CN108942947A - It is capable of the robot of anticollision - Google Patents
It is capable of the robot of anticollision Download PDFInfo
- Publication number
- CN108942947A CN108942947A CN201810996056.5A CN201810996056A CN108942947A CN 108942947 A CN108942947 A CN 108942947A CN 201810996056 A CN201810996056 A CN 201810996056A CN 108942947 A CN108942947 A CN 108942947A
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- China
- Prior art keywords
- robot
- dirt
- anticollision
- dirt pipe
- dust outlet
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the robots for capableing of anticollision, including robot body and dust filtering mechanism, the outer two sides of robot body are connected with No.1 high-definition camera module, No.1 infrared human body inductor is connected with below No.1 high-definition camera module and on robot body, by the way that several high-definition camera modules and infrared human body inductor is arranged, when the robot is when the ground to family cleans, it walks about at home to meet people, walking module is controlled by central control unit, so as to avoid people, people are avoided not pay attention to being stepped on foot slipping, increase the safety that the robot is used in family, by the way that dust filtering mechanism is arranged, and filter screen can be pulled up by pull ring, the foreign body filtering of bulky grain can be come out, avoiding bulky grain foreign matter from entering air pump influences its service life, dust is also convenient for simultaneously to be discharged out of disposal box, this Inventive structure is novel, has been greatly improved the service efficiency of the anticollision robot.
Description
Technical field
The present invention relates to robot fields, in particular to the robot of anticollision.
Background technique
With being constantly progressive for robot technology, robot can semi-autonomous or complete automatically complete independently work in every,
Robot either in daily life, or in industry, all more and more important role of performer in Agricultural Activities, especially
It is that the development of service humanoid robot maintains faster growth rate, and people, in order to improve the quality of living, people are more next
More favor service humanoid robot, therefore some sweeping robots have stepped into public family, but existing sweeping robot
Although ability is more outstanding in terms of cleaning, often for these robots, how good crashworthiness be not, thus
Cleaning ability is influenced, to influence the health problem of kinsfolk.
Summary of the invention
The object of the invention is that providing the robot for capableing of anticollision to solve the above-mentioned problems, solve existing at present
The problem of having.
To solve the above-mentioned problems, the present invention provides a kind of technical solutions:
It is capable of the robot of anticollision, including robot body and dust filtering mechanism, the outer two sides of the robot body are connected with
No.1 high-definition camera module is connected with No.1 infrared human body sense below the No.1 high-definition camera module and on robot body
Answer device, the robot body is outer relative to being connected with No. two infrared human body senses in another two end side surface of No.1 high-definition camera module
It answers device, No. two high-definition camera modules, the machine is connected with below No. two infrared human bodies inductor and on robot body
It is connected with walking module below device human body, side is equipped with into dirt storehouse in the robot body, described equal into dirt storehouse lower bottom part
It is even be connected with it is several into dirt hole, it is described into being respectively connected with No.1 check valve above dirt hole, it is described to be equipped with stepping into intermediate in dirt storehouse
Motor, the stepper motor lower end are connected with motor output shaft, and the motor output shaft is away from one end connection of stepper motor
There is No.1 gear, one end that the No.1 gear is away from motor output shaft is connected with No.1 bearing, and the stepper motor passes through
Motor output shaft is connected with No.1 gear, and No.1 gear side is connected with No. two gears, connects below No. two gears
It is connected to shaft, the side that the shaft is away from No. two gears is equipped with No. two bearings, and No. two gears pass through shaft and No. two
Bearing is connected.
Preferably, being equipped with connecting rod below the shaft and in robot body outer bottom, the shaft passes through machine
Human body is connected with connecting rod, and the side that the connecting rod is away from robot body is uniformly connected with several hairbrush, described
No. two are equipped with above into dirt storehouse and in robot body into dirt pipe, described No. two uniformly connect into dirt pipe is close into the side in dirt storehouse
No.1 is connected into dirt pipe, described No. two are connected by No.1 into dirt Guan Yujin dirt storehouse into dirt pipe, and described No. two connect into dirt pipe one end
No. three are connected into dirt pipe, described No. three are away from No. two one end into dirt pipe into dirt pipe and are connected with wind pump box, in the wind pump box
Equipped with air pump, the air pump bottom is connected with air pump damping base, and the air pump damping base is in wind pump box, the wind
It is connected with battery at the upper side of pump box, the battery side and is connected with central control unit on wind pump box, described three
Number passing through wind pump box into dirt pipe is connected with air pump, and the air pump, which is away from No. three one end into dirt pipe and is connected with No.1, goes out dirt
Pipe, one end that the No.1 dust outlet tube is away from air pump pass through wind pump box and are connected with No. two dust outlet tubes.
