CN216994624U - High positioning accuracy's combined type mobile robot - Google Patents
High positioning accuracy's combined type mobile robot Download PDFInfo
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- CN216994624U CN216994624U CN202123139963.4U CN202123139963U CN216994624U CN 216994624 U CN216994624 U CN 216994624U CN 202123139963 U CN202123139963 U CN 202123139963U CN 216994624 U CN216994624 U CN 216994624U
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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
Technical Field
The utility model relates to the technical field of robots, in particular to a composite mobile robot with high positioning precision.
Background
An intelligent mobile robot is a comprehensive system integrating multiple functions of environment perception, dynamic decision and planning, behavior control and execution and the like. The method integrates the research results of multiple subjects such as sensor technology, information processing, electronic engineering, computer engineering, automatic control engineering, artificial intelligence and the like, represents the highest achievement of mechanical-electrical integration, and is one of the most active fields of scientific and technical development at present.
With the continuous improvement of the performance of the robot, the application range of the mobile robot is greatly expanded, and the mobile robot is widely applied to industries such as industry, agriculture, medical treatment, service and the like, and is well applied to harmful and dangerous occasions such as the fields of urban safety, national defense, space detection and the like. Therefore, mobile robotics has gained widespread attention in countries around the world. When the existing mobile robot touches an obstacle, the existing mobile robot can only carry out simple avoidance or braking, the brake reaction of the robot can not be changed when the robot is adjusted to receive different impact forces according to actual conditions, and the practicability is poor in complex working conditions.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects of the prior art, the utility model provides a high-positioning-precision combined type mobile robot, which solves the problems that the existing mobile robot can only carry out simple avoidance or braking when encountering an obstacle, cannot adjust the braking reaction of the robot when the robot is subjected to different impact forces according to actual conditions, and has poor practicability in complex working conditions.
In order to achieve the purpose, the utility model is realized by the following technical scheme: a combined type mobile robot with high positioning accuracy 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, the 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 slidably connected between the top and the bottom of the inner wall of the installation cylinder, one side of the movable plate is fixedly connected with a mandril, one end of the mandril, far away from the movable plate, penetrates through the installation cylinder and the installation box and extends out of the installation box, one end of the mandril, 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, one end of the connecting rod, far away from the movable plate, is fixedly connected with a brake pad, an adjusting mechanism is arranged inside the installation cylinder, and comprises a pre-tightening spring and a limiting ring, the utility model discloses a mounting structure, including a mounting cylinder, a pretension spring, a spacing ring, a connecting rod, a regulating rod, a fly leaf, a surface fixedly connected with external screw thread section of thick bamboo, the one end and the fly leaf fixed connection of pretension spring, the other end and the spacing ring fixed connection of pretension spring, spacing ring and connecting rod sliding connection, the spacing ring left side just is located the fixed surface of connecting rod and is connected with an external screw thread section of thick bamboo, the threaded connection in surface of an external screw thread section of thick bamboo has an internal thread section of thick bamboo, the fixed surface of an internal thread section of thick bamboo is connected with the awl ring gear, the surface of a mounting cylinder is rotated through adjusting the pole and is connected with the bevel gear who meshes mutually with the awl ring gear.
Preferably, the end of the adjusting rod, which is far away from the bevel gear, penetrates through the mounting cylinder and the mounting box and extends to the outside of the mounting box, and the end of the adjusting rod, which is far away from the bevel gear, is fixedly connected with an adjusting hand wheel.
Preferably, the inner wall of the installation cylinder is fixedly connected with an annular slide rail, and the surface of the internal thread cylinder is fixedly connected with an annular slide ring matched with the annular slide rail.
Preferably, actuating mechanism include with the top fixed connection's of installation incasement wall fixed plate, two rotate between the fixed plate and be connected with the installation axle, the both ends of installation axle all run through the fixed plate and extend to the outside of fixed plate, the both ends fixedly connected with drive wheel of installation axle.
Preferably, the top fixedly connected with driving motor of installation incasement wall, driving motor's output shaft fixedly connected with actuating lever, the fixed surface of actuating lever is connected with first gear, the fixed surface of installation axle is connected with the second gear with first gear engaged with.
Preferably, the surface of the mounting shaft is fixedly connected with a brake disc matched with the brake pad.
