CN216271546U - Intelligent mobile robot capable of preventing side turning on curve - Google Patents
Intelligent mobile robot capable of preventing side turning on curve Download PDFInfo
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- CN216271546U CN216271546U CN202122252271.4U CN202122252271U CN216271546U CN 216271546 U CN216271546 U CN 216271546U CN 202122252271 U CN202122252271 U CN 202122252271U CN 216271546 U CN216271546 U CN 216271546U
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Abstract
The utility model discloses an intelligent mobile robot capable of preventing a curve from side turning, which comprises: inductive probe, it sets up on the robot front side, just install well accuse ware between inductive probe and the robot, well axostylus axostyle, its connection is in between the robot, just be connected with the axostylus axostyle between well axostylus axostyle and the wheel to be provided with main horizontal pole on between the well axostylus axostyle, put the thing platform, it sets up on the robot top surface, and put thing platform both sides bottom and still be connected with and bear frame and cushion frame. This can prevent intelligent movement robot that bend turned on one's side can be automatic identification goods shelves position when the bend of process to can in time keep robot and goods focus stable, and have and prevent to load the goods shelves and receive jolt and the structure of rocking, so that support the buffering to the goods, possess the visual identification function simultaneously, provide automatic deceleration when going on the bend, thereby effectively avoid the robot to turn on one's side.
Description
Technical Field
The utility model relates to the field of intelligent mobile robots, in particular to an intelligent mobile robot capable of preventing a curve from turning on one side.
Background
The intelligent mobile robot can realize the automatic moving function through the sensor, can replace manpower to carry out operation behaviors under dangerous or severe environments, not only can realize normal movement under high-radiation and high-pollution environments, but also can easily bear the weight of a human body which is difficult to carry goods, and therefore, the intelligent mobile robot is widely applied to the fields of industry, agriculture or service industry and the like.
Usually intelligent mobile robot is when using as the transport goods, often can once only carry the great goods of volume and weight, and when intelligent mobile robot went to get into the bend, if the goods of delivery put things in good order the position higher, lead to the goods focus unstability because of the turn easily, thereby make the robot turn on one's side, cause the damage of equipment and goods, the intelligent mobile robot of using at present can't regulate and control the platform that holds in the palm of heavier goods simultaneously, and then the focus direction slope when making the goods can follow the robot bend and go, be unfavorable for the transportation of high-efficient firm realization to the goods, to the above-mentioned problem, need to carry out the innovative design on original intelligent mobile robot's basis urgently.
Disclosure of Invention
The utility model aims to provide an intelligent mobile robot capable of preventing a curve from turning over, and aims to solve the problems that the currently used intelligent mobile robot cannot control equipment to keep goods placing stability during curve running, easily causes the gravity center of goods to shift and the robot to turn over, and is not beneficial to stably and safely realizing robot goods transportation.
In order to achieve the purpose, the utility model provides the following technical scheme: an intelligent mobile robot capable of preventing a curve from being turned on one's side, comprising:
the induction probe is arranged on the front side surface of the robot body, and a central controller is arranged between the induction probe and the robot body;
the middle shaft rods are connected between the robot bodies, vehicle shaft rods are connected between the middle shaft rods and the wheels, and main cross rods are arranged between the middle shaft rods;
put the thing platform, it sets up on the robot body top surface, and put thing platform both sides bottom and still be connected with and bear frame and buffer frame.
The setting up of above-mentioned structure makes the device can automatic monitoring and response route of traveling to realize automatic deceleration through well accuse ware when sensing the robot and need turn, can keep loading the level stability of goods platform of putting simultaneously, and then keep goods locating position's firm, with avoid the goods focus skew and the side of production turn on one's side when the bend is gone.
Preferably, well axostylus axostyle and robot fixed connection, and well axostylus axostyle is big inclination clip angle structure with the axostylus axostyle to the axostylus axostyle is connected with the wheel rotation, and the wheel is narrow structure before wide back, and the setting up of above-mentioned structure makes the bearing strength of robot stronger, and can keep the robot steady when traveling, and can keep the robot to load equipment centrobaric stability when heavier goods.
