Security inspection robot with anti-toppling mechanism

Abstract

The invention discloses a security inspection robot with an anti-toppling mechanism, and relates to the technical field of robots, the security inspection robot comprises an advancing assembly, the top of the advancing assembly is provided with a robot assembly, the robot assembly is internally provided with a stabilizing assembly, one side of the robot assembly is provided with an adjusting assembly, and the adjusting assembly is provided with an anti-toppling mechanism. A transmission assembly is arranged at the top of the adjusting assembly, supporting assemblies are arranged on the front side and the rear side of the robot assembly, the advancing assembly comprises an AGV trolley, the robot assembly comprises a shell, and an inner gear ring is fixedly connected to the position, close to the front side, of the bottom of the shell. According to the safety inspection robot, the problems that the robot easily falls down forwards when grabbing abnormal objects to eliminate hidden dangers and easily falls down backwards when pushing obstacles are effectively avoided, the using effect is improved, meanwhile, the robot can quickly recover the stable posture, and the anti-falling effect of the safety inspection robot is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a security inspection robot with an anti-dumping mechanism. Background Art

[0002] In today's era of rapid technological development, security inspection robots have become an important aid to security work in many places. They can be controlled autonomously or remotely, and perform patrol and monitoring operations in various areas. When conducting security inspections on large warehouses, security inspection robots are mainly composed of a visual recognition system, a driving mechanism at the bottom, and a robotic arm with a high degree of freedom. They can inspect the warehouse environment and grab and move dangerous goods, improving the security efficiency and safety in warehouse management.

[0003] In the existing technology, when security inspection robots used in warehouses move in the warehouse, they need to be able to push and sort fallen obstacles and grab and deliver abnormal objects. When pushing and grabbing heavier objects, the robot will lack balance due to the reaction force and the shift of the center of gravity, which can easily cause the robot to fall and be damaged.

[0004] Therefore, a security inspection robot with an anti-dumping mechanism is proposed to solve the problems raised in the above background technology. Summary of the Invention

[0005] The purpose of the present invention is to provide a security inspection robot with an anti-dumping mechanism to solve the problems raised by the above background technology.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: A security inspection robot with an anti-dumping mechanism comprises a traveling assembly, a robot assembly is provided on the top of the traveling assembly, a stabilizing assembly is provided inside the robot assembly, an adjusting assembly is provided on one side of the robot assembly, a transmission assembly is provided on the top of the adjusting assembly, support assemblies are provided on the front and rear sides of the robot assembly, the traveling assembly comprises an AGV trolley, the robot assembly comprises an outer shell, an inner gear ring is fixedly connected to the bottom of the outer shell near the front side, the stabilizing assembly comprises a counterweight ball, the number of the support assemblies is set to two groups, each group of the support assemblies comprises a connecting shaft, both ends of the connecting shaft are fixedly connected to a rotating frame, the outer surfaces of the two rotating frames are provided with sliding grooves at positions away from the connecting shaft, a sliding block is slidably embedded between the inner walls of the sliding grooves, a rotating shaft is rotatably connected between the outer surfaces of the two sliding blocks, a support roller is rotatably connected to the outer surface of the rotating shaft near the middle, the adjusting assembly comprises a fixed frame, and the transmission assembly comprises a lifting block.

[0007] Preferably, a connecting groove is provided near the middle position on the top of the AGV trolley, and a first motor with the output end facing upward is installed on the inner bottom of the connecting groove. The output end of the first motor is fixedly connected to a first gear, and the inner surface wall of the connecting groove and the outer surface of the inner gear ring are rotatably connected, and the outer surface of the first gear and the inner surface wall of the inner gear ring are meshed and connected near the top.

[0008] By adopting the above technical solution, the first motor is used to drive the first gear to rotate. After the first gear rotates, it can drive the inner gear ring and the outer shell to turn. The inner gear ring is composed of a ring part and an inner gear sleeve. The ring part is rotatably connected to the inner side of the connecting groove.

[0009] Preferably, an avoidance groove is provided at the top of the shell near the rear side, a second motor is fixedly installed at a position near the front side of the left surface of the shell, a lifting shaft is rotatably connected between the inner walls on both sides of the avoidance groove near the front side, both ends of the lifting shaft rotate through the inner wall of the shell and extend to the outside, the output end of the second motor is fixedly connected to the left end of the lifting shaft, a mechanical arm is fixedly connected to the outer surface of the lifting shaft near the middle position, the mechanical arm and the avoidance groove position cooperate, and the right end of the lifting shaft is fixedly connected to a friction plate.

[0010] By adopting the above technical solution, after starting the second motor to drive the lifting shaft, the horizontal robotic arm can be rotated forward, so that according to needs, the fallen obstacles can be pushed and sorted by the robotic arm, and abnormal objects can be grabbed and sent out of the warehouse to avoid safety hazards.

