A security inspection robot with an anti-dumping mechanism

Abstract

The present invention discloses a security inspection robot with an anti-dumping mechanism, which relates to the field of robot technology, and comprises a traveling component, a robot component is arranged on the top of the traveling component, a stabilizing component is arranged inside the robot component, an adjusting component is arranged on one side of the robot component, a transmission component is arranged on the top of the adjusting component, and support components are arranged on the front and rear sides of the robot component, and the traveling component comprises an AGV trolley, and the robot component comprises a shell, and an inner gear ring is fixedly connected to the bottom of the shell near the front side. In the present invention, the problem that the robot is prone to falling forward when grabbing abnormal objects to eliminate hidden dangers and falling backward when pushing obstacles is effectively avoided, and the use effect is improved. At the same time, the robot can quickly restore a stable posture, and the anti-dumping effect of the security inspection robot is further improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a security inspection robot equipped with an anti-tipping mechanism. Background Technology

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

[0003] In existing technologies, when security inspection robots used in warehouses move within the warehouse, they need to be able to push and organize fallen obstacles and grab and deliver abnormal items. When pushing and grabbing heavier items, the reaction force and center of gravity shift can cause the robot to lose balance, making it easy for the robot to fall and be damaged.

[0004] Therefore, a security inspection robot with an anti-tipping mechanism is proposed to solve the problems mentioned in the background art. Summary of the Invention

[0005] The purpose of this invention is to provide a security inspection robot with an anti-tipping mechanism to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a security patrol robot with an anti-tipping mechanism, comprising a traveling component, a robot component on top of the traveling component, a stabilizing component inside the robot component, an adjusting component on one side of the robot component, a transmission component on top of the adjusting component, and supporting components on both the front and rear sides of the robot component. The traveling component includes an AGV (Automated Guided Vehicle) trolley, the robot component includes a shell, and an internal toothed ring is fixedly connected to the bottom of the shell near the front side. The stabilizing component includes a counterweight ball. The number of supporting components is set to two sets, each set of supporting components including a connecting shaft. Rotating frames are fixedly connected to both ends of the connecting shaft. Sliding grooves are formed on the outer surfaces of the two rotating frames at positions away from the connecting shaft. Sliding blocks are 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 supporting roller is rotatably connected to the outer surface of the rotating shaft near the middle position. The adjusting component includes a fixed frame, and the transmission component includes a lifting block.

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

[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 internal gear ring and the outer shell to turn. The internal gear ring is composed of an annular part and an inner gear sleeve. The annular part is rotatably connected to the inside of the connecting groove.

[0009] Preferably, a clearance groove is provided on the top of the outer casing near the rear side, a second motor is fixedly installed on the left surface of the outer casing near the front side, a lifting shaft is rotatably connected between the inner surface walls of the clearance groove near the front side, the two ends of the lifting shaft rotatably penetrate the inner surface wall of the outer casing and extend to the outside, the output end of the second motor is fixedly connected to the left end of the lifting shaft, a robotic arm is fixedly connected to the outer surface of the lifting shaft near the middle position, the robotic arm is positioned to cooperate with the clearance groove, and a friction plate is fixedly connected to the right end of the lifting shaft.

[0010] By adopting the above technical solution, after starting the second motor to drive the lifting shaft, the horizontally positioned robotic arm can be rotated forward. As needed, the robotic arm can push and organize fallen obstacles, grab abnormal items, and send them out of the warehouse, thus avoiding safety hazards.

[0011] Preferably, the two connecting shafts are symmetrically rotatably connected between the inner walls of the two sides of the outer casing near the front and rear edges. The rotating frame is bent, and the two supporting rollers are located on the front and rear sides of the outer casing, respectively. The front surfaces of the two rotating frames are fixedly connected with first pulleys. The two first pulleys are arranged concentrically with the two connecting shafts, and the outer surfaces of the first pulleys are fitted with first transmission belts.

[0012] By adopting the above technical solution, after the bent rotating frame is retracted upwards, the two support rollers will be located on the front and rear sides of the outer shell near the top, without increasing the footprint of the device and ensuring good passability.

[0013] Preferably, the fixing frame is L-shaped and fixedly connected to the right surface of the outer casing. An upper frame is fixedly connected to the top of the fixing frame near the right edge. An electric push rod is fixedly connected to the inner top of the upper frame. The telescopic end of the electric push rod is fixedly connected to the top of the lifting block. An upwardly extending pulley frame is fixedly connected to the top of the fixing frame near the edge. A second pulley and a third pulley are symmetrically rotatably connected to the right surface of the pulley frame near the top. A second transmission belt is sleeved between the outer surfaces of the second pulley and the third pulley. A fourth pulley is rotatably connected to the left surface of the pulley frame near the top. The fourth pulley is fixedly connected to the third pulley via a shaft.

