CN111645108A - Robot based on laser SLAM - Google Patents
Robot based on laser SLAM Download PDFInfo
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- CN111645108A CN111645108A CN202010537302.8A CN202010537302A CN111645108A CN 111645108 A CN111645108 A CN 111645108A CN 202010537302 A CN202010537302 A CN 202010537302A CN 111645108 A CN111645108 A CN 111645108A
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- Prior art keywords
- robot
- laser slam
- lifting
- rod
- mounting seat
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- 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
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
Abstract
The invention relates to the technical field of robots, in particular to a robot based on laser SLAM, which comprises a robot main body and a mounting seat, wherein the robot main body is arranged in the middle area of the top of the mounting seat, the bottom of the mounting seat is provided with a plurality of trundles, the robot further comprises at least four anti-collision mechanisms uniformly arranged on the periphery of the mounting seat and at least four anti-falling mechanisms arranged at the bottom of the mounting seat, and each anti-collision mechanism comprises: an arc-shaped baffle plate; one end of the translation rod is connected with the arc-shaped baffle, the other end of the translation rod extends into the mounting seat, and an upper wedge block is arranged at the other end of the translation rod; the first pressing plate is fixed on the translation rod; the first limiting plate is fixed inside the mounting seat, and the translation rod penetrates through the first limiting plate; the first spring is sleeved on the translation rod, one end of the first spring is connected with the first pressing plate, and the other end of the first spring is connected with the first limiting plate.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot based on laser SLAM.
Background
SLAM (simultaneous localization and mapping), immediate localization and mapping, or concurrent mapping and localization. Means that: the robot starts from an unknown place of an unknown environment, positions the position and the posture of the robot through continuously observed surrounding environment characteristics in the motion process, and constructs an incremental map of the surrounding environment according to the position of the robot, so that the purposes of simultaneously positioning and constructing the map are achieved, the problem that the robot moves in the position environment is solved, the robot is commonly known as an automatic control machine, the automatic control machine comprises all machines (such as a robot dog, a robot cat and the like) for simulating human behaviors or ideas and other organisms, and in the modern industry, the robot refers to an artificial robot device capable of automatically executing tasks and used for replacing or assisting the work of a human; existing laser SLAM based robots are typically remotely operated. Because the condition that control procedure mistake or malfunction can appear at artifical remote control's in-process in the robot, therefore the phenomenon can appear scurrying by oneself to the robot is when touching the object, because the manufacturing cost of robot is higher, and the robot body directly touches with the object, can cause the injury to it to can produce certain danger.
For this purpose, a robot based on a laser SLAM is proposed.
Disclosure of Invention
The invention aims to provide a robot based on laser SLAM, which solves the problem of damage caused by malfunction and fleeing of the robot, improves the safety of the robot, and comprehensively protects the robot so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a robot based on laser SLAM, includes robot main part and mount pad, the robot main part set up in the middle zone at the top of mount pad, a plurality of truckles are installed to the bottom of mount pad, still including evenly set up in at least four crashproof mechanisms of the periphery of mount pad and set up in at least four anti-toppling mechanism of the bottom of mount pad, crashproof mechanism includes:
an arc-shaped baffle plate;
one end of the translation rod is connected with the arc-shaped baffle, the other end of the translation rod extends into the mounting seat, and an upper wedge block is arranged at the other end of the translation rod;
the first pressing plate is fixed on the translation rod;
the first limiting plate is fixed inside the mounting seat, and the translation rod penetrates through the first limiting plate;
the first spring is sleeved on the translation rod, one end of the first spring is connected with the first pressure plate, and the other end of the first spring is connected with the first limiting plate;
the anti-toppling mechanism comprises:
the lower pressure rod extends out of the bottom of the mounting seat, the lower pressure rod is perpendicular to the translation rod, a lower wedge block is arranged at the top end of the lower pressure rod, and the inclined plane of the lower wedge block is opposite to the inclined plane of the upper wedge block;
the second pressing plate is fixed on the lower pressing rod;
the second limiting plate is fixed inside the mounting seat, and the lower pressing rod penetrates through the second limiting plate;
the second spring is sleeved on the lower pressing rod, one end of the second spring is connected with the second pressing plate, and the other end of the second spring is connected with the second limiting plate;
the supporting seat, the supporting seat set up in the bottom of depression bar.
