CN214906498U - Data acquisition device for planning robot driving path - Google Patents

Data acquisition device for planning robot driving path Download PDF

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Publication number
CN214906498U
CN214906498U CN202121609731.8U CN202121609731U CN214906498U CN 214906498 U CN214906498 U CN 214906498U CN 202121609731 U CN202121609731 U CN 202121609731U CN 214906498 U CN214906498 U CN 214906498U
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China
Prior art keywords
shell
robot
inductor
groove
data acquisition
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Expired - Fee Related
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CN202121609731.8U
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Chinese (zh)
Inventor
谭德坤
赵兴艳
刘东晓
付雪峰
王晖
吕莉
徐结海
邓均豪
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Nanchang Institute of Technology
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Nanchang Institute of Technology
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Priority to CN202121609731.8U priority Critical patent/CN214906498U/en
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Abstract

The utility model relates to the technical field of robots, in particular to a data acquisition device for planning a running path of a robot, which comprises a robot shell and an inductor for inducing obstacles, wherein the top of the robot shell, which is close to the back, is embedded with an installation shell, the inductor comprises an induction shell and an obstacle inductor arranged in the induction shell, and the inner wall of the installation shell is movably connected with the surface of the induction shell; make the obstacle inductor in the inside inductor break down and unable normal during operation, the user then can directly take out the inductor is whole from the installation shell, need not take the robot housing whole apart can change or overhaul the inductor, simultaneously, take out the back in the installation shell at the inductor, sealed lid loses the support bounce of inductor, with the inside seal of fixed establishment with the installation shell, avoid appearing foreign matter or water droplet at the maintenance in-process and drop to the inside condition that causes electronic component to damage of installation shell and appear.

