CN113043333A - Robot capable of adjusting height position of laser sensor - Google Patents
Robot capable of adjusting height position of laser sensor Download PDFInfo
- Publication number
- CN113043333A CN113043333A CN201911375292.6A CN201911375292A CN113043333A CN 113043333 A CN113043333 A CN 113043333A CN 201911375292 A CN201911375292 A CN 201911375292A CN 113043333 A CN113043333 A CN 113043333A
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- China
- Prior art keywords
- laser sensor
- guide rail
- robot
- rack
- height position
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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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot capable of adjusting the height position of a laser sensor. According to the invention, through the matching arrangement of the guide rail, the rack, the slider, the laser sensor mounting rack, the flat motor and the gear, the flat motor can drive the gear to move up and down on the rack, so that the slider can move up and down along the guide rail, the height position of the laser sensor mounting rack can be changed, the laser sensor can reach different heights, the laser sensor can be stopped at the specified height position through the matching arrangement of the limit switch contact piece on the laser sensor mounting rack and the limit switch with the specified height, and the laser sensor can be respectively protected through the matching arrangement of the upper limit metal plate, the upper limit rubber, the lower limit rubber and the emergency stop switch. The invention can adjust the height position of the laser sensor, so that the laser sensor stays at the designated height position, the robot can be suitable for various different working environments, and the installed laser sensor can play a greater role.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot capable of adjusting the height position of a laser sensor.
Background
At present, the robot industry develops rapidly, and the robot mostly uses a laser sensor as basic navigation. The laser sensor can realize obstacle avoidance of a platform or a machine, and plays an irreplaceable role in path walking and autonomous charging. The laser sensor is very costly, and because the range of the laser sensor is highly fixed, some units may install a plurality of laser sensors in order to identify more information of the surrounding environment, which is a huge sacrifice in cost. How to play a greater role in utilizing limited laser sensors is a problem to be solved.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a robot capable of adjusting the height position of a laser sensor.
The purpose of the invention is realized by the following technical scheme:
a robot capable of adjusting the height position of a laser sensor comprises a robot body, the laser sensor, a guide rail and a rack, wherein the guide rail and the rack are vertically installed on the same side face of the robot body;
the installation the guide rail with the rack be equipped with a plurality of limit switch along vertical direction on the side of robot body, work as the laser sensor mounting bracket along the guide rail removes and removes arbitrary one during the high position at limit switch place, the limit switch contact piece can with correspond highly setting the limit switch contact, limit switch respectively through the electric conductor with the driver of flat motor is connected.
Preferably, still be equipped with last spacing panel beating on the laser sensor mounting bracket, the installation the guide rail with the rack be close to on the side of robot body be equipped with upper limit rubber on the position on guide rail top, upper limit panel beating move extremely the guide rail can with upper limit rubber contact during the top, the robot body is last and be in the position under the laser sensor mounting bracket is equipped with down spacing rubber, the laser sensor mounting bracket moves extremely during the guide rail is lower extreme, the lower surface of laser sensor mounting bracket can contact with lower limit rubber.
Preferably, the robot body is further provided with an emergency stop switch, and the emergency stop switch is connected with a driver of the flat motor through an electric conductor.
The invention has the advantages and positive effects that:
the invention can make the flat motor drive the gear to move up and down on the rack through the matching arrangement of the guide rail, the rack, the slide block, the laser sensor mounting rack, the flat motor and the gear, thereby making the slide block move up and down along the guide rail, and making the laser sensor mounting rack change the height position, and making the laser sensor reach different heights, and making the laser sensor stop at the appointed height position through the matching arrangement of the limit switch contact piece on the laser sensor mounting rack and the limit switch with the appointed height, so as to make the laser sensor mounting rack change the height position, so as to be suitable for different working environments, through the matching arrangement of the upper limit metal plate and the upper limit rubber, when the laser sensor mounting rack rises above the preset highest position and is about to exceed the uppermost end of the guide rail and not stop, the hard limit is carried out to protect the laser sensor, a carry out hard spacing when being used for the decline of laser sensor mounting bracket to exceed predetermined lowest position and being about to exceed the guide rail bottommost end and not stop the action yet to protection laser sensor, through scram switch's setting, can press the scram switch and make flat motor stop the action when urgent, avoid damaging laser sensor. The invention can adjust the height position of the laser sensor, so that the laser sensor stays at the designated height position, the robot can be suitable for various different working environments, and the installed laser sensor can play a greater role.
Drawings
FIG. 1 is a schematic side view of a prior art laser sensor arrangement;
FIG. 2 is a front view of the integral mounting structure of the present invention;
FIG. 3 is a side view of the integral mounting structure of the present invention;
FIG. 4 is a top view of the integral mounting structure of the present invention;
FIG. 5 is a schematic front view of the overall installation structure of the laser sensor of the present invention after the height position thereof has risen;
FIG. 6 is an enlarged view of FIG. 3 at A;
fig. 7 is an enlarged view of fig. 4 at B.
