CN220297115U - Active following crematory urn transfer robot - Google Patents

Abstract

The utility model discloses an active following crematory urn transfer robot, which relates to the technical field of transfer robots and aims to solve the problems that transfer work of the crematory urn is time-consuming and labor-consuming in transfer and has a falling risk; a main frame coupled to an upper surface of the body for accommodating the urn; a navigation system mounted on a surface of the main frame near a traveling direction of the vehicle body, an output end of the navigation system being electrically connected to the vehicle body for controlling the traveling direction of the vehicle body; a safety obstacle avoidance system mounted on a surface of the main frame on a side thereof close to the vehicle body advancing direction for detecting an obstacle in the vehicle body advancing direction; and the power supply system is arranged in the main frame, and the output end of the power supply system is electrically connected with the vehicle body, the navigation system and the safety obstacle avoidance system.

Description

Active following crematory urn transfer robot

Technical Field

The utility model relates to the technical field of transfer robots, in particular to an active following bone ash transfer robot.

Background

In recent times, most areas in China are cremated, cremation is needed to be carried out integrally after people go out, cremated ashes are put into cremains to be buried, a funeral is generally arranged before the cremation, the cremation is carried out on the dead, the cremation is needed to be transported to a sacrificial area or a depositing area, and after the sacrificial is finished, the cremation is transported to a cemetery to be buried.

At present, people usually adopt manual carrying when transferring the crematory urn, or the crematory urn is carried on a crane, then the crematory urn is lifted by manual work, and because of the common reason of funeral and interment etiquette, the crane shape and the frame body are designed to be heavier, so the crematory urn is carried by manual work or lifted by crane, and the crematory urn is time-consuming and labor-consuming, and the crematory urn is in falling risk, so the crematory urn is damaged, resources are wasted, the cost is increased, unnecessary heart wounds are caused for the transfer of the crematory urn, and therefore, the transfer work of the crematory urn has the problems of time-consuming and labor-consuming carrying and falling risk

Disclosure of Invention

9. In order to solve the above problems, that is, the transferring work of the urn has the problems of time and labor waste during transferring and falling risk, the utility model provides an active following urn transferring robot, which comprises:

the vehicle body is used for driving to walk;

a main frame coupled to an upper surface of the body for accommodating the urn;

a navigation system mounted on a surface of the main frame near a traveling direction of the vehicle body, an output end of the navigation system being electrically connected to the vehicle body for controlling the traveling direction of the vehicle body;

a safety obstacle avoidance system mounted on a surface of the main frame on a side thereof close to the vehicle body advancing direction for detecting an obstacle in the vehicle body advancing direction;

the power supply system is arranged in the main frame, and the output end of the power supply system is electrically connected with the vehicle body, the navigation system and the safety obstacle avoidance system so as to supply power to the vehicle body, the navigation system and the safety obstacle avoidance system.

Through adopting above-mentioned technical scheme, navigation and the cooperation of automobile body can make the automobile body initiative follow the people and walk, and then replaced the work of artifical transport cinerary casket, and labour saving and time saving, convenient and fast keeps away barrier system safely and can avoid the automobile body walking in-process to bump, and then makes the automobile body can more steady walking, avoids the cinerary casket to drop from the automobile body.

The utility model is further provided with: the vehicle body comprises a chassis, and four wheels are arranged on the chassis through a suspension damping mechanism; the chassis is also provided with a first driving device which is connected with the rotating shaft of the wheel through a sprocket chain and is used for driving the wheel to rotate.

Through adopting above-mentioned technical scheme, hang damper and can guarantee that four wheels land simultaneously when walking, walk more steadily to can adapt to multiple different topography, and then make the cinerary casket of placing on the main frame can be more steady.

The utility model is further provided with: the navigation system comprises a vision sensor, a lens of the vision sensor is arranged towards the advancing direction of the car body, an output end of the vision sensor is electrically connected with the driving device I and used for outputting an electric frequency signal to the driving device I, and the driving device I adjusts the speed based on the electric frequency signal.

By adopting the technical scheme, the visual sensor can achieve the purpose of tracking the target personnel, and transmits the signal of tracking the target personnel to the driving device I, and the driving device I is controlled to drive the wheel to move towards the direction of the target personnel so as to achieve the purpose of actively following the target personnel.