Preferably, the laser SLAM-based robot further comprises a linkage mechanism, the linkage mechanism comprising:
the lifting groove is arranged inside the mounting seat;
a lifting column disposed in the lifting slot;
and one end of each first transmission rod is hinged with the lifting column, and the other end of each first transmission rod is hinged with the upper wedge block.
Preferably, the lifting column comprises at least four equally-divided lifting portions, each lifting portion is connected with one of the at least four first transmission rods, and the adjacent lifting portions are connected through electromagnets.
Preferably, the laser SLAM-based robot further includes a speed sensor for detecting a moving speed of the robot main body, and a controller for controlling the magnetic force of the electromagnet according to the speed detected by the speed sensor.
Preferably, the lifting groove is provided with a locker corresponding to each lifting part, each locker comprises a fixture block and a third spring, one end of each third spring is connected with the fixture block, the other end of each third spring is connected with the inner wall of the mounting seat, the lifting part is provided with a clamping groove matched with the fixture block, and the fixture block is made of a magnetic material.
Preferably, the outside at the top of mount pad is provided with air bag, the inside of mount pad be provided with the air flue of air bag intercommunication, the air flue with the top intercommunication in lift groove, it is connected with the roof to go up the wedge, the roof with be provided with the air feed gasbag between the inner wall of mount pad, the air feed gasbag with the air flue intercommunication.
Preferably, at least two sliding plates and at least two second transmission rods are arranged inside the supporting seat, one end of each second transmission rod is hinged to the corresponding lower pressing rod, and the other end of each second transmission rod is hinged to the corresponding sliding plate.
Preferably, the bottom end of the supporting seat is provided with a non-slip mat.
Preferably, the outer side of the arc-shaped baffle is coated with a protective layer.
Preferably, a power-off switch is arranged at the top of the lifting groove, the power-off switch is connected with the controller, and the controller is further used for controlling the laser SLAM-based robot to be powered off under the condition that the power-off switch is triggered.
Compared with the prior art, the invention has the beneficial effects that:
(1) the arc-shaped baffle plate around the laser SLAM provided by the embodiment of the invention can prevent the robot main body from being directly impacted, and the arc baffle can drive the translation rod to move when being impacted, and the first spring is utilized to absorb and relieve the impact force, when the arc baffle is impacted, the translation rod is driven to move, the lower pressing rod can move downwards through the transmission of the rest wedge blocks of the upper wedge block, thereby driving the supporting seat to move downwards, playing a role of supporting the mounting seat and the robot main body when the supporting seat is contacted with the ground, avoiding the robot based on the laser SLAM from being damaged due to backward tilting after being impacted, and playing a role of braking when the supporting seat is contacted with the ground, therefore, the robot based on the laser SLAM is decelerated and even stopped, and more damage and loss caused by continuous runaway and disorderly fleeing of the robot based on the laser SLAM are avoided;
(2) according to the robot based on the laser SLAM, provided by the embodiment of the invention, through the arrangement of the linkage mechanism, when the arc-shaped baffle plate of any one of at least four anti-collision mechanisms is impacted, the lifting column moves upwards through the transmission of the first transmission rod hinged with the translation rod of the anti-collision mechanism, so that the translation rods of the rest anti-collision mechanisms are driven to move synchronously, and further the lower pressing rods of all anti-falling mechanisms are driven to drive the supporting seat to move downwards, so that more comprehensive and more stable support is provided, the robot based on the laser SLAM is further prevented from falling, meanwhile, the deceleration effect is more obvious, and the impact safety is further improved;
(3) according to the robot based on the laser SLAM provided by the embodiment of the invention, when the robot based on the laser SLAM is impacted, if the impacted part is high, the robot based on the laser SLAM can topple backwards, aiming at the situation, the invention designs the lifting columns into at least four uniformly-divided lifting parts, and the adjacent lifting parts are connected through the electromagnet, when the arc-shaped baffle plate of any one of at least four anti-impact mechanisms is impacted, the transmission of the first transmission rod hinged with the translation rod of the impact mechanism leads one of the at least four lifting parts to move upwards firstly, then the electromagnet between the adjacent lifting parts drives the other lifting parts to move upwards, so that the upward movement of the at least four lifting parts has certain hysteresis, and the hysteresis further leads the downward movement time of the supporting seat of the at least four anti-toppling mechanisms to correspondingly have certain hysteresis, thereby make the time of at least four anti-toppling mechanism's supporting seat and ground contact and this robot based on laser SLAM receive the striking situation phase-match when appearing toppling over backward, the supporting seat of the one side that takes place the striking promptly contacts ground earlier, contact takes place with ground afterwards for remaining supporting seat to can provide more stable, the support that matches more for the robot based on laser SLAM who topples over backward, and then can prevent this robot based on laser SLAM to topple over backward, the security has further been improved.