Description

Data acquisition device for planning robot driving path
Technical Field
The utility model relates to the technical field of robot, specifically be a data acquisition device is used in path planning that traveles of robot.
Background
Along with the continuous progress of science and technology, the cleaning robot that can clean the room for people also function is complete day by day, also accepted by more people, and cleaning robot is at the course of the work, can use different types of obstacle sensor to come to respond to the barrier mostly, when can avoiding the collision to damage the robot, also can do a data acquisition to the barrier on the clean route of robot, make things convenient for the processing system of robot to come to make the most reasonable planning to subsequent route of traveling, improve clean efficiency.
The data acquisition device for planning the existing robot driving path is in the use process, and most of the data acquisition device is fixedly installed in the robot or on the surface of a shell, so that when the robot is damaged, a user is often required to send the whole robot to a maintenance point for repairing, and the data acquisition device is inconvenient to use, wastes time and labor.
SUMMERY OF THE UTILITY MODEL
The not enough to prior art, the utility model provides a data acquisition device is used in path planning that traveles of robot possesses the easy access, makes things convenient for the advantage of daily use, has solved the comparatively inconvenient problem of current robot inductor damage after-maintenance.
The data acquisition device for planning the running path of the robot of the utility model comprises a robot shell and an inductor for inducing obstacles, the top of the robot shell close to the back is embedded with a mounting shell, the sensor comprises a sensing shell and a barrier sensor arranged in the sensing shell, the inner wall of the mounting shell is movably connected with the surface of the sensing shell, and the bottom surface of the inner cavity of the mounting shell is fixedly connected with a fixing mechanism for electrically connecting the inductor with a control main board in the robot shell, both sides of the inner wall of the mounting shell are provided with accommodating grooves, and the inner wall of the accommodating groove is hinged with a sealing cover provided with a sealing rubber strip at the edge through a spring hinge, the outer surface of the sealing cover is movably connected with the surface of the induction shell when the sealing cover is accommodated in the accommodating groove, and the sealing cover can be isolated from the outside with the inside of the installation shell by a fixing mechanism after being unfolded.
Through the design of the technical scheme, make the obstacle inductor in the inductor inside break down and unable normal during operation, the user then can directly take out the inductor is whole from the installation shell, need not take the robot housing whole apart can change or overhaul the inductor, and simultaneously, take out the back in the installation shell at the inductor, sealed lid loses the support bounce of inductor, with the internal seal of fixed establishment with the installation shell, avoid appearing foreign matter or water droplet at the maintenance in-process and drop to the inside condition that causes the electronic component to damage of installation shell and appear.
As a further improvement of the utility model, the fixing mechanism comprises a positioning convex plate fixed at the center of the bottom surface of the inner cavity of the mounting shell, the bottom of the sensing shell is provided with a groove matched with the positioning convex plate, the center of the positioning convex plate is movably connected with a press rod, the inside of the positioning convex plate is provided with a movable groove for the press rod to move up and down and to penetrate through the whole positioning convex plate, the positions of the top of the press rod corresponding to the bottom of the sensing shell are respectively provided with a magnet capable of attracting each other, both sides of the press rod are fixedly connected with an elastic clamping rod, the inside of the positioning convex plate is provided with a movable groove matched with the elastic clamping rod and communicated with the outside, both sides of the positioning convex plate are provided with limit grooves matched with the sealing cover, the surface of the sealing cover is provided with a clamping groove matched with the elastic clamping rod, and the elastic clamping rod can be clamped into the clamping groove through the movable groove when the sealing cover is clamped into the limit groove, the inside of pressing the depression bar is equipped with the cavity and the inside of this cavity passes through the inner chamber bottom fixed connection of spring and installation shell.
Through the design of the technical scheme, after the sensor is taken out from the inside of the installation shell, the sealing cover is clamped into the clamping groove in the positioning convex plate, the pressing rod can clamp the elastic clamping rod into the sealing cover under the action of the spring, the sealing performance of the sealing cover after covering is ensured, and the situation that the sealing cover is accidentally opened due to collision is avoided.
As a further improvement, the bottom surface of response casing is equipped with the electrical interface, and the electrical interface passes through the electric wire and is connected with the obstacle inductor electricity, the inside grafting of electrical interface has attach fitting, and attach fitting passes through the electric wire and is connected with the mainboard electricity in the robot housing, attach fitting's bottom fixedly connected with movable sleeve, movable sleeve swing joint has its middle part to be the pipy supporting piston of cavity, supporting piston's bottom and the inner chamber bottom surface fixed connection of installation shell, press the fixed surface of depression bar to be connected with and press the clamping ring, the seal groove with pressing ring looks adaptation is seted up to the inside of location flange, and this seal groove is through setting up the pipeline inside the installation shell and supporting piston's bottom intercommunication.
