CN107127745B

CN107127745B - Intelligent security robot

Info

Publication number: CN107127745B
Application number: CN201710456125.9A
Authority: CN
Inventors: 韩震峰; 董冲; 高强; 李名扬; 李亮; 张晓敏; 李苏旺; 俞忠达
Original assignee: Hit Special Robot Co ltd
Current assignee: Hit Special Robot Co ltd
Priority date: 2017-06-16
Filing date: 2017-06-16
Publication date: 2023-04-18
Anticipated expiration: 2037-06-16
Also published as: CN107127745A

Abstract

The invention relates to an intelligent security robot, which comprises a modularized mobile chassis and a robot body arranged on the modularized mobile chassis; the robot body is provided with a positioning module, an obstacle avoidance module, a holder module and an automatic charging device; the positioning module is used for determining the position of the robot; the obstacle avoidance module is used for enabling the robot to avoid obstacles on a travelling road; the holder module comprises a holder and a camera arranged on the holder and is used for shooting image information around the robot; the automatic charging device is matched with the charging pile for realizing automatic charging of the robot; the positioning module, the obstacle avoidance module, the holder module and the automatic charging device are all electrically connected with the control system. The intelligent security robot provided by the invention adopts a modular design, is simple in structure and is easy to maintain.

Description

Intelligent security robot

Technical Field

The invention relates to the technical field of robots, in particular to an intelligent security robot.

Background

At present, a safety precaution system is widely applied to various industries, a traditional security system mainly adopts monitoring equipment at a fixed position to collect images and other signals to coordinate with personnel inspection, a large amount of monitoring equipment and human resources need to be invested, the adaptability is poor, monitoring dead angles are easy to generate, and alarm information and the like cannot be sent out in time after problems are found.

With the rapid development of artificial intelligence technology, mobile robot technology, communication technology and the like, the mobile security robot is in the way. However, security machines developed at home and abroad usually have the defects of complex structure, difficult maintenance and the like, and cannot be well applied to security services.

Disclosure of Invention

Technical problem to be solved

The invention aims to provide an intelligent security robot which is in modular design, simple in structure and easy to maintain.

(II) technical scheme

In order to solve the technical problem, the invention provides an intelligent security robot, which comprises a modularized mobile chassis and a robot body arranged on the modularized mobile chassis; the robot body is provided with a positioning module, an obstacle avoidance module, a holder module and an automatic charging device; the positioning module is used for determining the position of the robot; the obstacle avoidance module is used for enabling the robot to avoid obstacles on a travelling road; the holder module comprises a holder and a camera arranged on the holder and is used for shooting image information around the robot; the automatic charging device is matched with the charging pile for realizing automatic charging of the robot; the positioning module, the obstacle avoidance module, the holder module and the automatic charging device are all electrically connected with the control system.

Preferably, the device also comprises a gas acquisition and analysis module, an audible and visual alarm module, an intercom module and a signal transceiving module; the gas collecting and analyzing module is used for collecting gas around the robot and analyzing components; the sound and light alarm module comprises a player and an illuminating lamp and is used for sending out an alarm signal; the talkback module comprises a loudspeaker and is used for realizing the talkback function; the signal receiving and transmitting module is used for receiving and transmitting information; the gas acquisition and analysis module, the sound-light alarm module, the talkback module and the signal receiving and transmitting module are electrically connected with the control system.

Preferably, the robot body is internally installed in a layered structure, an assembly plate is arranged between every two adjacent layers, and the assembly plates are fixed through stand columns.

Preferably, the modular mobile chassis comprises a bottom plate, universal wheels, two driving wheels and two driving modules; each driving module is correspondingly provided with at least one damping module, wherein one end of each damping module penetrates through the bottom plate to be connected with one end of the corresponding driving module, and the other end of each driving module is hinged with the bottom plate; each driving module comprises a driving motor for driving the driving wheel; the two driving wheels are coaxially arranged at intervals, and the universal wheels are arranged on the front sides of the two driving wheels.

Preferably, the driving module is hinged to the bottom plate through a hinge shaft, and the hinge shaft is fixed to the bottom plate through two bearings.

Preferably, the modular mobile chassis further comprises a gravity center adjusting device mounted on the mounting plate or the modular mobile chassis; the gravity center adjusting device comprises a gravity center motor, a first baffle, a second baffle, a gravity center lead screw sliding block, a guide rod and a balancing weight; one end of the gravity center lead screw penetrates through the first baffle plate and is connected with an output shaft of the gravity center motor, the other end of the gravity center lead screw is connected with the second baffle plate, and the gravity center lead screw can rotate relative to the first baffle plate and the second baffle plate; one end of the guide rod is connected with the first baffle, the other end of the guide rod is connected with the second baffle, and the guide rod is arranged in parallel with the gravity center lead screw; the gravity center lead screw sliding block is sleeved on the gravity center lead screw and the guide rod at the same time and is positioned between the first baffle and the second baffle, and a linear bearing is arranged in a through hole for sleeving the guide rod; when the gravity center lead screw rotates, the gravity center lead screw sliding block moves along the axial direction of the gravity center lead screw, and the first baffle and the second baffle are respectively provided with a limit switch for limiting the stroke of the gravity center lead screw sliding block; the balancing weight is connected to the gravity center lead screw sliding block.

Preferably, the automatic charging device is mounted on the assembly plate or the modular moving chassis and comprises a charging motor, a charging screw slider, a transmission rod, a baffle and a charging electric brush; one end of the charging screw is connected with an output shaft of the charging motor, the other end of the charging screw is connected with the baffle, the charging screw can rotate relative to the baffle, and the charging screw sliding block is sleeved on the charging screw; the transmission rod is arranged in parallel with the charging screw, one end of the transmission rod is connected with the charging screw sliding block, and the other end of the transmission rod penetrates through the baffle and is connected with the charging electric brush; when the charging screw rod rotates, the charging screw rod sliding block moves along the charging screw rod in the axial direction, and the charging electric brush is pushed to move through the transmission rod.

Preferably, the charging brush comprises a brush positive pole, a brush negative pole and a brush connecting plate, and the brush positive pole and the brush negative pole are arranged on one side of the brush connecting plate in parallel at intervals through a compression spring; the other side of the electric brush connecting plate is connected with the transmission rod.

Preferably, the robot further comprises a collision protection device arranged on the side surface of the robot body, wherein the collision protection device comprises a protection shell, a first rotating shaft, a second rotating shaft and a staggered shaft seat; the protective housing is mounted on the first rotating shaft; the first rotating shaft penetrates through the staggered shaft seat and can rotate relative to the staggered shaft seat; the second rotating shaft and the first rotating shaft are arranged in a non-coplanar vertical mode; the staggered shaft seat is sleeved and fixed on the second rotating shaft and can drive the second rotating shaft to rotate relative to the robot body.

Preferably, the second rotating shaft is rotatably mounted on a mounting plate fixed to the robot body.

(III) advantageous effects

The technical scheme of the invention has the following advantages: the invention provides an intelligent security robot, which comprises a modularized mobile chassis and a robot body arranged on the modularized mobile chassis; the robot body is provided with a positioning module, an obstacle avoidance module, a holder module and an automatic charging device; the positioning module is used for determining the position of the robot; the obstacle avoidance module is used for enabling the robot to avoid obstacles on a travelling road; the holder module comprises a holder and a camera arranged on the holder and is used for shooting image information around the robot; the automatic charging device is matched with the charging pile for realizing automatic charging of the robot; each module and device are connected with a control system. The intelligent security robot provided by the invention adopts a modular design, is simple in structure and is easy to maintain.

