CN210939344U - Emergency braking structure of robot action obstacle avoidance device - Google Patents

Abstract

The utility model discloses a barrier device's emergency braking structure is kept away in action of robot belongs to the robotechnology field, including main part and main control panel, the top of main part is provided with the roof, the both sides of roof bottom all are provided with first recess, the inside top of first recess all is provided with fixed subassembly, first electric telescopic handle is all installed at the both ends of fixed subassembly bottom, first electric telescopic handle's bottom all is provided with first spliced pole, the bottom of first spliced pole all is provided with the connecting block. The utility model discloses an extension second electric telescopic handle output's length to make second electric telescopic handle's output drive the brake pads and remove to one side of gear, and with gear intermeshing, thereby utilize the insection that sets up on the brake pads and the intermeshing of gear, play the effect of braking to the gear, when having avoided the operation in-process to take place proruption situation, can reach the effect of in time braking, thereby improved the rate of utilization, and improved the security.

Description

Emergency braking structure of robot action obstacle avoidance device

Technical Field

The utility model relates to the technical field of robots, specifically be a barrier device's emergency braking structure is kept away in action of robot.

Background

A Robot (Robot) is a machine device for automatically executing work, which can receive human commands, run a pre-programmed program, and perform actions according to principles formulated by artificial intelligence technology, and has a task of assisting or replacing human work, such as production, construction, or dangerous work, and an obstacle avoidance device is generally arranged on the Robot to improve the safety and service life of the Robot.

However, the height of the robot main body and the wheels at the bottom of the existing obstacle avoidance device is not easy to adjust, so that the corresponding height cannot be selected according to the running speed of the robot, the stability of the circle ground of the robot is reduced, the utilization rate is reduced, and the braking assembly of the existing obstacle avoidance device lacks emergency braking, so that when an emergency situation occurs in the running process (the obstacle avoidance function of the robot is not started, or the obstacle avoidance function is not sensitive enough, but the robot always runs), the robot can move forward for a distance due to inertia, so that timely braking cannot be achieved, the utilization rate is reduced, and the use safety is reduced.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a: the emergency braking structure of the robot action obstacle avoidance device is provided to solve the problems that the existing braking component of the obstacle avoidance device lacks emergency braking, so that when an emergency occurs in the running process, a robot moves forward for a certain distance due to inertia, and timely braking cannot be achieved, the utilization rate is reduced, and the use safety is reduced.

In order to achieve the above object, the utility model provides a following technical scheme: an emergency braking structure of a robot action obstacle avoidance device comprises a main body and a main control panel, wherein a top plate is arranged at the top of the main body, first grooves are formed in two sides of the bottom of the top plate, fixing components are arranged at the top ends of the inner parts of the first grooves, first electric telescopic rods are arranged at two ends of the bottom of each fixing component, first connecting columns are arranged at the bottoms of the first electric telescopic rods, connecting blocks are arranged at the bottoms of the first connecting columns, rotating shafts are arranged at adjacent positions of two groups of the connecting blocks, first wheels are arranged at two ends of each rotating shaft, a second groove is arranged at one side of the bottom of the top plate, sleeves are arranged at two ends of the bottom of the second groove, push rods penetrating through the bottom ends of the inner parts of the sleeves are arranged at the bottoms of the sleeves, and emergency braking components are arranged at adjacent positions of the two groups of the connecting, the bottom of push rod all is provided with the second spliced pole, the outside of second spliced pole is provided with coupling assembling, the intermediate position department of fixed subassembly bottom one side installs fourth electric telescopic handle, fourth electric telescopic handle's output is provided with first motor case, the both ends that first electric telescopic handle one side was kept away from in the bottom of roof all install third electric telescopic handle, third electric telescopic handle's bottom all is provided with the second motor case, the one end of second motor case all is provided with the second wheel.

Preferably, the emergency braking subassembly includes the gear, and the figure of gear is two sets of, the gear is located the both ends in the pivot outside, second electric telescopic handle is all installed to the bottom of second spliced pole one side, one side that second electric telescopic handle kept away from the second spliced pole all is provided with gear assorted brake block, second electric telescopic handle all can dismantle with the pivot through mutually supporting of brake block and gear and be connected.

Preferably, coupling assembling's intermediate position department all is provided with the bracing piece, one side that the bracing piece is close to the second spliced pole is provided with first go-between, one side that first go-between was kept away from to the bracing piece all is provided with the second go-between.