Drawings
Fig. 1 is a perspective view of a laser SLAM-based robot according to an embodiment of the present invention;
fig. 2 is a cross-sectional view of a laser SLAM-based robot provided by an embodiment of the present invention;
fig. 3 is a bottom view of a mounting base of a laser SLAM-based robot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a lifting column of a laser SLAM-based robot according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a locker of a laser SLAM-based robot according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a support base of a robot based on a laser SLAM according to an embodiment of the present invention.
In the figure: 1. a robot main body; 2. a mounting seat; 3. a caster wheel; 4. an arc-shaped baffle plate; 5. a translation rod; 6. an upper wedge block; 7. a first platen; 8. a first limit plate; 9. a first spring; 10. a lower pressure lever; 11. a lower wedge block; 12. a second platen; 13. a second limiting plate; 14. a second spring; 15. a supporting seat; 16. a lifting groove; 17. a lifting column; 18. a first drive lever; 19. a locker; 20. an air bag; 21. an air supply air bag; 22. a non-slip mat; 23. a protective layer; 24. a power-off switch; 151. a sliding plate; 152. a transmission rod; 171. a lifting part; 172. an electromagnet; 191. a clamping block; 192. and a third spring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a perspective view of a laser SLAM-based robot according to an embodiment of the present invention, fig. 2 is a cross-sectional view of the laser SLAM-based robot according to the embodiment of the present invention, and fig. 3 is a bottom view of a mounting base of the laser SLAM-based robot according to the embodiment of the present invention. As shown in fig. 1 to 3, an embodiment of the present invention provides a robot based on a laser SLAM, including a robot main body 1 and a mounting base 2, wherein the robot main body 1 may be disposed in a middle area of a top of the mounting base 2, a plurality of casters 3 may be mounted on a bottom of the mounting base 2, and the robot may further include at least four anti-collision mechanisms uniformly disposed on a periphery of the mounting base 2, and the anti-collision mechanisms may include:
an arc-shaped baffle 4;
one end of the translation rod 5 is connected with the arc-shaped baffle 4, the other end of the translation rod 5 extends into the mounting seat 2, and an upper wedge block 6 is arranged at the other end of the translation rod;
the first pressing plate 7 is fixed on the translation rod 5;
the first limiting plate 8 is fixed inside the mounting seat 2, and the translation rod 5 penetrates through the first limiting plate 8;
the first spring 9 is sleeved on the translation rod 5, one end of the first spring 9 is connected with the first pressing plate 7, and the other end of the first spring 9 is connected with the first limiting plate 8.
