CN216994624U - High positioning accuracy's combined type mobile robot - Google Patents

Abstract

The utility model discloses a high-positioning-precision combined type mobile robot, which comprises an installation box, wherein the top of the installation box is provided with a mechanical arm, two sides of the installation box are respectively provided with an anti-collision mechanism, the bottom of the installation box is provided with a driving mechanism, each anti-collision mechanism comprises an installation cylinder, the installation cylinder is fixedly connected with the inner wall of the installation box, a movable plate is connected between the top and the bottom of the inner wall of the installation cylinder in a sliding manner, one side of the movable plate is fixedly connected with an ejector rod, and one end, far away from the movable plate, of the ejector rod penetrates through the installation cylinder and the installation box. This high positioning accuracy's combined type mobile robot, when needing to adjust this robot and receive the brake reaction of different impact, rotate adjusting handle wheel and drive and adjust pole and bevel gear and rotate together, change the pretightning force of pretension spring through awl ring gear, internal thread section of thick bamboo, external screw thread section of thick bamboo and spacing ring, and then change the brake reaction of robot when receiving different striking degrees, the usability is stronger.

Description

A compound mobile robot with high positioning accuracy

technical field

The utility model relates to the technical field of robots, in particular to a compound mobile robot with high positioning accuracy.

Background technique

An intelligent mobile robot is a comprehensive system that integrates multiple functions such as environmental perception, dynamic decision-making and planning, behavior control and execution. It focuses on multi-disciplinary research results such as sensor technology, information processing, electronic engineering, computer engineering, automation control engineering and artificial intelligence. It represents the highest achievement of mechatronics and is one of the most active fields of scientific and technological development at present.

With the continuous improvement of robot performance, the application range of mobile robots has been greatly expanded, not only in industry, agriculture, medical care, service and other industries, but also in harmful and dangerous occasions such as urban security, national defense and space exploration. Nice application. Therefore, mobile robot technology has received widespread attention from countries all over the world. When the existing mobile robot encounters an obstacle, it can only perform simple avoidance or braking, and cannot adjust the braking response of the robot when the robot is subjected to different impact forces according to the actual situation. In complex working conditions, the practicability is poor.

Utility model content

Aiming at the deficiencies of the prior art, the utility model provides a compound mobile robot with high positioning accuracy, which solves the problem that when the existing mobile robot encounters an obstacle, it can only simply avoid or stop, and cannot Situation adjustment The braking response of the robot is changed when the robot is subjected to different impact forces, which is a problem of poor practicability in complex working conditions.

In order to achieve the above purpose, the present invention is achieved by the following technical solutions: a compound mobile robot with high positioning accuracy, comprising an installation box, the top of the installation box is provided with a mechanical arm, and both sides of the installation box are provided with There is an anti-collision mechanism, the bottom of the installation box is provided with a driving mechanism, and the anti-collision mechanism includes an installation cylinder, the installation cylinder is fixedly connected with the inner wall of the installation box, and the top and bottom of the inner wall of the installation cylinder are slidably connected There is a movable plate, one side of the movable plate is fixedly connected with a push rod, the end of the push rod away from the movable plate penetrates the installation cylinder and the installation box and extends outside the installation box, and the end of the push rod located outside the installation box is fixed An anti-collision plate is connected, a connecting rod is fixedly connected to the other side of the movable plate, and a brake pad is fixedly connected to one end of the connecting rod away from the movable plate, and an adjustment mechanism is arranged inside the installation cylinder. It includes a preload spring and a limit ring. One end of the preload spring is fixedly connected to the movable plate, and the other end of the preload spring is fixedly connected to the limit ring. The limit ring is slidably connected to the connecting rod. The left side of the limit ring and the surface of the connecting rod are fixedly connected with an external thread cylinder, the surface of the external thread cylinder is threadedly connected with an internal thread cylinder, the surface of the internal thread cylinder is fixedly connected with a bevel gear ring, and the mounting cylinder is The surface of the bevel gear is rotatably connected with the bevel gear ring through the adjusting rod.

Preferably, one end of the adjusting rod away from the bevel gear penetrates the mounting cylinder and the mounting box and extends to the outside of the mounting case, and one end of the adjusting rod away from the bevel gear is fixedly connected with an adjusting handwheel.