Advantageous effects
The utility model provides a composite mobile robot with high positioning precision. Compared with the prior art, the method has the following beneficial effects:
(1) the composite mobile robot with high positioning precision is characterized in that anti-collision mechanisms are arranged on two sides of an installation box, a driving mechanism is arranged at the bottom of the installation box, 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, an ejector rod is fixedly connected to one side of the movable plate, one end, away from the movable plate, of the ejector rod penetrates through the installation cylinder and the installation box and extends out of the installation box, one end, located outside the installation box, of the ejector rod is fixedly connected with an anti-collision plate, the other end of the movable plate is fixedly connected with a connecting rod, one end, away from the movable plate, of the connecting rod is fixedly connected with a brake pad, an adjusting mechanism is arranged inside the installation cylinder and comprises a pre-tightening spring and a limiting ring, one end of the pre-tightening spring is fixedly connected with the movable plate, and the other end of the pre-tightening spring is fixedly connected with the limiting ring, spacing ring and connecting rod sliding connection, the fixed surface that just is located the connecting rod on the left of the spacing ring is connected with an external screw thread section of thick bamboo, the threaded connection in surface of an external screw thread section of thick bamboo has an internal thread section of thick bamboo, the fixed surface of an internal thread section of thick bamboo is connected with the bevel gear with bevel gear engaged with through adjusting the pole rotation, need adjust the brake reaction that this robot received different impact, it rotates together to rotate adjusting handle wheel drive regulation pole and bevel gear, through the bevel gear ring, an internal thread section of thick bamboo, an external screw thread section of thick bamboo and spacing ring change pretension spring's pretightning force, and then the brake reaction of robot when changing and receiving different striking degrees, the usability is stronger.
(2) This high positioning accuracy's combined type mobile robot, include the fixed plate with the top fixed connection of installation incasement wall through actuating mechanism, it is connected with the installation axle to rotate between two fixed plates, the both ends of installation axle all run through the fixed plate and extend to the outside of fixed plate, the both ends fixedly connected with drive wheel of installation axle, the top fixedly connected with driving motor of installation incasement wall, driving motor's output shaft fixedly connected with actuating lever, the fixed surface of actuating lever is connected with first gear, the fixed surface of installation axle is connected with the second gear with first gear engaged with, driving motor passes through the actuating lever, first gear, second gear and installation axle drive the drive wheel and rotate and then drive the motion of whole robot.
Drawings
FIG. 1 is a perspective view of the structure of the present invention;
FIG. 2 is a cross-sectional view of the mounting box of the present invention;
FIG. 3 is a cross-sectional view of the impact mechanism of the present invention;
FIG. 4 is a right side cross-sectional view of the drive mechanism of the present invention;
fig. 5 is a partial enlarged view of the utility model at a in fig. 3.
In the figure: the anti-collision device comprises a mounting box 1, a mechanical arm 2, a collision avoidance mechanism 3, a mounting barrel 31, a movable plate 32, an adjusting mechanism 33, a 331 pretension spring, a 332 limit ring, an external thread barrel 333, an internal thread barrel 334, a 335 bevel gear ring, a 336 adjusting rod, a 337 bevel gear, a 338 adjusting hand wheel, a 339 annular slide rail, an 3310 annular slide ring, a 34 ejector rod, a 35 anti-collision plate, a 36 connecting rod, a 37 brake pad, a 4 driving mechanism, a 41 fixing plate, a 42 mounting shaft, a 43 driving wheel, a 44 driving motor, a 45 driving rod, a 46 first gear, a 47 second gear and a 48 brake disc.