Drawings

FIG. 1 is a bottom view of a modular mobile chassis according to a first embodiment of the present invention;

fig. 2 is a schematic structural diagram of a driving module according to a first embodiment of the invention;

FIG. 3 is a schematic structural diagram of a modular mobile chassis according to a first embodiment of the present invention;

FIG. 4 is a perspective view of a modular mobile chassis according to a first embodiment of the present invention;

FIG. 5 is an isometric view of a center of gravity adjustment device in accordance with a first embodiment of the present invention;

FIG. 6 is a front view of the center of gravity adjusting apparatus according to the first embodiment of the present invention;

FIG. 7 is an isometric view of an automatic charging device in accordance with a first embodiment of the invention;

fig. 8 is a front view of an automatic charging device according to a first embodiment of the present invention;

fig. 9 is an overall schematic view of an intelligent security robot in the first embodiment of the present invention;

FIG. 10 is a front view of an intelligent security robot according to a first embodiment of the present invention;

FIG. 11 is a front view of a collision protection apparatus according to a second embodiment of the present invention;

fig. 12 is a perspective view of a collision prevention device in a second embodiment of the present invention.

In the figure: 1: a modular mobile chassis; 11: a base plate;

12: a drive wheel; 121: a connecting disc; 122: a drive shaft 122;123: a support bearing; 124: supporting the bearing fixing seat;

13: a drive module; 131: a drive motor; 132: a first timing pulley; 133: a second timing pulley; 134: a synchronous belt; 135: a connecting plate; 136: a housing;

14: a shock-absorbing module; 15: a universal wheel; 16: a fixing member;

2: a center of gravity adjusting device; 21: a center-of-gravity motor; 211: a center of gravity motor bracket;

22: a first baffle; 23: a second baffle; 24: a center of gravity lead screw; 25: a gravity center lead screw slider; 251: a center of gravity lead screw nut; 252: a linear bearing;

26: a guide bar; 27: a balancing weight;

3: an automatic charging device; 31: a charging motor; 311: a charging motor support;

32: a support plate; 33: a baffle plate; 34: a charging screw; 35: a charging screw slider; 351: a charging screw nut; 36: a transmission rod;

37: an electric brush connecting plate; 371: an insulating layer; 372: a positive electrode of an electric brush; 373: a negative electrode of the brush;

38: a guide rail; 381: a guide rail slider; 39: charging piles;

4: a collision protection device; 41: a protective housing; 411: a fixed mount;

42: a first rotating shaft; 43: a second rotation shaft; 44: staggering shaft seats;

45: a limiting spring; 451: a limiting block; 46: mounting a plate; 461: mounting holes;

47: a Hall sensor; 48: a rotating bearing; 481: rotating the bearing block;

5: a limit switch; 61: a magnet; 62: a Hall proximity switch; 7: a coupling;

8: an angular contact bearing; 81: a circlip for a hole;

9: a robot body; 91: a housing; 92: a laser radar; 93: a lighting lamp; 94: an odor sensor;

95: a cradle head module; 951: a camera; 96: a positioning module; 97: and the talkback module.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; may be directly connected or indirectly connected through an intermediate.

In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the description of the present invention, it is to be noted that the sequential words "first" and "second" are merely used for convenience in describing the present invention and for simplifying the description, and do not indicate or imply that the referred devices or elements must have a certain order or difference of importance.

Example one

The intelligent security robot provided by the embodiment of the invention comprises a modularized mobile chassis 1 and a robot body 9 arranged on the modularized mobile chassis 1;

the robot body 9 is provided with a positioning module 96, an obstacle avoidance module, a holder module 95, a gas acquisition and analysis module, an audible and visual alarm module, an intercom module 97, a signal receiving and transmitting module, a gravity center adjusting device 2 and an automatic charging device 3.

The positioning module 96 is used to determine the robot position; the obstacle avoidance module is used for enabling the robot to avoid obstacles on a travelling road; the pan-tilt module 95 comprises a pan-tilt and a camera 951 installed on the pan-tilt and is used for shooting image information around the robot; the gas collection and analysis module comprises an odor sensor 94 for collecting gas around the robot and analyzing the components; the sound and light alarm module comprises a player and an illuminating lamp 93 and is used for sending out an alarm signal; the intercom module 97 includes a speaker for implementing an intercom function; the signal transceiver module is used for receiving and transmitting information to realize the connection between the robot and the monitoring room; the gravity center adjusting device 2 can realize the automatic gravity center adjustment of the robot; the automatic charging device 3 is matched with the charging pile 39 for realizing automatic charging of the robot; each module device is electrically connected with the control system.

The robot body 9 is internally installed in a layered structure, an assembling plate is arranged between two adjacent layers, and the assembling plates are fixed through stand columns. During installation, the modules and devices are fixed on a mounting plate or above the modular mobile chassis 1. By adopting the installation mode, the space can be effectively utilized, and meanwhile, each component is installed in a layered mode, so that the assembly and disassembly are convenient, and the maintenance is simple.

The control system can complete the positioning, path planning, obstacle avoidance and the like of the robot through calculation, and is a nervous system of the robot.

The robot is also internally provided with a sensing system, and the sensing system comprises various sensing monitoring modules such as images, infrared, sound, gas and the like, so that information support is provided for the better operation of the robot. The gas collection and analysis module in this embodiment belongs to a sensing system. The modules in the sensing system can be selected according to needs, and are not further limited herein.

As shown in fig. 1 to fig. 4, a modular mobile chassis 1 of an intelligent security robot provided in an embodiment of the present invention includes a bottom plate 11, a universal wheel 15, two driving wheels 12, and two driving modules 13. Wherein, two drive wheels 12 and two drive modules 13 all set up in the same side of bottom plate 11, and two drive modules 13 are connected with two drive wheels 12 one-to-one, make every drive module 13 drive a drive wheel 12 rotation alone. In addition, the modular moving chassis 1 in the present embodiment is further provided with a damping module 14, specifically, each driving module 13 is correspondingly provided with at least one damping module 14, one end of the damping module 14 penetrates through the bottom plate 11 to be connected with one end of the corresponding driving module 13, and the other end of the driving module 13 is hinged with the bottom plate 11. When the road surface is uneven, the damping module 14 moves up and down relative to the bottom plate 11, so that the driving module 13 rotates around the hinged shaft, the buffering is realized, and the stability of the chassis is improved.

Preferably, two shock absorption modules 14 are correspondingly arranged on each driving module 13, and the two shock absorption modules 14 are arranged at intervals.

Specifically, every drive module 13 includes being used for driving the driving motor 131 of the corresponding drive wheel 12, and two coaxial intervals of drive wheel 12 set up, and universal wheel 15 sets up in the front side of two drive wheels 12, forms the structure of three point support, and universal wheel 15 mainly plays the effect that turns to and support, drives two drive wheels 12 respectively through two driving motor 131, realizes the differential turn, reduces turning radius, and the motion is more nimble.

The bottom plate 11 is an assembly reference plate and is provided with a mounting hole and an opening for mounting the driving wheel 12, and the opening is two rectangles which are parallel and opposite. When installed, the drive wheel 12 extends into the opening from below the base plate 11 and is rotatable therein. This design is adopted in order to lower the center of gravity of the mobile modular mobile chassis 1, but of course, the bottom plate 11 may not be provided with an opening, and the driving wheel 12 rotates below the bottom plate 11.

In the present embodiment, the driving wheel 12 is preferably a rubber wheel, and wheels made of other materials may be selected as needed, which is not limited herein.

As shown in fig. 2 and 3, in the driving module 13 used in the present embodiment, the driving motor 131 is connected to the driving wheel 12 through a synchronous pulley set, which includes a transmission shaft 122, a synchronous belt 134, a first synchronous pulley 132, and a second synchronous pulley 133. The first synchronous pulley 132 is sleeved on the output shaft of the driving motor 131 and rotates synchronously with the driving motor 131. The second timing pulley 133 is connected to the first timing pulley 132 through a timing belt 134, and the driving wheel 12 is connected to the second timing pulley 133 through a transmission shaft 122, so that the driving wheel 12 and the output shaft of the driving motor 131 rotate in synchronization.