Preferably, the main cross rod and the middle shaft rod are in a vertical connection relation on the same horizontal plane, the middle shaft rod is symmetrically provided with 2 groups about the center of the robot body, the middle part of the middle shaft rod is further provided with an annular assembly, and meanwhile, the middle shaft rod and the annular assembly form a rotating structure.
Preferably, the annular component is further rotatably provided with a support frame, the top of the support frame is further provided with a lifting rod, the lifting rod is further horizontally connected with a fixing rod, the arrangement of the structure enables an object supporting structure formed by the fixing rod to be free from the bumping effect of wheel movement, and the object structure and the ground are kept in a horizontal position relation.
Preferably, the dead lever both sides still symmetry is provided with the response platform, and responds to the bench still symmetry and seted up the side draw-in groove to still be provided with the spring beam between side draw-in groove and the dead lever, the setting up of above-mentioned structure makes and puts the thing structure and can effectively bear the weight of heavier goods to the pressure of platform, and the impact force that the buffering opposite position thing frame caused to and can realize the centrobaric real-time supervision in robot both sides.
Preferably, the spring rod and the dead lever constitute elastic construction in the side draw-in groove, and the spring rod is vertical connection structure in the side draw-in groove to the dead lever with put the thing platform and pass through the bolt and constitute fixed knot structure, the setting up of above-mentioned structure makes the device can keep putting the stability of thing platform, and enable putting of robot platform ability safe loading weight heavier goods, thereby slow down wearing and tearing to the robot with increase of service life.
Preferably, put the thing platform and be the rectangular structure of fretwork form, and put the thing platform and bear the rotation of frame and be connected to bear the frame and be stainless steel, the setting up of above-mentioned structure makes the overall structure of robot lightly firm, and can be convenient for adjust the focus position of putting the thing platform.
Preferably, bear the frame and the buffer frame is the staggered connection structure in thing platform bottom, and bear frame and buffer frame and constitute the triangle-shaped structure with thing platform and response platform respectively to it constitutes elastic construction through buffer frame and response platform to put the thing platform, the setting up of above-mentioned structure makes to bear frame and buffer frame can implement firm support and protection to thing platform both sides, and can bear the frame and put the adjustment of thing platform angle of connection through the built-in focus inductor control of response platform, with the level stability that keeps putting the thing platform.
Compared with the prior art, the utility model has the beneficial effects that: the intelligent mobile robot capable of preventing the side turn of the curve adopts a novel structural design, can conveniently monitor a running path in real time when the intelligent mobile robot is used, controls the robot to decelerate when the intelligent mobile robot needs to turn, can keep the center of gravity of the whole running structure of the robot stable, and can also conveniently adjust the horizontal direction of a material placing table when the center of gravity of loaded goods shifts when the intelligent mobile robot needs to control the robot to turn so as to keep the center of gravity of loaded goods stable;
1. the robot body is provided with a structure of an induction probe, a central controller and wheels, the road environment is monitored by the induction probe arranged right in front of the robot body, monitoring data is judged by the central controller, and the stable transportation of goods is realized by the tricycle wheel structure with wide front and narrow back, so that the purposes that the device can conveniently monitor a running path in real time, control the robot to decelerate when needing to turn around and simultaneously keep the center of gravity of the whole running structure of the robot stable are achieved;
2. put the thing bench and set up the response platform, the spring beam, bear the structure of frame and buffer bay, through the focus offset direction and the angle of the platform of putting of the built-in focus response equipment monitoring of response platform, and utilize the spring beam to cushion for the goods pressure of putting the thing platform and exerting, utilize response platform control stainless steel to bear a turned angle simultaneously, and buffer bay compression built-in spring will put the principle that the thing platform was ajusted, when realizing that the device can be convenient for control robot turns, adjust the horizontal direction of putting the thing platform when going up the goods focus offset, and then keep the centrobaric function of carrying cargo.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a perspective view of the object placing table according to the present invention;
FIG. 3 is a perspective view of the robot body according to the present invention;
FIG. 4 is a perspective view of the wheel of the present invention;
fig. 5 is a schematic perspective view of a fixing rod according to the present invention.