[0014] By adopting the above technical solution, the upper frame is used to limit the insertion shaft and to install the electric push rod. The pulley frame is used to install the second, third and fourth pulleys. The electric push rod is used to drive the lifting block to move vertically up and down. During use, when the second pulley rotates, it will drive the third pulley 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 lifting block is symmetrically rotatably connected to both ends of the lifting block, and the top of the two connecting rods is rotatably connected to the first slider and the second slider, respectively. The left surface of the first slider is rotatably connected to the through shaft, the outer surface of the through shaft moves through the outer surface of the upper frame and the second slider, and the outer surface of the through shaft slides through the outer surface of the second pulley.

[0016] By adopting the above technical solution, when the electric actuator 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 actuator is started and pushes the lifting block to move downward, the lifting block will pull the first slider and the second slider closer to 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 actuator and can only move vertically downward, while the through shaft moves horizontally through the upper frame. Therefore, the first slider and the second slider can only move in a straight line in the horizontal direction, and the first slider and the second slider move in a mirror image.

[0017] Preferably, a semi-circular sleeve is fixedly connected to the left surface of the second slider, and an outer toothed sleeve is rotatably connected to the left surface of the semi-circular sleeve via a plane bearing. A first friction plate is fixedly connected to the left surface of the outer toothed sleeve. The second pulley is located inside the semi-circular sleeve, and a second friction plate is fixedly connected to the left end of the through shaft. Both the second friction plate and the first friction plate cooperate with the friction plate.

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

[0019] Preferably, the fourth pulley is connected to one of the first transmission belts, and a second gear is meshed with the outer surface of the outer toothed sleeve near the front side. The second gear is rotatably connected to the right surface of the outer casing, and a fifth pulley is fixedly connected to the center of the right surface of the second gear. 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 slides left and right with the second slider, it will always maintain a meshing state with the second gear. When the outer gear sleeve rotates with the lifting shaft, it will drive the second gear to rotate synchronously in the opposite direction. At this time, the second gear, in conjunction with the fifth pulley, will drive the first pulley 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 and the rotating frame to rotate through the first transmission belt on the front side.

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

[0022] By adopting the above technical solution, when the device is impacted during its movement and tends to tip over, the counterweight ball suspended inside the shell by the cable will generate a torque opposite to the tilting direction due to its own weight, thereby preventing the robot from continuing to tilt. The counterweight ball can be limited by suspending it by multiple cables. The first universal joint, the second universal joint and the first damper at the bottom of the counterweight ball work together to generate a damping force, preventing the counterweight ball from swinging excessively.

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

[0024] By adopting the above technical solution, the buffering and shock absorption effect provided by the second damper and the second spring can play a role in buffering and shock absorption of the support roller during the process of the stable component being deployed and moving with the robot component. Furthermore, the support roller can better pass through bumpy sections through vertical displacement during its movement. When the stable component is in the retracted state, the buffering and shock absorption 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 beneficial effects of the present invention are:

[0026] 1. When using this invention, a traveling component is set up to drive the robot component to move. When facing scattered obstacles and broken or abnormal objects that need to be pushed and grasped for removal, the adjustment component and transmission component work together to make the designated stabilizing components on the front and rear sides move with the robotic arm, thereby providing stable support for the robot component. This novel design effectively avoids the problem that the robot is prone to falling forward when grasping abnormal objects to remove hidden dangers and prone to falling backward when pushing obstacles, thus improving the usage effect.

[0027] 2. When the robot component tilts due to a collision during its movement, the counterweight ball in the stabilizing component will generate a torque opposite to the tilting direction under its own weight. This torque can effectively prevent the device from tilting forward. Furthermore, by setting 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 enabling the robot to quickly restore a stable posture and further improving the anti-tipping effect of the security inspection robot.

[0028] 3. When the present invention is used, the stabilizing component is in an upward retracted state during the movement of the device. At this time, the support rollers on the front and rear sides are located outside the outer shell. Thus, during the forward and backward movement of the robot component, the support rollers provide anti-collision protection. When the support rollers are impacted, they will 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 through extension and retraction, thereby further reducing the impact force generated by the impact and improving the protection effect of the device. Attached Figure Description

[0029] Figure 1 This is a structural schematic diagram of a security patrol robot with an anti-tipping mechanism according to the present invention;

[0030] Figure 2 This is a perspective view of a security patrol robot with an anti-tipping mechanism according to the present invention;

[0031] Figure 3 This is a cross-sectional view of a security patrol robot with an anti-tipping mechanism according to the present invention.

