rotating plate 4 to reset, the elasticity of the spring 13 can push the two rotating blocks 11 relatively, so that the push plate 5 rotates towards the rotating plate 4, the push plate 5 and the rotating plate 4 are reset at the left end of the chassis 2, and after the push plate 5 resets, the barrier which cannot be pushed is reset, the infrared device sweeps the barrier again, so that the device is driven to change the advancing route;

when the device moves to a slope, the driving motor 17 drives the second transmission wheels 18 to rotate, the second transmission belt 19 is in transmission connection with the second transmission wheels 18, so that the ball screw 16 is driven to rotate, the ball screw 16 drives the lifting plate 20 meshed on the surface of the ball screw 16 to move downwards relatively when rotating, and the distance between the lifting plate 20 and the ground cannot be changed, so that the ball screw 16 rotates to drive the chassis 2 to ascend through the fixed frame 14, and the distance between the bottom surface of the chassis 2 and the ground is increased.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an obstacle robot is kept away in anticollision that possesses good protection, includes robot body (1), its characterized in that: a chassis (2) is fixedly arranged on the bottom surface of the robot body (1), the left end of the chassis (2) is movably connected with a rotating shaft (3), a rotating plate (4) is fixedly arranged on the surface of the rotating shaft (3), the front end of the rotating plate (4) is hinged with a push plate (5), a transmission groove (6) is arranged in the middle of the rotating shaft (3), a servo motor (7) is fixedly arranged on the rear side surface of the inner cavity of the chassis (2), the output end of the servo motor (7) is fixedly sleeved with a first transmission wheel (8), the surfaces of the first transmission wheel (8) and the transmission groove (6) are in transmission connection with a first transmission belt (9), the right side surfaces of the rotating plate (4) and the push plate (5) are both fixedly provided with a hanger (10), the middle part of gallows (10) swing joint has rotatory piece (11), the middle part fixed mounting of rotatory piece (11) has telescopic link (12) and spring (13).

2. The anti-collision obstacle-avoiding robot with good protection function according to claim 1, characterized in that: the utility model discloses a drive assembly, including chassis (2), the equal fixed mounting in two sides has mount (14) around chassis (2), the top surface fixed mounting of mount (14) bottom has solid fixed ring (15), the inner chamber swing joint of solid fixed ring (15) has ball (16), the equal fixed mounting in two sides has driving motor (17) around chassis (2) inner chamber, the equal fixed mounting in output of driving motor (17) and the bottom of ball (16) has drive wheel two (18), the surface drive of drive wheel two (18) is connected with drive belt two (19), the surface toothing of ball (16) has lifter plate (20), the one side that chassis (2) were kept away from in lifter plate (20) is fixed there is drive assembly (21).

3. The anti-collision obstacle-avoiding robot with good protection function according to claim 2, characterized in that: the driving assembly (21) comprises a supporting plate (2101), the supporting plate (2101) is fixedly installed on one surface, far away from the chassis (2), of the lifting plate (20), the left end and the right end of the supporting plate (2101) are movably connected with moving wheels (2102), the middle of each moving wheel (2102) is in transmission connection with a driving box (2103), and each driving box (2103) is fixedly installed in the middle of the supporting plate (2101).

4. The anti-collision obstacle-avoiding robot with good protection function according to claim 1, characterized in that: the hanging bracket (10) is located below the chassis (2) in the vertical direction, and the spring (13) is movably sleeved on the outer side of the telescopic rod (12).

5. The anti-collision obstacle-avoiding robot with good protection function according to claim 1, characterized in that: the top end of the rotating shaft (3) is movably connected to the top surface of the inner cavity of the chassis (2), the height values of the rotating plate (4) and the push plate (5) are equal, and the bottom surfaces of the rotating plate (4) and the push plate (5) and the bottom surface of the moving wheel (2102) are located on the same horizontal plane.

6. The anti-collision obstacle-avoiding robot with good protection function according to claim 2, characterized in that: the lifting plates (20) are movably connected to the middle of the fixed frame (14), the number of the lifting plates (20) is two, the two lifting plates (20) are respectively located on the front side and the rear side of the chassis (2), and one end, far away from the chassis (2), of the second transmission belt (19) penetrates through and extends to the outer side of the chassis (2).