CN211531848U

CN211531848U - Anti-collision combined robot

Info

Publication number: CN211531848U
Application number: CN201921314623.0U
Authority: CN
Inventors: 张淅真
Original assignee: Jinsong Tianjin Automation Technology Co ltd
Current assignee: Jinsong Tianjin Automation Technology Co ltd
Priority date: 2019-08-14
Filing date: 2019-08-14
Publication date: 2020-09-22
Anticipated expiration: 2029-08-14

Abstract

The utility model discloses a collision-proof combined robot, which comprises a robot body, wherein the upper end surface of the robot body is covered with a solar panel, and the solar panel is provided with a wireless transceiver, the lower end of the machine body is provided with a walking structure, the anti-collision combined robot has reasonable structure, and the walking structure of the robot is set as a crawler-type walking structure, can avoid the side turning phenomenon of the robot in the environment with complex terrain, effectively protects the safe use of the robot, the protective cover arranged outside the cutting knife and the cutting knife can be synchronously adjusted up and down, is suitable for mowing operation on different terrains, can protect the cutting knife, avoid stones or hard substances from damaging the cutting knife, reduce the service life of the cutting knife, and when the height adjustment to the safety cover, do not need the staff to adjust by hand in person, avoid staff's hand by the cutting knife fish tail.

Description

Anti-collision combined robot

Technical Field

The utility model relates to the technical field of robots, specifically be a prevent combination formula robot that collides with.

Background

Robots are machine devices that perform work automatically, that can accept human commands, run preprogrammed programs, or outline actions based on principles formulated with artificial intelligence techniques, and whose task is to assist or replace human work, such as manufacturing, construction, or dangerous work.

The prior art application number 'CN201820752926. X' provides a 'combined type mowing robot', the walking structure of the robot is set to be crawler-type walking, the phenomenon of side turning of the robot in an environment with complex terrain can be avoided, the safe use of the robot is effectively protected, a protective cover and a cutting blade which are arranged outside the cutting blade can be synchronously adjusted up and down, the combined type mowing robot is suitable for mowing operation in different terrains, the problem that the service life of the cutting blade is reduced due to collision of the cutting blade by stones or other hard substances when the cutting blade is used for cutting operation is solved, when the height of the cutting blade is adjusted, a worker needs to put a hand into the protective cover from the lower part of the protective cover to firstly adjust the protective cover to be high, then the height of the cutting blade is adjusted, the hand of the worker easily touches the cutting blade in the process of adjusting the protective cover to be high, in view of the above problems, intensive studies have been made. The scheme is shown.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a prevent combination formula robot that collides with 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: a combined robot capable of preventing collision comprises a robot body, wherein a solar panel covers the surface of the upper end of the robot body, a wireless transceiver is arranged on the solar panel, a walking structure is arranged at the lower end of the robot body and comprises a driving wheel, a guide wheel and a crawler belt meshed with the driving wheel and the guide wheel, a cutting structure is arranged at the position, close to a vehicle head, of the lower end of the robot body, a storage battery is arranged on the left side inside the robot body, an electric cabinet is arranged on the right side inside the robot body, a single chip microcomputer controller is arranged inside the electric cabinet, and a walking driving box is arranged in the middle of the inside of the robot;

the cutting structure comprises a first motor arranged inside the position of the machine body close to the head of the machine, the first motor extends downwards to penetrate out of the machine body, the first motor driving end is provided with a connecting block, the middle position is provided with a through groove, the first motor driving end is inserted into the through groove, a stack of mounting grooves with the same structure are arranged in the connecting block, a pair of the mounting grooves are respectively positioned at the left side and the right side of the through groove, the front wall surface and the rear wall surface in the mounting groove are respectively provided with a rotating shaft in a rotating way, the upper end of the inner side of the rotating shaft is respectively provided with a clamping block in an inclined and downwards manner, the lower end of the rotating shaft is connected with a connecting rod, the inner side of the connecting rod is connected with the right wall surface of the mounting groove through a spring, the, the left side and the right side of the connecting block are connected with cutting knives, and telescopic protection structures are assembled outside the cutting knives;

