WO2019041071A1

WO2019041071A1 - Movable robot

Info

Publication number: WO2019041071A1
Application number: PCT/CN2017/099212
Authority: WO
Inventors: 刘哲
Original assignee: 刘哲
Priority date: 2017-08-27
Filing date: 2017-08-27
Publication date: 2019-03-07

Abstract

A movable robot, comprising a robot body and an intelligent universal moving wheel body (1) fixedly connected to the robot body. A base (2) is fixed above the intelligent universal moving wheel body (1); deadbolts (3) are mounted on the surface of the base (2); a rotating shaft (4) is connected inside each deadbolt (3); the top end of the rotating shaft (4) is provided with a rotating motor (5); telescopic rotating shafts (6) are fixed on two sides of the base (2); the surface of each telescopic rotating shaft (6) is connected to a connecting seat (7); a telescopic arm (702) is welded on the lower end of the connecting seat (7); the head end of each telescopic rotating shaft (4) is provided with a gravity center sensor (701), and a support palm (703) is fixed to the tail end of the telescopic arm (702); an obstacle sensor (8) is mounted on the front side of the base (2); a baffle plate (9) is welded below the rotating shaft (4); two sides of the baffle plate (9) are connected to support frames (13); both inner and outer sides of each support frame (13) are provided with fixing bolts (10); a wheel shaft (12) is connected inside each fixing bolt (10); a moving wheel (11) is mounted on the center of the wheel shaft (12). The movable robot is provided with rotating motors and rotating shafts, and thus can implement automatic sensing and steering according to different environments, so as to make the robot more intelligent.

Description

Mobile robot

Technical field

The invention relates to the field of robots, in particular to a movable robot.

Background technique

A robot is a machine that automatically performs work. It can accept human command, run pre-programmed procedures, or act on principles that are based on artificial intelligence techniques. Its mission is to assist or replace the work of human work, such as production, construction, or dangerous work. It is the product of advanced integrated cybernetics, mechatronics, computers, materials, and bionics. It has important applications in the fields of industry, medicine, agriculture, construction, and even military. However, there are a series of defects in the common robots on the market. For example, most of the existing robots have a single mobile function and only have one-way mobile functions. Moreover, the existing robots have unstable center of gravity and are easy to fall and cause damage. The existence of these problems affects the use of robots on the market and can not meet the needs of use. To this end, we propose a mobile robot.

Summary of the invention

The object of the present invention is to provide a mobile robot to solve the above-mentioned background art. Most of the existing robots have a single mobile function, and only have a one-way mobile function, and the existing robot moves the center of gravity unstable, and is easy to fall and cause damage. The problem.

In order to achieve the above object, the present invention provides the following technical solution: a movable robot comprising a robot body and a smart universal moving wheel body fixedly connected to the robot body, wherein the smart universal moving wheel body is fixed with a base above A fixing bolt is mounted on a surface of the base, a rotating shaft is connected to the inside of the fixing bolt, a rotating electric machine is disposed at a top end of the rotating shaft, and a telescopic rotating shaft is fixed on both sides of the base, and a surface of the telescopic rotating shaft is connected a connecting seat, a lower end of the connecting seat is welded with a telescopic arm, and a front end of the telescopic rotating shaft is provided with a center of gravity sensor, and the end of the telescopic arm is fixed Supporting a palm, an obstacle sensor is mounted on a front surface of the base, a baffle is welded under the rotating shaft, and two sides of the baffle are connected with a support frame, and the inner and outer sides of the support frame are provided with fixing bolts The fixing bolt is internally connected with an axle, and a center of the axle is mounted with a moving wheel.

Preferably, the rotating electrical machine is electrically connected to the rotating shaft, and the rotating shaft is movably connected to the fixing bolt.

Preferably, the support frame is fixedly connected to the baffle, and the baffle is tightly welded to the rotating shaft.

Preferably, the obstacle sensor is connected to the base, and the obstacle sensor is connected to the rotating electrical machine signal.

Preferably, the telescopic rotating shaft is provided with two, and the telescopic rotating shaft is inserted and connected with the connecting seat.

Preferably, the center of gravity sensor is connected to the telescopic arm, and the support palm is connected to the telescopic arm.