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: a combined type mobile robot with high positioning accuracy comprises an installation box 1, a mechanical arm 2 is arranged at the top of the installation box 1, different tools are installed at the output end of the mechanical arm 2 according to different application scenes, anti-collision mechanisms 3 are arranged on two sides of the installation box 1, a driving mechanism 4 is arranged at the bottom of the installation box 1, the driving mechanism 4 comprises a fixing plate 41 fixedly connected with the top of the inner wall of the installation box 1, a storage battery is arranged in the installation box 1, an installation shaft 42 is rotatably connected between the two fixing plates 41, two ends of the installation shaft 42 penetrate through the fixing plate 41 and extend to the outer side of the fixing plate 41, driving wheels 43 are fixedly connected with two ends of the installation shaft 42, a driving motor 44 is fixedly connected with the top of the inner wall of the installation box 1, the driving motor 44 has the function of forward and reverse rotation and is electrically connected with a control system and the storage battery through a lead, and a driving rod 45 is fixedly connected with an output shaft of the driving motor 44, the surface of the driving rod 45 is fixedly connected with a first gear 46, the surface of the mounting shaft 42 is fixedly connected with a second gear 47 engaged with the first gear 46, the surface of the mounting shaft 42 is fixedly connected with a brake disc 48 matched with the brake pad 37, the anti-collision mechanism 3 comprises a mounting cylinder 31, the mounting cylinder 31 is fixedly connected with the inner wall of the mounting box 1, a movable plate 32 is slidably connected between the top and the bottom of the inner wall of the mounting cylinder 31, one side of the movable plate 32 is fixedly connected with a push rod 34, one end of the push rod 34 far away from the movable plate 32 penetrates through the mounting cylinder 31 and the mounting box 1 and extends out of the mounting box 1, one end of the push rod 34 positioned outside the mounting 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, one end of the connecting rod 36 far away from the movable plate 32 is fixedly connected with the brake pad 37, and the inside of the mounting cylinder 31 is provided with an adjusting mechanism 33, the adjusting mechanism 33 comprises a pre-tightening spring 331 and a limiting ring 332, one end of the pre-tightening spring 331 is fixedly connected with the movable plate 32, the other end of the pre-tightening spring 331 is fixedly connected with the limiting ring 332, the limiting ring 332 is slidably connected with the connecting rod 36, an external thread cylinder 333 is fixedly connected to the left side of the limiting ring 332 and located on the surface of the connecting rod 36, an internal thread cylinder 334 is in threaded connection with the surface of the external thread cylinder 333, an annular sliding rail 339 is fixedly connected to the inner wall of the mounting cylinder 31, an annular sliding ring matched with the annular sliding rail 339 is fixedly connected to the surface of the internal thread cylinder 334, a bevel gear 335 is fixedly connected to the surface of the mounting cylinder 31 through an adjusting rod 336, a bevel gear 337 meshed with the bevel gear 335 is rotatably connected to the surface of the mounting cylinder 31 through the adjusting rod 336, one end of the adjusting rod 336, which is far away from the bevel gear 337, penetrates through 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, which is far away from the bevel gear 337, is fixedly connected with an adjusting hand wheel 338.
When the robot is used, the driving motor 44 is turned on through the control panel, the driving motor 44 works to drive the driving rod 45 and the first gear 46 to rotate together, the second gear 47, the mounting shaft 42 and the driving wheel 43 are driven to rotate together through meshing action, the driving wheel 43 rotates to drive the robot to move, when the robot touches an obstacle, the anti-collision plate 35 firstly contacts with the obstacle, the pre-tightening spring 331 is compressed through the ejector rod 34 and the movable plate 32, when the obstacle is too large and the robot continues to move, the pre-tightening spring 331 is further compressed, the anti-collision plate 35 drives the brake pad 37 to move through the ejector rod 34, the movable plate 32 and the connecting rod 36 to contact with the brake disc 48, so that the robot stops moving, when the reaction of the robot to different obstacles needs to be adjusted, the adjusting hand wheel 338 is rotated to drive the adjusting rod 336 and the bevel gear 337 to rotate together, the bevel gear 335 and the internal thread cylinder 334 are driven to rotate together through meshing action, the internal thread cylinder 334 rotates to change the pretightening force of the pretightening spring 331 through the external thread cylinder 333 and the limiting ring 332, so that the braking reaction of the robot when the robot collides with different objects is changed.
It should be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
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 (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).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123139963.4U CN216994624U (en) | 2021-12-14 | 2021-12-14 | High positioning accuracy's combined type mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123139963.4U CN216994624U (en) | 2021-12-14 | 2021-12-14 | High positioning accuracy's combined type mobile robot |
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| CN216994624U true CN216994624U (en) | 2022-07-19 |
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| CN202123139963.4U Active CN216994624U (en) | 2021-12-14 | 2021-12-14 | High positioning accuracy's combined type mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024087041A1 (en) * | 2022-10-26 | 2024-05-02 | 苏州天炯信息科技有限公司 | Automation equipment mounting transporter |
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2021
- 2021-12-14 CN CN202123139963.4U patent/CN216994624U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024087041A1 (en) * | 2022-10-26 | 2024-05-02 | 苏州天炯信息科技有限公司 | Automation equipment mounting transporter |
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