the telescopic protection structure comprises a second motor arranged on the inner upper wall surface of the machine body, a driving gear is installed by downward extension of a motor driving end, supporting rods are installed on the left side and the right side of the second motor, the upper end of each supporting rod is fixedly installed on the inner upper wall surface of the machine body, an auxiliary gear is installed at the lower end of each connecting rod in a rotating mode, the auxiliary gear is meshed with the driving gear respectively, a lead screw is fixedly installed on the lower wall surface of the auxiliary gear, a sleeve is installed on the lead screw in a threaded sleeve mode, the sleeve extends downward to penetrate out the machine body, and the sleeve is a pair of a protective cover.

Preferably, the solar panel is electrically connected with the storage battery through a wire.

Preferably, the output end of the single chip microcomputer controller is electrically connected with the input ends of the walking driving box, the first motor and the second motor through wires.

Preferably, the wireless transceiver is an electromagnetic wave transceiver, and a module for data transmission and conversion with the wireless transceiver is arranged in the single chip microcomputer controller.

Preferably, the first motor driving end is provided with a plurality of groups of clamping grooves from top to bottom.

Compared with the prior art, the beneficial effects of the utility model are that: this prevent combination formula robot that collides with is rational in infrastructure, set up to crawler-type running structure through the running structure with the robot, can avoid the robot to take place the phenomenon of turning on one's side in the complicated environment kind of topography, the effectual safe handling who has protected the robot, the safety cover and the cutting knife that the cutting knife outside set up can be adjusted from top to bottom in step, be applicable to the operation of mowing of different topography, can protect the cutting knife, avoid stone or hard material to damage the cutting knife, reduce the life-span of cutting knife, and when the altitude mixture control to the safety cover, rotate through the second motor, drive the lead screw and rotate, because the lead screw is at the sleeve internal rotation, and then drive the sleeve and go up and down, the safety cover also is along with going up and down, do not need the staff to.

Drawings

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

FIG. 2 is a left side view of the structure of the present invention;

fig. 3 is a partial enlarged view of the structure of fig. 1.

1-body, 2-solar panel, 3-wireless transceiver, 4-walking structure, 41-driving wheel, 42-guide wheel, 43-track, 5-cutting structure, 9-storage battery, 7-single chip microcomputer controller, 8-walking driving box, 51-first motor, 52-connecting block, 53-through groove, 54-mounting groove, 55-rotating shaft, 56-clamping block, 57-connecting rod, 58-spring, 59-pressing block, 60-cutting knife, 6-telescopic protection structure, 61-second motor, 62-driving gear, 63-supporting rod, 64-pinion, 65-lead screw, 66-sleeve and 67-protection cover.

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.

Referring to fig. 1, the present invention provides a technical solution: the utility model provides a prevent modular robot that collides with, it includes fuselage 1, the upper end surface covering of fuselage 1 has solar panel 2, and be provided with wireless transceiver 3 on the solar panel 2, the lower extreme of fuselage 1 is provided with walking structure 4, walking structure 4 includes drive wheel 41, guide pulley 42 and with both tracks 43 that mesh mutually, the lower extreme of fuselage 1 is close to locomotive position and is provided with cutting structure 5, the inside left side of fuselage 1 is provided with battery 9, the inside right side of fuselage 1 is provided with the electric cabinet, and the inside of electric cabinet is provided with single chip microcomputer controller 7, the inside intermediate position of fuselage 1 is provided with walking drive case 8.

When the robot is used, a person uses a remote controller to remotely control the robot, an ultrasonic signal sent by the remote controller is transmitted to the wireless transceiver 3, the wireless transceiver 3 converts the ultrasonic signal into an electric signal after receiving the ultrasonic signal and transmits the electric signal to a module in the singlechip controller 7 through a lead, the singlechip controller 7 receives the signal transmitted by the module and performs data operation and analysis and calculation, so as to control the first motor 51 and the walking driving box 8, the first motor 51 operates to drive the cutting knife 60 to rotate to realize cutting operation on a lawn, meanwhile, the walking driving box 8 drives the driving wheels 41 on two sides of the robot body 1 to rotate to realize the movement of the walking structure 4, the walking structure 4 of the robot is set to be crawler-type walking, so that the phenomenon of rollover of the robot in a complicated terrain environment can be avoided, the safe use of the robot is effectively protected, and the control system of the whole robot adopts a storage battery, storage battery 9 is connected with the electric cabinet, and the energy-concerving and environment-protective of electric energy can not produce exhaust pollution environment, and when the cutting knife that needs to the robot was changed, adjustment protection architecture 6 rose, took off connecting block 52 to follow the change to cutting knife 60, and can adjust the height of cutting knife 60 as required.