The utility model is further provided with: the safety obstacle avoidance system comprises an emergency stop button, a safety touch edge and an obstacle avoidance sensor; the emergency stop button is connected in series between the vehicle body and the power supply system and is used for cutting off the connection between the vehicle body and the power supply system; the safety contact edge is arranged on one side surface of the main frame, which is close to the advancing direction of the vehicle body, and is made of rubber materials; the detection end of the obstacle avoidance sensor is arranged towards the advancing direction of the vehicle body, and the output end of the obstacle avoidance sensor is electrically connected with the driving device one so as to control the driving device one to regulate the speed.

Through adopting above-mentioned technical scheme, emergency stop button can in time cut off the connection between automobile body and the power supply system when the emergency appears, and then makes the automobile body outage stop operation. The safe edge that touches can play the cushioning effect when this device bumps with other objects, and then reduces the produced range of rocking of collision, makes the device more reliable and stable. The obstacle avoidance sensor is matched with the first driving device, so that the purpose of detecting an obstacle and driving the vehicle body to bypass the obstacle can be achieved, and collision with the obstacle is avoided.

The utility model is further provided with: a cover plate is connected to the main frame for protecting a mechanism mounted in the main frame.

By adopting the technical scheme, the cover plate can protect the structure inside the main frame.

The utility model is further provided with: the lifting mechanism is arranged in the middle of the main frame and comprises a scissor type lifting frame, a storage plate is arranged on the lifting frame, a hydraulic cylinder is arranged below the storage plate, and the output end of the hydraulic cylinder is connected with the storage plate and used for driving the storage plate to lift.

Through adopting above-mentioned technical scheme, elevating gear can drive the cinerary casket up-and-down motion, and then when getting and putting the cinerary casket, can be through elevating gear with put the thing board rise to the cover plate wait high state with the main frame upper surface to make the getting of cinerary casket put more conveniently, and in the transportation, can be through elevating gear with put the thing board decline to the below of main frame upper surface cover plate, the restriction of cover plate can be received to the cinerary casket like this, and then avoid the phenomenon that the landing can appear in the cinerary casket.

The utility model is further provided with: the turnover mechanism comprises a second driving device, the second driving device is fixedly connected with the vertical rod, the output end of the second driving device is fixedly connected with a sun shield, the sun shield is arranged above the storage plate, and the second driving device is used for driving the sun shield to rotate.

Through adopting above-mentioned technical scheme, in the transportation, the sunshading board can play the effect of sunshade to the crematory urn, and when getting and putting the crematory urn, just can rotate to the state of standing through drive arrangement two drive sunshading board to avoid the sunshading board to can cause the influence to getting and putting the crematory urn.

The utility model is further provided with: a display screen is arranged on a cover plate close to the advancing direction of the vehicle body, and the power supply system is electrically connected with the display screen.

By adopting the technical scheme, the display screen can realize the purposes of synchronously playing the influence and the video and audio data.

The beneficial effects of the utility model are as follows:

1. through the cooperation of automobile body and navigation, realized making the automobile body initiative follow the purpose of target personnel walking, and then replaced the work of manual handling cinerary casket, labour saving and time saving, convenient and fast.

2. Through hanging damper, four wheels can be guaranteed to land simultaneously when walking, and then walking and the cinerary casket of placing can both be more steady.

3. The safety obstacle avoidance system can enable the device to automatically avoid obstacle to walk when encountering obstacles, avoid collision and further enable the device to be more stable and reliable.

4. The turnover mechanism drives the sun shield to turn over, so that the manual taking and placing cinerary casket can not be influenced, and the sun shield and shading requirements can be met.

5. The lifting mechanism is matched with the cover plate, so that the crematory urn can be more stable in the transferring process.

Drawings

Fig. 1 shows a schematic structure of the present utility model.

Fig. 2 shows a schematic view of the structure of the present utility model with the cover plate removed.

Fig. 3 shows a schematic structural view of a vehicle body.

Fig. 4 shows a top view of the vehicle body.

Fig. 5 shows a schematic structural view of the lifting structure.

Fig. 6 shows a schematic structural view of the tilting mechanism.

Reference numerals: 1. a vehicle body; 11. a chassis; 12. a suspension damping mechanism; 13. a wheel; 14. a first driving device; 2. a main frame; 3. a navigation system; 4. a safety obstacle avoidance system; 41. an emergency stop button; 42. an obstacle avoidance sensor; 43. safe edge touching; 5. a power supply system; 6. a cover plate; 7. a lifting mechanism; 71. a lifting frame; 72. a storage plate; 73. a hydraulic cylinder; 8. a turnover mechanism; 81. a vertical rod; 82. a second driving device; 83. a sun shield.