Preferably, the top of fixed subassembly is provided with the backup pad, the bottom of backup pad evenly is provided with the multiunit fixed plate, electric telescopic handle's top all is provided with the fixed block, electric telescopic handle all can dismantle with the fixed plate through mutually supporting of fixed block and bolt and be connected.

Preferably, the top of push rod all is provided with the elastic component, and the elastic component is located telescopic inside, and the top of push rod both sides all is provided with the slider, the inside both sides of sleeve all be provided with slider assorted spout, and the push rod all through mutually supporting and sleeve sliding connection of slider and spout.

Preferably, the second wheel is provided with a rotating block at one end close to the second motor box, and the output end of the second motor box is fixedly connected with the top of the rotating block.

Preferably, both ends of the second connecting ring are provided with arc rings, one sides of the two groups of arc rings are rotatably connected through a pin shaft, and one sides of the two groups of arc rings, which are far away from the pin shaft, are fixedly connected through screws.

Preferably, the output ends of the first motor boxes are rotatably connected with the rotating shaft.

Preferably, the output electric connection of main control panel has detection module, detection module's output is provided with the receipt mainboard, the output electric connection wireless transmission module of main control panel, detection module includes ultrasonic detection module, infrared detection module and laser detection module.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses an extension first electric telescopic handle and the length of third electric telescopic handle output, thereby make first electric telescopic handle and third electric telescopic handle use first wheel and second wheel as the basic point with the roof jack-up, the push rod follows the change of first electric telescopic handle and outwards extends simultaneously, thereby adjust the distance between roof and first wheel and the second wheel, just, shorten the length of first electric telescopic handle and third electric telescopic handle output, thereby shorten the distance between roof and first wheel and the second wheel, when the speed of traveling is faster, the height between robot main part and wheel or ground is lower, the center is lower, thereby make the circle ground more firm, and the rate of utilization has improved;

2. the utility model discloses an extension second electric telescopic handle output's length to make second electric telescopic handle's output drive the brake pads and remove to one side of gear, and with gear intermeshing, thereby utilize the insection that sets up on the brake pads and the intermeshing of gear, play the effect of braking to the gear, thereby when having avoided taking place proruption situation in the operation process, can reach the effect of in time braking, thereby improved the rate of utilization, and improved the security.

Drawings

Fig. 1 is a front view of the present invention;

FIG. 2 is a schematic view of a partial structure of the present invention;

FIG. 3 is a schematic structural view of the present invention;

fig. 4 is a schematic structural view of the emergency brake assembly of the present invention;

fig. 5 is a schematic structural view of the connection assembly of the present invention;

fig. 6 is a schematic structural view of the top plate of the present invention;

fig. 7 is an enlarged view of the present invention a;

fig. 8 is a system control flow chart of the present invention.

In the figure: 1. a main body; 2. a top plate; 3. a first groove; 4. a second groove; 5. a fixing assembly; 501. a support plate; 502. a fixing plate; 503. a fixed block; 6. a first electric telescopic rod; 7. a first connecting column; 8. connecting blocks; 9. a rotating shaft; 10. an emergency braking assembly; 1001. a second electric telescopic rod; 1002. a brake pad; 1003. a gear; 11. a first wheel; 12. a connecting assembly; 1201. a support bar; 1202. a first connecting ring; 1203. a second connection ring; 13. a push rod; 14. a third electric telescopic rod; 15. a second wheel; 16. a first motor case; 17. a second motor case; 18. a sleeve; 19. a fourth electric telescopic rod; 20. a second connecting column.

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.

The utility model discloses in mentioned first electric telescopic handle (the model is HTKC-55), second electric telescopic handle (the model is HB-DJ801), third electric telescopic handle (the model is HTKC-55), fourth electric telescopic handle (the model is HTKC-55), first wheel and second wheel all can be in market or private order and get.