[0032] Figure 4 This is a schematic diagram of the traveling component structure of a security patrol robot with an anti-tipping mechanism according to the present invention;

[0033] Figure 5 This is a cross-sectional view of the robot components of a security patrol robot with an anti-tipping mechanism according to the present invention.

[0034] Figure 6 for Figure 5 Enlarged view of point A in the middle;

[0035] Figure 7 This is a schematic diagram showing the connection of the support component, adjustment component, and transmission component of a security patrol robot with an anti-tipping mechanism according to the present invention.

[0036] Figure 8 This is a schematic diagram of the support component structure of a security patrol robot with an anti-tipping mechanism according to the present invention;

[0037] Figure 9 This is a schematic diagram showing the connection between the adjustment component and the transmission component of a security patrol robot with an anti-tipping mechanism according to the present invention.

[0038] Figure 10 This is a schematic diagram of the adjustment component structure of a security patrol robot with an anti-tipping mechanism according to the present invention;

[0039] Figure 11 This is a schematic diagram of the transmission component structure of a security patrol robot with an anti-tipping mechanism according to the present invention.

[0040] In the diagram: 1. Traveling component; 101. AGV trolley; 102. Connecting groove; 103. First motor; 104. First gear; 2. Robot component; 201. Shell; 202. Internal gear ring; 203. Second motor; 204. Lifting shaft; 205. Friction plate; 206. Robotic arm; 207. Clearance groove; 3. Stabilizing component; 301. Cable; 302. Counterweight ball; 303. First universal joint; 304. Second universal joint; 305. First damper; 306. First spring; 4. Support component; 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. Through shaft; 606. Semicircular sleeve; 607. External gear sleeve; 608. First friction plate; 609. Second gear; 610. Fifth pulley; 611. Second friction plate. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Example 1: Please refer to Figures 1-11 As shown, the present invention provides a technical solution: a security patrol robot with an anti-tipping mechanism, including a traveling component 1, a robot component 2 disposed on the top of the traveling component 1, a stabilizing component 3 disposed inside the robot component 2, an adjusting component 5 disposed on one side of the robot component 2, a transmission component 6 disposed on the top of the adjusting component 5, and supporting components 4 disposed on both 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, an internal gear ring 202 fixedly connected to the bottom of the shell 201 near the front side, and the stabilizing component 3 includes a... The weight ball 302 and the support components 4 are set in two groups. Each support component 4 includes 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 provided with sliding grooves 403 at positions away from the connecting shaft 401. Sliding blocks 404 are slidably embedded between the inner walls of the sliding grooves 403. A rotating shaft 407 is rotatably connected between the outer surfaces of the two sliding blocks 404. A support roller 408 is rotatably connected near the middle position on the outer surface of the rotating shaft 407. The adjustment component 5 includes a fixed frame 501 and the transmission component 6 includes a lifting block 601.

[0043] The AGV trolley 101 has a connecting groove 102 near the center of its top. A first motor 103 with its output end facing upwards is installed at the bottom of the connecting groove 102. A first gear 104 is fixedly connected to the output end of the first motor 103. The inner wall of the connecting groove 102 is rotatably connected to the outer surface of the internal gear ring 202. The outer surface of the first gear 104 meshes with the inner wall of the internal gear ring 202 near the top. The AGV trolley 101 is mainly used to drive this device to move within the warehouse. To ensure good maneuverability, it is connected to robot component 2. The bottom dimensions of the outer shell 201 are close. The first motor 103 drives the first gear 104 to rotate. After the first gear 104 rotates, it can drive the inner gear ring 202 and the outer shell 201 to turn, thereby completing the turning operation of the robot component 2 and other components. It can operate on 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 rotate accordingly. The inner gear ring 202 is composed of an annular part and an inner gear sleeve. The annular part is rotatably connected to the inside of the connecting groove 102.

[0044] An obstacle avoidance groove 207 is provided on the top of the outer casing 201 near the rear side. A second motor 203 is fixedly installed on the left surface of the outer casing 201 near the front side. A lifting shaft 204 is rotatably connected between the inner walls of the two sides of the obstacle avoidance groove 207 near the front side. The two ends of the lifting shaft 204 rotatably pass through the inner wall of the outer casing 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 robotic arm 206 is fixedly connected to the outer surface of the lifting shaft 204 near the middle position. The robotic arm 206 and the obstacle avoidance groove 207 are positioned to cooperate. A friction plate 205 is fixedly connected to the right end of the lifting shaft 204. The obstacle avoidance groove 207 is mainly used to avoid the robotic arm 206 in a flipped state. After the second motor 203 is started to drive the lifting shaft 204, the horizontal robotic arm 206 can be rotated out. As needed, the robotic arm 206 can push and organize fallen obstacles, grab abnormal items and send them out of the warehouse to avoid safety hazards.