In the figure: the robot comprises a guide rail 1, a rack 2, a slide block 3, a laser sensor mounting rack 4, a flat motor 5, a limit switch contact piece 6, a gear 7, a limit switch 8, an upper limit sheet metal 9, an upper limit rubber 10, a lower limit rubber 11, a scram switch 12, a robot body 001 and a laser sensor 002.
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. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The invention is described in further detail below with reference to figures 1-7.
A robot capable of adjusting the height position of a laser sensor comprises a robot body 001, a laser sensor 002, a guide rail 1 and a rack 2, wherein the guide rail and the rack are vertically arranged on the same side face of the robot body, a slide block 3 is connected on the guide rail in a sliding manner, a laser sensor mounting rack 4 is arranged on the slide block, the laser sensor is arranged on the laser sensor mounting rack, a flat motor 5 and a limit switch contact piece 6 are further arranged on the laser sensor mounting rack, a gear 7 is arranged at the output end of the flat motor, the gear is meshed with the rack, the flat motor adopts a servo motor commonly used in the prior art, the flat motor drives a brake to move up and down when the flat motor is powered on, the gear drives the gear to rotate, the gear moves up and down on the rack, so that the slide block moves up and down along the guide rail, and the height, the laser sensor can reach different heights, and the flat motor can be fixed at the height when the flat motor stops acting;
a plurality of limit switches 8 are arranged on the side surface of the robot body for installing the guide rail and the rack along the vertical direction, when the laser sensor mounting rack moves along the guide rail and moves to the height position of any one limit switch, the limit switch contact piece can be contacted with the limit switch arranged at the corresponding height, the limit switch is respectively connected with the driver of the flat motor through an electric conductor, when the limit switch contact piece on the laser sensor mounting rack is contacted with the limit switch at the designated height, the limit switch can give the driver of flat motor signals, makes laser sensor stop at appointed altitude position, and the driver of flat motor can be connected with external controller, opens by external controller control and stops, makes the laser sensor mounting bracket change the altitude position to be fit for different operational environment.
Particularly, the laser sensor mounting rack is further provided with an upper limiting metal plate 9, the position, close to the top end of the guide rail, on the side face of the robot body for mounting the guide rail and the rack is provided with an upper limiting rubber 10, the upper limiting metal plate can be contacted with the upper limiting rubber when moving to the uppermost end of the guide rail, the robot body is provided with a lower limiting rubber 11 at the position right below the laser sensor mounting rack, when the laser sensor mounting rack moves to the lowermost end of the guide rail, the lower surface of the laser sensor mounting rack can be contacted with the lower limiting rubber, the upper limiting metal plate and the upper limiting rubber are arranged in a matched mode for hard limiting when the laser sensor mounting rack rises to exceed a preset highest position and is about to exceed the uppermost end of the guide rail without stopping, so as to protect the laser sensor and lower limiting rubber, the laser sensor mounting frame is used for carrying out hard limiting when the laser sensor mounting frame descends to exceed a preset lowest position and is about to exceed the lowest end of the guide rail and does not stop moving, so that the laser sensor is protected.
Particularly, still be equipped with scram switch 12 on the robot body, scram switch pass through the electric conductor with the driver of flat motor is connected, can press the scram switch and make flat motor stop the action in emergency, avoids damaging laser sensor.
The working principle is as follows:
the flat motor drives the gear to rotate, the gear moves up and down on the rack, so that the sliding block moves up and down along the guide rail, the laser sensor mounting rack changes the height position, the laser sensor reaches different heights, the flat motor can be fixed at the fixed height when stopping, the limit switch contact piece on the laser sensor mounting rack can send a signal to the driver of the flat motor when contacting with the limit switch with the designated height, so that the laser sensor stops at the designated height position, the driver of the flat motor can be connected with the external controller, the start and stop are controlled by the external controller, so that the laser sensor mounting rack changes the height position to be suitable for different working environments, the upper limit metal plate is matched with the upper limit rubber, and the laser sensor mounting rack is used for hard limiting when the laser sensor mounting rack rises to exceed the preset highest position and is about to exceed the uppermost end of the guide rail without stopping, with protection laser sensor, the setting of spacing rubber down for the laser sensor mounting bracket descends and surpasss predetermined lowest position and be about to surpass and carry out hard spacing when the guide rail bottommost end has not stopped the action, with protection laser sensor, can press emergency stop switch and make flat motor stop action in the time of urgent, avoids damaging laser sensor.
