CN210534332U

CN210534332U - Ultrasonic obstacle avoidance device of intelligent trolley

Info

Publication number: CN210534332U
Application number: CN201921047844.6U
Authority: CN
Inventors: 姚莉
Original assignee: Hubei Polytechnic University
Current assignee: Hubei Polytechnic University
Priority date: 2019-07-04
Filing date: 2019-07-04
Publication date: 2020-05-15
Anticipated expiration: 2029-07-04

Abstract

The utility model discloses an obstacle device is kept away to intelligent vehicle's ultrasonic wave relates to the intelligent vehicle field, including base, bottom plate, casing and roof, the bottom of casing and the top fixed connection of bottom plate, the top surface right side fixed mounting of roof has the locating plate, it has the movable rod to articulate on the locating plate, the right-hand member fixed mounting of movable rod has the ultrasonic detection head, the left end of movable rod articulates there is hydraulic cylinder, the inside of casing is provided with the slot. The utility model discloses can carry out supersound through the circumference rotation and keep away the barrier detection around the dolly, and make things convenient for adjusting device's height to adjust and detect the field of vision, through the angle of transform ultrasonic detection head in addition, turn to the barrier with ultrasonic detection head, thereby can carry out the accurate positioning to the barrier that detects, the slider plays the effect of auxiliary stay bottom plate, pulley and cell body cooperation, greatly reduced coefficient of friction, it is smooth and easy to guarantee to rotate.

Description

Ultrasonic obstacle avoidance device of intelligent trolley

Technical Field

The utility model relates to an intelligent vehicle field, in particular to barrier device is kept away to intelligent vehicle's ultrasonic wave.

Background

Along with the development of electronic information technology, the machine intelligence level is gradually improved, an intelligent trolley is taken as a typical representative of mobile machinery and is gradually used in our life, an obstacle avoidance device is a part of the intelligent trolley and can detect the surrounding environment of the intelligent trolley, detect the direction of an obstacle obstructing the action of the intelligent trolley and transmit the direction to an intelligent trolley control system, so that the intelligent trolley drive system is controlled to make corresponding avoidance action, and the safety of the trolley is guaranteed.

But the current obstacle avoidance device is mostly the unilateral and detects, and detection range is less, and for improving detection range, has laid a plurality of detectors all around on some intelligent vehicle tops, consequently makes the cost of avoiding the obstacle avoidance device also improve greatly, and current obstacle avoidance device can not carry out altitude mixture control, is unfavorable for adjusting the field of vision that detects.

Therefore, it is necessary to provide an ultrasonic obstacle avoidance apparatus for an intelligent vehicle to solve the above problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an obstacle device is kept away to intelligent vehicle's ultrasonic wave to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: an ultrasonic obstacle avoidance device of an intelligent trolley comprises a base, a bottom plate, a shell and a top plate, wherein the bottom of the shell is fixedly connected with the top of the bottom plate, a positioning plate is fixedly installed on the right side of the top surface of the top plate, a movable rod is hinged to the positioning plate, an ultrasonic probe is fixedly installed at the right end of the movable rod, and a hydraulic cylinder is hinged to the left end of the movable rod;

a slot is formed in the shell, a movable column is inserted in the slot in a sliding manner, a servo motor is fixedly installed in the middle of the inner bottom wall of the shell, a lead screw is fixedly connected to the output end of the servo motor, a driving motor is fixedly installed in the middle of the interior of the base, and the output end of the driving motor is fixedly connected with the middle of the bottom plate;

the bottom of bottom plate both sides equal fixed mounting have the slider, annular spout has been seted up to the top surface of base, the bottom fixed mounting of slider has first pulley, the equal fixed mounting in the left and right sides of slider has the second pulley, be provided with the second guide slot on the lateral wall of annular spout.

Optionally, the bottom end of the hydraulic cylinder is hinged to the left side of the top plate;

the top end of the movable column is fixedly connected with the bottom of the top plate.

Optionally, the side wall of the slot is provided with first guide grooves which are symmetrically arranged;

the equal fixedly connected with guide block in both sides bottom of activity post, guide block and first guide slot sliding connection.

Optionally, the screw rod is inserted in the movable column in a threaded manner;

and a control box is fixedly arranged on the right side of the inner bottom wall of the shell.

