CN211628086U - Barrier dolly is kept away to intelligence - Google Patents

Barrier dolly is kept away to intelligence Download PDF

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Publication number
CN211628086U
CN211628086U CN202020252210.0U CN202020252210U CN211628086U CN 211628086 U CN211628086 U CN 211628086U CN 202020252210 U CN202020252210 U CN 202020252210U CN 211628086 U CN211628086 U CN 211628086U
Authority
CN
China
Prior art keywords
base
dolly
collision
buffer
obstacle avoidance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN202020252210.0U
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Chinese (zh)
Inventor
张国宁
刘俊江
颜子涵
王龙涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shandong University of Science and Technology
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Shandong University of Science and Technology
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Filing date
Publication date
Application filed by Shandong University of Science and Technology filed Critical Shandong University of Science and Technology
Priority to CN202020252210.0U priority Critical patent/CN211628086U/en
Application granted granted Critical
Publication of CN211628086U publication Critical patent/CN211628086U/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model discloses an obstacle dolly is kept away to intelligence, its structure includes base, buffer stop, infrared sensor, driving motor, drive wheel, turns to steering wheel module, directive wheel, controller and battery, the utility model discloses an anticollision device has been installed respectively in keeping away the obstacle dolly left and right sides, carries out the striking protection to the left and right sides through buffer stop, and both sides have all set up the swash plate around buffer stop's anticollision board, and the length of swash plate is greater than the width of dolly base, carries out the atress when striking through the swash plate to both sides around the dolly, and the swash plate cushions through connecting rod extrusion buffer beam, has reached and has carried out collision avoidance around the obstacle dolly, increases the anticollision effect of dolly.