Detailed Description

Preferred embodiments of the present utility model are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are merely for explaining the technical principles of the present utility model, and are not intended to limit the scope of the present utility model.

The utility model provides an active following crematory urn transfer robot which comprises a vehicle body 1 for walking, wherein a rectangular main frame 2 is connected to the vehicle body 1 through screws, and a crematory urn is placed on the main frame 2 and is driven by the vehicle body 1 to walk. The main frame 2 is provided with a navigation system 3, the navigation system 3 is arranged on one side surface of the main frame 2, which is close to the advancing direction of the vehicle body 1, and the output end of the navigation system 3 is electrically connected with the vehicle body 1 so as to be used for controlling the walking direction of the vehicle body 1.

The main frame 2 is further provided with a safety obstacle avoidance system 4, the safety obstacle avoidance system 4 is arranged on one side surface of the main frame 2, which is close to the advancing direction of the vehicle body 1, so as to be used for detecting an obstacle in the advancing direction of the vehicle body 1, and the output end of the safety obstacle avoidance system 4 is electrically connected with the vehicle body 1 so as to be used for controlling the vehicle body 1 to avoid obstacle walking.

The main frame 2 internally installs a power supply system 5, and the power supply system 5 is the group battery, and the output of power supply system 5 is all electric connection with automobile body 1, navigation system 3 and safe obstacle avoidance system 4 to be used for supplying its required electric energy to automobile body 1, navigation system 3 and safe obstacle avoidance system 4.

The vehicle body 1 comprises a chassis 11, four suspension damping mechanisms 12 are arranged on the chassis 11, the chassis 11 is provided with four wheels 13 through the suspension damping mechanisms 12, one end of a rotating shaft of each wheel 13 extends into the chassis 11, and a sprocket wheel is welded on one end extending into the chassis 11. The two sides of the chassis 11 are respectively provided with a first driving device 14, the first driving device 14 is a driving motor, the first driving device 14 is fixedly connected to the outer side of the chassis 11 through bolts, an output shaft of the first driving device 14 stretches into the chassis 11, a pair of mutually parallel chain wheels are welded on the output shaft of the first driving device 14, the first driving device 14 is connected with two wheels 13 positioned on the same side of the chassis 11 through chain wheels and chains, the first driving device 14 drives the wheels 13 to rotate through the chain wheels and chains, and an output end of the power supply system 5 is electrically connected with the first driving device 14 so as to achieve the purpose of supplying power to the first driving device 14.

The navigation system 3 comprises a vision sensor, the vision sensor is an inspecer series, a detection lens of the vision sensor is arranged towards the advancing direction of the vehicle body 1, the output end of the vision sensor is electrically connected with the first driving device 14, the vision sensor can position target personnel, when the target personnel are locked, the vision sensor can output an electric frequency signal to the first driving device 14, a control panel of the first driving device 14 starts to move based on the electric frequency signal, the vehicle body 1 is driven to move towards the direction of the target personnel, and then the purpose of active following is achieved.

The safety obstacle avoidance system 4 comprises an emergency stop button 41, a safety touch edge 43 and an obstacle avoidance sensor 42, wherein the emergency stop button 41 is arranged on the upper surface of the bamboo basket, the emergency stop button 41 is connected in series between the first driving device 14 and the power supply system 5, and when an emergency occurs, the first driving device 14 and the power supply system 5 can be disconnected by pressing the emergency stop button 41, so that the first driving device 14 is powered off to stop working, and the emergency stop is realized.

The safety contact edge 43 is installed on one side surface of the main frame 2, which is close to the advancing direction of the vehicle body 1, and the convex main frame 2 is arranged, the safety contact edge 43 is made of rubber materials, so that even if collision occurs, the safety contact edge 43 contacts before an obstacle, the collision to the main frame 2 is avoided, the safety contact edge 43 made of rubber can play a certain role in buffering, the shaking amplitude generated by the collision is reduced, and the device is more stable and reliable.

The obstacle avoidance sensor 42 is a pomeas line laser sensor, the detection end of which is arranged towards the advancing direction of the vehicle body 1 so as to detect an obstacle in the advancing direction of the vehicle body 1, and the output end of the obstacle avoidance sensor is electrically connected with the driving device I14 so as to control the driving device I14 to regulate the speed, so that the vehicle body 1 performs obstacle avoidance steering, and the vehicle body 1 is prevented from colliding with other objects.