The cutting structure 5 comprises a first motor 51 which is arranged inside the position, close to the vehicle head, of the vehicle body 1, the first motor 51 extends downwards to penetrate out of the vehicle body 1, a connecting block 52 is assembled at the driving end of the first motor 51, a through groove 53 is formed in the middle position, the driving end of the first motor 51 is inserted into the through groove 53, a stack of mounting grooves 54 with the same structure are formed in the connecting block 52, a pair of mounting grooves 54 are respectively arranged on the left side and the right side of the through groove 53, a rotating shaft 55 is rotatably mounted on the front wall surface and the rear wall surface in the mounting groove 54, a clamping block 56 is obliquely and downwards mounted at the upper end of the inner side of the rotating shaft 55, the lower end of the rotating shaft 55 is connected with a connecting rod 57, the inner side of the connecting rod 57 is connected with the right wall surface of the mounting groove 54 through a, the left side and the right side of the connecting block 52 are connected with a cutting knife 60, and the outside of the cutting knife 60 is provided with a telescopic protection structure 6.

Through starting first motor 51, the drive end of first motor 51 rotates, drive connecting block 52 and rotate, and then make cutting knife 60 rotate, weeding operation through cutting knife 60 rotation, use cutting knife 60 for a long time and lead to when cutting knife 60 damages, through extrusion pressing block 59, because press between block 59 and the fixture block 56 through pivot 55 and connecting rod 57 linkage connection, when pressing block 59, can shift out fixture block 56 from the draw-in groove, and then take connecting block 52 off from first motor 51 drive end, when withdrawing the power to pressing block 59, connecting rod 57 is under spring 58's effect, make pressing block 59 and fixture block 56 reset, and can be in a pair of draw-in grooves of unnecessary group with fixture block 56 joint through above-mentioned method, adjust the high of cutting knife 60 and cut the card 56 and put in, adjust the high of cutting knife 60 and put up

The telescopic protection structure 6 comprises a second motor 61 installed on the upper wall surface inside the machine body 1, a driving gear 62 is installed at the driving end of the second motor 61 in a downward extending mode, supporting rods 63 are installed on the left side and the right side of the second motor 61, the upper end of each supporting rod 63 is fixedly installed on the upper wall surface inside the machine body 1, a pinion 64 is installed at the lower end of each connecting rod 57 in a rotating mode, the pinion 64 is meshed with the driving gear 62 respectively, a lead screw 65 is fixedly installed on the lower wall surface of the pinion 64, a sleeve 66 is installed on the lead screw 65 in a screwed sleeve mode, the sleeve 66 extends downward to penetrate out the machine body 1, a pair of sleeves 66.

The robot is controlled by an output instruction of a person through a remote controller, an ultrasonic signal sent by the remote controller is transmitted to the wireless transceiver 3, the wireless transceiver 3 converts the ultrasonic signal into an electric signal after receiving the ultrasonic signal and transmits the electric signal to a module in the singlechip controller 7 through a lead wire, the singlechip controller 7 receives the signal transmitted by the module to carry out data operation and analysis calculation, so as to control the second motor 61 to start, the driving end of the second motor 61 rotates to drive the driving gear 62 to rotate, meanwhile, the pinion 64 meshed with the driving gear 62 rotates along with the driving gear, and further drive the screw rod 65 to rotate, because the lower end of the sleeve 66 is fixedly arranged on the protective cover 67, the screw rod 65 rotates in the sleeve 66 to drive the sleeve 66 to ascend and descend, when the cutting knife 60 needs to be replaced, the protective cover 67 ascends to replace the, after the replacement, the protective cover 67 is put down.