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 (3)
1. The utility model provides an adjustable laser sensor height position's robot, includes robot body (001) and laser sensor (002), its characterized in that: the robot is characterized by further comprising a guide rail (1) and a rack (2), wherein the guide rail (1) and the rack (2) are vertically installed on the same side face of the robot body (001), a sliding block (3) is connected onto the guide rail (1) in a sliding mode, a laser sensor installation frame (4) is installed on the sliding block (3), a laser sensor (002) is installed on the laser sensor installation frame (4), a flat motor (5) and a limit switch contact piece (6) are further arranged on the laser sensor installation frame (4), a gear (7) is arranged at the output end of the flat motor (5), and the gear (7) is meshed with the rack (2);
installation guide rail (1) with rack (2) be equipped with a plurality of limit switch (8) along vertical direction on the side of robot body (001), work as laser sensor mounting bracket (4) along guide rail (1) removes and removes arbitrary one during the high position at limit switch (8) place, limit switch contact piece (6) can with correspond high setting limit switch (8) contact, limit switch (8) respectively through the electric conductor with the driver of flat motor (5) is connected.
2. The robot of claim 1, wherein the height position of the laser sensor is adjustable by: still be equipped with on laser sensor mounting bracket (4) spacing panel beating (9), the installation guide rail (1) with rack (2) be close to on the side of robot (001) be equipped with spacing rubber (10) on the position on guide rail (1) top, go up spacing panel beating (9) and move extremely guide rail (1) can with during the top limit rubber (10) contact, robot (001) are gone up and are in position under laser sensor mounting bracket (4) is equipped with down spacing rubber (11), laser sensor mounting bracket (4) move extremely during guide rail (1) is the lower extreme, the lower surface of laser sensor mounting bracket (4) can contact with spacing rubber (11) down.
3. The robot of claim 1, wherein the height position of the laser sensor is adjustable by: still be equipped with scram switch (12) on robot body (001), scram switch (12) pass through the electric conductor with the driver of flat motor (5) is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911375292.6A CN113043333A (en) | 2019-12-27 | 2019-12-27 | Robot capable of adjusting height position of laser sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911375292.6A CN113043333A (en) | 2019-12-27 | 2019-12-27 | Robot capable of adjusting height position of laser sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113043333A true CN113043333A (en) | 2021-06-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911375292.6A Pending CN113043333A (en) | 2019-12-27 | 2019-12-27 | Robot capable of adjusting height position of laser sensor |
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| CN (1) | CN113043333A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5355965A (en) * | 1993-03-19 | 1994-10-18 | Vermeer Manufacturing Company | Mounting apparatus for a rotational drive unit |
| CN205254334U (en) * | 2015-12-04 | 2016-05-25 | 武汉华俄激光工程有限公司 | Laser work platform electric lift adjusting device |
| CN205424305U (en) * | 2016-03-15 | 2016-08-03 | 杭州华会通科技有限公司 | Lifter |
| CN206750942U (en) * | 2017-06-01 | 2017-12-15 | 江苏哈工药机科技股份有限公司 | Straight line shifting apparatus is used in a kind of solar thermal collector production |
| CN208328481U (en) * | 2018-04-11 | 2019-01-04 | 合肥品冠晾衣设备科技有限责任公司 | A kind of clothes hanger lifting limited device |
| CN208750351U (en) * | 2018-08-07 | 2019-04-16 | 中国科学院福建物质结构研究所 | a lift table |
| CN209095202U (en) * | 2018-11-28 | 2019-07-12 | 宁波法里奥光学科技发展有限公司 | A kind of lens edge grinding machine curvature sweep mechanism |
| CN110081289A (en) * | 2019-04-29 | 2019-08-02 | 南京兴丞智能制造研究院有限公司 | A kind of graphic information processing collecting device and its application method |
-
2019
- 2019-12-27 CN CN201911375292.6A patent/CN113043333A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5355965A (en) * | 1993-03-19 | 1994-10-18 | Vermeer Manufacturing Company | Mounting apparatus for a rotational drive unit |
| CN205254334U (en) * | 2015-12-04 | 2016-05-25 | 武汉华俄激光工程有限公司 | Laser work platform electric lift adjusting device |
| CN205424305U (en) * | 2016-03-15 | 2016-08-03 | 杭州华会通科技有限公司 | Lifter |
| CN206750942U (en) * | 2017-06-01 | 2017-12-15 | 江苏哈工药机科技股份有限公司 | Straight line shifting apparatus is used in a kind of solar thermal collector production |
| CN208328481U (en) * | 2018-04-11 | 2019-01-04 | 合肥品冠晾衣设备科技有限责任公司 | A kind of clothes hanger lifting limited device |
| CN208750351U (en) * | 2018-08-07 | 2019-04-16 | 中国科学院福建物质结构研究所 | a lift table |
| CN209095202U (en) * | 2018-11-28 | 2019-07-12 | 宁波法里奥光学科技发展有限公司 | A kind of lens edge grinding machine curvature sweep mechanism |
| CN110081289A (en) * | 2019-04-29 | 2019-08-02 | 南京兴丞智能制造研究院有限公司 | A kind of graphic information processing collecting device and its application method |
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Application publication date: 20210629 |