[0011] Preferably, the two connecting shafts are symmetrically rotatably connected between the inner walls on both sides of the shell near the front and rear edges, the rotating frame is bent, and the two supporting rollers are respectively located on the front and rear sides of the shell, wherein the front surfaces of the two rotating frames are fixedly connected with the first pulleys, and the two first pulleys are respectively arranged concentrically with the two connecting shafts, and the outer surface of the first pulley is provided with a first transmission belt.

[0012] By adopting the above technical solution, after the bent rotating frame is stored upward, the two supporting rollers will be located near the upper part of the front and rear sides of the shell, without increasing the floor space of the device and ensuring good passability.

[0013] Preferably, the fixing frame is L-shaped, the fixing frame is fixedly connected to the right surface of the shell, the top of the fixing frame is fixedly connected to the upper frame near the right edge, the inner top of the upper frame is fixedly connected to the electric push rod, the telescopic end of the electric push rod is fixedly connected to the top of the lifting block, the top of the fixing frame is fixedly connected to the upward extending pulley frame near the edge, the right surface of the pulley frame is symmetrically connected to the second pulley and the third pulley at a position near the top, a second transmission belt is sleeved between the outer surfaces of the second pulley and the third pulley, the left surface of the pulley frame is rotatably connected to the fourth pulley at a position near the top, and the fourth pulley is fixedly connected to the third pulley through an axis.

[0014] By adopting the above technical solution, the upper frame is used to limit the interpenetrating shaft and to install the electric push rod. The pulley frame is used to install the second pulley, the third pulley and the fourth pulley. The electric push rod is used to drive the lifting block to move vertically up and down. During use, when the second pulley rotates, the third pulley will be driven to rotate synchronously in the same direction through the second transmission belt. At this time, the third pulley will drive the fourth pulley to rotate synchronously in the same direction through the shaft.

[0015] Preferably, the two ends of the lifting block are symmetrically connected to connecting rods, and the tops of the two connecting rods are respectively connected to the first slider and the second slider. The left surface of the first slider is connected to the interpenetrating shaft, and the outer surface of the interpenetrating shaft movably passes through the upper frame and the outer surface of the second slider, and the outer surface of the interpenetrating shaft slides through the outer surface of the second pulley.

[0016] By adopting the above technical solution, when the electric push rod is started and drives the lifting block to move upward, the lifting block will push the first slider and the second slider away from each other through the connecting rods on both sides. When the electric push rod is started and pushes the lifting block to move downward, the lifting block will pull the first slider and the second slider towards each other through the connecting rods on both sides. During this process, the lifting block is connected to the fixed output end of the electric push rod and can only move vertically downward, while the interlaced shaft moves horizontally through the upper frame. Therefore, the first slider and the second slider can only move linearly in the horizontal direction, and the first slider and the second slider move in a mirror image.

[0017] Preferably, the left surface of the second slider is fixedly connected to a semicircular sleeve, the left surface of the semicircular sleeve is rotatably connected to an outer gear sleeve through a plane bearing, the left surface of the outer gear sleeve is fixedly connected to a first friction plate, the second pulley is located on the inner side of the semicircular sleeve, the left end of the interpenetrating shaft is fixedly connected to a second friction plate, and the second friction plate and the first friction plate are both matched with the friction plate.

[0018] By adopting the above technical solution, the side of the semicircular sleeve close to the pulley frame is hollowed out to avoid the pulley frame and the second pulley, the third pulley and the fourth pulley. After the first friction plate and the second friction plate are tightly fitted with the friction plate, they can rotate with the friction plate under the action of friction force.

[0019] Preferably, the fourth pulley is connected to one of the first transmission belts, the outer surface of the outer gear sleeve is meshed with a second gear near the front side, the second gear is rotatably connected to the right surface of the outer shell, and a fifth pulley is fixedly connected at the center of the right surface of the second gear, and the fifth pulley is connected to the other first transmission belt.

[0020] By adopting the above technical solution, the thickness of the outer gear sleeve is greater than the thickness of the second gear. When the outer gear sleeve follows the second slider to slide left and right, it will always maintain an engaged state with the second gear. When the outer gear sleeve follows the lifting shaft to rotate, it will drive the second gear to rotate synchronously in the opposite direction. At this time, the second gear cooperates with the fifth pulley to drive the first pulley on the rear side and the rotating frame to rotate through the first transmission belt on the rear side. When the fifth pulley rotates, it will drive the first pulley on the front side and the rotating frame to rotate through the first transmission belt on the front side.

[0021] Preferably, the bottom center of the counterweight ball is fixedly connected to the first universal joint, the bottom of the first universal joint is installed with a first damper, the bottom end of the first damper is fixedly connected to the second universal joint, the bottom end of the second universal joint is fixedly connected to the inner bottom center of the connecting groove, the outer sleeve of the first damper is provided with a first spring, the outer surface of the counterweight ball is connected to a plurality of cables, and the top ends of the plurality of cables are fixedly connected to a position near the top of the inner wall of the outer shell.