Preferably, an annular slide rail is fixedly connected to the inner wall of the installation cylinder, and an annular slide ring adapted to the annular slide rail is fixedly connected to the surface of the inner threaded cylinder.

Preferably, the driving mechanism includes a fixing plate fixedly connected to the top of the inner wall of the installation box, a mounting shaft is rotatably connected between the two fixing plates, and both ends of the mounting shaft penetrate through the fixing plate and extend to the fixing plate The outer side of the mounting shaft is fixedly connected with a driving wheel at both ends of the mounting shaft.

Preferably, a drive motor is fixedly connected to the top of the inner wall of the installation box, an output shaft of the drive motor is fixedly connected to a drive rod, a surface of the drive rod is fixedly connected to a first gear, and a surface of the installation shaft is fixedly connected There is a second gear that meshes with the first gear.

Preferably, the surface of the installation shaft is fixedly connected with a brake disc adapted to the brake pad.

beneficial effect

The utility model provides a compound mobile robot with high positioning accuracy. Compared with the prior art, it has the following beneficial effects:

(1) The compound mobile robot with high positioning accuracy is provided with anti-collision mechanisms on both sides of the installation box, and the bottom of the installation box is provided with a driving mechanism. The anti-collision mechanism includes an installation cylinder, the installation cylinder and the inner wall of the installation box Fixed connection, a movable plate is slidably connected between the top and bottom of the inner wall of the installation cylinder, one side of the movable plate is fixedly connected with a push rod, and the end of the push rod away from the movable plate penetrates the installation cylinder and the installation box and extends to the outside of the installation box. One end of the rod located outside the installation box is fixedly connected with an anti-collision plate, the other side of the movable plate is fixedly connected with a connecting rod, and one end of the connecting rod away from the movable plate is fixedly connected with a brake pad, and the inside of the installation cylinder is provided with an adjustment mechanism, the adjustment mechanism Including a preload spring and a limit ring, one end of the preload spring is fixedly connected to the movable plate, the other end of the preload spring is fixedly connected to the limit ring, the limit ring is slidably connected to the connecting rod, and the left side of the limit ring is connected The surface of the rod is fixedly connected with an external thread cylinder, the surface of the external thread cylinder is threadedly connected with an internal thread cylinder, the surface of the internal thread cylinder is fixedly connected with a bevel gear ring, and the surface of the mounting cylinder is rotatably connected with the bevel gear ring through the adjusting rod. When it is necessary to adjust the braking response of the robot under different impact forces, turn the adjustment handwheel to drive the adjustment rod and the bevel gear to rotate together, and change the preload spring through the bevel gear ring, the inner thread barrel, the outer thread barrel and the limit ring. The pre-tightening force of the robot can change the braking response of the robot when it is subjected to different degrees of impact, and the usability is strong.

(2) The compound mobile robot with high positioning accuracy includes a fixed plate fixedly connected to the top of the inner wall of the installation box through the drive mechanism, and a mounting shaft is rotatably connected between the two fixed plates, and both ends of the installation shaft are fixed through The plate extends to the outer side of the fixed plate, the two ends of the installation shaft are fixedly connected with the driving wheels, the top of the inner wall of the installation box is fixedly connected with the driving motor, the output shaft of the driving motor is fixedly connected with the driving rod, and the surface of the driving rod is fixedly connected with a No. A gear, the surface of the installation shaft is fixedly connected with a second gear that meshes with the first gear, and the drive motor drives the drive wheel to rotate through the drive rod, the first gear, the second gear and the installation shaft to drive the entire robot to move.

Description of drawings

Fig. 1 is the perspective view of the utility model structure;

Fig. 2 is the sectional view of the utility model installation box;

3 is a cross-sectional view of the anti-collision mechanism of the present invention;

4 is a right sectional view of the drive mechanism of the present invention;

FIG. 5 is a partial enlarged view of A in FIG. 3 of the present utility model.

In the picture: 1 installation box, 2 mechanical arm, 3 anti-collision mechanism, 31 installation cylinder, 32 movable plate, 33 adjustment mechanism, 331 preload spring, 332 limit ring, 333 external thread cylinder, 334 internal thread cylinder, 335 cone Ring gear, 336 adjusting rod, 337 bevel gear, 338 adjusting handwheel, 339 annular slide rail, 3310 annular slide ring, 34 ejector rod, 35 anti-collision plate, 36 connecting rod, 37 brake pad, 4 driving mechanism, 41 fixing plate , 42 installation shaft, 43 drive wheel, 44 drive motor, 45 drive rod, 46 first gear, 47 second gear, 48 brake disc.

