CN214372524U

CN214372524U - Automatic path distance measuring device for robot walking

Info

Publication number: CN214372524U
Application number: CN202120541407.0U
Authority: CN
Inventors: 杨雷; 肖月朗
Original assignee: Nanjing Seed Intelligent Technology Co ltd
Current assignee: Nanjing Seed Intelligent Technology Co ltd
Priority date: 2021-03-16
Filing date: 2021-03-16
Publication date: 2021-10-08
Anticipated expiration: 2031-03-16

Abstract

The utility model discloses a path distance automatic measuring device is used in robot walking relates to the robotechnology field, for the robot among the solution prior art when walking the during operation, often can receive the ground vibration that other mechanical work arouses, leads to the robot to work unstably, influences the problem of the work precision of robot. Infrared linear displacement sensor is installed to the below of installation under casing, and installs under casing and infrared linear displacement sensor and pass through bolt fixed connection, the inside of installation under casing is provided with the bounce recess, the inside of bounce recess is provided with compression spring, and compression spring and installation under casing welded connection, the bullet piece is installed to compression spring's below, and compression spring and bullet piece welded connection, the inside of bullet piece is provided with spacing chamber, compression spring's inside is provided with the dead lever, and dead lever and installation under casing welded connection, the inside of bullet piece is worn into to the dead lever.

Description

Automatic path distance measuring device for robot walking

Technical Field

The utility model relates to the technical field of robots, specifically be a path distance automatic measuring device is used in robot walking.

Background

The robot is an automatic machine, the difference is that the machine has some intelligent abilities similar to human or biology, such as perception ability, planning ability, action ability and coordination ability, and is an automatic machine with high flexibility, as people's understanding of the intelligent essence of the robot technology increases, the robot technology starts to continuously permeate into various fields of human activities, and in combination with the application characteristics of the fields, people develop various special robots and various intelligent robots with perception, decision, action and interaction ability, although there is no strict and accurate robot definition, we want to make some hold on the essence of the robot, the robot is a robot device which automatically executes work, can accept human commands, can run pre-arranged programs, and can also draw actions according to the principle formulated by artificial intelligence technology, its task is to assist or replace human work.

At present, when a robot works in a walking mode, the robot is often subjected to ground vibration caused by other mechanical work, so that the robot works unstably, and the working precision of the robot is influenced; therefore, the market urgently needs to develop an automatic path distance measuring device for robot walking to help people to solve the existing problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a path distance automatic measuring device is used in walking of robot to the robot that proposes in solving above-mentioned background art is at the walking during operation, often can receive the ground vibration that other mechanical work arouses, leads to the robot to work unstably, influences the problem of the work precision of robot.

In order to achieve the above object, the utility model provides a following technical scheme: an automatic measuring device for the path distance for the walking of a robot comprises a working robot and an installation bottom box, wherein an infrared displacement sensor is arranged below the installation bottom box, the mounting bottom box is fixedly connected with the infrared displacement sensor through a bolt, an elastic groove is arranged inside the mounting bottom box, a compression spring is arranged inside the elastic groove, the compression spring is welded with the installation bottom box, an elastic block is arranged below the compression spring, and the compression spring is welded with the elastic block, a limit cavity is arranged inside the elastic block, a fixed rod is arranged inside the compression spring, and the dead lever and the installation under casing welded connection, the dead lever passes into the inside of bullet movable block, the stopper is all installed to the both sides of dead lever, and dead lever and stopper welded connection, the stopper sets up in the inside in spacing chamber.

Preferably, the inside of bullet piece is provided with the power chamber, the inside in power chamber is provided with first motor, and first motor passes through bolt fixed connection with bullet piece, angle sensor is installed to the below of bullet piece, and bullet piece and angle sensor pass through bolt fixed connection, first axis of rotation is installed to the below of bullet piece, and bullet piece and first axis of rotation pass through the bearing and rotate and be connected, first axis of rotation rotates with first motor and is connected.

Preferably, the gear wheel is installed in the outside of first axis of rotation, and first axis of rotation passes through axle key fixed connection with the gear wheel, one side of gear wheel is provided with the pinion, and the gear wheel is connected with the pinion meshing, the pinion rotates with angle sensor to be connected, the connecting block is installed to the below of first axis of rotation, and first axis of rotation passes through the bearing rotation with the connecting block and is connected.