[0022] By adopting the above technical solution, when the device is hit and tends to tip over during its movement, the counterweight ball suspended by cables inside the shell will generate a torque opposite to the tilt direction due to its own gravity, thereby preventing the robot from continuing to tilt. The counterweight ball can be suspended by multiple cables to limit the swing range of the counterweight ball, and the first universal joint, the second universal joint and the first damper at the bottom of the counterweight ball cooperate to generate a damping force to prevent the counterweight ball from swinging excessively.

[0023] Preferably, a second damper is fixedly connected between the inner surface wall of the sliding groove and the outer surface of the sliding block, and a second spring is sleeved on the outer portion of the second damper.

[0024] By adopting the above technical solution, the buffering and shock-absorbing effect provided by the second damper and the second spring can play a role in buffering and shock-absorbing the support roller when the stabilizing component is in the expanded state and follows the movement of the robot component. In addition, the support roller can better pass through bumpy sections through up and down displacement during the movement. When the stabilizing component is in the retracted state, the buffering and shock-absorbing effect provided by the second damper and the second spring can reduce impact damage during the movement of the robot component.

[0025] Compared with the prior art, the present invention has the following beneficial effects: 1. When the present invention is used, a traveling component is provided to drive the robot component to move. When scattered obstacles and damaged abnormal objects need to be pushed and grabbed for removal, the adjustment component and the transmission component are coordinated to enable the stabilization components designated on the front and rear sides to follow the movement of the robot arm, thereby providing stable support for the robot component. This design structure is novel and effectively avoids the problem of the robot easily falling forward when grabbing abnormal objects to eliminate hidden dangers and easily falling backward when pushing obstacles, thereby improving the use effect.

[0026] 2. When the present invention is used, when the robot assembly is hit and tilts during movement, the counterweight ball in the stabilizing assembly will generate a torque opposite to the tilt direction under the action of its own gravity. This torque can effectively prevent the device from continuing to tilt forward, and by arranging the first universal joint, the second universal joint, the first damper and the first spring in combination, the excessive swing of the counterweight ball can be effectively suppressed, thereby allowing the robot to quickly restore a stable posture, further improving the anti-dumping effect of the security inspection robot.

[0027] 3. When the present invention is in use, during the movement of the device, the stabilizing assembly is in an upwardly retracted state. At this time, the support rollers on the front and rear sides are located on the outside of the outer shell, so that when the robot assembly moves forward and backward, the support rollers provide anti-collision protection. When the support rollers are hit, they drive the sliding block to squeeze the second damper and the second spring inside the sliding groove. At this time, the second damper can provide a good buffering effect by expanding and contracting, thereby further reducing the impact force caused by the collision and improving the protection effect of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a structural schematic diagram of a security inspection robot with an anti-dumping mechanism according to the present invention; Figure 2 This is a three-dimensional diagram of a security inspection robot with an anti-dumping mechanism according to the present invention; Figure 3 This is a cross-sectional view of a security inspection robot with an anti-dumping mechanism according to the present invention; Figure 4 This is a schematic structural diagram of a traveling component of a security inspection robot with an anti-dumping mechanism according to the present invention; Figure 5 This is a cross-sectional view of a robot assembly of a security inspection robot with an anti-dumping mechanism according to the present invention; Figure 6 for Figure 5 Enlarged view of point A in the middle; Figure 7 This is a schematic diagram of the connections between the support assembly, adjustment assembly, and transmission assembly of a security inspection robot with an anti-dumping mechanism according to the present invention; Figure 8 This is a schematic structural diagram of a support assembly of a security inspection robot with an anti-dumping mechanism according to the present invention; Figure 9 This is a schematic diagram showing the connection between the adjustment component and the transmission component of a security inspection robot with an anti-dumping mechanism according to the present invention; Figure 10 This is a schematic structural diagram of an adjustment component of a security inspection robot with an anti-dumping mechanism according to the present invention; Figure 11 This is a schematic diagram of the transmission component structure of a security inspection robot with an anti-dumping mechanism according to the present invention.