Preferably, the driving motor 131 and the synchronous pulley set are both mounted on at least one connecting plate 135, the connecting plate 135 is arranged in parallel with the bottom plate 11 at an interval, the driving module 13 is hinged with the bottom plate 11 through the connecting plate 135, and the damping module 14 is also connected with the connecting plate 135.

Further, the driving module 13 further includes a support bearing 123, and the transmission shaft 122 passes through a second synchronous pulley 133, and one end thereof is connected to an inner ring of the support bearing 123 and the other end thereof is connected to the driving wheel 12. Alternatively, the support bearing 123 is fixed on the connection plate 135 by a support bearing fixing seat 124.

Driving motor 131 drives drive wheel 12 through synchronous pulley group and rotates, and the power that receives reduces the impact of driving motor 131 output shaft through the buffering of synchronous pulley group, increases driving motor 131's life.

Specifically, the transmission shaft 122 is connected to the driving wheel 12 through a connection plate 121, the connection plate 121 is disposed outside the driving wheel 12, and the transmission shaft 122 is connected at the center of the connection plate 121 and fixed to the driving wheel 12 by a screw. Of course, other arrangements for connecting the drive shaft 122 to the drive wheel 12 are possible.

The outer side of the driving module 13 is further provided with a housing 136 for protecting the components of the driving module 13, and further realizing modularization of the driving module 13, which is convenient for installation and disassembly. Specifically, the housing 136 is a cavity structure formed by a plurality of connection plates 135, and the driving motor 131 and the timing pulley set are installed in the housing 136, but it is only preferable that the driving module 13 is installed in the housing 136 of the cavity structure, and the driving module 13 may be installed on the connection plates 135 as described above.

As shown in fig. 1, 2 and 3, the hinge shaft is rotatably mounted on the bottom plate 11 through two fixing members 16, and specifically, the fixing members 16 are provided with bearings for penetrating the hinge shaft, so that the hinge shaft can rotate relative to the bottom plate 11.

In order to reduce the chassis volume, as shown in fig. 1 and fig. 2, in this embodiment, the synchronous pulley sets in the driving modules 13 are connected with the driving motors 131 into a whole and then distributed in an L shape, two driving motors 131 are arranged in parallel, and two synchronous pulley sets are arranged in parallel to form an approximately rectangular shape, that is, each synchronous pulley set is perpendicular to the driving motor 131 connected therewith as a whole, and when installed, the synchronous pulley set of one driving module 13 is installed in a direction close to the other driving module 13. The arrangement mode can effectively save space, enables the chassis structure to be more compact, and can be suitable for robots with smaller volumes.

As shown in fig. 3 and 4, the damping module 14 includes a suspension portion, a damping spring, and a connecting shaft, one end of the connecting shaft is connected to the suspension portion, the other end of the connecting shaft passes through a hole on the bottom plate 11, and the damping spring is sleeved on the connecting shaft and located between the suspension portion and the driving module 13.

When the robot runs in uneven road conditions, one end of the driving module 13, which is far away from the driving wheel 12, is hinged on the bottom plate 11, the driving wheel 12 can move upwards or downwards within a certain range, the damping module 14 is arranged at one end, which is close to the driving wheel 12, and when the driving wheel 12 moves up and down, the damping spring generates compression or stretching deformation, so that the driving wheel 12 is subjected to restoring force, the effects of buffering and resetting are achieved, and the influence of the vibration of the driving wheel 12 on the modularized movable chassis 1 is reduced.

Since the damping module 14 of each driving module 13 is relatively independent and is not affected by other driving modules 13, an independent damping structure is formed, and even if the road environment is complex, the road can stably pass through the damping structure. Of course, three or more damper modules 14 may be provided to improve the damping effect.

During the use, modularization removes chassis 1 installation robot body 9 bottoms, and every drive wheel 12 is equipped with independent shock-absorbing structure, has good shock-absorbing performance, has greatly improved the motion stability of robot.

As shown in fig. 5 and fig. 6, the gravity center adjusting device 2 of the intelligent security robot according to the embodiment of the present invention includes a gravity center motor 21, a first baffle 22, a second baffle 23, a gravity center lead screw 24, a gravity center lead screw slider 25, a guide rod 26, and a counterweight 27; one end of a gravity center lead screw 24 passes through the first baffle 22 to be connected with an output shaft of the gravity center motor 21, the other end of the gravity center lead screw is connected with the second baffle 23, and the gravity center lead screw 24 can rotate relative to the first baffle 22 and the second baffle 23; one end of the guide rod 26 is connected with the first baffle 22, the other end is connected with the second baffle 23, and the guide rod 26 is arranged in parallel with the gravity center lead screw 24; the gravity center lead screw slider 25 is sleeved on the gravity center lead screw 24 and the guide rod 26 at the same time and is positioned between the first baffle 22 and the second baffle 23, and a linear bearing 252 is arranged in a through hole of the gravity center lead screw slider 25, which is used for sleeving the guide rod 26; when the gravity center lead screw 24 rotates, the gravity center lead screw slider 25 moves along the axial direction of the gravity center lead screw 24, and the first baffle 22 and the second baffle 23 are respectively provided with a limit switch 5 for limiting the stroke of the gravity center lead screw slider 25; the counterweight 27 is connected to the gravity lead screw slider 25.

Center of gravity motor 21 passes through center of gravity motor support 211 to be installed in robot 9, center of gravity motor support 211 is the L type, center of gravity motor 21's output shaft passes center of gravity motor support 211 and is connected with center of gravity lead screw 24, adopt 7 coaxial coupling of shaft coupling between center of gravity motor 21 and the center of gravity lead screw 24, specifically to in this embodiment, center of gravity motor 21 is 57 step motor, shaft coupling 7 is GR bellows shaft coupling, install in the first baffle 22 outside, after the installation, center of gravity lead screw 24 can rotate along with center of gravity motor 21. Of course, in another embodiment, the center of gravity motor 21 and the center of gravity screw 24 may be connected by a synchronous wheel, and after the connection, the center of gravity motor 21 can drive the center of gravity screw 24 to rotate.

The first baffle 22 is provided with a through hole for the gravity center lead screw 24 to pass through, the angular contact bearing 8 is arranged in the through hole, and the circlip 81 for hole is arranged on the outer side of the angular contact bearing 8 and used for fixing the position of the angular contact bearing 8. One end of the gravity center lead screw 24 is coaxially connected with an output shaft of the gravity center motor 21 after passing through an inner hole of the angular contact bearing 8, when the gravity center lead screw 24 rotates along with the gravity center motor 21, the angular contact bearing 8 is matched with the gravity center lead screw 24, and the gravity center lead screw 24 can rotate relative to the first baffle 22 and the second baffle 23. Of course, in another embodiment, the center of gravity screw 24 and the second baffle 23 may be connected by a through hole provided with the angular contact bearing 8. The first and

second shutters

22 and 23 serve as support points for the center of gravity screw 24, and the position of the center of gravity screw 24 can be defined without affecting the rotation of the center of gravity screw 24.

As shown in fig. 5, the present embodiment employs two guide bars 26, and the two guide bars 26 are arranged in parallel. Specifically, in the present embodiment, two guide rods 26 are parallel to center of gravity screw 24, and have equal distances to center of gravity screw 24, and guide rods 26 and center of gravity screw 24 are located on the same horizontal plane. Preferably, in another embodiment, four guide rods 26 may also be used, the four guide rods 26 may be disposed at four corners of the center-of-gravity screw slider 25, distances from the four guide rods 26 to the center-of-gravity screw 24 are equal, two guide rods 26 are located on the same horizontal plane and are higher than the center-of-gravity screw 24, the other two guide rods 26 are located on the same horizontal plane and are lower than the center-of-gravity screw 24, and the four guide rods 26 are located at symmetrical positions on two sides of the center-of-gravity screw 24, so that the guide rods 26 are symmetrically disposed to enable the center-of-gravity screw slider 25 to be stressed uniformly.