Compared with the prior art, the present invention has the beneficial effects that the movable robot is provided with a smart universal moving wheel, and the smart universal moving wheel is provided with a rotating electric machine and a rotating shaft, and the rotating electric machine and the rotating shaft are electrically The connection and the rotating shaft are movably connected with the fixing bolt. The existing robot in the market has a single moving mode, and the moving position cannot be adjusted by itself, so that there is a lot of trouble in moving. The device has a rotating shaft and can be rotated by the rotating motor. Adjusting the moving orientation makes the device more intelligent, the support frame is fixedly connected with the baffle, and the baffle is tightly welded to the rotating shaft, and the baffle above the moving wheel can fly the robot when moving The dust block prevents the flying dust splashed during the movement from smudging the robot itself, thereby eliminating the usual cleaning work, saving a lot of time and labor, thereby improving the work efficiency, and the obstacle sensor is opposite to the base. Connected, and the obstacle sensor is connected to the rotary motor signal, and the existing robots on the market cannot be changed by environmental terrain and the like. Orientation, such as a wall in front of the mobile, the ordinary robot does not move the azimuth to move, the device is equipped with an obstacle sensor, which can sense the obstacle in front, so that the information is transmitted to the rotating electric machine to turn the rotating shaft, thereby realizing The robot adjusts itself according to factors such as terrain For the purpose of the dynamic orientation, the telescopic rotating shaft is provided with two, and the telescopic rotating shaft is inserted and connected with the connecting seat. The center of gravity sensor is connected with the telescopic arm, and the supporting palm is connected with the telescopic arm. The robot does not have anti-drop protection measures. When the robot moves, the center of gravity is unstable and it is tilted and falls. It is very likely that the robot will be damaged or malfunction. The device is equipped with a center of gravity sensor, which can be tilted when the robot moves its center of gravity. Quickly sense and transmit the information to the telescopic arm. The telescopic arm is normally in the stowed state, parallel to the base. When receiving the signal from the center of gravity sensor, it quickly rotates and elongates, so that the support palm touches the ground to support the robot. Then continue to stretch to make the robot return to the previous state, the support palm is made of rubber material, which can increase the friction with the ground, prevent the ground smooth and fail to prevent falling, thus making the device more stable and safe.

DRAWINGS

1 is a schematic view showing the overall structure of a smart universal moving wheel of the present invention;

2 is a schematic structural view of a telescopic support device according to the present invention;

3 is a schematic structural view of a structural operation process of the present invention.

In the figure: 1, intelligent universal moving wheel body, 2, base, 3, fixed bolt, 4, rotating shaft, 5, rotating electric machine, 6, telescopic shaft, 7, connecting seat, 701, center of gravity sensor, 702, telescopic Arm, 703, support palm, 8, obstacle sensor, 9, baffle, 10, fixing bolt, 11, moving wheel, 12, axle, 13, support frame.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

Referring to Figures 1-3, the present invention provides a technical solution: a mobile robot, including a machine Human body (not shown), 1, intelligent universal moving wheel body, 2, base, 3, fixed bolt, 4, rotating shaft, 5, rotating electric machine, 6, telescopic shaft, 7, connecting seat, 701, center of gravity induction 702, telescopic arm, 703, support palm, 8, obstacle sensor, 9, baffle, 10, fixing bolt, 11, moving wheel, 12, axle, 13, support frame, the intelligent universal moving wheel body A base 2 is fixed on the upper surface of the base 2, and a fixing bolt 3 is mounted on the surface of the base 2. The rotating shaft 4 is connected to the inside of the fixing bolt 3. The rotating shaft 4 is provided at the top end of the rotating shaft 4, and is currently available on the market. The robot moves in a relatively simple manner and cannot adjust the moving position by itself, so that there is a lot of trouble in moving. The device is provided with a rotating shaft 4, which can be adjusted by the rotating motor 5 to make the device more intelligent, and the base is more intelligent. A telescopic rotating shaft 6 is fixed on both sides of the telescopic rotating shaft 6, and a connecting seat 7 is connected to the surface of the telescopic rotating shaft 6. The lower end of the connecting base 7 is welded with a telescopic arm 702. The first end of the telescopic rotating shaft 4 is provided with a center of gravity sensor 701. The end of the telescopic arm 702 is fixed with a branch Palm 703, the common robot does not have anti-drop protection measures. When the robot moves, the center of gravity is unstable and tilts, and it falls. It is very likely that the robot will be damaged or malfunction. The device is equipped with a center of gravity sensor 701, which can be moved by the robot. When the center of gravity is unstable, it is quickly sensed and transmitted to the telescopic arm 702. The telescopic arm 702 is normally in a stowed state, parallel to the base 2, and when it receives the signal of the center of gravity sensor 701, it rapidly rotates and elongates, so that The support palm 703 contacts the ground to support the robot, and then continues to stretch to return the robot to the previous state. The support palm 703 is made of rubber material, which can increase the friction with the ground and prevent the ground from being smooth and fail to prevent falling. The device has higher stability and safety. The front surface of the base 2 is equipped with an obstacle sensor 8. The existing robots on the market cannot change the moving direction by factors such as the environment topography, such as a wall in front of the moving body. The ordinary robot does not move by changing the azimuth. The device is provided with an obstacle sensor 8, which can sense the obstacle in front and thus The information is transmitted to the rotating electrical machine 5 to steer the rotating shaft 4, thereby realizing the purpose of the robot to adjust the moving orientation according to the terrain and the like. The baffle 9 is welded under the rotating shaft 4, and the baffle 9 is connected with support on both sides thereof. The frame 13 is provided with fixing bolts 10 on both inner and outer sides of the support frame 13. The inside of the fixing bolt 10 is connected with an axle 12, and the center of the axle 12 is mounted with a moving wheel 11, and a baffle above the moving wheel 11 9 can be The flying dust block that the robot moves when it is moved prevents the flying dust from splashing and smudging the robot itself, thereby eliminating the usual cleaning work, saving a lot of time and labor, thereby improving work efficiency.