Through the design of the technical scheme, the sealing cover can be ensured to stay a space in the installation shell, the butt joint of the connecting joint and the electrical interface is facilitated, and the normal work of the cleaning robot is ensured.
As a further improvement, the surface mosaic of sealed lid has the dry net box of inside packing drier, the surperficial joint of dry net box has the lid, and the surface of lid is equipped with the arch, and the draw-in groove with this department protruding looks adaptation is seted up to the both sides of response casing.
Through the design of the technical scheme, the air in the installation shell can be dried, water vapor is prevented from entering the installation shell, and meanwhile, the bulge arranged on the surface can also keep the whole firmness and stability of the inductor after the induction shell is installed in the installation shell.
Compared with the prior art, the beneficial effects of the utility model are as follows:
1. the utility model discloses a fixed establishment for the obstacle inductor in the inductor inside breaks down and unable normal during operation, the user then can directly take out the inductor is whole from the installation shell, need not take the robot housing whole apart can change or overhaul the inductor, and simultaneously, take out the back in the installation shell at the inductor, sealed lid loses the support bounce of inductor, with the internal seal of fixed establishment with the installation shell, avoid appearing foreign matter or water droplet in the maintenance process and drop to the inside condition that causes electronic component to damage of installation shell and appear.
2. The utility model discloses a location flange and press the depression bar, make after taking out the inductor from the inside of installation shell, sealed lid card goes into when the draw-in groove on the location flange, press the depression bar can go into sealed lid with elasticity kelly card under the effect of spring, guarantee the leakproofness of sealed lid after covering, avoid appearing receiving the collision and the unexpected condition of opening, and simultaneously, the dry net box that sets up on sealed lid can carry out the drying to the inside air of installation shell, avoid steam to get into the installation shell, the arch that the surface was established simultaneously, also can pack into the installation shell back at the response casing, keep the holistic firm stability of inductor.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic view of a top-view structure of the present invention;
FIG. 2 is a schematic front view of the present invention;
FIG. 3 is a schematic view of the front cross-section structure of the present invention;
FIG. 4 is a schematic view of a front cross-sectional structure of the fixing mechanism of the present invention;
FIG. 5 is an enlarged schematic view of the structure at A in FIG. 4 according to the present invention;
FIG. 6 is an enlarged schematic view of the structure of FIG. 4B according to the present invention;
fig. 7 is an enlarged schematic structural diagram of the present invention at C in fig. 4.
In the figure: 1. a robot housing; 2. an inductor; 201. an induction housing; 202. an electrical interface; 3. mounting a shell; 4. a fixing mechanism; 401. positioning the convex plate; 402. a pressing lever; 403. an elastic clamping rod; 404. connecting a joint; 405. an active cannula; 406. a support piston; 407. pressing a ring; 5. a sealing cover; 6. drying the net box; 7. and (7) a box cover.
Detailed Description
In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It should be understood, however, that these implementation details should not be used to limit the invention. That is, in some embodiments of the invention, details of these implementations are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.
In addition, the descriptions related to "first", "second", etc. in the present invention are only for description purposes, not specifically referring to the order or sequence, and are not intended to limit the present invention, but only to distinguish the components or operations described in the same technical terms, and are not to be construed as indicating or implying any relative importance or implicit indication of the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1-4, the data collecting device for planning the driving path of the robot of the present invention comprises a robot housing 1 and a sensor 2 for sensing obstacles, wherein the top of the robot housing 1 near the back is embedded with a mounting case 3, the sensor 2 comprises a sensing housing 201 and an obstacle sensor disposed inside the sensing housing 201, the inner wall of the mounting case 3 is movably connected with the surface of the sensing housing 201, and the bottom surface of the inner cavity of the mounting shell 3 is fixedly connected with a fixing mechanism 4 for electrically connecting the inductor 2 with a control main board inside the robot shell 1, both sides of the inner wall of the mounting shell 3 are provided with accommodating grooves, and the inner wall of the accommodating groove is hinged with a sealing cover 5 with a sealing rubber strip at the edge through a spring hinge, the outer surface of the sealing cover 5 is movably connected with the surface of the induction shell 201 when the sealing cover 5 is accommodated in the accommodating groove, and the sealing cover 5 can be separated from the outside with the fixing mechanism 4 after being unfolded.