Preferably, connecting into dirt pipe and No. three between dirt pipe between No. two dust outlet tubes and No.1 dust outlet tube with No. two
It is connected to dust filtering mechanism, the dust filtration mechanism upper end is equipped with pull ring, and the pull ring lower end is connected with filter screen, the filter screen two sides
And sliding slot is equipped in robot body, and it is connected with sliding block on the sliding slot, the filter screen is connected by sliding block with sliding slot,
Hollow connecting plate is equipped with below the filter screen, and the filter screen is plugged in hollow connecting plate, under No. two dust outlet tubes
End is uniformly connected with several No. three dust outlet tubes, and one end that No. three dust outlet tubes are away from No. two dust outlet tubes is connected with disposal box,
The disposal box is equipped with demarcation plate with into dirt storehouse, and one end that the disposal box is away from demarcation plate is connected with connection siphunculus, described
Connection siphunculus is away from disposal box and is connected with card cover, and the card cover is on the one side of robot body.
Preferably, the No.1 dust outlet tube, No. two dust outlet tubes and No. two are into dirt pipe, No. three into the hollow connection of dirt Guan Junyu
Plate is interconnected.
Preferably, No. two gears and the intermeshing of No.1 gear connect.
Preferably, No. three dust outlet tubes are connected with disposal box, the No.1 is into dirt Guan Yujin dirt storehouse and into dirt hole
It is interconnected.
Preferably, the No.1 high-definition camera module, No.1 infrared human body inductor, No. two infrared human body inductors and
No. two high-definition camera modules are evenly distributed on the outer surrounding of robot body.
Preferably, the No.1 high-definition camera module, No.1 infrared human body inductor, No. two infrared human body inductors and
No. two high-definition camera modules are evenly distributed on the outer surrounding of robot body.
Preferably, further include: it is set on robot body, connects the alarm module of the central control unit；With
And
It is set on robot body, connects the wireless communication module of the central control unit；
Wireless communication module remotely connects mobile terminal.
Preferably, being additionally provided with ultrasonic detector and the laser spy of connection central control unit on the robot body
Survey device.
Beneficial effects of the present invention: the present invention is capable of the robot of anticollision, by be arranged several high-definition camera modules and
Infrared human body inductor is walked about to meet people at home when the robot is when the ground to family cleans,
Control walking module by central control unit avoids people from not paying attention to being stepped on foot slipping so as to avoid people, increases
The safety that the robot is used in family, by the way that dust filtering mechanism is arranged, and filter screen can be pulled up by pull ring, can be by bulky grain
Foreign body filtering come out, avoiding bulky grain foreign matter from entering air pump influences its service life, while being also convenient for dust out of disposal box
Discharge, structure of the invention is novel, has been greatly improved the service efficiency of the anticollision robot.
Detailed description of the invention
Fig. 1 is schematic diagram of internal structure of the invention；
Fig. 2 is external structure schematic diagram of the invention；
Fig. 3 is enlarged structure schematic diagram at A of the invention；
Fig. 4 is dust filtering mechanism structure schematic diagram of the invention；
Fig. 5 is modular structure schematic diagram of the invention.
In figure: 1, robot body；2, No.1 high-definition camera module；3, No.1 infrared human body inductor；4, No. two infrared
Human inductor；5, No. two high-definition camera modules；6, walking module；7, into dirt storehouse；8, stepper motor；9, motor output shaft；10,
No.1 gear；11, No.1 bearing；12, No. two gears；13, No. two bearings；14, shaft；15, connecting rod；16, hairbrush；17, into
Dirt hole；18, No.1 check valve；19, No.1 is into dirt pipe；20, No. two into dirt pipe；21, central control unit；22, No. three into dirt pipe；
23, wind pump box；24, air pump；25, air pump damping base；26, No.1 dust outlet tube；27, No. two dust outlet tubes；28, dust filtering mechanism；29,
Pull ring；30, sliding slot；31, sliding block；32, filter screen；33, hollow connecting plate；34, No. three dust outlet tubes；35, disposal box；36, it connects
Siphunculus；37, card cover；38, battery；39, demarcation plate.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings.