Preferably, the walking assembly is installed to the below of connecting block, and the connecting block passes through bolt fixed connection with the walking assembly, the walking assembly comprises wheel carrier and gyro wheel, the internally mounted of wheel carrier has the third transmission shaft, and the wheel carrier passes through the bearing rotation with the third transmission shaft and is connected, the third transmission shaft runs through the gyro wheel, and third transmission shaft and fixed connection gyro wheel, the internally mounted of wheel carrier has the second motor, and the wheel carrier passes through bolt fixed connection with the second motor.

Preferably, driven helical gear is installed in the outside of third transmission shaft, and third transmission shaft and driven helical gear pass through axle key fixed connection, the top of driven helical gear is provided with the initiative helical gear, and driven helical gear is connected with the meshing of initiative helical gear, the second transmission shaft is installed to the top of initiative helical gear, and the initiative helical gear passes through axle key fixed connection with the second transmission shaft, the second transmission shaft rotates with the second motor and is connected.

Preferably, the output ends of the infrared displacement sensor and the angle sensor are connected with the input end of a signal transmission module, the output end of the signal transmission module is respectively connected with the input ends of the first motor and the second motor, the signal transmission module is in two-way connection with the processor, and the output end of the processor is connected with the input end of the database.

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

1. the utility model discloses a through compression spring, the setting of dead lever and bullet movable block, wherein compression spring and bullet movable block fixed connection, the dead lever sets up in compression spring's inside and wears into the movable block, when the robot walks, the movable block receives the vibration and upwards transmits, elasticity through compression spring, can cushion and absorb the vibration, the stability of robot work has been improved, be in the one end of bullet movable block inside at the dead lever simultaneously and install the stopper, can prevent that bullet movable block bullet moving distance from breaking away from the bullet recess too greatly, the stability of robot walking is improved

2. The utility model discloses a through walking assembly's setting, wherein every walking assembly's inside is provided with two gyro wheels, stability when can improving the robot walking, all is provided with the motor in every walking assembly's inside simultaneously, makes every walking assembly's gyro wheel rotate alone, has increased the regulating power to the robot walking

Drawings

Fig. 1 is a front view of an automatic measuring device for path distance for robot walking according to the present invention;

fig. 2 is a cross-sectional view of a portion a of the present invention;

FIG. 3 is a cross-sectional view of the walking assembly of the present invention;

fig. 4 is a schematic diagram of the present invention.

In the figure: 1. a working robot; 2. installing a bottom box; 3. a walking assembly; 4. an infrared displacement sensor; 5. a compression spring; 6. springing the groove; 7. fixing the rod; 8. a limiting block; 9. a limiting cavity; 10. a flicking block; 11. a power cavity; 12. a first motor; 13. a first rotating shaft; 14. connecting blocks; 15. an angle sensor; 16. a pinion gear; 17. a bull gear; 18. a wheel carrier; 19. a roller; 20. a second motor; 21. a second drive shaft; 22. a driving bevel gear; 23. a driven helical gear; 24. a third drive shaft; 25. a signal transmission module; 26. a processor; 27. a database.

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.

Referring to fig. 1-4, the present invention provides an embodiment: an automatic measuring device for the path distance for the walking of a robot comprises a working robot 1 and an installation bottom case 2, an infrared displacement sensor 4 is arranged below the installation bottom case 2, the installation bottom case 2 is fixedly connected with the infrared displacement sensor 4 through a bolt, an elastic groove 6 is arranged inside the installation bottom case 2, a compression spring 5 is arranged inside the elastic groove 6, the compression spring 5 is welded with the installation bottom box 2, an elastic block 10 is arranged below the compression spring 5, the compression spring 5 is welded with the elastic block 10, a limit cavity 9 is arranged inside the elastic block 10, a fixed rod 7 is arranged inside the compression spring 5, the fixed rod 7 is welded with the installation bottom box 2, the fixed rod 7 penetrates into the elastic block 10, the two sides of the fixed rod 7 are both provided with a limit block 8, and dead lever 7 and stopper 8 welded connection, stopper 8 sets up in the inside in spacing chamber 9.