It should be noted that, the control of the visual sensor and the obstacle avoidance sensor 42 by controlling the detection distances of the two sides avoids interference, the detection distance of the visual sensor is greater than the detection distance of the obstacle avoidance sensor 42, that is, only when the target person is out of the detection distance of the obstacle avoidance sensor 42, the visual sensor detects the target person, and the vehicle body 1 can be driven to move towards the target person.

The main frame 2 is connected with a cover plate 6 through screws, the cover plate 6 can protect the structure in the main frame 2, and the navigation system 3 and the obstacle avoidance system are both arranged on the cover plate 6.

The lifting mechanism 7 is arranged in the main frame 2, the lifting mechanism 7 is arranged below the cover plate 6 arranged on the upper surface of the main frame 2, the lifting mechanism 7 comprises a scissor-type lifting frame 71, a storage plate 72 is arranged on the lifting frame 71, two rods of the lifting frame 71 are rotationally connected with the storage plate 72, the other two rods are slidably connected with the storage plate 72 so as to realize a lifting function, a hydraulic cylinder 73 is arranged below the storage plate 72, the hydraulic cylinder 73 is fixedly connected inside the main frame 2, and the output end of the hydraulic cylinder 73 is fixedly connected with the storage plate 72 so as to be used for driving the storage plate 72 to lift.

Initially, the placing plate 72 is located below the cover plate 6, when the hydraulic cylinder 73 drives the placing plate 72 to lift, the placing plate 72 can be jacked to a position not lower than the cover plate 6, and then when the crematory urn is taken and placed, the placing plate 72 can be lifted by driving the hydraulic cylinder 73, so that the crematory urn can be taken and placed more conveniently, and when the crematory urn is transported, the placing plate 72 can drive the crematory urn to descend by driving the hydraulic cylinder 73, the crematory urn is lowered to a position where a crematory urn part is located above the cover plate 6, and a part of the crematory urn is located below the cover plate 6, so that the cover plate 6 can play a limiting role on the horizontal direction of the crematory urn, and the crematory urn can be more stable when transported.

Still through two pole settings 81 of bolt fixedly connected with on the main frame 2, two pole settings 81 mutual parallel arrangement, two pole settings 81 set up on the upper surface of main frame 2, be connected with tilting mechanism 8 jointly on two pole settings 81, tilting mechanism 8 is including drive arrangement two 82, drive arrangement two 82 is driving motor, drive arrangement two 82 passes through bolt fixed connection with drive one pole setting 81, the output of drive arrangement two 82 passes through bolt fixed connection sunshading board 83, sunshading board 83 sets up in the top of putting the thing board 72, sunshading board 83 deviates from one side surface and another pole setting 81 swivelling joint of drive arrangement two 82. The output end of the power supply system 5 is electrically connected to the second driving device 82, so as to supply power to the second driving device 82.

When the crematory urn is taken and placed, the second driving device 82 drives the sun shield 83 to turn to the standing state, so that the sun shield 83 is prevented from affecting the taking and placing of the crematory urn, and when the crematory urn is transported, the second driving device 82 drives the sun shield 83 to turn to the horizontal state, so that the crematory urn on the opposite object plate 72 plays a role in shading.

A cover plate 6 close to the advancing direction of the car body 1 is also provided with a display screen through screws, the power supply system 5 is electrically connected with the display screen, and the display screen can be connected with a storage device, so that the purposes of synchronously playing influence and video and audio data are realized.

In summary, the utility model realizes the purpose of enabling the vehicle body 1 to actively follow the target person to walk through the cooperation of the vehicle body 1 and the navigation system 3, thereby replacing the manual operation of carrying the crematory urn, saving time and labor, and being convenient and quick. Through hanging damper 12, can guarantee that four wheels 13 are grounded simultaneously when walking, and then walking and the cinerary casket of placing can both be more steady. The safety obstacle avoidance system 4 can enable the device to automatically avoid obstacle to walk when encountering obstacles, avoid collision and further enable the device to be more stable and reliable. The turnover mechanism 8 drives the sun shield 83 to turn over, so that manual taking and placing of the cinerary casket cannot be affected, and the sun shield requirement can be met. The lifting mechanism 7 and the cover plate 6 are matched, so that the crematory urn can be more stable in the transferring process.