As shown in Figs. 1-5, present embodiment uses following technical scheme: capableing of the robot of anticollision, including machine
Human body 1 and dust filtering mechanism 28, the outer two sides of the robot body 1 are connected with No.1 high-definition camera module 2, the No.1 high definition
No.1 infrared human body inductor 3 is connected with below photographing module 2 and on robot body 1, the robot body 1 is opposite outside
In being connected with No. two infrared human body inductors 4, No. two infrared human body senses in another two end side surface of No.1 high-definition camera module 2
It answers 4 lower section of device and is connected with No. two high-definition camera modules 5 on robot body 1, be connected with row below the robot body 1
Walk module 6, side is equipped with into dirt storehouse 7 in the robot body 1, it is described be uniformly connected with into 7 lower bottom part of dirt storehouse it is several into dirt
Hole 17, it is described into being respectively connected with No.1 check valve 18 above dirt hole 17, it is described to be equipped with stepper motor 8 into intermediate in dirt storehouse 7, it is described
8 lower end of stepper motor is connected with motor output shaft 9, and one end that the motor output shaft 9 is away from stepper motor 8 is connected with No.1
Gear 10, one end that the No.1 gear 10 is away from motor output shaft 9 are connected with No.1 bearing 11, and the stepper motor 8 is logical
It crosses motor output shaft 9 to be connected with No.1 gear 10,10 side of No.1 gear is connected with No. two gears 12, No. two teeth
12 lower section of wheel is connected with shaft 14, and the side that the shaft 14 is away from No. two gears 12 is equipped with No. two bearings 13, and described No. two
Gear 12 is connected by shaft 14 with No. two bearings 13.
Wherein, it is equipped with connecting rod 15 below the shaft 14 and in 1 outer bottom of robot body, the shaft 14 passes through machine
Device human body 1 is connected with connecting rod 15, and the side that the connecting rod 15 is away from robot body 1 is uniformly connected with several hairs
Brush 16, it is described No. two to be equipped with into the top of dirt storehouse 7 and in robot body 1 into dirt pipe 20, described No. two into dirt pipe 20 close into
The side in dirt storehouse 7 is uniformly connected with No.1 into dirt pipe 19, and described No. two are connected into dirt pipe 19 with into dirt storehouse 7 into dirt pipe 20 by No.1
It connects, described No. two are connected with No. three into dirt pipe 22 into 20 one end of dirt pipe, and described No. three are away from No. two into dirt pipe 20 into dirt pipe 22
One end be connected with wind pump box 23, be equipped with air pump 24 in the wind pump box 23,24 bottom of air pump is connected with air pump damping bottom
Seat 25, and the air pump damping base 25 is in wind pump box 23, and battery 38, institute are connected at the upper side of the wind pump box 23
It states 38 side of battery and is connected with central control unit 21 on wind pump box 23, described No. three pass through wind pump box 23 into dirt pipe 22
It is connected with air pump 24, the air pump 24 is away from No. three one end into dirt pipe 22 and is connected with No.1 dust outlet tube 26, the No.1
One end that dust outlet tube 26 is away from air pump 24 passes through wind pump box 23 and is connected with No. two dust outlet tubes 27.
Wherein, between No. two dust outlet tubes 27 and No.1 dust outlet tube 26 with No. two into dirt pipe 20 and No. three into dirt pipe 22 it
Between be connected with dust filtering mechanism 28,28 upper end of the dust filtration mechanism is equipped with pull ring 29, and 29 lower end of pull ring is connected with filter screen 32,
32 two sides of filter screen and it is equipped with sliding slot 30 in robot body 1, is connected with sliding block 31, the filtering on the sliding slot 30
Net 32 is connected by sliding block 31 with sliding slot 30, and hollow connecting plate 33, and the filter screen 32 are equipped with below the filter screen 32
It being plugged in hollow connecting plate 33,27 lower end of No. two dust outlet tubes is uniformly connected with several No. three dust outlet tubes 34, and described No. three
One end that dust outlet tube 34 is away from No. two dust outlet tubes 27 is connected with disposal box 35, and the disposal box 35 is equipped with separation with into dirt storehouse 7
Plate 39, one end that the disposal box 35 is away from demarcation plate 39 are connected with connection siphunculus 36, and the connection siphunculus 36 is away from collection
Dirt case 35 is connected with card cover 37, and the card cover 37 is on the one side of robot body 1.