Description

Barrier dolly is kept away to intelligence
Technical Field
The utility model relates to a keep away barrier dolly technical field, concretely relates to barrier dolly is kept away to intelligence.
Background
The intelligent trolley, namely the wheeled robot, is one of mobile robots, can be widely applied to the technical fields of automatic material trucks in factories, fixed-site carriers and the like, can also be applied to complex and severe working environments, has good civil and military application prospects, has an important subject for obstacle avoidance movement of the mobile robots, and the method for realizing obstacle avoidance mainly comprises ultrasonic obstacle avoidance, visual obstacle avoidance, an infrared sensor, laser obstacle avoidance, a proximity sensor, a microwave radar and the like.
Before the barrier dolly formally is used is kept away to intelligence, at first need detect its barrier effect of keeping away, and the current barrier dolly of keeping away generally only installs simple crashproof pad around and protects the dolly, and protective effect is poor, and internals is not hard up and damages when leading to the dolly striking easily.
SUMMERY OF THE UTILITY MODEL
Technical problem to be solved
In order to overcome prior art not enough, present an intelligence and keep away barrier dolly, solved prior art keep away barrier dolly and generally only install simple crashproof pad around and protect the dolly, the protecting effect is poor, the problem that internals is not hard up and damages when leading to the dolly striking easily.
(II) technical scheme
The utility model discloses a following technical scheme realizes: the utility model provides an intelligent obstacle avoidance trolley, which comprises a base,
the anti-collision device is used for protecting the base from being collided;
the infrared sensor is used for sensing and detecting peripheral obstacles;
the two anti-collision devices are respectively arranged on the left side and the right side of the base and are arranged in a bilateral symmetry manner;
the infrared sensors are four, and the sensing directions of the four infrared sensors are all from inside to outside.
Further, the base left and right sides is respectively through the inherent buffer stop of bolt lock, both sides and the equal lock solid in buffer stop top around the base top have infrared sensor, the mutual lock solid of bolt and driving motor is passed through in base top left side, and driving motor locks solid each other through pivot and drive wheel, base top left side is passed through the bolt and is turned to steering wheel module and lock solid each other, and turns to steering wheel module front and back both ends and have the directive wheel through the pivot lock solid respectively, base top middle part is fixed with controller and battery, infrared sensor, driving motor, turn to steering wheel module and battery are connected with the controller electricity respectively.
Further, buffer stop comprises set casing, buffer beam, connecting rod, activity pivot, extension board, crashproof board and swash plate, both ends are respectively through the inherent buffer beam of bolt lock around the set casing is inside, and all are provided with the connecting rod between two buffer beams, the connecting rod left end rotates with the buffer beam and is connected, and the connecting rod right-hand member rotates along the activity pivot, the inherent extension board of bolt lock is passed through respectively to both sides about the activity pivot, and the extension board right-hand member passes through the bolt and crashproof board locks each other, both sides all are provided with the swash plate around crashproof board and the swash plate, the set casing bottom is through the bolt and the mutual lock solid of base.
Further, the buffer rod comprises outer tube, spring, movable rod and connection pivot, the movable rod rear end stretches into to the outer tube in, and the movable rod rear end carries out elastic connection through spring and outer tube, the movable rod front end rotates with the connecting rod through connecting the pivot and is connected, the outer tube rear end passes through the bolt and locks each other with the set casing.
Furthermore, the buffer rods are arranged in two numbers, are respectively arranged on the front side and the rear side of the inside of the fixed shell, and are symmetrically arranged in the front and the rear direction.
Furthermore, the swash plate is provided with two, and the length between two swash plates is greater than the width three centimetres of base, and the swash plate inwards is forty-five degrees angle slope from a left side to the right side.
Furthermore, the surface of the movable rod is smooth, and the inner wall of the outer tube is attached to the movable rod.
Further, when the spring extends, the two connecting rods are inclined towards the outer side from right to left at an angle of forty-five degrees.
Furthermore, the anti-collision plate is made of stainless steel.
Furthermore, the movable rod is made of No. 45 steel.
(III) advantageous effects
Compared with the prior art, the utility model, following beneficial effect has:
the utility model discloses an installed buffer stop respectively in keeping away the barrier dolly left and right sides, carried out the striking protection to the left and right sides through buffer stop, and both sides have all set up the swash plate around buffer stop's anticollision board, and the length of swash plate is greater than the width of dolly base, carries out the atress when striking to both sides around the dolly through the swash plate, and the swash plate cushions through connecting rod extrusion buffer beam, has reached and has carried out collision avoidance around the barrier dolly, increases the crashproof effect of dolly.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the anti-collision device of the present invention;
FIG. 3 is a top sectional view of the inner structure of the anti-collision device of the present invention;
FIG. 4 is a left side view of the structure of the anti-collision plate of the present invention;
fig. 5 is a top sectional view of the internal structure of the buffer rod of the present invention.
In the figure: the anti-collision device comprises a base-1, an anti-collision device-2, an infrared sensor-3, a driving motor-4, a driving wheel-5, a steering engine module-6, a steering wheel-7, a controller-8, a battery-9, a fixed shell-21, a buffer rod-22, a connecting rod-23, a movable rotating shaft-24, a support plate-25, an anti-collision plate-26, an inclined plate-27, an outer pipe-221, a spring-222, a movable rod-223 and a connecting rotating shaft-224.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, the present invention provides an intelligent obstacle avoidance vehicle: comprises a base 1 and a plurality of connecting rods, wherein,
the anti-collision device 2 is used for protecting the base 1 from collision and increasing the anti-collision effect on the obstacle avoidance trolley;
the infrared sensor 3 is used for sensing and detecting surrounding obstacles to avoid the collision between the trolley and the obstacles;