Further, the inside of bullet piece 10 is provided with power cavity 11, the inside of power cavity 11 is provided with first motor 12, and first motor 12 passes through bolt fixed connection with bullet piece 10, angle sensor 15 is installed to the below of bullet piece 10, and bullet piece 10 passes through bolt fixed connection with angle sensor 15, first axis of rotation 13 is installed to the below of bullet piece 10, and bullet piece 10 passes through bearing rotation with first axis of rotation 13 and is connected, first axis of rotation 13 rotates with first motor 12 and is connected, angle sensor 15's setting, can respond to the angle that the robot turned to, the accuracy in robot walking route has been improved.

Further, a large gear 17 is installed on the outer side of the first rotating shaft 13, the first rotating shaft 13 is fixedly connected with the large gear 17 through a shaft key, a small gear 16 is arranged on one side of the large gear 17, the large gear 17 is meshed with the small gear 16, the small gear 16 is rotatably connected with the angle sensor 15, a connecting block 14 is installed below the first rotating shaft 13, the first rotating shaft 13 is rotatably connected with the connecting block 14 through a bearing, the large gear 17 and the small gear 16 are both made of high-strength steel, surface hardness is improved, and abrasion loss of the large gear 17 and the small gear 16 is prevented.

Further, the traveling assembly 3 is installed below the connecting block 14, the connecting block 14 is fixedly connected with the traveling assembly 3 through bolts, the traveling assembly 3 is composed of a wheel frame 18 and rollers 19, a third transmission shaft 24 is installed inside the wheel frame 18, the wheel frame 18 is rotatably connected with the third transmission shaft 24 through bearings, the third transmission shaft 24 penetrates through the rollers 19, the third transmission shaft 24 is fixedly connected with the rollers 19, a second motor 20 is installed inside the wheel frame 18, the wheel frame 18 is fixedly connected with the second motor 20 through bolts, and the second motor 20 is arranged inside each traveling assembly 3, so that the rollers 19 of each traveling assembly 3 can rotate independently, and the adjusting capability of the robot for traveling is improved.

Further, driven helical gear 23 is installed in the outside of third transmission shaft 24, and third transmission shaft 24 passes through axle key fixed connection with driven helical gear 23, driven helical gear 23's top is provided with drive helical gear 22, and driven helical gear 23 is connected with drive helical gear 22 meshing, second transmission shaft 21 is installed to drive helical gear 22's top, and drive helical gear 22 passes through axle key fixed connection with second transmission shaft 21, second transmission shaft 21 rotates with second motor 20 and is connected, driven helical gear 23 and drive helical gear 22 all adopt the steel that intensity is high to make, and surface hardness is improved, prevent driven helical gear 23 and drive helical gear 22 wearing and tearing loss.

Further, the output ends of the infrared displacement sensor 4 and the angle sensor 15 are connected with the input end of the signal transmission module 25, the output end of the signal transmission module 25 is connected with the input ends of the first motor 12 and the second motor 20 respectively, the signal transmission module 25 is connected with the processor 26 in a two-way mode, the output end of the processor 26 is connected with the input end of the database 27, the first motor 12 and the second motor 20 both adopt stepping motors, and the path accuracy of robot walking is improved.

The working principle is as follows: when the robot needs to walk, the processor 26 outputs a signal, the second motor 20 is started under the action of the signal transmission module 25, the driving bevel gear 22 rotates under the transmission of the second transmission shaft 21, the driving bevel gear 22 drives the driven bevel gear 23 to rotate under the meshing transmission of the gears, the third transmission shaft 24 rotates, the roller 19 rotates, the robot starts to walk, when the robot needs to turn, the processor 26 outputs a signal, the first motor 12 is started under the action of the signal transmission module 25, the connecting block 14 drives the walking assembly 3 to deflect under the transmission of the first rotating shaft 13, the robot walks to turn, the angle sensor 15 senses the turning angle under the action of the pinion 16 and the gearwheel 17, and information is transmitted to the processor 26 under the action of the signal transmission module 25, the information is transmitted to the database 27 for recording after being processed by the processor 26, the walking path of the robot can be measured under the action of the infrared displacement sensor 4, the information is transmitted to the processor 26 under the action of the signal transmission module 25, and the information is transmitted to the database 27 for recording after being processed by the processor 26.