Detailed ways

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

1-5, the present utility model provides a technical solution: a composite mobile robot with high positioning accuracy, comprising an installation box 1, a mechanical arm 2 is arranged on the top of the installation box 1, and the output end of the mechanical arm 2 is based on Different tools are installed in different application scenarios. Both sides of the installation box 1 are provided with anti-collision mechanisms 3 , and the bottom of the installation box 1 is provided with a drive mechanism 4 . The drive mechanism 4 includes a fixed plate fixedly connected to the top of the inner wall of the installation box 1 41. A battery is arranged inside the installation box 1, and an installation shaft 42 is rotatably connected between the two fixing plates 41. Both ends of the installation shaft 42 penetrate through the fixing plate 41 and extend to the outside of the fixing plate 41. A drive wheel 43 is fixedly connected to the end, and a drive motor 44 is fixedly connected to the top of the inner wall of the installation box 1. The drive motor 44 has the function of forward and reverse rotation, and is electrically connected to the control system and the battery through wires, and the output shaft of the drive motor 44 is fixedly connected. There is a driving rod 45, the surface of the driving rod 45 is fixedly connected with a first gear 46, the surface of the installation shaft 42 is fixedly connected with a second gear 47 that meshes with the first gear 46, and the surface of the installation shaft 42 is fixedly connected with the brake pad. 37 The matching brake disc 48, the anti-collision mechanism 3 includes an installation cylinder 31, the installation cylinder 31 is fixedly connected with the inner wall of the installation box 1, and a movable plate 32 is slidably connected between the top and bottom of the inner wall of the installation cylinder 31, and the movable plate 32 One side of the ejector rod 34 is fixedly connected with the ejector rod 34, one end of the ejector rod 34 away from the movable plate 32 penetrates the installation cylinder 31 and the installation box 1 and extends to the outside of the installation box 1, and the end of the ejector rod 34 located outside the installation box 1 is fixedly connected with an anti-collision Plate 35, the other side of the movable plate 32 is fixedly connected with a connecting rod 36, and one end of the connecting rod 36 away from the movable plate 32 is fixedly connected with a brake pad 37, the inside of the installation cylinder 31 is provided with an adjustment mechanism 33, and the adjustment mechanism 33 includes a pre-tightening mechanism. The spring 331 and the limit ring 332, one end of the preload spring 331 is fixedly connected with the movable plate 32, the other end of the preload spring 331 is fixedly connected with the limit ring 332, the limit ring 332 is slidably connected with the connecting rod 36, the limit ring The left side of 332 and the surface of the connecting rod 36 are fixedly connected with an external thread cylinder 333, the surface of the external thread cylinder 333 is threadedly connected with an internal thread cylinder 334, the inner wall of the mounting cylinder 31 is fixedly connected with an annular slide rail 339, The surface is fixedly connected with an annular sliding ring 3310 that matches the annular sliding rail 339, the surface of the inner thread cylinder 334 is fixedly connected with a bevel gear ring 335, and the surface of the mounting cylinder 31 is rotatably connected with the bevel gear ring 335 through the adjusting rod 336. The meshing bevel gear 337, one end of the adjusting rod 336 away from the bevel gear 337 penetrates the mounting cylinder 31 and the mounting box 1 and extends to the outside of the mounting box 1, and one end of the adjusting rod 336 away from the bevel gear 337 is fixedly connected with an adjusting handwheel 338.