According to the robot based on the laser SLAM, provided by the embodiment of the invention, in the process of manual remote control, the situation of control program error or failure can occur, the robot can generate a phenomenon of messy fleeing, when the robot collides with an object, the arc-shaped baffle plates 4 around the anti-collision mechanism of the robot based on the laser SLAM can prevent the robot main body 1 from being directly impacted, and the arc-shaped baffle plates 4 can drive the translation rod 5 to move when being impacted, and the impact force is absorbed and relieved by the first springs 9, so that the robot based on the laser SLAM is comprehensively protected, the robot based on the laser SLAM is prevented from being damaged in the impact, and the safety is improved.
As shown in fig. 2, in an embodiment of the present invention, the laser SLAM-based robot further includes at least four anti-tip mechanisms disposed at the bottom of the mounting base 2, and the anti-tip mechanisms may include:
the lower pressing rod 10 extends out of the bottom of the mounting base 2, the lower pressing rod 10 is perpendicular to the translation rod 5, a lower wedge block 11 is arranged at the top end of the lower pressing rod 10, and the inclined surface of the lower wedge block 11 is opposite to the inclined surface of the upper wedge block 6;
the second pressing plate 12, the second pressing plate 12 is fixed on the lower pressing rod 10;
the second limiting plate 13, the second limiting plate 13 is fixed inside the mounting seat 2, and the lower pressing rod 10 penetrates through the second limiting plate 13;
the second spring 14 is sleeved on the lower pressing rod 10, one end of the second spring 14 is connected with the second pressing plate 12, and the other end of the second spring 14 is connected with the second limiting plate 13;
the supporting seat 15 is arranged at the bottom end of the lower pressing rod 10.
The robot based on the laser SLAM provided by the embodiment of the invention drives the anti-toppling mechanism to press downwards through the movement of the anti-collision mechanism, specifically, when the arc baffle 4 is impacted, the translation rod 5 is driven to move, the lower pressing rod 10 can move downwards through the transmission of the rest wedge blocks 11 of the upper wedge block 6, so as to drive the supporting seat 15 to move downwards, when the supporting seat 15 is contacted with the ground, the effect of supporting the mounting seat 2 and the robot main body 1 can be achieved, the robot based on the laser SLAM is prevented from being damaged due to toppling backwards after being impacted, and meanwhile, the supporting seat 15 is contacted with the ground to achieve the braking effect, so that the robot based on the laser SLAM is decelerated and even stopped, and further damage and loss caused by continuous out of control and random play of the robot based on the laser SLAM are avoided.
As shown in fig. 2, in an embodiment of the present invention, the laser SLAM-based robot may further include a linkage mechanism, and the linkage mechanism may include:
a lifting groove 16, a lifting groove 17 is arranged in the mounting base 2;
a lifting column 17, the lifting column 16 is arranged in the lifting groove 16;
and one end of each first transmission rod 18 is hinged with the lifting column 17, and the other end of each first transmission rod 18 is hinged with the upper wedge block 6.
According to the robot based on the laser SLAM provided by the embodiment of the invention, through the arrangement of the linkage mechanism, when the arc-shaped baffle plate 4 of any one of at least four anti-collision mechanisms is impacted, the lifting column 17 moves upwards through the transmission of the first transmission rod 18 hinged with the translation rod 5 of the anti-collision mechanism, so that the translation rods 5 of the rest anti-collision mechanisms are driven to move synchronously, and further the lower compression rods 10 of all the anti-falling mechanisms are driven to drive the supporting seat 15 to move downwards, so that more comprehensive and more stable support is provided, the robot based on the laser SLAM is further prevented from falling, meanwhile, the deceleration effect is more obvious, and the impact safety is further improved.
Fig. 4 is a schematic structural diagram of a lifting column of a robot based on a laser SLAM according to an embodiment of the present invention. As shown in fig. 4, in one embodiment of the present invention, the lifting column 17 of the laser SLAM-based robot includes at least four lifting units 171 that are equally divided, each lifting unit 171 is connected to one of the at least four first transmission rods 18, and adjacent lifting units 171 are connected by an electromagnet 172.