[0029] In the figure: 1. Traveling assembly; 101. AGV trolley; 102. Connecting groove; 103. First motor; 104. First gear; 2. Robot assembly; 201. Housing; 202. Internal gear ring; 203. Second motor; 204. Lifting shaft; 205. Friction plate; 206. Robotic arm; 207. Avoidance groove; 3. Stabilizing assembly; 301. Cable; 302. Counterweight ball; 303. First universal joint; 304. Second universal joint; 305. First damper; 306. First spring; 4. Support assembly; 401. Connecting shaft; 402. Rotating frame; 403. Sliding groove; 404. Sliding block; 405. Second damper; 406. Second spring; 407. Rotating shaft; 408. Support roller; 409. First pulley; 410. First transmission belt; 5. Adjustment assembly; 501. Fixed frame; 502. Upper frame; 503. Pulley frame; 504. Second pulley; 505. Third pulley; 506. Fourth pulley; 507. Second transmission belt; 508. Electric push rod; 6. Transmission assembly; 601. Lifting block; 602. Connecting rod; 603. First slider; 604. Second slider; 605. Interlaced shaft; 606. Semicircular sleeve; 607. External gear sleeve; 608. First friction plate; 609. Second gear; 610. Fifth pulley; 611. Second friction plate. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the implementation regulations described are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0031] Example 1: Please refer to Figures 1-11As shown, the present invention provides a technical solution: a security inspection robot with an anti-dumping mechanism, comprising a traveling component 1, a robot component 2 is arranged on the top of the traveling component 1, a stabilizing component 3 is arranged inside the robot component 2, an adjusting component 5 is arranged on one side of the robot component 2, a transmission component 6 is arranged on the top of the adjusting component 5, and a supporting component 4 is arranged on the front and rear sides of the robot component 2. The traveling component 1 includes an AGV trolley 101, the robot component 2 includes a shell 201, and the bottom of the shell 201 is fixedly connected to an inner gear ring 202 near the front side. The stabilizing component 3 includes a matching The heavy ball 302 and the supporting components 4 are set to two groups, each group of supporting components 4 includes a connecting shaft 401, and both ends of the connecting shaft 401 are fixedly connected to a rotating frame 402. The outer surfaces of the two rotating frames 402 are located away from the connecting shaft 401 and are provided with a sliding groove 403. A sliding block 404 is slidably embedded between the inner surface walls of the sliding groove 403. A rotating shaft 407 is rotatably connected between the outer surfaces of the two sliding blocks 404. A supporting roller 408 is rotatably connected to the outer surface of the rotating shaft 407 near the middle. The adjusting component 5 includes a fixed frame 501, and the transmission component 6 includes a lifting block 601.

[0032] A connecting groove 102 is provided near the middle of the top of the AGV trolley 101. A first motor 103 with its output end facing upward is installed at the inner bottom of the connecting groove 102. A first gear 104 is fixedly connected to the output end of the first motor 103. The inner surface wall of the connecting groove 102 is rotatably connected to the outer surface of the inner gear ring 202. The outer surface of the first gear 104 is meshed with the inner surface wall of the inner gear ring 202 near the top. The AGV trolley 101 is mainly used to drive the device to move in the warehouse. In order to ensure good passability, it is connected to the robot component 2 The length and width of the bottom of the shell 201 are similar. The first motor 103 is used to drive the first gear 104 to rotate. After the first gear 104 rotates, it can drive the inner gear ring 202 and the shell 201 to turn, thereby completing the steering operation of the robot component 2 and other components, and can operate objects in different directions. During the rotation of the robot component 2, the stabilizing component 3, the supporting component 4, the adjusting component 5 and the transmission component 6 will follow the rotation. The inner gear ring 202 is composed of a ring part and an inner gear sleeve, and the ring part is rotatably connected to the inner side of the connecting groove 102.

[0033] An avoidance groove 207 is provided at the top of the shell 201 near the rear side, and a second motor 203 is fixedly installed on the left surface of the shell 201 near the front side. A lifting shaft 204 is rotatably connected between the inner walls on both sides of the avoidance groove 207 near the front side. Both ends of the lifting shaft 204 rotate through the inner wall of the shell 201 and extend to the outside. The output end of the second motor 203 is fixedly connected to the left end of the lifting shaft 204, and a mechanical arm 206 is fixedly connected to the outer surface of the lifting shaft 204 near the middle position. The position of the mechanical arm 206 and the avoidance groove 207 match, and a friction plate 205 is fixedly connected to the right end of the lifting shaft 204. The avoidance groove 207 is mainly used to avoid the mechanical arm 206 in the flipped state. After starting the second motor 203 to drive the lifting shaft 204, the horizontal mechanical arm 206 can be turned out, so that the mechanical arm 206 can push and sort the fallen obstacles as needed, and grab the abnormal items and send them out of the warehouse to avoid safety hazards.

[0034] The two connecting shafts 401 are symmetrically connected to the inner walls of the two sides of the shell 201 near the front and rear edges. The rotating frame 402 is bent, and the two support rollers 408 are respectively located on the front and rear sides of the shell 201. The front surfaces of the two rotating frames 402 are fixedly connected to the first pulleys 409, and the two first pulleys 409 are respectively arranged concentrically with the two connecting shafts 401, and the outer surfaces of the first pulleys 409 are respectively provided with a first transmission belt 410. The rotating frames 402 are grouped in pairs and rotatably connected to the outside of the shell 201 near the two lower corners through the connecting shafts 401. The two first pulleys 409 are respectively connected to the fourth pulley 506 and the fifth pulley 610 through the two first transmission belts 410 to form a transmission connection. After the bent rotating frame 402 is retracted upward, the two support rollers 408 will be located near the top of the front and rear sides of the shell 201, without increasing the footprint of the device, ensuring good passability.