Through fixed establishment 4, make the obstacle inductor in 2 insides of inductor break down and during unable normal work, the user then can directly take out inductor 2 is whole from installation shell 3, need not take robot housing 1 whole apart can change or overhaul inductor 2, and simultaneously, after inductor 2 takes out from installation shell 3, sealed lid 5 loses the support bounce of inductor 2, with the internal seal of fixed establishment 4 with installation shell 3, avoid appearing foreign matter or water droplet in the maintenance process and drop to the inside condition appearance that causes the electronic component to damage of installation shell 3.
Referring to fig. 5, the fixing mechanism 4 includes a positioning convex plate 401 fixed at the center of the bottom surface of the inner cavity of the mounting housing 3, a groove matched with the positioning convex plate 401 is formed at the bottom of the sensing housing 201, a pressing rod 402 is movably connected to the center of the positioning convex plate 401, a movable groove for the pressing rod 402 to move up and down and to penetrate through the positioning convex plate 401 is formed inside the positioning convex plate 401, mutually attractive magnets are respectively arranged at the positions corresponding to the top of the pressing rod 402 and the bottom of the sensing housing 201, elastic clamping rods 403 are fixedly connected to both sides of the pressing rod 402, a moving groove matched with the elastic clamping rods 403 and communicated with the outside is formed inside the positioning convex plate 401, limiting grooves matched with the sealing cover 5 are formed at both sides of the positioning convex plate 401, a clamping groove matched with the elastic clamping rods 403 is formed on the surface of the sealing cover 5, and the elastic clamping rods 403 can be clamped into the clamping grooves when the sealing cover 5 is clamped into the limiting groove, the interior of the pressing rod 402 is provided with a cavity, and the interior of the cavity is fixedly connected with the bottom of the inner cavity of the mounting shell 3 through a spring.
Through location flange 401 and press the pole 402 for after taking out inductor 2 from the inside of installation shell 3, when sealed lid 5 card goes into the draw-in groove on the location flange 401, press the pole 402 and can go into sealed lid 5 with elasticity kelly 403 card under the effect of spring, guarantee the leakproofness of sealed lid 5 after covering, avoid appearing receiving the condition that the collision and accident opened.
Referring to fig. 6, an electrical interface 202 is disposed on a bottom surface of the induction housing 201, the electrical interface 202 is electrically connected to the obstacle sensor through an electric wire, a connection terminal 404 is inserted into the electrical interface 202, the connection terminal 404 is electrically connected to a main board in the robot housing 1 through an electric wire, a movable sleeve 405 is fixedly connected to a bottom of the connection terminal 404, the movable sleeve 405 is movably connected to a support piston 406 having a hollow tubular middle portion, a bottom of the support piston 406 is fixedly connected to a bottom surface of an inner cavity of the mounting housing 3, a pressing ring 407 is fixedly connected to a surface of the pressing rod 402, a sealing groove adapted to the pressing ring 407 is disposed inside the positioning convex plate 401, and the sealing groove is communicated with a bottom of the support piston 406 through a pipe disposed inside the mounting housing 3.
Through the supporting piston 406 and the pressing ring 407, the space reserved in the mounting shell 3 can be ensured to enable the sealing cover 5 to be normally closed, meanwhile, the butt joint of the connecting joint 404 and the electrical interface 202 is facilitated, and the normal work of the cleaning robot is ensured.
Referring to fig. 7, a drying mesh box 6 filled with a drying agent is embedded in the surface of the sealing cover 5, a box cover 7 is clamped on the surface of the drying mesh box 6, a protrusion is arranged on the surface of the box cover 7, and two sides of the induction shell 201 are provided with clamping grooves matched with the protrusions.
Can dry the inside air of installation shell 3 through setting up the dry net box 6 on sealed lid 5, avoid steam to get into installation shell 3, the arch that the surface was established simultaneously also can be in response casing 201 back of packing into installation shell 3, keep the holistic firm stability of inductor 2.
When using the utility model discloses the time: if need change inductor 2, then can directly take out inductor 2 from installation shell 3, lose the support back of response casing 201 at sealed lid 5, sealed lid 5 then can be rapid bounce to the draw-in groove on the protruding board 401 of location, press down simultaneously pole 402 then can shift up and drive elasticity kelly 403 together and shift up under the effect of spring for inside elasticity kelly 403 blocked the draw-in groove to sealed lid 5 from the shifting chute, guarantee the leakproofness of installation shell 3.
And in the in-process of installing new inductor 2 into installation shell 3, press down pole 402 can be pressed by response casing 201 bottom, make and press down pole 402 and drive the inside of elasticity kelly 403 income location flange 401, response casing 201 enters into installation shell 3 gradually with sealed lid 5 top at this moment, and press down pole 402 in the in-process that moves down, can make press the ring 407 and impress the inside atmospheric pressure of seal groove to movable sleeve 405 in, with connector 404 jack-up, thereby make connector 404 link together with electrical interface 202, guarantee inductor 2's normal operating.
The above are merely embodiments of the present invention, and are not intended to limit the present invention. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (9)