In the figure: 1. a robot body; 2. an inductive probe; 3. a central controller; 4. a wheel; 5. a middle shaft lever; 6. a vehicle axle rod; 7. a main cross bar; 8. an annular assembly; 9. a support frame; 10. a lifting rod; 11. fixing the rod; 12. an induction table; 13. a side card slot; 14. a spring lever; 15. a placing table; 16. a carrier; 17. and a buffer frame.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: an intelligent mobile robot capable of preventing a curve from being turned on one's side, comprising: the robot comprises an induction probe 2, a central controller 3, a central shaft rod 5, a bearing table 15 and a buffer frame 17, wherein the induction probe 2 is arranged on the front side surface of a robot body 1, the central controller 3 is arranged between the induction probe 2 and the robot body 1, the central shaft rod 5 is connected between the robot body 1, a vehicle shaft rod 6 is connected between the central shaft rod 5 and wheels 4, a main cross rod 7 is arranged between the central shaft rods 5, the bearing table 15 is arranged on the top surface of the robot body 1, and the bottoms of two sides of the bearing table 15 are also connected with the bearing frame 16 and the buffer frame 17;
when using the device, at first when the robot traveles to the turning, the inductive probe 2 in the dead ahead of robot body 1 monitors road surface information and transmits to well accuse ware 3, the robot passes through well axostylus axostyle 5 this moment, the stable structure of constituteing between wheel 4 and the axostylus axostyle 6 keeps the stability of supporting overall structure when the robot turns, and the in-process of turning, put thing platform 15 of stable connection on the robot through main horizontal pole 7 receives the influence of goods focus skew, lead to putting thing platform 15 plane skew, bear frame 16 and rotate in putting abluent one side of thing platform 15 this moment, and compress opposite side cushion frame 17 and make and put thing platform 15 and keep with ground level.
Specifically, as shown in fig. 2 and 4, the center shaft rod 5 is fixedly connected with the robot body 1, the center shaft rod 5 and the axle rod 6 are in a large-inclination angle included angle structure, the axle rod 6 is rotatably connected with the wheels 4, the wheels 4 are in a structure with a wide front part and a narrow back part, and the tricycle wheel structure with a wide front part and a narrow back part can stably keep the stability of the front position of the robot for loading goods, so that the robot is prevented from turning on the side, and the stability of the whole frame of the robot can be kept;
the main cross rod 7 and the middle shaft rod 5 are in a vertical connection relation on the same horizontal plane, the middle shaft rod 5 is symmetrically provided with 2 groups about the center of the robot body 1, the middle part of the middle shaft rod 5 is further provided with an annular component 8, meanwhile, the middle shaft rod 5 and the annular component 8 form a rotating structure, when the robot runs to a road bumpy road section, a horizontal frame structure formed by the main cross rod 7 and the middle shaft rod 5 can keep stable support for the robot body 1, and meanwhile, the axle rod 6 connected to the annular component 8 can rotate on the middle shaft rod 5, so that the bumpy vibration on the ground can be buffered.
Specifically, as shown in fig. 3 and 4, a support frame 9 is further rotatably arranged on the annular component 8, a lifting rod 10 is further arranged at the top of the support frame 9, and a fixing rod 11 is further horizontally connected to the lifting rod 10, when a road surface bumps, the bottom of the fixing rod 11 is lifted to the upper side of the induction table 12 by the lifting rod 10 arranged on the support frame 9 and a certain buffer space is kept, and the support frame 9 rotatably connected with the annular component 8 can keep the support frame free from being affected by the bump of the wheels 4;
the two sides of the fixed rod 11 are symmetrically provided with induction tables 12, the induction tables 12 are symmetrically provided with side clamping grooves 13, spring rods 14 are arranged between the side clamping grooves 13 and the fixed rod 11, the induction tables 12 mounted on the two sides of the fixed rod 11 can sense and detect the gravity center position of the robot in real time, and the object placing tables 15 connected on the fixed rod 11 are supported in a buffering mode through the spring rods 14 in the side clamping grooves 13.