When in use, the drive motor 44 is turned on through the control panel, the drive motor 44 works to drive the drive rod 45 and the first gear 46 to rotate together, and through the meshing action, the second gear 47, the installation shaft 42 and the drive wheel 43 are driven to rotate together, and the drive wheel 43 rotates. Drive the robot to move, when the robot encounters an obstacle, the anti-collision plate 35 contacts the obstacle first, and the preload spring 331 is compressed by the ejector rod 34 and the movable plate 32. When the obstacle is too large and the robot continues to move, the preload spring 331 is further compressed, and the anti-collision plate 35 drives the brake pad 37 to contact the brake disc 48 through the ejector rod 34, the movable plate 32 and the connecting rod 36, so that the robot stops moving, and when the response of the robot to different obstacles needs to be adjusted, Rotating the adjusting hand wheel 338 drives the adjusting rod 336 and the bevel gear 337 to rotate together, and drives the bevel gear ring 335 and the inner thread cylinder 334 to rotate together through the meshing action. The preload of the spring 331 changes the braking response of the robot when it collides with different objects.

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass non-exclusive inclusion such that a process, method, article or device comprising a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus.

Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes and modifications can be made to these embodiments without departing from the principles and spirit of the present invention , alternatives and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (6)

1. The utility model provides a high positioning accuracy's combined type mobile robot, includes install bin (1), the top of install bin (1) is provided with arm (2), its characterized in that: the anti-collision mechanism (3) is arranged on each of two sides of the installation box (1), and the driving mechanism (4) is arranged at the bottom of the installation box (1);

the anti-collision mechanism (3) comprises an installation barrel (31), the installation barrel (31) is fixedly connected with the inner wall of the installation box (1), a movable plate (32) is slidably connected between the top and the bottom of the inner wall of the installation barrel (31), one side of the movable plate (32) is fixedly connected with an ejector rod (34), one end, far away from the movable plate (32), of the ejector rod (34) penetrates through the installation barrel (31) and the installation box (1) and extends out of the installation box (1), one end, located outside the installation box (1), of the ejector rod (34) is fixedly connected with an anti-collision plate (35), the other side of the movable plate (32) is fixedly connected with a connecting rod (36), one end, far away from the movable plate (32), of the connecting rod (36) is fixedly connected with a brake pad (37), and an adjusting mechanism (33) is arranged inside the installation barrel (31);

adjustment mechanism (33) are including pretension spring (331) and spacing ring (332), the one end and fly leaf (32) fixed connection of pretension spring (331), the other end and the spacing ring (332) fixed connection of pretension spring (331), spacing ring (332) and connecting rod (36) sliding connection, the fixed surface that just is located connecting rod (36) on spacing ring (332) left side is connected with an external screw thread section of thick bamboo (333), the threaded connection in surface of an external screw thread section of thick bamboo (333) has an internal screw thread section of thick bamboo (334), the fixed surface of an internal screw thread section of thick bamboo (334) is connected with awl ring gear (335), the surface of installation section of thick bamboo (31) is rotated through adjusting pole (336) and is connected with bevel gear (337) with awl ring gear (335) engaged with.

2. The compound mobile robot with high positioning accuracy as claimed in claim 1, wherein: one end, far away from the bevel gear (337), of the adjusting rod (336) penetrates through the installation barrel (31) and the installation box (1) and extends to the outside of the installation box (1), and one end, far away from the bevel gear (337), of the adjusting rod (336) is fixedly connected with an adjusting hand wheel (338).

3. The high-positioning-accuracy composite mobile robot of claim 1, wherein: the inner wall fixedly connected with annular slide rail (339) of installation section of thick bamboo (31), the surperficial fixedly connected with of an interior thread section of thick bamboo (334) slides circle (3310) with annular slide rail (339) looks adaptation.

4. The compound mobile robot with high positioning accuracy as claimed in claim 1, wherein: actuating mechanism (4) include with install bin (1) inner wall's top fixed connection's fixed plate (41), two it is connected with installation axle (42) to rotate between fixed plate (41), the both ends of installation axle (42) all run through fixed plate (41) and extend to the outside of fixed plate (41), the both ends fixedly connected with drive wheel (43) of installation axle (42).

5. The high-positioning-accuracy composite mobile robot as claimed in claim 4, wherein: the top fixedly connected with driving motor (44) of installing box (1) inner wall, the output shaft fixedly connected with actuating lever (45) of driving motor (44), the fixed surface of actuating lever (45) is connected with first gear (46), the fixed surface of installation axle (42) is connected with second gear (47) with first gear (46) engaged with mutually.

6. The high-positioning-accuracy composite mobile robot as claimed in claim 4, wherein: the surface of the mounting shaft (42) is fixedly connected with a brake disc (48) matched with the brake pad (37).

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