The gravity center lead screw slider 25 is sleeved on the gravity center lead screw 24 and the guide rod 26, and the gravity center lead screw slider 25 is provided with a through hole for penetrating through the guide rod 26. Obviously, if the number of the guide rods 26 is increased according to the requirement, a corresponding number of through holes should be added on the gravity lead screw slider 25. The linear bearing 252 is provided in the through hole of the center of gravity screw slider 25, and the resistance to the center of gravity screw slider 25 when moving along the guide bar 26 can be reduced. The guide rods 26 symmetrically arranged are matched with the linear bearing 252, so that the weight of the gravity center lead screw slider 25 can be shared, the pressure of the gravity center lead screw slider 25 on the gravity center lead screw 24 is reduced, and the gravity center lead screw slider 25 can move along with the rotation of the gravity center lead screw 24 more easily.

Specifically to in this embodiment, one side fixedly connected with focus lead screw nut 251 that focus lead screw slider 25 is close to focus motor 21, and the via hole that is used for wearing to establish focus lead screw 24 on focus lead screw nut 251 and the focus lead screw slider 25 sets up with one heart, and focus lead screw slider 25 passes through focus lead screw nut 251 and the meshing of focus lead screw 24. When the gravity center lead screw 24 rotates, the gravity center lead screw nut 251 drives the gravity center lead screw slider 25 to move axially along the gravity center lead screw 24, and the rotation of the gravity center lead screw 24 is converted into linear displacement of the gravity center lead screw slider 25.

Of course, the through hole for passing through the gravity lead screw 24 on the gravity lead screw slider 25 may also be a threaded hole, and the gravity lead screw slider 25 is directly engaged with the gravity lead screw 24 through the threaded hole.

In order to more safely limit the movement of the gravity center lead screw slider 25, the limit switches 5 are arranged on the first baffle 22 and the second baffle 23, the limit switches 5 are electrically connected with the gravity center motor 21, when the moving distance of the gravity center lead screw slider 25 exceeds the stroke of the gravity center lead screw 24, the limit switches 5 are triggered, the gravity center motor 21 stops rotating immediately, the gravity center lead screw slider 25 is ensured to be in an adjustable range, and the gravity center motor 21 cannot be blocked or idled. The limit switch 5 prevents the worker from judging whether the gravity center is in a safety area according to experience, and plays a role of a protection device.

Preferably, a buffer pad (not shown) is further disposed on a side of the first baffle 22 and the second baffle 23 close to the center of gravity screw slider 25, and the buffer pad can be a rubber pad, a sponge pad or other shock absorption materials. When the gravity lead screw slide 25 accidentally moves beyond the stroke, the buffer cushion can reduce the impact of the gravity lead screw slide 25 on the first baffle 22 or the second baffle 23 and prevent the device from being damaged.

In another embodiment, a cushion pad may be provided on the side of the center of gravity screw slider 25 adjacent to the first flap 22 and on the side adjacent to the second flap 23.

Further, in order to prevent the center of gravity motor 21 from losing steps, a magnet 61 is installed on the bottom side of the center of gravity screw slider 25, in this embodiment, a small magnet is used, and a hall proximity switch 62 is installed at a corresponding position in the robot body 9, and is located right below the small magnet when the center of gravity screw slider 25 is located at the initial position in the middle of the center of gravity screw 24. The Hall proximity switch 62 is installed at the middle position of the stroke of the gravity center lead screw 24, when a small magnet passes over the Hall proximity switch 62, the gravity center motor 21 can be reset to zero, and therefore the accumulated error of the gravity center motor 21 can be eliminated.

As shown in FIG. 5, in order to add a weight, a detachable weight 27 is connected above the center of gravity screw slider 25 in this embodiment. Of course, the counterweight 27 may be disposed at other positions, and in consideration of the balance performance, the counterweight 27 should be disposed symmetrically, for example, the counterweight 27 is disposed right below, or on the upper and lower sides, or on the left and right sides, or on the periphery of the gravity lead screw slider 25. Adopt balancing weight 27 that can dismantle in this implementation, can adjust balancing weight 27's weight in a flexible way, can set up different focus regulating variable according to actual need.

In this embodiment, the center of gravity motor 21, the limit switch 5, and the hall proximity switch 62 are all electrically connected to the control system. And the control system receives the signal feedback of the sensing system, processes the signal feedback and then sends out an instruction. The sensing system comprises an inclination angle sensor and is used for detecting the inclination angle value between the robot body 9 and the ground and feeding back information to the control system. Since the lead of the center of gravity screw 24 is determined, the center of gravity motor 21 rotates once, and the distance moved by the center of gravity screw slider 25 is also determined. And the difference value of the actual angle value and the preset angle value has a certain relation with the rotation number of the gravity center motor 21, the relation is written into the control system through an algorithm in advance, and the control system processes the relation, so that the automatic adjustment of the gravity center of the robot body 9 can be realized according to the algorithm of the inclination angle and the gravity center position.

When the robot is used, when the robot is in a horizontal state, the balancing weight 27 is located in the middle position, the total gravity center of the robot body 9 is at a certain point close to the center, when the robot encounters road conditions such as an uphill slope and a downhill slope, the inclination angle value between the robot body 9 and the ground can be sent to the control system by the inclination angle sensor on the robot body 9, the control system judges, the angle exceeds the judged preset angle value, and the control system sends a forward rotation instruction or a reverse rotation instruction to the gravity center motor 21. The gravity center motor 21 drives the gravity center lead screw 24 to rotate, the gravity center lead screw 24 rotates to drive the gravity center lead screw sliding block 25 to move, and the gravity center lead screw sliding block 25 is connected with the balancing weight 27, so that the balancing weight 27 also moves along the gravity center lead screw 24, and the gravity center of the robot moves. When the inclination angle of the security robot exceeds a preset maximum angle value, the robot stops moving and gives an alarm. When the moving distance of the gravity center lead screw slide block 25 exceeds the stroke of the gravity center lead screw 24, one of the limit switches 5 is triggered, the control system receives the signal and sends an instruction, and the gravity center motor 21 stops rotating immediately. The gravity center lead screw slide block 25 moves through a Hall proximity switch 62 on the robot body 9, and the gravity center motor 21 counts and clears to zero, so that accumulated errors are eliminated.

As shown in fig. 7, the automatic charging device 3 for the intelligent security robot according to the embodiment of the present invention includes a charging motor 31, a charging screw 34, a charging screw slider 35, a transmission rod 36, a baffle 33, and a charging brush; one end of the charging screw 34 is connected with an output shaft of the charging motor 31, the other end of the charging screw is connected with the baffle 33, the charging screw 34 can rotate relative to the baffle 33, and the charging screw sliding block 35 is sleeved on the charging screw 34; the transmission rod 36 is arranged in parallel with the charging screw 34, one end of the transmission rod 36 is connected with the charging screw slider 35, and the other end of the transmission rod passes through the baffle 33 and is connected with the charging electric brush; when the charging screw 34 rotates, the charging screw slider 35 moves axially along the charging screw 34 and pushes the charging brush to move through the transmission rod 36.

As shown in fig. 7 and 8, the present embodiment further includes a supporting plate 32, the supporting plate 32 is parallel to and opposite to the baffle 33, and the supporting plate 32 is sleeved on the charging screw 34. One end of the charging screw 34 passes through the support plate 32 and is coaxially connected with the charging motor 31 through the coupler 7, and the other end is connected to the baffle 33.

Of course, in another embodiment, the charging screw 34 and the charging motor 31 may be connected by a synchronous wheel, and the charging motor 31 may also drive the charging screw 34 to rotate.