Specifically, as shown in fig. 2 and 3, the spring rod 14 and the fixing rod 11 form an elastic structure in the side engaging groove 13, the spring rod 14 is in a vertical connection structure in the side engaging groove 13, and the fixing rod 11 and the object placing table 15 form a fixing structure through a bolt, when a heavy cargo is placed on the object placing table 15, a pressure applied to the object placing table 15 is compressed and buffered by the spring rod 14, so that abrasion to the robot is reduced, and the object placing table 15 is kept stable;
the article placing table 15 is in a hollow rectangular structure, the article placing table 15 is rotatably connected with the bearing frame 16, the bearing frame 16 is made of stainless steel, when goods are placed on the article placing table 15, the goods are supported by the bearing frames 16 on two sides to be kept in a horizontal position with the ground, and meanwhile the stainless steel of the bearing frame 16 can protect the robot from abrasion caused by long-term goods carrying.
Specifically, as shown in fig. 2 and 5, the bearing frame 16 and the buffer frame 17 are in a staggered connection structure at the bottom of the object placing table 15, the bearing frame 16 and the buffer frame 17 respectively form a triangular structure with the object placing table 15 and the sensing table 12, and the object placing table 15 forms an elastic structure with the sensing table 12 through the buffer frame 17, when the robot travels to a turning position, the sensing table 12 senses that the center of gravity of the goods and the object placing table 15 deviates to one side, and controls the rotation angle of the bearing frame 16 to push the object placing table 15 to return to a horizontal position and compress the buffer frame 17 on the other side of the object placing table 15, so that the object placing table 15 and the goods can be stably transported.
The working principle is as follows: when the device is used, as shown in fig. 1-5, firstly, when the robot body 1 runs to a turning position, road information is monitored through the sensing probe 2 and is transmitted to the central controller 3, the central controller 3 controls the wheels 4 and the robot body 1 to decelerate, when the robot runs in a bumpy road environment, the lifting rod 10 arranged on the support frame 9 automatically lifts the fixed rod 11 to form a certain distance with the upper surface of the sensing platform 12, so that the spring rods 14 in the clamping grooves 13 at two sides are favorable for buffering and supporting the fixed rod 11 and the object placing platform 15, when the robot turns, the gravity centers of the goods and the robot can shift towards the inner side of the turning direction due to the influence of heavier goods and higher stacked goods, at the moment, the sensing platform 12 controls the bearing frames 16 at two sides of the bottom of the object placing platform 15 to automatically adjust the connection angle and compresses the buffer frame 17 at the other side to stably support the object placing platform 15, and the object placing table 15 is pushed to return to the horizontal position angle with the ground, so that the robot and the goods are prevented from turning over, and the working principle of the intelligent mobile robot capable of preventing the turning over of the curve is realized.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. An intelligent mobile robot capable of preventing a curve from turning on one side mainly comprises a robot body and wheels, wherein the wheels are arranged on the bottom side of the robot body and are of a tricycle wheel structure;
it is characterized by comprising:
the induction probe is arranged on the front side surface of the robot body, and a central controller is arranged between the induction probe and the robot body;
the middle shaft rods are connected between the robot bodies, vehicle shaft rods are connected between the middle shaft rods and the wheels, and main cross rods are arranged between the middle shaft rods;
put the thing platform, it sets up on the robot body top surface, and put thing platform both sides bottom and still be connected with and bear frame and buffer frame.
2. The intelligent mobile robot capable of preventing the rollover of a curve according to claim 1, characterized in that: well axostylus axostyle and robot fixed connection, and well axostylus axostyle is big inclination clip horn shape structure with the axostylus axostyle to the axostylus axostyle is connected with the wheel rotation, and the wheel is preceding wide back narrow structure simultaneously.