Referring to fig. 1-8, an emergency braking structure of a robot obstacle avoidance device includes a main body 1 and a main control panel, a top plate 2 is disposed on the top of the main body 1, first grooves 3 are disposed on both sides of the bottom of the top plate 2, fixing members 5 are disposed on the top ends of the first grooves 3, first electric telescopic rods 6 are mounted on both ends of the bottom of the fixing members 5, first connecting posts 7 are disposed on the bottom of the first electric telescopic rods 6, connecting blocks 8 are disposed on the bottom of the first connecting posts 7, rotating shafts 9 are disposed adjacent to the two groups of connecting blocks 8, first wheels 11 are disposed on both ends of the rotating shafts 9, second grooves 4 are disposed on one side of the bottom of the top plate 2, sleeves 18 are disposed on both ends of the bottom of the second grooves 4, push rods 13 penetrating to the bottom ends of the sleeves 18 are disposed on the bottom of the sleeves 18, and emergency braking members 10 are disposed adjacent to the two groups of connecting blocks 8, the bottom of push rod 13 all is provided with second spliced pole 20, the outside of second spliced pole 20 is provided with coupling assembling 12, the intermediate position department of fixed subassembly 5 bottom one side installs fourth electric telescopic handle 19, the output of fourth electric telescopic handle 19 is provided with first motor case 16, the both ends that first electric telescopic handle 6 one side was kept away from in the bottom of roof 2 all install third electric telescopic handle 14, the bottom of third electric telescopic handle 14 all is provided with second motor case 17, the one end of second motor case 17 all is provided with second wheel 15.

The utility model discloses a second motor case 17 that sets up, make the inside motor of second motor case 17 drive the turning block and rotate, thereby make the turning block drive second wheel 15 and rotate, better messenger's turning block drives second wheel 15 and uses second motor case 17 to squint as the basic point, thereby make and keep away the barrier device to this robot action and carry out the skew removal, the utilization ratio has been improved, and drive pivot 9 through the inside motor of first motor case 16 and rotate, thereby better drive first wheel 11 and second wheel 15 and rotate, thereby be convenient for provide power to the robot, thereby the robot of being convenient for removes.

Please refer to fig. 1, 2 and 3, the emergency braking assembly 10 includes two sets of gears 1003, the gears 1003 are located at two ends of the outer side of the rotating shaft 9, the bottom end of one side of the second connecting column 20 is provided with a second electric telescopic rod 1001, one side of the second electric telescopic rod 1001 far away from the second connecting column 20 is provided with a braking block 1002 matched with the gear 1003, and the second electric telescopic rod 1001 is detachably connected with the rotating shaft 9 through the mutual matching of the braking block 1002 and the gears 1003.

This barrier device is kept away in action of robot is through the length of extension second electric telescopic handle 1001 output, thereby make the output of second electric telescopic handle 1001 drive brake pads 1002 and remove to one side of gear 1003, and with gear 1003 intermeshing, thereby utilize the insection that sets up on the brake pads 1002 and the intermeshing of gear 1003, play the effect of braking to gear 1003, thereby when having avoided taking place proruption situation among the operation process, can reach the effect of timely braking, thereby the rate of utilization has been improved, and the security has been improved.

Please refer to fig. 1, 2, 3, 4 and 5, the middle of the connecting assembly 12 is provided with a supporting rod 1201, one side of the supporting rod 1201 close to the second connecting column 20 is provided with a first connecting ring 1202, and one side of the supporting rod 1201 away from the first connecting ring 1202 is provided with a second connecting ring 1203.

This barrier device is kept away in action of robot passes through bracing piece 1201, first connecting ring 1202 and second connecting ring 1203 and connects push rod 13 and first electric telescopic handle 6's output, thereby make first electric telescopic handle 6's output no matter shorten or the extension, second electric telescopic handle 1001 and brake pads 1002 and gear 1003 are located same level all the time, thereby provide supplementary for emergency braking, thereby avoided brake pads 1002 and gear 1003 dislocation, the effect of braking has been improved, and the rate of utilization has been improved.

Please refer to fig. 1, 2, 3 and 6, a supporting plate 501 is disposed on the top of the fixing assembly 5, a plurality of fixing plates 502 are uniformly disposed on the bottom of the supporting plate 501, fixing blocks 503 are disposed on the top of the first electric telescopic rod 6, and the first electric telescopic rod 6 is detachably connected to the fixing plates 502 through the mutual matching of the fixing blocks 503 and bolts.

This barrier device is kept away in action of robot is through all fixing through the bolt between with backup pad 501, fixed plate 502, first electric telescopic handle 6 and roof 2 to make the dismantlement and the installation of backup pad 501, fixed plate 502, first electric telescopic handle 6 and roof 2 simpler, thereby reduced the degree of difficulty of work, and improved work efficiency.

Please refer to fig. 1, 2, 3, 4 and 7, the top of the push rod 13 is provided with an elastic member, the elastic member is located inside the sleeve 18, the top ends of the two sides of the push rod 13 are provided with sliding blocks, the two sides inside the sleeve 18 are provided with sliding grooves matched with the sliding blocks, and the push rod 13 is slidably connected with the sleeve 18 through the mutual matching of the sliding blocks and the sliding grooves.