Optionally, the bottom of the two sides of the base are both fixedly provided with mounting plates.

Optionally, the sliding block is slidably connected with the annular chute;

the bottom end face of the first pulley is attached to the bottom wall of the annular sliding groove.

Optionally, the second pulley is slidably connected to the second guide groove.

The utility model discloses a technological effect and advantage:

1. the utility model discloses can carry out supersound through the circumference rotation around to the dolly and keep away the barrier and detect, and make things convenient for adjusting device's height to adjust and detect the field of vision, through the angle that transforms ultrasonic detection head, turn to the barrier with ultrasonic detection head in addition, thereby can carry out the accurate positioning to the barrier that detects.

2. The utility model discloses a cooperation is used between slider, annular spout, first pulley, second pulley and the second guide slot, and when driving motor drive bottom plate rotated, the slider played the effect of auxiliary stay bottom plate, and pulley and cell body cooperation, greatly reduced coefficient of friction guarantee to rotate smoothly.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic view of the sectional structure of the housing of the present invention.

Fig. 3 is an enlarged schematic view of a structure shown in fig. 2 according to the present invention.

In the figure: the ultrasonic detection device comprises a base 1, a bottom plate 2, a shell 3, a top plate 4, a positioning plate 5, a movable rod 6, an ultrasonic detection head 7, a hydraulic cylinder 8, a slot 9, a movable column 10, a first guide groove 11, a guide block 12, a servo motor 13, a screw rod 14, a control box 15, a driving motor 16, an installation plate 17, a sliding block 18, an annular sliding groove 19, a first pulley 20, a second pulley 21 and a second guide groove 22.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "disposed," "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; may be a mechanical connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

The utility model provides an ultrasonic wave of intelligent vehicle keeps away barrier device as shown in fig. 1-3, including base 1, bottom plate 2, casing 3 and roof 4, by fig. 1, the bottom of casing 3 and the top fixed connection of bottom plate 2, the top surface right side fixed mounting of roof 4 has locating plate 5, articulated on locating plate 5 have movable rod 6, the right-hand member fixed mounting of movable rod 6 has ultrasonic detection head 7, the left end of movable rod 6 is articulated to have hydraulic cylinder 8, the bottom of hydraulic cylinder 8 is articulated with the top left side of roof 4, through such setting, hydraulic cylinder 8 stretches out or contracts and drives movable rod 6 and rotate relative to locating plate 5, movable rod 6 drives ultrasonic detection head 7 and removes, thereby reach the purpose of transform ultrasonic detection head 7 angles;

as shown in fig. 2, a slot 9 is provided inside the housing 3, a movable post 10 is slidably inserted into the slot 9, a top end of the movable post 10 is fixedly connected with a bottom of the top plate 4, a first guide groove 11 symmetrically arranged is provided on a side wall of the slot 9, guide blocks 12 are fixedly connected with bottom ends of two sides of the movable post 10, the guide blocks 12 are slidably connected with the first guide groove 11, a servo motor 13 is fixedly installed in a middle portion of an inner bottom wall of the housing 3, an output end of the servo motor 13 is fixedly connected with a lead screw 14, the lead screw 14 is inserted into the movable post 10 in a threaded manner, a control box 15 is fixedly installed on a right side of the inner bottom wall of the housing 3, by such arrangement, the slot 9, the movable post 10, the first guide groove 11, the guide blocks 12, the servo motor 13 and the lead screw 14 are used in a matched manner, the servo motor 13 drives the lead screw 14 to rotate forward and backward, so, the ultrasonic probe 7 is characterized in that a driving motor 16 is fixedly installed in the middle of the inner portion of the base 1, the output end of the driving motor 16 is fixedly connected with the middle of the bottom plate 2, the driving motor 16 drives the shell 3 to rotate through the bottom plate 2, so that the obstacle avoidance device is driven to rotate, and mounting plates 17 are fixedly installed at the bottoms of the two sides of the base 1;

as shown in fig. 3, the bottom both sides of bottom plate 2 are all fixed mounting has slider 18, annular chute 19 has been seted up to the top surface of base 1, slider 18 and annular chute 19 sliding connection, the bottom fixed mounting of slider 18 has first pulley 20, the bottom terminal surface of first pulley 20 and the diapire laminating of annular chute 19, the equal fixed mounting in both sides has second pulley 21 about slider 18, be provided with second guide slot 22 on the lateral wall of annular chute 19, second pulley 21 and second guide slot 22 sliding connection, through such setting, slider 18, annular chute 19, first pulley 20, cooperate between second pulley 21 and the second guide slot 22 to use, when driving motor 16 drive bottom plate 2 rotates, slider 18 plays the effect of auxiliary stay bottom plate 2, pulley and cell body cooperation, greatly reduced coefficient of friction, guarantee to rotate smoothly.