3. The intelligent mobile robot capable of preventing the rollover of a curve according to claim 1, characterized in that: the main cross rod and the middle shaft rod are in vertical connection on the same horizontal plane, the middle shaft rod is symmetrically provided with 2 groups relative to the center of the robot body, the middle part of the middle shaft rod is also provided with an annular assembly, and meanwhile, the middle shaft rod and the annular assembly form a rotating structure.
4. The intelligent mobile robot capable of preventing the rollover of a curve according to claim 3, wherein: the annular assembly is further rotatably provided with a support frame, the top of the support frame is further provided with a lifting rod, and the lifting rod is further horizontally connected with a fixing rod.
5. The intelligent mobile robot capable of preventing the rollover of a curve according to claim 4, wherein: the dead lever both sides still symmetry are provided with the response platform, and the response bench still symmetry has seted up the side draw-in groove to still be provided with the spring beam between side draw-in groove and the dead lever.
6. The intelligent mobile robot capable of preventing the rollover of a curve according to claim 5, wherein: the spring rod and the fixed rod form an elastic structure in the side clamping groove, the spring rod is of a vertical connecting structure in the side clamping groove, and the fixed rod and the object placing table form a fixed structure through bolts.
7. The intelligent mobile robot capable of preventing the rollover of a curve according to claim 1, characterized in that: the object placing table is of a hollow rectangular structure and is rotationally connected with the bearing frame, and the bearing frame is made of stainless steel.
8. The intelligent mobile robot capable of preventing the rollover of a curve according to claim 1, characterized in that: bear the frame and be the staggered connection structure with the buffer frame in putting the thing platform bottom, and bear the frame and buffer frame respectively with put the thing platform and respond to the platform and constitute the triangle-shaped structure to put the thing platform and pass through the buffer frame and respond to the platform and constitute elastic construction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202122252271.4U CN216271546U (en) | 2021-09-17 | 2021-09-17 | Intelligent mobile robot capable of preventing side turning on curve |
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| CN202122252271.4U CN216271546U (en) | 2021-09-17 | 2021-09-17 | Intelligent mobile robot capable of preventing side turning on curve |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114918979A (en) * | 2022-06-30 | 2022-08-19 | 上海擎朗智能科技有限公司 | Floating tray and robot |
| CN115215055A (en) * | 2022-08-08 | 2022-10-21 | 上海中通吉网络技术有限公司 | Method, device and system for solving problem of throwing of express mail in loop sorting equipment |
| CN117842215A (en) * | 2024-03-07 | 2024-04-09 | 无锡米洛智能工业科技有限公司 | Trackless AGV carrier |
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2021
- 2021-09-17 CN CN202122252271.4U patent/CN216271546U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114918979A (en) * | 2022-06-30 | 2022-08-19 | 上海擎朗智能科技有限公司 | Floating tray and robot |
| CN114918979B (en) * | 2022-06-30 | 2024-04-26 | 上海擎朗智能科技有限公司 | Floating tray and robot |
| CN115215055A (en) * | 2022-08-08 | 2022-10-21 | 上海中通吉网络技术有限公司 | Method, device and system for solving problem of throwing of express mail in loop sorting equipment |
| CN115215055B (en) * | 2022-08-08 | 2024-04-30 | 上海中通吉网络技术有限公司 | Method, device and system for solving problem of flying express mail in loop line sorting equipment |
| CN117842215A (en) * | 2024-03-07 | 2024-04-09 | 无锡米洛智能工业科技有限公司 | Trackless AGV carrier |
| CN117842215B (en) * | 2024-03-07 | 2024-06-07 | 无锡米洛智能工业科技有限公司 | Trackless AGV carrier |
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| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20220729 Address after: 241000 room 112, building a, electronic industrial park, No. 69, Fuqiang Road, Jiujiang Economic Development Zone, Wuhu City, Anhui Province Patentee after: Anhui zobiao Intelligent Technology Co.,Ltd. Address before: 241000 No.16 Wenjin West Road, higher education park, Yijiang District, Wuhu City, Anhui Province Patentee before: ANHUI TECHNICAL College OF MECHANICAL AND ELECTRICAL ENGINEERING |
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