According to the embodiment of the invention, when the robot based on the laser SLAM is impacted, if the impacted part is high, the robot based on the laser SLAM can topple backwards, and in order to solve the problem, the lifting column 17 is designed into at least four uniformly-divided lifting parts 171, and the adjacent lifting parts 171 are connected through the electromagnet 172, when the arc-shaped baffle plate 4 of any one of at least four anti-impact mechanisms is impacted, the transmission of the first transmission rod 18 hinged with the translation rod 5 of the impact mechanism leads one of the at least four lifting parts 171 to move upwards firstly, then the electromagnet 172 between the adjacent lifting parts 171 drives the other lifting parts 171 to move upwards, so that the upward movement of the at least four lifting parts 171 has certain hysteresis, and the hysteresis leads the downward movement time of the supporting seats 15 of at least four anti-toppling mechanisms to have certain hysteresis correspondingly, thereby make the time of at least four anti-overturning mechanism's supporting seat 15 and ground contact with this robot based on laser SLAM receive the striking situation phase-match when appearing toppling over backward, the supporting seat 15 of the one side that takes place the striking promptly contacts ground earlier, remaining supporting seat 15 takes place the contact with ground afterwards, thereby can provide more stable, the support that matches more for the robot based on laser SLAM who topples over backward, and then can prevent this robot based on laser SLAM to topple over backward, the security has further been improved.
In one embodiment of the present invention, the laser SLAM-based robot may further include a speed sensor that may be used to detect the moving speed of the robot main body 1, and a controller that may be used to control the magnetic force of the electromagnet 172 according to the speed detected by the speed sensor. The robot based on the laser SLAM provided by the embodiment of the invention detects the moving speed of the robot main body 1 through the speed sensor, and then controls the magnetic force of the electromagnet 172 in the lifting column 17 through the controller, so that the lag time of the supporting seats 15 of at least four anti-tipping mechanisms can be timely adjusted according to the moving speed of the robot based on the laser SLAM, specifically, when the moving speed of the robot based on the laser SLAM is higher, the controller controls the magnetic force of the electromagnet 172 to be increased, so that the lag time is smaller; when the moving speed of the laser SLAM-based robot is slow, the controller controls the magnetic force of the electromagnet 172 to be reduced so that the lag time is large.
Fig. 5 is a schematic structural diagram of a locker of a robot based on a laser SLAM according to an embodiment of the present invention. In an embodiment of the present invention, as shown in fig. 5, a locking device 19 is disposed on the lifting groove 16 of the laser SLAM-based robot corresponding to each lifting portion 171, the locking device 19 includes a latch 191 and a third spring 192, one end of the third spring 192 is connected to the latch 191, the other end is connected to the inner wall of the mounting base 2, the lifting portion 171 is provided with a slot 173 matched with the latch 191, and the latch 191 is made of a magnetic material. The robot based on the laser SLAM provided by the embodiment of the invention is provided with a locker 19 corresponding to each lifting part 171 on the lifting groove 16, when the robot based on the laser SLAM is violently impacted, for example, the robot collides with a wall, the lifting column 17 moves upwards to the highest position, the electromagnet 172 in the lifting column 17 moves to the position corresponding to the locker 19, the fixture block 191 of the locker 19 is attracted to move, and is clamped into the fixture groove 173 on the corresponding lifting part 171, so that the lifting column 17 is locked, at the moment, the support seats 15 of at least four anti-falling mechanisms all extend, so that the robot main body 1 and the mounting seat 2 are jacked up, the caster wheels 3 are not contacted with the ground, the robot based on the laser SLAM cannot move, and further damage and loss caused by continuous runaway and disorderly fleeing of the robot based on the laser SLAM are avoided.