Wherein, 26, No. two dust outlet tubes 27 of the No.1 dust outlet tube and No. two into dirt pipe 20, three into dirt pipe 22 with it is hollow
Connecting plate 33 is interconnected.No. two gears 12 and the intermeshing of No.1 gear 10 connect.No. three dust outlet tubes 34 and collection
Dirt case 35 is connected, and the No.1 is interconnected into dirt pipe 19 with into dirt storehouse 7 and into dirt hole 17.The No.1 high-definition camera module
2,3, No. two infrared human body inductors 4 of No.1 infrared human body inductor and No. two high-definition camera modules 5 are evenly distributed on robot
The outer surrounding of ontology 1.3, No. two the No.1 high-definition camera module 2, No.1 infrared human body inductor infrared human body inductors 4 and two
Number high-definition camera module 5 is evenly distributed on the outer surrounding of robot body 1.To further strengthen obstacle avoidance ability, in robot body 1
On also set up the ultrasonic detector and laser detector of connection central control unit 21, cooperation infrared human body inductor is real respectively
Existing avoiding obstacles by supersonic wave, laser avoidance and infrared obstacle avoidance.
The alarm module and wireless communication module of setting connection central control unit 21 on robot body 1；Channel radio
Letter module remotely connects mobile terminal.So as to be monitored and manipulated by mobile terminal.
The present invention when in use, by being surrounded by No.1 high-definition camera module 2 and No. two in the robot body 1
High-definition camera module 5 and No.1 infrared human body inductor 3 and No. two infrared human body inductors 4, when the robot is to family
Ground when cleaned, walk about at home to meet people, central control unit 21 is according to several high-definition camera moulds
Block and infrared human body inductor control walking module 6 and avoid people from not paying attention to being stepped on foot slipping so as to avoid people,
Increase the safety that the robot is used in family, the unlatching of stepper motor 8 cleans the ground of family, by the way that dust filtering is arranged
Mechanism 28, and filter screen 32 can be pulled up by pull ring 29, can come out the foreign body filtering of bulky grain, and bulky grain foreign matter is avoided to enter
Air pump 24 influences its service life, while being also convenient for dust and being discharged out of disposal box 35, and structure of the invention is novel, is greatly improved
The service efficiency of the anticollision robot.
Above embodiments are used for illustrative purposes only, rather than limitation of the present invention, the technology people in relation to technical field
Member, without departing from the spirit and scope of the present invention, can also make various transformation or modification, therefore all equivalent
Technical solution also should belong to scope of the invention, should be limited by each claim.
Claims (10)
1. capableing of the robot of anticollision, including robot body (1) and dust filtering mechanism (28), it is characterised in that: the robot
Ontology (1) outer two sides are connected with No.1 high-definition camera module (2), below the No.1 high-definition camera module (2) and in robot
No.1 infrared human body inductor (3) is connected on ontology (1), the robot body (1) is outside relative to No.1 high-definition camera mould
No. two infrared human body inductors (4), No. two infrared human body inductors (4) lower section are connected in another two end side surface of block (2)
And No. two high-definition camera modules (5) are connected on robot body (1), walking is connected with below the robot body (1)
Module (6), the interior side of the robot body (1) is equipped with into dirt storehouse (7), described into dirt storehouse (7) if lower bottom part is uniformly connected with
It does into dirt hole (17), it is described into being respectively connected with No.1 check valve (18) above dirt hole (17), it is described to be equipped with into intermediate in dirt storehouse (7)
Stepper motor (8), stepper motor (8) lower end are connected with motor output shaft (9), and the motor output shaft (9) is away from step
It is connected with No.1 gear (10) into one end of motor (8), one end that the No.1 gear (10) is away from motor output shaft (9) connects
It being connected to No.1 bearing (11), the stepper motor (8) is connected by motor output shaft (9) with No.1 gear (10), and described one
Number gear (10) side is connected with No. two gears (12), is connected with shaft (14), the shaft below No. two gears (12)
(14) side for being away from No. two gears (12) is equipped with No. two bearings (13), and No. two gears (12) pass through shaft (14) and two
Number bearing (13) is connected.