Specifically, the charging motor 31 used in this embodiment is a 57 step motor, and the coupling 7 is a GR bellows coupling. Of course, other types of the charging motor 31 and the coupling 7 can be selected according to actual requirements.

The charging motor 31 is fixed in the robot body 9 by a charging motor holder 311. The charging motor support 311 is of an L-shaped structure, and the output end of the charging motor 31 penetrates through the charging motor support 311 to be connected with the charging screw 34.

The charging screw 34 is rotatable relative to the support plate 32 and the shutter 33. Be equipped with the via hole that is used for wearing to establish the lead screw 34 that charges in the backup pad 32, be equipped with angular contact bearing 8 in the via hole, circlip 81 for the hole sets up in angular contact bearing 8's the outside, prevents that angular contact bearing 8 breaks away from the via hole. The charging screw 34 passes through the inner hole of the angular contact bearing 8 and then is connected with the charging motor 31. When the charging motor 31 rotates, the charging lead screw 34 rotates synchronously, the charging lead screw 34 is matched with the angular contact bearing 8, and the angular contact bearing 8 can enable the charging lead screw 34 to rotate relative to the support plate 32 without obstruction.

Preferably, in another embodiment, the baffle 33 may also be provided with an angular contact bearing 8 through hole to penetrate the charging screw 34. The support plate 32 and the shutter 33 function to support and restrict the position of the charging screw 34 without affecting the rotation of the charging screw 34.

As shown in fig. 7, four drive links 36 are used in this embodiment. The charging screw slide block 35 is arranged on the charging screw 34 in a penetrating mode, the transmission rod 36 is parallel to the charging screw 34, one end of the transmission rod is connected with the charging screw slide block 35, and the other end of the transmission rod penetrates through the baffle 33 to be connected with the charging electric brush.

One side of the charging screw slider 35 is connected with a charging screw nut 351. Specifically, the charging screw nut 351 is connected to the left side (in the direction shown in fig. 8) of the charging screw slider 35. The charging screw nut 351 and the charging screw slider 35 are concentrically arranged through a via hole for penetrating the charging screw 34. The charging screw slider 35 is engaged with the charging screw 34 via a charging screw nut 351. The charging screw 34 is rotated, the charging screw nut 351 and the charging screw 34 move along the charging screw 34, the charging screw slider 35 is dragged or pushed to move along the charging screw 34 axially, and the rotation of the charging screw 34 is converted into the linear motion of the charging screw slider 35. Of course, in another embodiment, the through hole of the charging lead screw slider 35 may also be a threaded hole, and the charging lead screw slider 35 is engaged with the charging lead screw 34 through the internal threaded hole.

When the charging screw 34 rotates, the charging screw slider 35 moves and pushes the charging brush to move through the transmission rod 36. The transmission rod 36 enables the charging electric brush to be stable in the moving process, and the charging joint does not shake when extending out of the robot body 9 for charging.

As shown in fig. 7 and 8, preferably, four transmission rods 36 are respectively disposed at four corners of the charging screw slider 35, so as to surround the charging screw 34 in the middle, and have equal distances to the charging screw 34, which is configured to make the force applied more uniformly and the transmission process more stable.

The charging brush includes a brush connecting plate 37, a brush positive pole 372 and a brush negative pole 373, the brush positive pole 372 and the brush negative pole 373 are connected to the outside of the brush connecting plate 37 by a compression spring, and the inside of the brush connecting plate 37 is connected to the transmission rod 36. One mounting method is that the brush anode 372 and the brush cathode 373 are fixed on the outer side of the brush connecting plate 37 through screws, a certain space is left between the charging brush and the brush connecting plate 37, and a spring is sleeved on the screws, is arranged between the charging brush and the brush connecting plate 37, and is in a compressed state. Because brush positive pole 372 and brush negative pole 373 all install on the insulation board through compression spring, compression spring with fill electric pile contact in-process and play the cushioning effect, reduced the joint that charges to automatic charging device 3 and fill electric pile 39's impact, can effectually avoid the brush to appear virtual connecing simultaneously, cause the phenomenon of sparking.

In addition, the area ratio of the ordinary charging brush to the electric brush on the charging pile is about, and the charging brush in the embodiment is an enlarged brush, and the area is about 2 times or more of that of the electric brush on the charging pile, and preferably, the area is 2 to 3 times of that of the electric brush on the charging pile. After the effective area of contact of the brush that increases charges, during charging, robot body 9 need not carry out accurate removal, can normally charge, can accomplish the charging process more safe and reliable.

Preferably, an insulating layer 371 is further provided, and the brush positive pole 372 and the brush negative pole 373 are connected to the brush connecting plate 37 through the insulating layer 371. Specifically, in the present embodiment, the brush connecting plate 37 is disposed perpendicular to the transmission rod 36, and the brush positive pole 372 and the brush negative pole 373 are disposed in parallel on the insulating plate at intervals, and the insulating plate is further disposed on the brush connecting plate 37.

Preferably, a transverse partition plate is further disposed above the brush connecting plate 37, and is located above the brush positive pole 372 and the brush negative pole 373, so as to protect the charging brush. The corresponding position is equipped with the articulated separation blade on robot body 9's the shell 91 as the opening that charges, and when brush connecting plate 37 stretched out, transverse baffle pushed the separation blade and rotated, and the brush that charges stretches out robot body 9 and charges, and when brush connecting plate 37 withdrawed, the articulated separation blade fell down, sheltered from the opening that charges, prevented the inside ash that falls of robot.

As shown in fig. 7 and 8, preferably, a guide rail 38 parallel to the charging screw 34 is further disposed on one side of the baffle 33, a guide rail slider 381 capable of sliding along the guide rail 38 is disposed on the guide rail 38, one end of the guide rail slider 381 is sleeved on the guide rail 38, and the other end is connected to the charging screw slider 35. In the embodiment, the guide rail 38 is disposed at the bottom of the support plate 32 and the baffle plate 33, and when the robot is installed, the guide rail 38 can be fixed in the robot body 9, and the bottom of the support plate 32 and the baffle plate 33 is sleeved on the guide rail 38. The bottom of guide rail slider 381 cup joints at guide rail 38, and the lead screw slider 35 that charges is connected at the top, and guide rail 38 and guide rail slider 381 cooperate each other, can alleviate the pressure of the lead screw slider 35 that charges to the lead screw 34 that charges in the transmission process for the lead screw slider 35 that charges can remove more easily, and be difficult to take place offset.

Further, in order to ensure that the charging screw slider 35 does not exceed the stroke when moving along the charging screw 34, and damage is caused to the charging motor 31, the side part of the baffle 33 is further provided with two limit switches 5, the charging under the general condition can not touch the limit switches 5, when the charging motor 31 loses steps or the program has errors, the charging screw slider 35 or the electric brush connecting plate 37 will trigger the limit switches 5, the charging motor 31 is powered off, and accidents are prevented.

Of course, in another embodiment, a limit switch 5 may be disposed on the baffle 33 and the supporting plate 32, respectively, and when the charging screw slider 35 is about to exceed the stroke, the limit switch 5 is triggered to stop the rotation of the charging motor 31 rapidly.

How the two limit switches 5 are provided depends on the shorter of the transmission lever 36 and the charging screw 34: if the transmission rod 36 is short, the two limit switches 5 are respectively arranged on the baffle 33 and the support plate 32; if the charging screw 34 is short, the two limit switches 5 are arranged on the baffle 33; if the two strokes are the same, that is, the brush connecting plate 37 touches the baffle 33, and the charging screw slider 35 also touches the support plate 32, both arrangements are the same.