the two anti-collision devices 2 are respectively arranged on the left side and the right side of the base 1 and are arranged in a bilateral symmetry manner to protect the left side and the right side of the obstacle avoidance trolley;
the infrared sensors 3 are four, and the sensing directions of the four infrared sensors 3 are from inside to outside, so that the obstacles around the obstacle avoidance trolley are sensed.
The anti-collision device comprises a base 1, a driving motor, a driving wheel 5, a bolt, an infrared sensor 3, a steering engine module 6, a steering wheel 7, a controller 8 and a battery 9, wherein the anti-collision device 2 is fixed on the left and the right of the base 1 through the bolt respectively, the infrared sensor 3 is fixed on the front and the back of the top of the base 1 through the bolt, the driving motor 4 is fixed on the front and the back of the base 1 through.
The anti-collision device 2 comprises a fixed shell 21, buffer rods 22, connecting rods 23, a movable rotating shaft 24, supporting plates 25, an anti-collision plate 26 and inclined plates 27, wherein the buffer rods 22 are fixed at the front end and the rear end inside the fixed shell 21 respectively through bolts, the connecting rods 23 are arranged between the two buffer rods 22, the left end of each connecting rod 23 is rotatably connected with the corresponding buffer rod 22, the right end of each connecting rod 23 rotates along the corresponding movable rotating shaft 24, the supporting plates 25 are fixed at the upper side and the lower side of the movable rotating shaft 24 respectively through the bolts, the right ends of the supporting plates 25 are mutually locked with the anti-collision plate 26 through the bolts, the inclined plates 27 are arranged at the front side and the rear side of the anti-collision plate 26 and the inclined plates 27, and the bottom end of.
The buffer rod 22 is composed of an outer tube 221, a spring 222, a movable rod 223 and a connecting rotating shaft 224, the rear end of the movable rod 223 extends into the outer tube 221, the rear end of the movable rod 223 is elastically connected with the outer tube 221 through the spring 222, the front end of the movable rod 223 is rotatably connected with the connecting rod 23 through the connecting rotating shaft 224, and the rear end of the outer tube 221 is locked with the fixed shell 21 through a bolt.
Wherein, buffer beam 22 is provided with two, set up respectively with fixed shell 21 inside front and back both sides, and two buffer beam 22 are front and back symmetry setting, cushions two connecting rods 23 through buffer beam 22.
Wherein, the swash plate 27 is provided with two, and the length between two swash plates 27 is greater than three centimetres of width of base 1, and the swash plate 27 inwards is forty-five degrees angles of inclination from a left side to the right side, carries out the anticollision through swash plate 27 to base 1 front and back both sides.
The surface of the movable rod 223 is smooth, the inner wall of the outer tube 221 is attached to the movable rod 223, so that the movable rod 223 slides along the inner wall of the outer tube 221, and the moving track of the movable rod 223 is limited.
When the spring 222 extends, the two connecting rods 23 are inclined at an angle of forty-five degrees from right to left, so that the connecting rods 23 push the movable rods 223 to expand outwards when the anti-collision plate 26 is impacted.
The anti-collision plate 26 is made of stainless steel, is high in hardness, is not prone to rusting, and has a good anti-collision effect.
Wherein, the movable rod 223 adopts 45 # steel material, and the hardness is high, and is not fragile.
The movable rod 223 adopts No. 45 steel, No. 45 is high-quality carbon structural steel, corresponds to Japanese standard S45C, American standard 1045 and German standard C45, and is characterized by higher strength and deformation resistance compared with the common A3 steel.
The working principle is as follows:
firstly, the method comprises the following steps: before use, the battery 9 is firstly connected with an external power supply to charge the battery 9;
secondly, the method comprises the following steps: when the trolley is used, a wireless module in the controller 8 is wirelessly connected with external intelligent control equipment, the external control equipment sends control instructions to respectively control the infrared sensor 3, the driving motor 4 and the steering engine module 6 through the controller 8, the driving motor 4 is controlled by the controller 8 to generate power to drive the rotation of the driving wheel 5, the driving wheel 5 rotates to drive the base 1 to move, obstacles around the base 1 are sensed through the infrared sensor 3, and the steering engine module 6 is controlled to control the steering of the steering wheel 7, so that the moving direction of the trolley is controlled, and the obstacles are avoided to move;
thirdly, the method comprises the following steps: when the left side and the right side of the trolley are impacted, the impact plate 26 is stressed, the impact plate 26 extrudes the connecting rods 23 through the support plate 25 and the movable rotating shaft 24, when the spring 222 extends, the two connecting rods 23 are inclined at an angle of forty-five degrees from right to left to outside, so that when the impact plate 26 is impacted, the connecting rods 23 push the movable rods 223 to expand outwards through the connecting rotating shaft 224, and the movable rods 223 extrude the spring 222 to extend into the outer pipe 221 for buffering, so that the impact buffering is performed on the impact plate 26;
fourthly: when both sides receive the striking around the dolly, because anticollision board 26 both sides are provided with two swash plates 27 around, length between two swash plates 27 is greater than base 1's width three centimetres, and swash plate 27 inwards is forty-five degrees angles from a left side to the right side and inclines, carry out the striking atress to base 1 both sides around through swash plate 27, swash plate 27 drives connecting rod 23 through anticollision board 26 and transversely promotes, connecting rod 23 drives movable rod 223 straight line extrusion spring 222 and cushions, reached and carried out collision avoidance around the obstacle avoidance dolly, increase the crashproof effect of dolly.
The basic principle and the main characteristics of the utility model and the advantages of the utility model have been shown and described above, and the utility model discloses the standard part that uses all can purchase from the market, and dysmorphism piece all can be customized according to the record of the description with the drawing, and the concrete connection mode of each part all adopts conventional means such as ripe bolt rivet among the prior art, welding, and machinery, part and equipment all adopt prior art, conventional model, and conventional connection mode in the prior art is adopted in addition to circuit connection, and the details are not repeated here.
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 (8)