While the utility model has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the utility model, and in particular, the technical features set forth in the various embodiments may be combined in any manner so long as there is no structural conflict. The present utility model is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.

In the description of the present utility model, terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, which indicate a direction or a positional relationship, are based on the direction or the positional relationship shown in the drawings, are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus are not to be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, it should be noted that, in the description of the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those skilled in the art according to the specific circumstances.

The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, article, or apparatus/means 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, article, or apparatus/means.

Thus far, the technical solution of the present utility model has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present utility model is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present utility model, and such modifications and substitutions will fall within the scope of the present utility model.

Claims (8)

1. An initiative following cinerary casket transfer robot which characterized in that: comprising the following steps:

a vehicle body (1) for driving walking;

a main frame (2) connected to an upper surface of the body (1) for accommodating a urn;

a navigation system (3) mounted on a side surface of the main frame (2) close to the advancing direction of the vehicle body (1), an output end of the navigation system (3) being electrically connected with the vehicle body (1) for controlling the advancing direction of the vehicle body (1);

a safety obstacle avoidance system (4) mounted on the main frame (2) adjacent to the vehicle body (1)

On one side surface in the advancing direction for detecting an obstacle in the advancing direction of the vehicle body (1);

a power supply system (5) installed inside the main frame (2), and an output end of the power supply system (5) and the vehicle body (1), the navigation system (3) and the safety obstacle avoidance system (4)

The electric connection is used for supplying power to the vehicle body (1), the navigation system (3) and the safety obstacle avoidance system (4).

2. The active follow urn transfer robot of claim 1 wherein: the vehicle body (1) comprises a chassis (11), and four wheels (13) are arranged on the chassis (11) through a suspension damping mechanism (12); the chassis (11) is also provided with a first driving device (14), and the first driving device (14) is connected with the rotating shaft of the wheel (13) through a sprocket chain so as to be used for driving the wheel (13) to rotate.

3. The active follow urn transfer robot of claim 2 wherein: the navigation system (3) comprises a vision sensor, a lens of the vision sensor is arranged towards the advancing direction of the vehicle body (1), an output end of the vision sensor is electrically connected with the driving device I (14) and is used for outputting an electric frequency signal to the driving device I (14), and the driving device I (14) adjusts the speed based on the electric frequency signal.

4. The active follow urn transfer robot of claim 2 wherein: the safety obstacle avoidance system (4) comprises an emergency stop button (41), a safety touch edge (43) and an obstacle avoidance sensor (42); the emergency stop button (41) is connected in series between the vehicle body (1) and the power supply system (5) for cutting off the connection between the vehicle body (1) and the power supply system (5); the safety contact edge (43) is arranged on one side surface of the main frame (2) close to the advancing direction of the vehicle body (1), and the safety contact edge (43) is made of rubber materials; the detection end of the obstacle avoidance sensor (42) is arranged towards the advancing direction of the vehicle body (1), and the output end of the obstacle avoidance sensor (42) is electrically connected with the first driving device (14) so as to control the first driving device (14) to regulate speed.

5. The active follow urn transfer robot of claim 1 wherein: a cover plate (6) is connected to the main frame (2) for protecting a mechanism mounted in the main frame (2).

6. The active follow urn transfer robot of claim 5 wherein: the lifting mechanism (7) is arranged in the middle of the main frame (2), the lifting mechanism (7) comprises a scissor type lifting frame (71), a storage plate (72) is arranged on the lifting frame (71), a hydraulic cylinder (73) is arranged below the storage plate (72), and the output end of the hydraulic cylinder (73) is connected with the storage plate (72) so as to drive the storage plate (72) to lift.

7. The active follow urn transfer robot of claim 6 wherein: the novel solar energy storage device is characterized in that a turnover mechanism (8) is connected to the main frame (2) through a vertical rod (81), the turnover mechanism (8) comprises a second driving device (82), the second driving device (82) is fixedly connected with the vertical rod (81), the output end of the second driving device (82) is fixedly connected with a sun shield (83), the sun shield (83) is arranged above the storage plate (72), and the second driving device (82) is used for driving the sun shield (83) to rotate.

8. The active follow urn transfer robot of claim 5 wherein: a display screen is arranged on a cover plate (6) close to the advancing direction of the vehicle body (1), and the power supply system (5) is electrically connected with the display screen.