In order to prevent the step loss phenomenon of the charging motor 31, the magnet 61 is mounted on the charging screw slider 35, in this embodiment, the magnet 61 is a small magnet and is mounted on one side of the bottom of the charging screw slider 35, the hall proximity switch 62 is mounted in the robot body 9, and when the charging screw slider 35 is at the initial position, the hall proximity switch 62 is located right below the small magnet. Install hall proximity switch 62 in charging lead screw 34 stroke, little magnet can realize charging motor 31 zeroing when hall proximity switch 62, clears away the accumulative error, prevents that charging motor 31 from appearing losing the step phenomenon, improves the precision of automatic charging device 3 motion.

Preferably, cushions (not shown) are further disposed on the left and right sides of the baffle 33 (with respect to the direction shown in fig. 8) and the side of the supporting plate 32 close to the charging screw slider 35, but in another embodiment, cushions may be disposed on the left and right sides of the charging screw slider 35 (with respect to the direction shown in fig. 8) and the side of the brush connecting plate 37 close to the baffle 33. The cushion can select for use shock-absorbing material such as elastic rubber, can prevent to charge lead screw slider 35 and brush connecting plate 37 and directly bump with backup pad 32 or baffle 33 when accident appears, alleviates the impact of charging lead screw slider 35 and brush connecting plate 37 to the device, prevents that the device from taking place to damage.

In this embodiment, an electric quantity monitoring unit is further disposed in the robot body 9. Wherein the charging motor 31, the limit switch 5, the Hall proximity switch 62 and the electric quantity monitoring unit are all electrically connected with the control system. The electric quantity monitoring unit is used for monitoring the electric quantity of a battery in the robot body 9, and when the electric quantity is lower than a set value, a signal is sent to the control system. The control system controls the robot body 9 to move to the vicinity of the charging pile 39, and the automatic charging device 3 of the robot starts to operate.

When the robot is used, the charging motor 31 drives the charging screw 34 to rotate, the charging screw slider 35 moves towards the baffle 33 along the charging screw 34 and the guide rail 38, the transmission rod 36 is connected between the charging screw slider 35 and the charging electric brush, the charging electric brush and the charging screw slider 35 synchronously move outwards to stretch out of the robot body 9 and be inserted into the charging pile 39 for charging, and electric energy is charged into a battery in the robot body 9. After charging, the charging motor 31 drives the charging screw 34 to rotate in the opposite direction, the charging screw slider 35 moves along the charging screw 34 and the guide rail 38 toward the support plate 32, and the transmission rod 36 drives the charging brush to retract.

It should be noted that the positions and sizes of the brush positive pole 372 and the brush negative pole 373 may be changed as required, but correspondingly, the charging pile 39 should be adjusted to match the charging brush of the automatic charging device 3.

As shown in fig. 9 and 10, in the intelligent security robot in this embodiment, a layered installation structure is adopted inside the robot body 9, a layered structure is adopted for installation, and an assembly plate is arranged between two adjacent layers. During installation, the assembling plates are used for division, and an upright post for supporting is arranged between every two adjacent assembling plates. The modularized mobile chassis 1 is located at the lowermost layer, and the modularized mobile chassis 1 comprises a bottom plate 11, an assembly plate is not arranged above the bottom plate 11, the gravity center adjusting device 2 is installed on the bottom plate 11 of the modularized mobile chassis 1, and the automatic charging device 3 is installed on the assembly plate on the upper layer of the gravity center adjusting device 2. If the assembly plate needs to be replaced or maintained, only the corresponding assembly plate is disassembled. Preferably, the charging opening corresponding to the automatic charging device 3 is located right above the universal wheel 15, so that the robot body 9 can move more flexibly during charging.

In another embodiment, the automatic charging device 3 may be mounted on the modular mobile chassis 1, and the gravity center adjusting device 2 may be mounted on a mounting plate on the upper layer of the automatic charging device 3.

As shown in fig. 9 and 10, a protective casing 91 is provided outside the robot body 9, the odor sensor 94, the positioning module 96 and the intercom module 97 in this embodiment are mounted on the casing 91, and other modules or elements are mounted inside the casing 91. Wherein, the odor sensor 94 is installed in front of the robot body 9 (shown in fig. 10), and the housing 91 is provided with a corresponding opening. The positioning module 96 is a GPS positioning module and is mounted on the top of the robot body 9. Two intercom modules 97 are mounted on the side of the robot body 9 (the side shown in fig. 10), and the housing 91 is provided with corresponding openings for mounting the speakers in the intercom modules 97.

The method for realizing the obstacle avoidance function is ultrasonic wave and short-distance laser radar, the laser radar 92 adopted in the obstacle avoidance module is installed in the middle of the robot body 9 and located above the automatic charging device 3, and the obstacle avoidance module is installed without shielding within a range of 270 degrees. In this embodiment, the position of installing laser radar 92 on shell 91 is equipped with the horizontally opening, guarantees laser radar 92's service environment. Laser radar 92 can survey obstacles around, also can survey the position of filling electric pile 39 at automatic charging device 3 during operation, ensures that the electric pile 39 is filled in the insertion that the brush that charges can be accurate. The position of the ultrasonic sensor is not limited.

The acousto-optic alarm module comprises a player and an illuminating lamp 93, wherein the illuminating lamp 93 is arranged on the shell 91 above the laser radar 92, when alarm is needed, the player sounds, and meanwhile, the illuminating lamp 93 is lightened. The position of the player is not limited, and preferably, in order to save space and improve the utilization rate, the speaker of the intercom module 97 may also be used as the player of the sound and light alarm module.

Cloud platform module 95 installs on robot 9's upper portion, including the cloud platform with install the camera 951 on the cloud platform, cloud platform module 95 installs in the skeleton backup pad, protects with the protection translucent cover to guarantee that the sight is not sheltered from. The monocular tripod head adopted in the embodiment can scan and record the surrounding environment in real time through the camera, the camera has no dead angle in 360 degrees, the monocular tripod head can work at night, and the sound around the robot can be collected in real time through the microphone and stored and transmitted back. Parameters of the holder: waterproof and dustproof grades: and IP65. The pan-tilt module 95 can feed back image data of the intelligent security robot to the control system of the robot body 9 for preliminary analysis, judge whether abnormal conditions such as fire danger occur, and transmit the picture to the remote monitoring center in time, so that security personnel can see the actual situation of the intelligent security robot.

Preferably, in order to make the robot still transmit a clear picture when patrolling at night, the camera 951 with night vision function may be used, or the illuminating lamp 93 may be turned on. The illuminating lamp 93 is turned on at night, so that illumination can be provided when the robot patrols at night, and the robot is prevented from being accidentally knocked by pedestrians.

When the robot is used, the robot collects surrounding information and feeds the information back to the control system, the control system plans a moving path after calculating, and sends an instruction to the modularized moving chassis 1 to control the robot body 9 to move; when the robot meets uneven road conditions, the inclination angle sensor senses that the robot body 9 inclines and feeds back the inclination angle to the control system, and the control system sends an instruction to the gravity center adjusting device 2 to adjust the gravity center of the robot body 9, so that the security robot can stably advance; when the electric quantity monitoring unit detects that the electric quantity is lower than the set value, the control system plans a charging route, and sends an instruction to the automatic charging device 3 for charging after searching the charging position.

In the tour process, the position of robot body 9 can be confirmed to orientation module 96, ensures that the robot moves according to the route that control system planned, and can feed back to security personnel by robot body 9 position, and laser radar 92 can detect the barrier around robot body 9, and intercommunication module 97 can make security personnel pass through intelligent security robot span distance communication, and audible and visual alarm module can send out police dispatch newspaper or dispel the signal when detecting danger factor.

To sum up, the intelligent security robot that this embodiment provided adopts the modularized design, simple structure, and each part easy dismounting can the independent combination, easy to maintain, and need not invest in too much manpower, can adapt to the change of environment and independently make the decision to in time send alarm information after finding the problem, thereby realize intelligent operation and unmanned operation and maintenance.

It should be noted that, for areas such as important units, venues, warehouses, and communities, the intelligent security robot provided in this embodiment may also carry other security monitoring devices, so as to perform more comprehensive intelligent patrol in a working area.