[0035] The fixing frame 501 is L-shaped. The fixing frame 501 is fixedly connected to the right surface of the shell 201. The top of the fixing frame 501 is fixedly connected to the upper frame 502 near the right edge. The inner top of the upper frame 502 is fixedly connected to the electric push rod 508. The telescopic end of the electric push rod 508 is fixedly connected to the top of the lifting block 601. The top of the fixing frame 501 is fixedly connected to the upward extending pulley frame 503 near the edge. The right surface of the pulley frame 503 is symmetrically connected to the second pulley 504 and the third pulley 505 near the top. A second transmission belt 507 is sleeved between the outer surfaces of the second pulley 504 and the third pulley 505. The left surface of the pulley frame 503 is near the top The fourth pulley 506 is rotatably connected to the position, and the fourth pulley 506 is fixedly connected to the third pulley 505 through the shaft. The fixing frame 501 is installed on the shell 201, and the upper frame 502 is used to limit the interlaced shaft 605, and is also used to install the electric push rod 508. The pulley frame 503 is used to install the second pulley 504, the third pulley 505 and the fourth pulley 506. The electric push rod 508 is used to drive the lifting block 601 to move vertically up and down. During use, when the second pulley 504 rotates, it will drive the third pulley 505 to rotate synchronously in the same direction through the second transmission belt 507. At this time, the third pulley 505 will drive the fourth pulley 506 to rotate synchronously in the same direction through the shaft.

[0036] The two ends of the lifting block 601 are symmetrically connected to the connecting rods 602, and the tops of the two connecting rods 602 are respectively connected to the first slider 603 and the second slider 604. The left surface of the first slider 603 is connected to the interlaced shaft 605. The outer surface of the interlaced shaft 605 is movable through the outer surface of the upper frame 502 and the second slider 604. The outer surface of the interlaced shaft 605 slides through the outer surface of the second pulley 504. When the electric push rod 508 is started and drives the lifting block 601 to move upward, the lifting block 601 will push the first slider 60 through the connecting rods 602 on both sides. 3 and the second slider 604 move away from each other. When the electric push rod 508 is started and pushes the lifting block 601 downward, the lifting block 601 will pull the first slider 603 and the second slider 604 closer to each other through the connecting rods 602 on both sides. During this process, the lifting block 601 is connected to the fixed output end of the electric push rod 508 and can only move vertically downward, while the interpenetrating shaft 605 moves horizontally and penetrates the upper frame 502. Therefore, the first slider 603 and the second slider 604 can only move linearly in the horizontal direction, and the first slider 603 and the second slider 604 move in a mirror image.

[0037] The left surface of the second slider 604 is fixedly connected to a semicircular sleeve 606, and the left surface of the semicircular sleeve 606 is rotatably connected to an outer gear sleeve 607 through a plane bearing. The left surface of the outer gear sleeve 607 is fixedly connected to a first friction plate 608. The second pulley 504 is located inside the semicircular sleeve 606, and the left end of the interlaced shaft 605 is fixedly connected to a second friction plate 611. The second friction plate 611 and the first friction plate 608 both cooperate with the friction plate 205. When the lifting block 601 moves upward, the first slider 603 and the second slider 604 move away from each other. At this time, the second slider 604 approaches the friction plate 205 at the right end of the lifting shaft 204. At this time, the second slider 604 will press the first friction plate 608 on the surface of the outer gear sleeve 607 to fit with the friction plate 205 through the semicircular sleeve 606 and the plane bearing. Under the action of friction, the outer gear sleeve 607 will rotate with the lifting shaft 204. When the lifting block 601 moves downward, the first slider 603 and the second slider 604 will approach each other. At this time, the interpenetrating shaft 605 connected to the surface of the first slider 603 will slide inside the second slider 604 and the second pulley 504 and approach the friction plate 205. When the second friction plate 611 at the end of the interpenetrating shaft 605 is tightly fitted with the friction plate 205, under the action of friction force, the interpenetrating shaft 605 will drive the second pulley 504 to rotate along with the lifting shaft 204. The part of the interpenetrating shaft 605 close to the first slider 603 is circular, and a flat key groove is provided in the part close to the shell 201. The holes on the surfaces of the second slider 604 and the upper frame 502 are circular, and the surface of the second pulley 504 is provided with a matching flat key groove, so that the interpenetrating shaft 605 can slide and rotate freely inside the upper frame 502 and the second slider 604, while the interpenetrating shaft 605 can only slide inside the second pulley 504. When the interpenetrating shaft 605 rotates, it will drive the second pulley 504 to rotate synchronously.