2. the robot according to claim 1 for capableing of anticollision, it is characterised in that: below the shaft (14) and in machine
Human body's (1) outer bottom is equipped with connecting rod (15), and the shaft (14) passes through robot body (1) and is connected with connecting rod (15)
It connects, the side that the connecting rod (15) is away from robot body (1) is uniformly connected with several hairbrush (16), described into dirt storehouse
(7) No. two are equipped with above and in robot body (1) into dirt pipe (20), described No. two close into dirt storehouse (7) into dirt pipe (20)
Side be uniformly connected with No.1 into dirt pipe (19), described No. two into dirt pipe (20) by No.1 into dirt pipe (19) with into dirt storehouse
(7) it connects, described No. two are connected with No. three into dirt pipe (22) into dirt pipe (20) one end, and described No. three are away from two into dirt pipe (22)
It number is connected with wind pump box (23) into one end of dirt pipe (20), is equipped with air pump (24) in the wind pump box (23), the air pump (24)
Bottom is connected with air pump damping base (25), and the air pump damping base (25) is in wind pump box (23), the wind pump box
(23) upper side is connected with battery (38), battery (38) side and is connected with central control on wind pump box (23)
Unit (21), described No. three pass through wind pump box (23) into dirt pipe (22) and are connected with air pump (24), and the air pump (24) is away from
No. three one end into dirt pipe (22) are connected with No.1 dust outlet tube (26), and the No.1 dust outlet tube (26) is away from the one of air pump (24)
End is connected with No. two dust outlet tubes (27) across wind pump box (23).
3. the robot according to claim 2 for capableing of anticollision, it is characterised in that: No. two dust outlet tubes (27) and No.1
With No. two into dirt pipe (20) and No. three into being connected with dust filtering mechanism (28), the dust filtration between dirt pipe (22) between dust outlet tube (26)
Mechanism (28) upper end is equipped with pull ring (29), and pull ring (29) lower end is connected with filter screen (32), filter screen (32) two sides
And sliding slot (30) are equipped in robot body (1), it is connected with sliding block (31) on the sliding slot (30), the filter screen (32) is logical
It crosses sliding block (31) to be connected with sliding slot (30), is equipped with hollow connecting plate (33) below the filter screen (32), and the filter screen
(32) it is plugged in hollow connecting plate (33), No. two dust outlet tubes (27) lower end is uniformly connected with several No. three dust outlet tubes
(34), one end that No. three dust outlet tubes (34) are away from No. two dust outlet tubes (27) is connected with disposal box (35), the disposal box
(35) demarcation plate (39) are equipped with into dirt storehouse (7), one end that the disposal box (35) is away from demarcation plate (39) is connected with connection
Siphunculus (36), the connection siphunculus (36) are away from disposal box (35) and are connected with card cover (37), and the card cover (37) is in machine
On the one side of human body (1).
4. the robot according to claim 2 for capableing of anticollision, it is characterised in that: the No.1 dust outlet tube (26), No. two
Dust outlet tube (27) and No. two are interconnected with hollow connecting plate (33) into dirt pipe (20), No. three into dirt pipe (22).
5. the robot according to claim 1 for capableing of anticollision, it is characterised in that: No. two gears (12) and No.1 tooth
Take turns (10) intermeshing connection.
6. the robot according to claim 3 for capableing of anticollision, it is characterised in that: No. three dust outlet tubes (34) and dust
Case (35) is connected, and the No.1 is interconnected into dirt pipe (19) with into dirt storehouse (7) and into dirt hole (17).
7. the robot according to claim 1 for capableing of anticollision, it is characterised in that: the No.1 high-definition camera module (2),
No.1 infrared human body inductor (3), No. two infrared human body inductors (4) and No. two high-definition camera modules (5) are evenly distributed on machine
Device human body (1) outer surrounding.
8. the robot according to claim 3 for capableing of anticollision, it is characterised in that: the disposal box (35) and into dirt storehouse
(7) it is symmetrical arranged about disposal box (35).
9. the robot according to claim 1 for capableing of anticollision, it is characterised in that: further include: it is set to robot body
(1) on, the alarm module of the central control unit (21) is connected；And
It is set on robot body (1), connects the wireless communication module of the central control unit (21)；
Wireless communication module remotely connects mobile terminal.
10. the robot according to claim 1 for capableing of anticollision, it is characterised in that: also set on the robot body (1)
There are the ultrasonic detector and laser detector of connection central control unit (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810996056.5A CN108942947A (en) | 2018-08-29 | 2018-08-29 | It is capable of the robot of anticollision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810996056.5A CN108942947A (en) | 2018-08-29 | 2018-08-29 | It is capable of the robot of anticollision |
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| Publication Number | Publication Date |
|---|---|
| CN108942947A true CN108942947A (en) | 2018-12-07 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810996056.5A Pending CN108942947A (en) | 2018-08-29 | 2018-08-29 | It is capable of the robot of anticollision |
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