As shown in fig. 1, in one embodiment of the present invention, an airbag 20 is disposed outside the top of a mounting base 2 of the laser SLAM-based robot, an air duct 21 communicating with the airbag 20 is disposed inside the mounting base 2, the air duct 21 communicates with the top of a lifting groove 16, a top plate is connected to an upper wedge 6, an air supply bag 21 is disposed between the top plate and the inner wall of the mounting base 2, and the air supply bag 21 communicates with the air duct. When the robot based on the laser SLAM provided by the embodiment of the invention is impacted, the arc-shaped baffle plate 4 drives the translation rod 5 to move, so that the top plate of the upper wedge-shaped block 6 is driven to extrude the air supply air bag 21 to supply air for the air bag 20, meanwhile, the lifting column 17 moves upwards, so that the air in the lifting groove 16 can be extruded into the air bag 20, the air bag 20 is expanded to the maximum extent, the protection is further provided for the robot based on the laser SLAM, and the robot based on the laser SLAM is prevented from being further damaged in the impact.
Fig. 6 is a schematic structural diagram of a support base of a robot based on a laser SLAM according to an embodiment of the present invention. As shown in fig. 6, in one embodiment of the present invention, at least two sliding plates 151 and at least two second transmission rods 152 are provided inside the support base 15 of the laser SLAM-based robot, and one end of the second transmission rod 152 is hinged to the lower pressing bar 10 and the other end is hinged to the sliding plates 151. When the lower pressing rod 10 of the laser SLAM-based robot provided by the embodiment of the invention moves, after the supporting seat 15 contacts with the ground, the lower pressing rod 10 continues to move downwards, and the sliding plate 151 translates outwards through the transmission of the second transmission rod 152, so that the contact area with the ground can be enlarged, more stable support can be provided, meanwhile, the friction force between the lower pressing rod and the ground is increased, and the deceleration effect is further improved.
As shown in fig. 1, the bottom end of the support base 12 of the laser SLAM-based robot is provided with a non-slip pad 22, and the non-slip pad 22 can increase the friction between the support base 15 and the ground.
As shown in fig. 1 and 2, the arc-shaped baffle 4 of the laser SLAM-based robot is coated with a protective layer 23, and the protective layer 23 may be made of an elastic material, so that a part of impact force of impact can be absorbed and buffered, thereby protecting the arc-shaped baffle 4.
In one embodiment of the present invention, a power cut-off switch 24 is disposed on the top of the lifting tank 16 of the laser SLAM-based robot, and the power cut-off switch 24 is connected to a controller, and the controller can be further used to control the laser SLAM-based robot to cut off power if the power cut-off switch 24 is triggered. When the robot based on the laser SLAM is violently impacted, the lifting column 17 moves upwards to the highest position, the power-off switch 24 is triggered, and the controller further controls the robot based on the laser SLAM to be powered off, so that the robot based on the laser SLAM can not move and work any more, further damage is avoided, and people can find the robot conveniently.
When the robot based on the laser SLAM is used, if the robot based on the laser SLAM has a situation of wrong control program or failure in the manual remote control process, the robot has a disorder phenomenon, when the arc baffle 4 of any one of at least four anti-collision mechanisms is impacted, the lifting column 17 moves upwards through the transmission of the first transmission rod 18 hinged with the translation rod 5 of the anti-collision mechanism, so that the translation rods 5 of the rest anti-collision mechanisms are driven to synchronously move, further the lower compression rods 10 of all anti-falling mechanisms are driven to drive the supporting seat 15 to move downwards, further comprehensive and stable support is provided, the robot based on the laser SLAM is further prevented from falling, and meanwhile, the deceleration effect is more obvious; the lifting columns 17 are designed into at least four uniformly-distributed lifting parts 171, adjacent lifting parts 171 are connected through electromagnets 172, when the arc-shaped baffle 4 of any one of the at least four anti-collision mechanisms is impacted, the transmission of the first transmission rod 18 hinged with the translation rod 5 of the impact mechanism enables one of the at least four lifting parts 171 to move upwards first, and then the electromagnets 172 between the adjacent lifting parts 171 drive the other lifting parts 171 to move upwards, so that certain hysteresis is generated in the upward movement of the at least four lifting parts 171, and the hysteresis enables the downward movement time of the supporting seats 15 of the at least four anti-falling mechanisms to correspondingly generate certain hysteresis, so that the contact time of the supporting seats 15 of the at least four anti-falling mechanisms with the ground is matched with the situation when the robot based on the laser SLAM topples backwards when being impacted, namely, the supporting seat 15 on the side where the impact occurs contacts the ground first; the top plate of the upper wedge 6 presses the supplied air bag 21 to supply the air to the air bag 20 while the elevating column 17 moves upward, and the air of the elevating groove 16 can be pressed into the air bag 20 to thereby inflate the air bag 20 to the maximum; the lifting column 17 moves upwards to the highest position, the electromagnet 172 in the lifting column 17 moves to the position corresponding to the locker 19, the clamping block 191 of the locker 19 is attracted to move and clamped into the clamping groove 173 on the lifting part 171, so that the lifting column 17 is locked, meanwhile, the lifting column 17 triggers the power-off switch 24, and the controller further controls the power-off of the robot based on the laser SLAM.