Example two

The second embodiment is basically the same as the first embodiment, and the same parts are not described again, except that: the intelligent security robot in this embodiment two also installs collision protector 4.

As shown in fig. 11 and 12, the collision protection device 4 of the intelligent security robot according to the embodiment of the present invention includes a protection housing 41, a first rotating shaft 42, a second rotating shaft 43, a staggered shaft seat 44, and a mounting plate 46; the protective housing 41 is mounted on the first rotation shaft 42; the first rotating shaft 42 is arranged on the staggered shaft seat 44 in a penetrating way and can rotate relative to the staggered shaft seat 44; the second rotating shaft 43 is arranged perpendicular to the first rotating shaft 42 in a non-coplanar manner; the staggered shaft seat 44 is fixedly sleeved on the second rotating shaft 43, and the second rotating shaft 43 is installed on the robot body 9 and can rotate relative to the robot. Specifically, the rotary bearing 48 may be installed inside the robot, so that the protective housing 41 replaces part of the protective housing 41 on the front side of the robot, that is, the front side of the robot has a piece of protective housing 41 capable of rotating in all directions. When the robot touches an obstacle during traveling, the protective shell 41 first contacts the obstacle, and according to the contact position and the contact angle, the following three situations can occur: (1) the protective shell 41 drives the first rotating shaft 42 to rotate; (2) The protective shell 41, the first rotating shaft 42 and the staggered shaft seat 44 integrally drive the second rotating shaft 43 to rotate; (3) The first and

second rotation shafts

42 and 43 are rotated simultaneously. The collision injury to the robot caused by collision can be reduced by the three rotation modes.

Preferably, in this embodiment, the second rotating shaft 43 is rotatably mounted on the mounting plate 46. In another embodiment, the second rotation shaft 43 may also be directly rotatably mounted on the robot body 9 via a rotation bearing 48. The installation plate 46 is beneficial to realizing modular installation of the collision protection device 4 of the robot, has simple structure and good universality, can install and dismantle the collision protection device 4 more conveniently and is applied to robots of different models or other equipment.

Specifically, the mounting plate 46 is further provided with a mounting hole 461, and the mounting plate 46 is fixed on the robot body 9 through the mounting hole 461.

Preferably, a single collision prevention device 4 in the present embodiment may be installed on the front side of the robot body 9, or a plurality of collision prevention devices 4 in the present embodiment may be installed around the robot body 9.

As shown in fig. 11, the protective housing 41 is detachably mounted on the first rotating shaft 42 through a fixing bracket 411, for example, only the protective housing 41 needs to be replaced. Specifically, in the present embodiment, the first rotating shaft 42 is disposed parallel to the protective casing 41, but in other embodiments, a certain included angle may also exist between the first rotating shaft 42 and the protective casing 41 according to actual requirements. The shape of the protective casing 41 may be changed as needed, and is not limited herein.

The staggered shaft seat 44 is provided with a rotary bearing 48 in a hole for penetrating the first rotary shaft 42, and the first rotary shaft 42 is rotatably penetrated on the staggered shaft seat 44 through the rotary bearing 48. In the embodiment, the staggered shaft seat 44 is located in the middle of the first rotating shaft 42, but the staggered shaft seat 44 may be disposed at other positions on the first rotating shaft 42 as required.

Preferably, a limiting spring 45 is further disposed between the staggered shaft seat 44 and the first rotating shaft 42, and a limiting block 451 is further disposed in cooperation with the limiting spring 45. The first rotating shaft 42 is provided with a plane or a groove which is engaged with the stopper 451. One part of the limiting block 451 penetrates through the limiting spring 45 along the axial direction of the limiting spring 45, the length of the part is smaller than the axial length of the limiting spring 45, the other part is located on the outer side of the limiting spring 45, is matched with the plane or the groove bottom surface of the groove, and is wider than the diameter of the limiting spring 45.

The longitudinal section of the limiting block 451 adopted in the embodiment is T-shaped, the top surface is a plane, and the first rotating shaft 42 is also a plane. If the first rotating shaft 42 is engaged with the stopper 451 by using a groove, the bottom area of the groove should be larger than the top area of the stopper 451. The limiting block 451 is positioned with the first rotation shaft 42 through a plane, and the limiting spring 45 is in a compressed state and is used for providing a pretightening force to the first rotation shaft 42.

In the embodiment, due to the adoption of the plane positioning and the spring pre-tightening, the problem that the protective shell 41 is unstable due to the adoption of the spring floating installation in the existing protective device is effectively solved, and the phenomenon that the protective shell 41 shakes to cause misjudgment of collision with the protective device 4 when the robot body 9 moves on the ground which is not smooth enough is avoided.

As shown in fig. 11, the staggered shaft seat 44 is sleeved in the middle of the second rotating shaft 43 and fixed relative to the second rotating shaft 43. The second rotating shaft 43 is parallel to the mounting plate 46, two ends of the second rotating shaft 43 are rotatably mounted on the mounting plate 46 through rotating bearings 48, the rotating bearing seat 481 is connected to the mounting plate 46, the rotating bearings 48 are arranged in through holes for penetrating the second rotating shaft 43 on the rotating bearing seat 481, and two ends of the second rotating shaft 43 are penetrated in inner holes of the rotating bearings 48 and can rotate relative to the mounting plate 46 together with the staggered shaft seats 44. Of course, in another embodiment, the second rotating shaft 43 and the mounting plate 46 may be disposed at an angle according to actual requirements.

As shown in fig. 11, a stopper 451 and a stopper spring 45 are also provided between the second rotation shaft 43 and the mounting plate 46. Preferably, the mounting plate 46 is provided with a hollow cylinder, the limiting spring 45 is fixed in the hollow cylinder, one part of the limiting block 451 is inserted into the central hole of the limiting spring 45 along the axial direction of the limiting spring 45, and the other part is clamped outside the limiting spring 45. After the limiting block 451 is inserted, a certain margin is left between the lower part and the mounting plate 46, and the bottom part does not contact the mounting plate 46, so that the buffering and shock absorption effects are achieved. The hollow cylinder serves to better limit the position of the spacing spring 45. The method of limiting is not exclusive and in another embodiment, a cylindrical groove in the mounting plate 46 may be used to assist in limiting the position of the spacing spring 45. The limiting block 451 and the limiting spring 45 are used for providing plane positioning and spring pre-tightening for the second rotating shaft 43.

In this embodiment, the limiting block 451 and the limiting spring 45 are located between the staggered shaft seat 44 and the rotating shaft seat 481, which not only can reduce the possibility of misjudgment caused by vibration of the protective housing 41, but also can play a role in buffering and damping, and further reduce the impact on the robot body 9 during collision. Of course, in another embodiment, the stopper 451 and the stopper spring 45 may be disposed outside the rotational bearing seat 481 or inside the rotational bearing seat 481.

In another embodiment, the limiting block 451 may not be provided, one end of the limiting spring 45 is connected to the interleaving shaft seat 44, and the other end is directly connected to the first rotating shaft 42; the stopper spring 45 between the mounting plate 46 and the second rotating shaft 43 is mounted in the same manner. The limiting spring 45 is in a compressed state and is used for providing a pretightening force for the first rotating shaft 42 or the second rotating shaft 43, and meanwhile, the limiting spring 45 can absorb partial impact force when collision occurs, so that collision damage to the robot is further reduced.

The first and second

rotary shafts

42 and 43 are each provided with a hall sensor 47. As shown in fig. 12, in the present embodiment, a hall sensor 47 is sleeved on the first rotating shaft 42 and is close to the position of the staggered shaft seat 44, for detecting the rotating angle of the first rotating shaft 42; the other hall sensor 47 is sleeved on the second rotating shaft 43 and is close to the end, and is used for detecting the rotating angle of the second rotating shaft 43.