[0038] The fourth pulley 506 is connected to one of the first transmission belts 410 for transmission. The outer surface of the outer gear sleeve 607 is meshed with the second gear 609 near the front side. The second gear 609 is rotatably connected to the right surface of the shell 201. The center of the right surface of the second gear 609 is fixedly connected to the fifth pulley 610. The fifth pulley 610 is connected to another first transmission belt 410 for transmission. The thickness of the outer gear sleeve 607 is greater than the thickness of the second gear 609. When the outer gear sleeve 607 slides left and right following the second slider 604, it will always remain in meshing with the second gear 609. When the outer gear sleeve 607 rotates following the lifting shaft 204, it will drive the second gear 609 to rotate synchronously in the opposite direction. At this time, the second gear 609 cooperates with the fifth pulley 610 to drive the first pulley 409 and the rotating frame 402 on the rear side to rotate through the first transmission belt 410 on the rear side. When the fifth pulley 610 rotates, it will drive the first pulley 409 and the rotating frame 402 on the front side to rotate through the first transmission belt 410 on the front side.

[0039] The use steps of the present invention are as follows: when using the device to conduct security inspections in a warehouse, the AGV trolley 101 is used to drive the robot assembly 2 to move and inspect in the warehouse. When encountering a fallen obstacle, the second motor 203 drives the lifting shaft 204 to rotate forward, and the mechanical arm 206 is unfolded and cooperated with the AGV trolley 101 to push the obstacle to the placement position to clear the passage obstacle. In the process of pushing the obstacle, the robot assembly 2 will be subjected to a backward reverse thrust. Therefore, in the process of the lifting shaft 204 driving the mechanical arm 206 to rotate counterclockwise and unfold, the electric push rod 508 is started to pull the lifting block 601 to move upward. At this time, the first slider 603 and the second slider 604 will move away from each other. In this process, the first slider 603 will drive the interlaced shaft 605 The second slider 604 pushes the first friction plate 608 on the surface of the outer gear sleeve 607 close to the friction plate 205 through the semicircular sleeve 606 and the plane bearing. Under the action of friction, the lifting shaft 204 drives the outer gear sleeve 607 to rotate counterclockwise. During the rotation of the outer gear sleeve 607, it cooperates with the second gear 609 to drive the fifth pulley 610 to rotate clockwise, and cooperates with the first transmission belt 410 and the first pulley 409 on the rear side to drive the rear rotating frame 402 to rotate clockwise backward. As the rear support roller 408 falls to the ground, it can form a forward support force for the robot component 2, thereby preventing the robot from tipping over backward when pushing obstacles, and the robotic arm 206 in the robot component 2 grabs broken abnormal objects. When the AGV trolley 101 is used to remove abnormal items from the warehouse, the center of gravity of the entire device will move forward. Therefore, when the lifting shaft 204 drives the robotic arm 206 to rotate counterclockwise and unfold, the electric push rod 508 is started to push the lifting block 601 to move downward. At this time, the lifting block 601 pulls the first slider 603 and the second slider 604 closer to each other through the connecting rods 602 on both sides. During this process, the interlaced shaft 605 connected to the surface of the first slider 603 will slide inside the second slider 604 and the second pulley 504 and approach the friction plate 205. When the second friction plate 611 at the end of the interlaced shaft 605 is tightly fitted with the friction plate 205, the interlaced shaft 605 will drive the second pulley 504 to follow the lifting shaft under the action of friction. 204 rotates, and during the rotation of the second pulley 504, the third pulley 505 will be driven to rotate counterclockwise through the second transmission belt 507. When the third pulley 505 rotates, the fourth pulley 506 on the other side of the pulley frame 503 will rotate counterclockwise synchronously and drive the front rotating frame 402 to rotate forward through the first transmission belt 410 and the first pulley 409 on the front side. As the support roller 408 on the front side falls to the ground, a new support point can be formed on the front side, thereby effectively preventing the robot from tipping forward when grabbing and removing abnormal objects. This design structure is novel and effectively avoids the problem that the robot is prone to falling forward when grabbing abnormal objects to eliminate hidden dangers and prone to falling backward when pushing obstacles, thereby improving the use effect. In addition, when the robotic arm 206 is in the process of being stored,It will simultaneously drive the corresponding rotating frame 402 and support roller 408 to fold and store, reducing the footprint of the robot and ensuring good mobility of the robot in the warehouse.

[0040] Example 2: Figure 3 、 Figure 5 and Figure 6 As shown, the difference between the embodiment and the basis is that the center of the bottom of the counterweight ball 302 is fixedly connected to the first universal joint 303, the bottom of the first universal joint 303 is installed with a first damper 305, the bottom end of the first damper 305 is fixedly connected to the second universal joint 304, the bottom end of the second universal joint 304 is fixedly connected to the inner bottom center of the connecting groove 102, the outer sleeve of the first damper 305 is provided with a first spring 306, the outer surface of the counterweight ball 302 is connected to a plurality of cables 301, the top ends of the plurality of cables 301 are fixedly connected to the inner surface wall of the shell 201 near the top, when the device is hit during the movement and tends to fall, it is suspended by the cables 301 The counterweight ball 302 inside the shell 201 will generate a torque opposite to the tilting direction due to its own gravity, thereby preventing the robot from continuing to tilt. The counterweight ball 302 can be suspended by multiple cables 301 to limit the swing range of the counterweight ball 302, and the bottom of the counterweight ball 302 is connected to the bottom of the connecting groove 102 through the first universal joint 303, the second universal joint 304 and the first damper 305. When the counterweight ball 302 swings, the first damper 305 will follow the swing and expand and contract, thereby providing damping force to suppress excessive swing of the counterweight ball 302, avoiding excessive reverse swing of the counterweight ball 302 due to inertia, and helping the robot maintain a stable posture.