This barrier device is kept away in action of robot is through the elastic component that sets up, is convenient for push rod 13's quick return to when having reduced first electric telescopic handle 6 and reseing, to first electric telescopic handle 6 holding power, thereby improved first electric telescopic handle 6's life, and through mutually supporting of slider and spout, reduced the frictional force between push rod 13 and the sleeve 18, thereby make push rod 13's slip effect better, and it is more laborsaving to slide.

Please refer to fig. 1, 2, 3 and 5, one end of the second wheel 15 close to the second motor box 17 is provided with a rotating block, the output end of the second motor box 17 is fixedly connected with the top of the rotating block, two ends of the second connecting ring 1203 are provided with arc rings, one sides of the two sets of arc rings are rotatably connected through a pin, and one sides of the two sets of arc rings far away from the pin are fixedly connected through screws.

This barrier device is kept away in action of robot is through the first connecting ring 1202 cover on the bracing piece 1201 in the outside of second spliced pole 20, and weld the bottom of second spliced pole 20 and the top of second electric telescopic handle 1001, then make bracing piece 1201 use second spliced pole 20 to rotate as the base point, until with first spliced pole 7 contact, and use the round pin axle to rotate the arc ring as the base point, then fix the outside at first spliced pole 7 through the bolt, make first electric telescopic handle 6's output no matter shorten or prolong, second electric telescopic handle 1001 and brake block 1002 are located same level with gear 1003 all the time, thereby provide supplementary for emergency braking, thereby brake block 1002 and gear 1003 dislocation have been avoided, the effect of braking has been improved, and the utilization rate has been improved.

Please refer to fig. 6, the output ends of the first motor box 16 are all rotatably connected to the rotating shaft 9, the output end of the main control board is electrically connected to a detection module, the output end of the detection module is provided with a receiving main board, the output end of the main control board is electrically connected to a wireless transmitting module, and the detection module includes an ultrasonic detection module, an infrared detection module and a laser detection module.

This barrier device is kept away in action of robot drives pivot 9 through the inside motor of first motor case 16 and rotates, thereby better drive first wheel 11 and the rotation of second wheel 15, thereby be convenient for provide power to the robot, thereby the robot of being convenient for removes, and through the ultrasonic detection module who sets up, infrared detection module and laser detection module, continuous with detected signal transmission to receiving mainboard, then receiving mainboard will detect the model and transmit for the master control board through wireless transmitting module, then this barrier device is kept away in action of robot of master control board control carries out the action, thereby realize keeping away the barrier.

The working principle is as follows: before use, the first connecting ring 1202 on the supporting rod 1201 is sleeved on the outer side of the second connecting column 20, the bottom of the second connecting column 20 is welded with the top of the second electric telescopic rod 1001, then the supporting rod 1201 is made to rotate by taking the second connecting column 20 as a base point until the supporting rod contacts with the first connecting column 7, the arc-shaped ring is made to rotate by taking a pin shaft as a base point, and then the supporting rod is fixed on the outer side of the first connecting column 7 through bolts, when in use, a power supply is switched on, and the lengths of the output ends of the first electric telescopic rod 6, the third electric telescopic rod 14 and the fourth electric telescopic rod 19 are shortened, so that the first electric telescopic rod, the third electric telescopic rod 14 and the fourth electric telescopic rod 19 take the first wheel 11 and the second wheel 15 as base points (supporting points), the top plate 2 is driven to move downwards, and the push rod 13 is driven to extend towards the inner part of the sleeve 18, the elastic potential energy of the elastic part is increased more and more, so that the distance between the top plate 2 and the first wheel 11, the second wheel 15 and the ground is shortened, the adjustment of the height of the top plate is realized, when the running speed is high, the lower the height between the robot main body 1 and the first wheel 11, the second wheel 15 and the ground is, the lower the center is, so that the turn ground is more stable, and the utilization rate is improved, when emergency braking is required, the length of the output end of the second electric telescopic rod 1001 is prolonged, so that the output end of the second electric telescopic rod 1001 drives the brake block 1002 to move to one side of the gear 1003 and is meshed with the gear 1003, so that the gear 1003 is braked by utilizing the mutual meshing of the insection arranged on the brake block 1002 and the gear 1003, and when an emergency situation occurs in the running process is avoided, a timely braking effect can be achieved, and the utilization rate is improved, and the safety is improved.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (9)