When installed, the mounting plate 46 of the collision protection device 4 is vertically installed in the robot body 9, the housing 91 is provided with an opening, and the protection housing 41 is inserted into the opening of the housing 91 and can rotate relative to the housing 91. Preferably, the collision guard 4 is disposed directly above the universal wheel 15, between the universal wheel 15 and the automatic charging device 3, i.e., the collision guard 4 is located directly in front of the robot body 9. Obviously, in other embodiments, the collision protection device 4 may also be located laterally forward, laterally or directly behind the robot body 9.

When the protective shell 41 is collided, the first rotating shaft 42 and the second rotating shaft 43 can be caused to rotate by the collision from any angle in front of the protective shell 41, the Hall sensors 47 arranged on the first rotating shaft 42 and the second rotating shaft 43 can feed back angle information to a control system of the robot, and the control system sends out a command that the robot moves in a direction opposite to the moving direction before the collision or stops the robot to move forwards continuously.

The collision protection device 4 provided by the embodiment can reduce collision damage of an obstacle to the robot in all directions, and the collision protection device 4 can be used as a secondary protection device for preventing collision of the robot, for example, after the robot fails to avoid the obstacle, the collision damage is reduced. The collision protection device 4 provided by the invention is particularly important for obstacles such as sharp poles and the like which are difficult to avoid by an obstacle avoidance algorithm. And the collision protection device 4 of the robot adopts a modular design, and has the advantages of simple structure, good universality, low cost and good reliability.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides an intelligent security robot which characterized in that: comprises a modularized mobile chassis (1) and a robot body (9) arranged on the modularized mobile chassis (1);

the robot body (9) is provided with a positioning module (96), an obstacle avoidance module, a holder module (95) and an automatic charging device (3);

the positioning module (96) is used for determining the position of the robot; the obstacle avoidance module is used for enabling the robot to avoid obstacles on a travelling road; the holder module (95) comprises a holder and a camera (951) installed on the holder and is used for shooting image information around the robot; the automatic charging device (3) is matched with the charging pile (39) to realize automatic charging of the robot;

the positioning module (96), the obstacle avoidance module, the holder module (95) and the automatic charging device (3) are all electrically connected with a control system;

the robot body (9) is internally mounted in a layered structure, assembling plates are arranged between two adjacent layers, and the assembling plates are fixed by using upright posts;

the gravity center adjusting device (2) is installed on the assembling plate or the modular moving chassis (1); the gravity center adjusting device (2) comprises a gravity center motor (21), a first baffle (22), a second baffle (23), a gravity center lead screw (24), a gravity center lead screw sliding block (25), a guide rod (26) and a balancing weight (27);

one end of the gravity center lead screw (24) penetrates through the first baffle (22) to be connected with an output shaft of the gravity center motor (21), the other end of the gravity center lead screw is connected with the second baffle (23), and the gravity center lead screw (24) can rotate relative to the first baffle (22) and the second baffle (23);

one end of the guide rod (26) is connected with the first baffle (22), the other end of the guide rod is connected with the second baffle (23), and the guide rod (26) is arranged in parallel with the gravity center lead screw (24);

the gravity center lead screw sliding block (25) is sleeved on the gravity center lead screw (24) and the guide rod (26) at the same time and is positioned between the first baffle plate (22) and the second baffle plate (23), and a linear bearing (252) is arranged in a through hole of the gravity center lead screw sliding block (25) for sleeving the guide rod (26);

when the gravity center lead screw (24) rotates, the gravity center lead screw sliding block (25) moves along the axial direction of the gravity center lead screw (24), and the first baffle (22) and the second baffle (23) are respectively provided with a limit switch (5) for limiting the stroke of the gravity center lead screw sliding block (25);

the balancing weight (27) is connected to the gravity center lead screw sliding block (25);

the automatic charging device (3) is arranged on the assembly plate or the modularized movable chassis (1) and comprises a charging motor (31), a charging screw (34), a charging screw sliding block (35), a transmission rod (36), a baffle (33) and a charging electric brush;

one end of the charging lead screw (34) is connected with an output shaft of the charging motor (31), the other end of the charging lead screw is connected with the baffle (33), the charging lead screw (34) can rotate relative to the baffle (33), and the charging lead screw sliding block (35) is sleeved on the charging lead screw (34); the transmission rod (36) is arranged in parallel with the charging screw (34), one end of the transmission rod (36) is connected with the charging screw sliding block (35), and the other end of the transmission rod penetrates through the baffle (33) to be connected with the charging electric brush;

a guide rail (38) parallel to the charging screw rod (34) is further arranged on one side of the baffle (33), a guide rail sliding block (381) capable of sliding along the guide rail (38) is arranged on the guide rail (38), one end of the guide rail sliding block (381) is sleeved on the guide rail (38), and the other end of the guide rail sliding block (381) is connected with the charging screw rod sliding block (35);

when the charging screw (34) rotates, the charging screw sliding block (35) moves along the axial direction of the charging screw (34) and pushes the charging electric brush to move through the transmission rod (36);

the charging brush comprises a brush positive electrode (372), a brush negative electrode (373) and a brush connecting plate (37), wherein the brush positive electrode (372) and the brush negative electrode (373) are arranged on one side of the brush connecting plate (37) in parallel at intervals through a compression spring; the other side of the electric brush connecting plate (37) is connected with the transmission rod (36); a transverse partition plate is further arranged above the electric brush connecting plate (37), is positioned above the electric brush positive electrode (372) and the electric brush negative electrode (373), and plays a role in protecting the charging electric brush; a hinged baffle plate serving as a charging opening is arranged at a corresponding position on a shell (91) of the robot body (9);

the robot is characterized by further comprising a collision protection device (4) arranged on the side face of the robot body (9), wherein the collision protection device (4) comprises a protection shell (41), a first rotating shaft (42), a second rotating shaft (43) and a staggered shaft seat (44);

the protective housing (41) is mounted on the first rotation axis (42);

the first rotating shaft (42) penetrates through the staggered shaft seat (44) and can rotate relative to the staggered shaft seat (44);

the second rotating shaft (43) is perpendicular to the first rotating shaft (42) in a different plane; the staggered shaft seat (44) is sleeved and fixed on the second rotating shaft (43) and can drive the second rotating shaft (43) to rotate relative to the robot body (9);

the second rotating shaft (43) is rotatably mounted on a mounting plate (46), and the mounting plate (46) is fixed on the robot body (9).

2. The intelligent security robot of claim 1, wherein: the gas collection and analysis module, the sound-light alarm module, the talkback module (97) and the signal receiving and transmitting module are also included; the gas collecting and analyzing module is used for collecting gas around the robot and analyzing components; the sound and light alarm module comprises a player and an illuminating lamp (93) and is used for sending out an alarm signal; the talkback module (97) comprises a loudspeaker and is used for realizing the talkback function; the signal receiving and transmitting module is used for receiving and transmitting information;

the gas acquisition and analysis module, the sound-light alarm module, the talkback module (97) and the signal transceiving module are all electrically connected with the control system.

3. The intelligent security robot of claim 1, wherein: the modularized mobile chassis (1) comprises a bottom plate (11), universal wheels (15), two driving wheels (12) and two driving modules (13);

each driving module (13) is correspondingly provided with at least one damping module (14), wherein one end of each damping module (14) penetrates through the bottom plate (11) to be connected with one end of the corresponding driving module (13), and the other end of each driving module (13) is hinged with the bottom plate (11);

each drive module (13) comprises a drive motor (131) for driving the drive wheel (12);

the two driving wheels (12) are coaxially arranged at intervals, and the universal wheel (15) is arranged on the front sides of the two driving wheels (12).

4. The intelligent security robot of claim 3, wherein: the driving module (13) is hinged with the bottom plate (11) through a hinged shaft, and the hinged shaft is fixed on the bottom plate through two bearings.