The product model provided by the invention is only used according to the structural characteristics of the product, the product can be adjusted and modified after being purchased so as to be more matched and accord with the technical scheme of the invention, the product model is the best application technical scheme of the technical scheme, the product model can be replaced and modified according to the required technical parameters, and the product model is well known by the technical personnel in the field, so that the technical scheme provided by the invention can clearly obtain the corresponding use effect.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a robot based on laser SLAM, includes robot main part (1) and mount pad (2), robot main part (1) set up in the middle zone at the top of mount pad (2), a plurality of truckles (3) are installed to the bottom of mount pad (2), its characterized in that still including evenly set up in four at least crashproof mechanisms of the periphery of mount pad (2) and set up in four at least anti-tipping mechanisms of the bottom of mount pad (2), crashproof mechanism includes:
an arc-shaped baffle (4);
one end of the translation rod (5) is connected with the arc-shaped baffle (4), the other end of the translation rod (5) extends into the mounting seat (2), and an upper wedge block (6) is arranged at the other end of the translation rod;
the first pressing plate (7), the first pressing plate (7) is fixed on the translation rod (5);
the first limiting plate (8), the first limiting plate (8) is fixed inside the mounting seat (2), and the translation rod (5) penetrates through the first limiting plate (8);
the first spring (9) is sleeved on the translation rod (5), one end of the first spring (9) is connected with the first pressing plate (7), and the other end of the first spring (9) is connected with the first limiting plate (8);
the anti-toppling mechanism comprises:
the lower pressing rod (10) extends out of the bottom of the mounting seat (2), the lower pressing rod (10) is perpendicular to the translation rod (5), a lower wedge block (11) is arranged at the top end of the lower pressing rod (10), and the inclined plane of the lower wedge block (11) is opposite to the inclined plane of the upper wedge block (6);
the second pressure plate (12), the said second pressure plate (12) is fixed on the said lower strut (10);
the second limiting plate (13), the second limiting plate (13) is fixed inside the mounting seat (2), and the lower pressing rod (10) penetrates through the second limiting plate (13);
the second spring (14) is sleeved on the lower pressing rod (10), one end of the second spring (14) is connected with the second pressing plate (12), and the other end of the second spring (14) is connected with the second limiting plate (13);
the supporting seat (15), the supporting seat (15) set up in the bottom of depression bar (10).
2. The laser SLAM-based robot of claim 1, further comprising a linkage mechanism, the linkage mechanism comprising:
the lifting groove (16), the lifting groove (16) is arranged in the mounting base (2);
a lifting column (17), the lifting column (17) being disposed in the lifting trough (16);
at least four first transmission rods (18), wherein one end of each first transmission rod (18) is hinged to the lifting column (17), and the other end of each first transmission rod (18) is hinged to the upper wedge block (6).
3. The laser SLAM-based robot according to claim 2, characterized in that said lifting column (17) comprises equally divided at least four lifting sections (171), each lifting section (171) being connected to one of said at least four first transmission bars (18), adjacent lifting sections (171) being connected by electromagnets (172).