1. The utility model provides an obstacle dolly is kept away to intelligence, includes base (1), its characterized in that still includes:
the anti-collision device (2) is used for protecting the base (1) from collision;
the infrared sensor (3) is used for sensing and detecting peripheral obstacles;
the two anti-collision devices (2) are respectively arranged on the left side and the right side of the base (1) and are arranged in a left-right symmetrical mode;
the number of the infrared sensors (3) is four, and the sensing directions of the four infrared sensors (3) are all from inside to outside.
2. The intelligent obstacle avoidance trolley of claim 1, wherein: the anti-collision device comprises a base (1), wherein the left side and the right side of the base (1) are respectively provided with an anti-collision device (2) through bolt locking, the top ends of the base (1) are respectively provided with an infrared sensor (3) through bolts, the left side of the top end of the base (1) is provided with a driving motor (4) through bolts, the driving motor (4) is provided with a driving wheel (5) through a rotating shaft, the left side of the top end of the base (1) is provided with a steering engine module (6) through bolts, and the front end and the rear end of the steering engine module (6) are respectively provided with a steering wheel (7) through rotating shaft locking, the middle part of the top end of the base (1) is fixedly provided with a controller (8) and a battery (9), and the infrared sensor (3), the driving motor (4), the steering engine module (6).
3. The intelligent obstacle avoidance trolley of claim 2, wherein: the anti-collision device (2) consists of a fixed shell (21), a buffer rod (22), a connecting rod (23), a movable rotating shaft (24), a support plate (25), an anti-collision plate (26) and an inclined plate (27), the front end and the rear end inside the fixed shell (21) are respectively locked with a buffer rod (22) through bolts, and a connecting rod (23) is arranged between the two buffer rods (22), the left end of the connecting rod (23) is rotatably connected with the buffer rods (22), the right end of the connecting rod (23) rotates along a movable rotating shaft (24), the upper side and the lower side of the movable rotating shaft (24) are respectively locked with a support plate (25) through bolts, the right end of the support plate (25) is mutually locked with the anti-collision plate (26) through bolts, the front side and the rear side of the anti-collision plate (26) and the inclined plate (27) are respectively provided with the inclined plate (27), the bottom end of the fixed shell (21) is locked with the base (1) through bolts.
4. The intelligent obstacle avoidance trolley of claim 3, wherein: buffer beam (22) comprise outer tube (221), spring (222), movable rod (223) and connection pivot (224), movable rod (223) rear end stretches into in outer tube (221), and movable rod (223) rear end carries out elastic connection through spring (222) and outer tube (221), movable rod (223) front end rotates with connecting rod (23) through connecting pivot (224) and is connected, outer tube (221) rear end passes through bolt and set casing (21) and locks each other.
5. The intelligent obstacle avoidance trolley of claim 3, wherein: the buffer rods (22) are arranged at the front side and the rear side of the inside of the fixed shell (21) respectively, and the two buffer rods (22) are symmetrically arranged at the front and the rear.
6. The intelligent obstacle avoidance trolley of claim 3, wherein: the inclined plates (27) are arranged in two numbers, the length between the two inclined plates (27) is more than three centimeters of the width of the base (1), and the inclined plates (27) are inclined inwards at an angle of forty-five degrees from left to right.
7. The intelligent obstacle avoidance trolley of claim 4, wherein: the surface of the movable rod (223) is smooth, and the inner wall of the outer tube (221) is attached to the movable rod (223).
8. The intelligent obstacle avoidance trolley of claim 4, wherein: when the spring (222) extends, the two connecting rods (23) are inclined outwards at an angle of forty-five degrees from right to left.
CN202020252210.0U 2020-03-04 2020-03-04 Barrier dolly is kept away to intelligence Expired - Fee Related CN211628086U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202020252210.0U CN211628086U (en) 2020-03-04 2020-03-04 Barrier dolly is kept away to intelligence

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202020252210.0U CN211628086U (en) 2020-03-04 2020-03-04 Barrier dolly is kept away to intelligence

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113370173A (en) * 2021-06-11 2021-09-10 徐州楚创智能设备有限公司 Cruising obstacle avoidance structure based on intelligent robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113370173A (en) * 2021-06-11 2021-09-10 徐州楚创智能设备有限公司 Cruising obstacle avoidance structure based on intelligent robot

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20201002

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