[0041] The usage steps of the present invention are as follows: when the robot component 2 is driven by the AGV trolley 101 and is tilted due to a collision during its movement, the counterweight ball 302 fixed under the cable 301 will generate a torque opposite to the tilt direction under the action of its own gravity. This torque can effectively prevent the device from continuing to tilt forward, and when the counterweight ball 302 is swinging, the first damper 305 will follow the swing and extension, thereby providing a damping force to suppress the swing of the counterweight ball 302, thereby allowing the robot to quickly restore a stable posture, further improving the anti-dumping effect of the security inspection robot.

[0042] Example 3: Figure 1-Figure 3 、 Figure 7 and Figure 8As shown, the difference between the embodiment and the basis is that a second damper 405 is fixedly connected between the inner surface wall of the sliding groove 403 and the outer surface of the sliding block 404, and a second spring 406 is sleeved on the outer surface of the second damper 405. When the stabilizing component 3 is rotated and unfolded, the rotating frame 402 is used to provide support force for the device. The support roller 408 rotatably connected to the rotating frame 402 through the sliding block 404 and the connecting shaft 401 can convert the sliding friction between the rotating frame 402 and the ground into rolling friction, thereby reducing damage to the rotating frame 402, and when the support roller 408 is in the unfolded support state, the support roller 408 can be rotated and unfolded. When encountering a bumpy road surface in the state, the sliding block 404 will slide inside the sliding groove 403, and the second damper 405 cooperates with the second spring 406 to act on the sliding block 404 to provide a buffering and shock-absorbing effect. At the same time, when the rotating frame 402 is in the upward rotation and storage state, the front and rear support rollers 408 are located on the outside of the shell 201. When the device moves forward and backward, the support rollers 408 provide anti-collision protection. At this time, the buffering effect provided by the second damper 405 and the second spring 406 can reduce the impact force caused by the collision, thereby further improving the protection effect of the device.

[0043] The steps of using the present invention are as follows: during the movement of the device, the stabilizing component 3 is in an upwardly retracted state, and the support rollers 408 on the front and rear sides are located on the outside of the shell 201, so that the robot component 2 moves forward and backward. The support rollers 408 provide anti-collision protection, and when the support rollers 408 are hit, they drive the sliding block 404 to squeeze the second damper 405 and the second spring 406 inside the sliding groove 403. At this time, the second damper 405 can provide a good buffering effect by expanding and contracting, thereby further reducing the impact force generated by the collision and improving the protection effect of the device.

[0044] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A security inspection robot with an anti-dumping mechanism, comprising a traveling component (1), characterized in that: A robot component (2) is arranged on the top of the traveling component (1), a stabilizing component (3) is arranged inside the robot component (2), an adjusting component (5) is arranged on the right side of the robot component (2), a transmission component (6) is arranged on the top of the adjusting component (5), and supporting components (4) are arranged on the front and rear sides of the robot component (2); The traveling assembly (1) comprises an AGV vehicle (101); The robot component (2) comprises a housing (201), and an inner gear ring (202) is fixedly connected to a bottom portion of the housing (201) near the front side; The stabilizing component (3) comprises a weighted ball (302); The number of the support components (4) is set to two groups, and each group of the support components (4) comprises a connecting shaft (401), both ends of the connecting shaft (401) are fixedly connected to a rotating frame (402), the outer surfaces of the two rotating frames (402) are located away from the connecting shaft (401) and are provided with a sliding groove (403), a sliding block (404) is slidably embedded between the inner surface walls of the sliding groove (403), a rotating shaft (407) is rotatably connected between the outer surfaces of the two sliding blocks (404), and a support roller (408) is rotatably connected to the outer surface of the rotating shaft (407) near the middle; The adjustment component (5) comprises a fixing frame (501); The transmission assembly (6) comprises a lifting block (601).

2. The security inspection robot with an anti-dumping mechanism according to claim 1, characterized in that: A connecting groove (102) is provided near the middle of the top of the AGV trolley (101); a first motor (103) with an output end facing upward is installed at the inner bottom of the connecting groove (102); a first gear (104) is fixedly connected to the output end of the first motor (103); an inner surface wall of the connecting groove (102) and an outer surface of an inner gear ring (202) are rotatably connected; and an outer surface of the first gear (104) and an inner surface wall of the inner gear ring (202) are meshedly connected near the top.