1. The utility model provides a data acquisition device for planning of route of traveling of robot, includes robot housing (1) and inductor (2) that are used for responding to the barrier, its characterized in that: the robot is characterized in that a mounting shell (3) is embedded in the top, close to the back, of the robot shell (1), the sensor (2) comprises a sensing shell (201) and an obstacle sensor arranged in the sensing shell (201), the inner wall of the mounting shell (3) is movably connected with the surface of the sensing shell (201), and the bottom surface of the inner cavity of the mounting shell (3) is fixedly connected with a fixing mechanism (4) used for electrically connecting the sensor (2) with a control main board in the robot shell (1);
the inner wall both sides of installation shell (3) all are equipped with the groove of accomodating, and the inner wall of accomodating the groove articulates through spring hinge has sealed lid (5) that border department is equipped with joint strip, surface swing joint of sealed lid (5) when the groove is accomodate in the income with the response casing (201), and sealed lid (5) can keep apart with external in will installing shell (3) with fixed establishment (4) after the expansion.
2. The data acquisition device for planning a travel path of a robot according to claim 1, characterized in that: the fixing mechanism (4) comprises a positioning convex plate (401) fixed at the center of the bottom surface of the inner cavity of the mounting shell (3), and a groove matched with the positioning convex plate (401) is formed in the bottom of the induction shell (201).
3. The data acquisition device for planning a robot travel path according to claim 2, characterized in that: the center swing joint of location flange (401) presses down pressure pole (402), and the inside of location flange (401) is seted up and is used for pressing down the activity groove of pressure pole (402) activity from top to bottom and link up whole location flange (401), the top of pressing down the pressure pole (402) all is equipped with the magnetite that can attract each other with the corresponding position department in response casing (201) bottom.
4. The data acquisition device for planning a robot travel path according to claim 3, characterized in that: according to equal fixedly connected with elasticity kelly (403) in both sides of pressure pole (402), the shifting chute with elasticity kelly (403) looks adaptation and with external intercommunication is seted up to the inside of location flange (401), and the both sides of location flange (401) set up the spacing groove with sealed lid (5) looks adaptation, the draw-in groove with elasticity kelly (403) looks adaptation is seted up on the surface of sealed lid (5), and elasticity kelly (403) accessible shifting chute card is gone into to the draw-in groove when sealed lid (5) card goes into the spacing groove.
5. The data acquisition device for planning a robot travel path according to claim 3, characterized in that: the inside of pressing rod (402) is equipped with the cavity and the inside of this cavity passes through spring and the inner chamber bottom fixed connection of installation shell (3).
6. The data acquisition device for planning a travel path of a robot according to claim 1, characterized in that: the bottom surface of the induction shell (201) is provided with an electrical interface (202), the electrical interface (202) is electrically connected with the obstacle inductor through an electric wire, a connection joint (404) is inserted into the electrical interface (202), and the connection joint (404) is electrically connected with a main board in the robot shell (1) through the electric wire.
7. The data acquisition device for planning the travel path of the robot according to claim 6, wherein: the bottom of the connecting joint (404) is fixedly connected with a movable sleeve (405), the movable sleeve (405) is movably connected with a supporting piston (406) of which the middle part is in a hollow tubular shape, and the bottom of the supporting piston (406) is fixedly connected with the bottom surface of the inner cavity of the mounting shell (3).
8. The data acquisition device for planning a robot travel path according to claim 3, characterized in that: according to the fixed surface of pressing rod (402) and be connected with according to clamping ring (407), the seal groove with pressing ring (407) looks adaptation is seted up in the inside of location flange (401), and this seal groove is through setting up the bottom intercommunication at the inside pipeline of installation shell (3) and support piston (406).
9. The data acquisition device for planning a travel path of a robot according to claim 1, characterized in that: the surface of sealed lid (5) inlays dry net box (6) that have inside packing drier, the surperficial joint of dry net box (6) has lid (7), and the surface of lid (7) is equipped with the arch, and the draw-in groove with this protruding looks adaptation is seted up to the both sides of response casing (201).
CN202121609731.8U 2021-07-15 2021-07-15 Data acquisition device for planning robot driving path Expired - Fee Related CN214906498U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202121609731.8U CN214906498U (en) 2021-07-15 2021-07-15 Data acquisition device for planning robot driving path

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202121609731.8U CN214906498U (en) 2021-07-15 2021-07-15 Data acquisition device for planning robot driving path

Publications (1)

Publication Number Publication Date
CN214906498U true CN214906498U (en) 2021-11-30

Family

ID=79071104

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202121609731.8U Expired - Fee Related CN214906498U (en) 2021-07-15 2021-07-15 Data acquisition device for planning robot driving path

Country Status (1)

Country Link
CN (1) CN214906498U (en)

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Granted publication date: 20211130