Working principle: Before using this kind of mobile robot, the simple structure of the device should be briefly understood. Then, the robot and the intelligent universal moving wheel body 1 are fixed, so that the robot starts to move through the moving wheel 11, above the moving wheel 11. The baffle 9 can block the flying dust brought by the robot when moving, preventing the flying dust splashed during the movement from smudging the robot itself, and when the device senses an obstacle in front through the obstacle sensor 8 when moving, the obstacle sensing The device 8 transmits information to the rotating electrical machine 5 to steer the rotating shaft 4, thereby realizing the purpose of the robot to adjust the moving orientation according to factors such as terrain, and the moving wheel 11 of the device can perform 360-degree rotation in all directions to prevent When the robot moves, the center of gravity is unstable and falls, causing damage or malfunction. The device adds a telescopic shaft 6 on both sides of the base 2. The surface of the telescopic shaft 6 is provided with a center of gravity sensor, and the center of gravity sensor 701 can move the center of gravity of the robot. When the tilt occurs, it is quickly sensed, and the information is transmitted to the telescopic arm 702. The telescopic arm 702 is normally in a stowed state, parallel to the base 2, and receives the center of gravity sensor. When the signal of 701 is fast, it is rotated and extended, so that the supporting palm 703 contacts the ground to support the robot, and then continues to extend to return the robot to the previous state, and the supporting palm 703 is made of rubber material, which can increase the friction with the ground. Preventing the smoothness of the ground from failing to prevent the fall is the entire working principle of the present invention.

While the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art The scope of the invention is defined by the appended claims and their equivalents.

Claims

A movable robot, comprising: a robot body and a smart universal moving wheel body (1) fixedly connected with the robot body, wherein the smart universal moving wheel body (1) is fixed with a base (2) The surface of the base (2) is mounted with a fixing bolt (3), the inside of the fixing bolt (3) is connected with a rotating shaft (4), and the top end of the rotating shaft (4) is provided with a rotating electric machine (5). A telescopic rotating shaft (6) is fixed to both sides of the base (2), a connecting seat (7) is connected to the surface of the telescopic rotating shaft (6), and a telescopic arm (702) is welded to a lower end of the connecting base (7). a first end of the telescopic rotating shaft (4) is provided with a center of gravity sensor (701), a distal end of the telescopic arm (702) is fixed with a supporting palm (703), and an obstacle sensor is mounted on the front surface of the base (2) (8) A baffle (9) is welded to the lower side of the rotating shaft (4), and two sides of the baffle (9) are connected with a support frame (13), and inner and outer sides of the support frame (13) Each is provided with a fixing bolt (10), and an inner portion of the fixing bolt (10) is connected with an axle (12), and a center of the axle (12) is mounted with a moving wheel (11).
A movable robot according to claim 1, wherein said rotating electrical machine (5) is electrically connected to said rotating shaft (4), and said rotating shaft (4) and said fixing bolt (3) Active connection.
A movable robot according to claim 1, wherein said support frame (13) is fixedly coupled to said shutter (9), and said shutter (9) is tightly coupled to said rotary shaft (4) welding.
A movable robot according to claim 1, wherein said obstacle sensor (8) is coupled to said base (2), and an obstacle sensor (8) and said rotating motor (5) Signal connection.
A movable robot according to claim 1, characterized in that the telescopic rotating shaft (6) is provided with two, and the telescopic rotating shaft (6) is inserted and connected with the connecting seat (7).
A movable robot according to claim 1, wherein said center of gravity sensor (701) is signally coupled to said telescopic arm (702), said support arm (703) and said telescopic arm (702) ) connected.
A movable robot according to claim 1, wherein said moving wheel (11) is a plurality.
A movable robot according to claim 7, characterized in that the moving wheels (11) are three or four.