4. The laser SLAM-based robot as claimed in claim 3, further comprising a speed sensor for detecting the moving speed of the robot main body (1) and a controller for controlling the magnetic force of the electromagnet (172) according to the speed detected by the speed sensor.
5. The laser SLAM-based robot as claimed in claim 4, wherein a locking device (19) is arranged on said lifting groove (16) corresponding to each lifting part (171), said locking device (19) comprises a block (191) and a third spring (192), one end of said third spring (192) is connected to said block (191), the other end is connected to the inner wall of said mounting seat (2), said lifting part (171) is provided with a slot (173) matching with said block (191), and said block (191) is made of magnetic material.
6. The robot based on the laser SLAM as claimed in claim 2, wherein an air bag (20) is arranged on the outer side of the top of the mounting seat (2), an air passage (21) communicated with the air bag (20) is arranged inside the mounting seat (2), the air passage (21) is communicated with the top of the lifting groove (16), the upper wedge block (6) is connected with a top plate, an air supply bag (21) is arranged between the top plate and the inner wall of the mounting seat (2), and the air supply bag (21) is communicated with the air passage.
7. The laser SLAM-based robot according to claim 1, characterized in that at least two sliding plates (151) and at least two second transmission rods (152) are arranged inside the supporting base (15), one end of the second transmission rod (152) is hinged with the down-pressure rod (10) and the other end is hinged with the sliding plate (151).
8. A laser SLAM based robot as claimed in claim 1, characterized in that the bottom end of the support base (15) is fitted with a non-slip mat (22).
9. The laser SLAM-based robot according to claim 1, characterized in that the arc-shaped baffles (4) are coated with a protective layer (23) on the outside.
10. A laser SLAM-based robot according to claim 4, characterized in that the top of the lifting tank (16) is provided with a power-off switch (24), said power-off switch (24) is connected with said controller, said controller is further used for controlling the power-off of the laser SLAM-based robot in case the power-off switch (24) is triggered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010537302.8A CN111645108A (en) | 2020-06-12 | 2020-06-12 | Robot based on laser SLAM |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010537302.8A CN111645108A (en) | 2020-06-12 | 2020-06-12 | Robot based on laser SLAM |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111645108A true CN111645108A (en) | 2020-09-11 |
Family
ID=72343672
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010537302.8A Withdrawn CN111645108A (en) | 2020-06-12 | 2020-06-12 | Robot based on laser SLAM |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111645108A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113034992A (en) * | 2021-03-24 | 2021-06-25 | 捷时行(苏州)智能科技有限公司 | Multifunctional education robot |
| CN114193467A (en) * | 2021-11-29 | 2022-03-18 | 江苏夸米智能科技有限公司 | Hotel service robot capable of automatically supporting and recovering normal work during dumping |
| CN116176478A (en) * | 2023-02-20 | 2023-05-30 | 深圳市东京文洪印刷机械有限公司 | AGV intelligent transportation robot and intelligent transportation system |
| CN116572268A (en) * | 2023-07-14 | 2023-08-11 | 北京数字众智科技有限公司 | Urban public service intelligent robot |
-
2020
- 2020-06-12 CN CN202010537302.8A patent/CN111645108A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113034992A (en) * | 2021-03-24 | 2021-06-25 | 捷时行(苏州)智能科技有限公司 | Multifunctional education robot |
| CN114193467A (en) * | 2021-11-29 | 2022-03-18 | 江苏夸米智能科技有限公司 | Hotel service robot capable of automatically supporting and recovering normal work during dumping |
| CN114193467B (en) * | 2021-11-29 | 2023-12-22 | 江苏夸米智能科技有限公司 | Hotel service robot capable of automatically supporting and recovering to work normally during dumping |
| CN116176478A (en) * | 2023-02-20 | 2023-05-30 | 深圳市东京文洪印刷机械有限公司 | AGV intelligent transportation robot and intelligent transportation system |
| CN116572268A (en) * | 2023-07-14 | 2023-08-11 | 北京数字众智科技有限公司 | Urban public service intelligent robot |
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Application publication date: 20200911 |
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