The solar panel 2 is electrically connected with the storage battery 9 through a conducting wire.

The output end of the singlechip controller 7 is electrically connected with the input ends of the walking driving box 8, the first motor 51 and the second motor 61 through wires.

The wireless transceiver 3 is an electromagnetic wave transceiver, and a module for data transmission and conversion with the wireless transceiver 3 is arranged in the single chip microcomputer controller 7.

The driving end of the first motor 51 is provided with a plurality of groups of slots from top to bottom.

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.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The combined robot is characterized by comprising a robot body (1), wherein a solar panel (2) covers the upper end surface of the robot body (1), a wireless transceiver (3) is arranged on the solar panel (2), a walking structure (4) is arranged at the lower end of the robot body (1), the walking structure (4) comprises a driving wheel (41), a guide wheel (42) and a crawler belt (43) meshed with the driving wheel and the guide wheel, a cutting structure (5) is arranged at the position, close to a vehicle head, of the lower end of the robot body (1), a storage battery (9) is arranged at the left side inside the robot body (1), an electric cabinet is arranged at the right side inside the robot body (1), a single chip microcomputer controller (7) is arranged inside the electric cabinet, and a walking driving box (8) is arranged at the middle position inside the robot body (1);

cutting structure (5) is including installing in fuselage (1) and being close to the inside first motor (51) of locomotive position, first motor (51) downwardly extending wears out fuselage (1), first motor (51) drive end is equipped with connecting block (52), logical groove (53) have been seted up to the intermediate position, first motor (51) drive end cartridge is in leading to groove (53), set up a pile of mounting groove (54) that the structure is the same in connecting block (52), a pair of mounting groove (54) are located logical groove (53) left and right sides respectively, the wall all rotates around in mounting groove (54) and installs pivot (55), fixture block (56) are all installed downwards to the inboard upper end of pivot (55) slope, pivot (55) lower extreme all is connected with connecting rod (57), connecting rod (57) inboard and mounting groove (54) right side wall all are connected through spring (58), the connecting rod (57) extends outwards and is connected with pressing blocks (59), a pair of pressing blocks (59) outwards respectively penetrate through the connecting block (52), clamping grooves are formed in the left side and the right side of the driving end of the first motor (51), the clamping blocks (56) penetrate through the mounting grooves (54) and are mounted in the clamping grooves, cutting knives (60) are connected to the left side and the right side of the connecting block (52), and telescopic protection structures (6) are assembled outside the cutting knives (60);

the telescopic protection structure (6) comprises a second motor (61) arranged on the upper wall surface in the machine body (1), the driving end of the second motor (61) extends downwards to be provided with a driving gear (62), supporting rods (63) are arranged at the left side and the right side of the second motor (61), the upper ends of the supporting rods (63) are fixedly arranged on the upper wall surface in the machine body (1), the lower end of the connecting rod (57) is rotatably provided with an auxiliary gear (64), the auxiliary gear (64) is respectively meshed with the driving gear (62), a screw rod (65) is fixedly arranged on the lower wall surface of the pinion (64), a sleeve (66) is spirally sleeved on the screw rod (65), the fuselage (1) is worn out in the downwardly extending of sleeve (66), and is a pair of the common fixed mounting of wall has safety cover (67) under sleeve (66), safety cover (67) are located cutting knife (60) outside.

2. The bump-prevention combined robot as claimed in claim 1, wherein the solar panel (2) is electrically connected with the storage battery (9) through a wire.

3. The bump-preventing combined robot as claimed in claim 1, wherein the output end of the single chip microcomputer controller (7) is electrically connected with the input ends of the walking driving box (8), the first motor (51) and the second motor (61) through wires.

4. The bump-preventing combined robot as claimed in claim 1, wherein the wireless transceiver (3) is an electromagnetic wave transceiver, and a module for data transmission and conversion with the wireless transceiver (3) is arranged inside the single chip microcomputer controller (7).

5. The bump-preventing combined robot as claimed in claim 1, wherein the driving end of the first motor (51) is provided with a plurality of groups of clamping grooves from top to bottom.