3. The security inspection robot with an anti-dumping mechanism according to claim 1, characterized in that: A avoidance groove (207) is provided at a position near the rear side of the top of the shell (201); a second motor (203) is fixedly installed at a position near the front side of the left surface of the shell (201); a lifting shaft (204) is rotatably connected between the inner walls on both sides of the avoidance groove (207) at a position near the front side; both ends of the lifting shaft (204) rotate through the inner wall of the shell (201) and extend to the outside; the output end of the second motor (203) is fixedly connected to the left end of the lifting shaft (204); a mechanical arm (206) is fixedly connected to the outer surface of the lifting shaft (204) near the middle position; the position of the mechanical arm (206) and the avoidance groove (207) match each other; and a friction plate (205) is fixedly connected to the right end of the lifting shaft (204).

4. The security inspection robot with an anti-dumping mechanism according to claim 1, characterized in that: The two connecting shafts (401) are symmetrically rotatably connected between the inner walls on both sides of the outer shell (201) near the front and rear side edges, the rotating frame (402) is bent, and the two supporting rollers (408) are respectively located on the front and rear sides of the outer shell (201), wherein the front surfaces of the two rotating frames (402) are fixedly connected with first pulleys (409), the two first pulleys (409) are respectively arranged concentrically with the two connecting shafts (401), and the outer surfaces of the first pulleys (409) are sleeved with first transmission belts (410).

5. The security inspection robot with an anti-dumping mechanism according to claim 1, characterized in that: The fixing frame (501) is L-shaped and is fixedly connected to the right surface of the housing (201). An upper frame (502) is fixedly connected to the top of the fixing frame (501) near the right edge. An electric push rod (508) is fixedly connected to the inner top of the upper frame (502). The telescopic end of the electric push rod (508) is fixedly connected to the top of the lifting block (601). A pulley frame (503) extending upward is fixedly connected to the top of the fixing frame (501) near the edge. A second pulley (504) and a third pulley (505) are symmetrically rotatably connected to the right surface of the pulley frame (503) near the top. A second transmission belt (507) is sleeved between the outer surfaces of the second pulley (504) and the third pulley (505). A fourth pulley (506) is rotatably connected to the left surface of the pulley frame (503) near the top. The fourth pulley (506) is fixedly connected to the third pulley (505) via a shaft.

6. The security inspection robot with an anti-dumping mechanism according to claim 5, characterized in that: The two ends of the lifting block (601) are symmetrically rotatably connected to connecting rods (602), the tops of the two connecting rods (602) are respectively rotatably connected to a first slider (603) and a second slider (604), the left surface of the first slider (603) is rotatably connected to an interpenetrating shaft (605), the outer surface of the interpenetrating shaft (605) movably penetrates the outer surface of the upper frame (502) and the outer surface of the second slider (604), and the outer surface of the interpenetrating shaft (605) slides through the outer surface of the second pulley (504).

7. The security inspection robot with an anti-dumping mechanism according to claim 6, characterized in that: The left surface of the second sliding block (604) is fixedly connected to a semicircular sleeve (606), the left surface of the semicircular sleeve (606) is rotatably connected to an external gear sleeve (607) via a plane bearing, the left surface of the external gear sleeve (607) is fixedly connected to a first friction plate (608), the second pulley (504) is located on the inner side of the semicircular sleeve (606), the left end of the interlaced shaft (605) is fixedly connected to a second friction plate (611), and the second friction plate (611) and the first friction plate (608) are both matched with the friction plate (205).

8. The security inspection robot with an anti-dumping mechanism according to claim 7, characterized in that: The fourth pulley (506) is in transmission connection with one of the first transmission belts (410); the outer surface of the outer gear sleeve (607) is meshingly connected with a second gear (609) near the front side; the second gear (609) is rotatably connected to the right surface of the housing (201); a fifth pulley (610) is fixedly connected at the center of the right surface of the second gear (609); the fifth pulley (610) is in transmission connection with another first transmission belt (410).

9. The security inspection robot with an anti-dumping mechanism according to claim 1, characterized in that: The center of the bottom of the counterweight ball (302) is fixedly connected to a first universal joint (303); a first damper (305) is installed at the bottom of the first universal joint (303); the bottom end of the first damper (305) is fixedly connected to a second universal joint (304); the bottom end of the second universal joint (304) is fixedly connected to the center of the inner bottom of the connecting groove (102); a first spring (306) is sleeved on the outside of the first damper (305); a plurality of cables (301) are connected to the outer surface of the counterweight ball (302); and the top ends of the plurality of cables (301) are fixedly connected to a position near the top of the inner surface wall of the outer shell (201).

10. The security inspection robot with an anti-dumping mechanism according to claim 1, characterized in that: A second damper (405) is fixedly connected between the inner surface wall of the sliding groove (403) and the outer surface of the sliding block (404), and a second spring (406) is sleeved on the outside of the second damper (405).

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