The utility model discloses the theory of operation:

when using, on the roof of fixing the device to intelligent vehicle, driving motor 16 passes through bottom plate 2 drive casing 3 rotatory, thereby it is rotatory to drive and keep away the barrier device, carry out supersound around the dolly and keep away the barrier and detect, servo motor 13 drive lead screw 14 is just reversing the rotation, thereby it reciprocates to drive movable post 10 along slot 9, a height for adjusting movable post 10 top roof 4, thereby reach the purpose of adjusting ultrasonic probe 7 height, the opening nature in the detection field of vision has been guaranteed, when detecting the barrier, device stall, hydraulic cylinder 8 stretches out or the shrink drives movable rod 6 relative positioning board 5 and rotates, movable rod 6 drives ultrasonic probe 7 and removes, thereby reach the purpose of transform ultrasonic probe 7 angles, turn to the barrier with ultrasonic probe 7, thereby can carry out the accurate positioning to the barrier that detects.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the scope of the invention.

Claims

1. The utility model provides an obstacle device is kept away to intelligent vehicle's ultrasonic wave, includes base (1), bottom plate (2), casing (3) and roof (4), its characterized in that: the bottom of the shell (3) is fixedly connected with the top of the bottom plate (2), a positioning plate (5) is fixedly mounted on the right side of the top surface of the top plate (4), a movable rod (6) is hinged to the positioning plate (5), an ultrasonic probe (7) is fixedly mounted at the right end of the movable rod (6), and a hydraulic cylinder (8) is hinged to the left end of the movable rod (6);

a slot (9) is formed in the shell (3), a movable column (10) is inserted in the slot (9) in a sliding mode, a servo motor (13) is fixedly installed in the middle of the inner bottom wall of the shell (3), the output end of the servo motor (13) is fixedly connected with a lead screw (14), a driving motor (16) is fixedly installed in the middle of the interior of the base (1), and the output end of the driving motor (16) is fixedly connected with the middle of the bottom plate (2);

the equal fixed mounting in bottom both sides of bottom plate (2) has slider (18), annular spout (19) have been seted up to the top surface of base (1), the bottom fixed mounting of slider (18) has first pulley (20), the equal fixed mounting in the left and right sides of slider (18) has second pulley (21), be provided with second guide slot (22) on the lateral wall of annular spout (19).

2. The ultrasonic obstacle avoidance device of the intelligent vehicle as recited in claim 1, wherein:

the bottom end of the hydraulic cylinder (8) is hinged with the left side of the top plate (4);

the top end of the movable column (10) is fixedly connected with the bottom of the top plate (4).

3. The ultrasonic obstacle avoidance device of the intelligent vehicle as recited in claim 1, wherein:

the side wall of the slot (9) is provided with first guide grooves (11) which are symmetrically arranged;

the equal fixedly connected with guide block (12) in both sides bottom of activity post (10), guide block (12) and first guide slot (11) sliding connection.

4. The ultrasonic obstacle avoidance device of the intelligent vehicle as recited in claim 1, wherein:

the screw rod (14) is inserted in the movable column (10) in a threaded manner;

and a control box (15) is fixedly arranged on the right side of the inner bottom wall of the shell (3).

5. The ultrasonic obstacle avoidance device of the intelligent vehicle as recited in claim 1, wherein:

the bottom parts of the two sides of the base (1) are fixedly provided with mounting plates (17).

6. The ultrasonic obstacle avoidance device of the intelligent vehicle as recited in claim 1, wherein:

the sliding block (18) is in sliding connection with the annular sliding groove (19);

the bottom end face of the first pulley (20) is attached to the bottom wall of the annular sliding groove (19).

7. The ultrasonic obstacle avoidance device of the intelligent vehicle as recited in claim 1, wherein:

the second pulley (21) is connected with the second guide groove (22) in a sliding mode.