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

1. The utility model provides a path distance automatic measuring device for robot walking, includes work robot (1) and installation under casing (2), its characterized in that: an infrared displacement sensor (4) is installed below the installation bottom box (2), the installation bottom box (2) is fixedly connected with the infrared displacement sensor (4) through bolts, an elastic groove (6) is arranged inside the installation bottom box (2), a compression spring (5) is arranged inside the elastic groove (6), the compression spring (5) is welded with the installation bottom box (2), an elastic block (10) is installed below the compression spring (5), the compression spring (5) is welded with the elastic block (10), a limiting cavity (9) is arranged inside the elastic block (10), a fixing rod (7) is arranged inside the compression spring (5), the fixing rod (7) is welded with the installation bottom box (2), the fixing rod (7) penetrates into the elastic block (10), and limiting blocks (8) are installed on two sides of the fixing rod (7), and the fixed rod (7) is welded with the limiting block (8), and the limiting block (8) is arranged in the limiting cavity (9).

2. The automatic measuring device for the path distance for robot walking according to claim 1, characterized in that: the utility model discloses a spring-actuated mechanism, including bullet piece (10), the inside of bullet piece (10) is provided with power chamber (11), the inside in power chamber (11) is provided with first motor (12), and first motor (12) and bullet piece (10) pass through bolt fixed connection, angle sensor (15) are installed to the below of bullet piece (10), and bullet piece (10) and angle sensor (15) pass through bolt fixed connection, first axis of rotation (13) are installed to the below of bullet piece (10), and bullet piece (10) and first axis of rotation (13) rotate through the bearing and be connected, first axis of rotation (13) rotate with first motor (12) and be connected.

3. The automatic measuring device for the path distance for robot walking according to claim 2, characterized in that: gear wheel (17) are installed in the outside of first axis of rotation (13), and first axis of rotation (13) and gear wheel (17) are through shaft key fixed connection, one side of gear wheel (17) is provided with pinion (16), and gear wheel (17) and pinion (16) meshing are connected, pinion (16) rotate with angle sensor (15) and are connected, connecting block (14) are installed to the below of first axis of rotation (13), and first axis of rotation (13) is connected through the bearing rotation with connecting block (14).

4. The automatic measuring device for the path distance for robot walking according to claim 3, characterized in that: running gear (3) are installed to the below of connecting block (14), and connecting block (14) pass through bolt fixed connection with running gear (3), running gear (3) comprise wheel carrier (18) and gyro wheel (19), the internally mounted of wheel carrier (18) has third transmission shaft (24), and wheel carrier (18) and third transmission shaft (24) rotate through the bearing and be connected, third transmission shaft (24) run through gyro wheel (19), and third transmission shaft (24) and fixed connection gyro wheel (19), the internally mounted of wheel carrier (18) has second motor (20), and wheel carrier (18) and second motor (20) pass through bolt fixed connection.

5. The automatic measuring device for the path distance for robot walking according to claim 4, characterized in that: driven helical gear (23) are installed in the outside of third transmission shaft (24), and third transmission shaft (24) and driven helical gear (23) pass through axle key fixed connection, the top of driven helical gear (23) is provided with initiative helical gear (22), and driven helical gear (23) are connected with initiative helical gear (22) meshing, second transmission shaft (21) are installed to the top of initiative helical gear (22), and initiative helical gear (22) and second transmission shaft (21) pass through axle key fixed connection, second transmission shaft (21) are connected with second motor (20) rotation.

6. The automatic measuring device for the path distance for robot walking according to claim 2, characterized in that: the output of infrared ray displacement sensor (4) and angle sensor (15) all is connected with the input of signal transmission module (25), the output of signal transmission module (25) is connected with the input of first motor (12) and second motor (20) respectively, signal transmission module (25) and treater (26) both way junction, the output of treater (26) is connected with the input of database (27).