1. The utility model provides a barrier device's emergency braking structure is kept away in action of robot, includes main part (1) and main control board, its characterized in that: the top of the main body (1) is provided with a top plate (2), two sides of the bottom of the top plate (2) are provided with first grooves (3), the top end inside the first grooves (3) is provided with a fixing component (5), two ends of the bottom of the fixing component (5) are provided with first electric telescopic rods (6), the bottom of each first electric telescopic rod (6) is provided with a first connecting column (7), the bottom of each first connecting column (7) is provided with connecting blocks (8), adjacent positions of two groups of connecting blocks (8) are provided with rotating shafts (9), two ends of each rotating shaft (9) are provided with first wheels (11), one side of the bottom of the top plate (2) is provided with a second groove (4), two ends of the bottom of the second groove (4) are provided with sleeves (18), the bottom of each sleeve (18) is provided with a push rod (13) penetrating through the bottom inside the sleeve (18), two sets of the adjacent position department of connecting block (8) all is provided with emergency braking subassembly (10), the bottom of push rod (13) all is provided with second spliced pole (20), the outside of second spliced pole (20) is provided with coupling assembling (12), the intermediate position department of fixed subassembly (5) bottom one side installs fourth electric telescopic handle (19), the output of fourth electric telescopic handle (19) is provided with first motor case (16), third electric telescopic handle (14) are all installed at the both ends of keeping away from first electric telescopic handle (6) one side in the bottom of roof (2), the bottom of third electric telescopic handle (14) all is provided with second motor case (17), the one end of second motor case (17) all is provided with second wheel (15).

2. The emergency braking structure of a robot action obstacle avoidance device according to claim 1, characterized in that: emergency braking subassembly (10) include gear (1003), and the figure of gear (1003) is two sets of, gear (1003) are located the both ends in pivot (9) outside, second electric telescopic handle (1001) are all installed to the bottom of second spliced pole (20) one side, one side that second spliced pole (20) were kept away from in second electric telescopic handle (1001) all is provided with and gear (1003) assorted brake block (1002), second electric telescopic handle (1001) all can dismantle with pivot (9) through mutually supporting of brake block (1002) and gear (1003) and be connected.

3. The emergency braking structure of a robot action obstacle avoidance device according to claim 1, characterized in that: the middle positions of the connecting components (12) are provided with supporting rods (1201), one side, close to the second connecting column (20), of each supporting rod (1201) is provided with a first connecting ring (1202), and one side, far away from the first connecting ring (1202), of each supporting rod (1201) is provided with a second connecting ring (1203).

4. The emergency braking structure of a robot action obstacle avoidance device according to claim 1, characterized in that: the top of fixed subassembly (5) is provided with backup pad (501), the bottom of backup pad (501) evenly is provided with multiunit fixed plate (502), the top of first electric telescopic handle (6) all is provided with fixed block (503), first electric telescopic handle (6) all can be dismantled with fixed plate (502) through mutually supporting of fixed block (503) and bolt and be connected.

5. The emergency braking structure of a robot action obstacle avoidance device according to claim 1, characterized in that: the top of push rod (13) all is provided with the elastic component, and the elastic component is located the inside of sleeve (18), and the top of push rod (13) both sides all is provided with the slider, the inside both sides of sleeve (18) all be provided with slider assorted spout, and push rod (13) all through mutually supporting and sleeve (18) sliding connection of slider and spout.

6. The emergency braking structure of a robot action obstacle avoidance device according to claim 1, characterized in that: one end of the second wheel (15) close to the second motor box (17) is provided with a rotating block, and the output end of the second motor box (17) is fixedly connected with the top of the rotating block.

7. The emergency braking structure of a robot action obstacle avoidance device according to claim 3, wherein: the two ends of the second connecting ring (1203) are provided with arc-shaped rings, one sides of the two groups of arc-shaped rings are rotatably connected through pin shafts, and one sides of the two groups of arc-shaped rings, far away from the pin shafts, are fixedly connected through screws.

8. The emergency braking structure of a robot action obstacle avoidance device according to claim 1, characterized in that: the output end of the first motor box (16) is rotatably connected with the rotating shaft (9).

9. The emergency braking structure of a robot action obstacle avoidance device according to claim 1, characterized in that: the output electric connection of main control panel has detection module, detection module's output is provided with the receipt mainboard, main control panel's output electric connection wireless emission module, detection module includes ultrasonic detection module, infrared detection module and laser detection module.

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