[0045] Two connecting shafts 401 are symmetrically rotatably connected between the inner walls of the outer casing 201 on both sides near the front and rear edges. The rotating frame 402 is bent. Two support rollers 408 are located on the front and rear sides of the outer casing 201, respectively. The front surfaces of the two rotating frames 402 are fixedly connected with first pulleys 409. The two first pulleys 409 are arranged concentrically with the two connecting shafts 401. The outer surface of the first pulleys 409 is fitted with a first transmission belt 410. The rotating frames 402 are paired and rotatably connected to the outer casing 201 near the two lower corners via the connecting shafts 401. The two first pulleys 409 are respectively connected to the fourth pulley 506 and the fifth pulley 610 via the two first transmission belts 410. After the bent rotating frame 402 is retracted upwards, the two support rollers 408 will be located on the front and rear sides of the outer casing 201 near the upper part, without increasing the footprint of the device and ensuring good passage.

[0046] The fixing frame 501 is L-shaped and is fixedly connected to the right surface of the outer casing 201. An upper frame 502 is fixedly connected to the top of the fixing frame 501 near its 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. An upwardly extending pulley frame 503 is fixedly connected to the top of the fixing frame 501 near its edge. A second pulley 504 and a third pulley 505 are symmetrically rotatably connected to the right surface of the pulley frame 503 near its top. A second transmission belt 507 is fitted between the outer surfaces of the second pulley 504 and the third pulley 505. The left surface of the pulley frame 503 near its top... The fourth pulley 506 is rotatably connected to the position of the third pulley 505 via a shaft. The fixing bracket 501 is installed on the outer casing 201. The upper frame 502 is used to limit the insertion shaft 605 and 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 via 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 via the shaft.

[0047] The lifting block 601 is symmetrically connected to connecting rods 602 at both ends. 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 a through shaft 605. The outer surface of the through shaft 605 moves through the outer surfaces of the upper frame 502 and the second slider 604. The outer surface of the through shaft 605 slides through the outer surface of the second pulley 504. When the electric actuator 508 is activated, it drives the lifting block 601 to move upward. The lifting block 601 will push the first slider 604 through the connecting rods 602 on both sides. 3. The first slider 603 and the second slider 604 are far apart from each other. When the electric push rod 508 is started, it pushes the lifting block 601 to move 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 output end of the fixed electric push rod 508 and can only move vertically downward. The through shaft 605 moves horizontally through the upper frame 502. Therefore, the first slider 603 and the second slider 604 can only move in a straight line in the horizontal direction, and the first slider 603 and the second slider 604 move in a mirror image.

[0048] A semi-circular sleeve 606 is fixedly connected to the left surface of the second slider 604. An outer gear sleeve 607 is rotatably connected to the left surface of the semi-circular sleeve 606 via a plane bearing. A first friction plate 608 is fixedly connected to the left surface of the outer gear sleeve 607. The second pulley 504 is located inside the semi-circular sleeve 606. A second friction plate 611 is fixedly connected to the left end of the through shaft 605. Both the second friction plate 611 and the first friction plate 608 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 moves closer to 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 against the friction plate 205 through the semi-circular 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... The first slider 603 and the second slider 604 will approach each other. At this time, the through shaft 605 rotatably 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 through shaft 605 is tightly attached to the friction plate 205, under the action of friction, the through shaft 605 will drive the second pulley 504 to rotate with the lifting shaft 204. The part of the through shaft 605 near the first slider 603 is round, and the part near the outer shell 201 is provided with a flat keyway. The holes on the surface of the second slider 604 and the upper frame 502 are round, and the surface of the second pulley 504 is provided with a matching flat keyway. This allows the through shaft 605 to slide and rotate freely inside the upper frame 502 and the second slider 604, while the through shaft 605 can only slide inside the second pulley 504. When the through shaft 605 rotates, it will drive the second pulley 504 to rotate synchronously.

[0049] The fourth pulley 506 is connected to one of the first transmission belts 410. The outer surface of the outer toothed sleeve 607 is meshed with a second gear 609 near the front. The second gear 609 is rotatably connected to the right surface of the outer casing 201. The fifth pulley 610 is fixedly connected to the center of the right surface of the second gear 609. The fifth pulley 610 is connected to another first transmission belt 410. The thickness of the outer toothed sleeve 607 is greater than the thickness of the second gear 609. When the outer toothed sleeve 607 slides left and right with the second slider 604, it will always maintain a meshed state with the second gear 609. When the outer toothed sleeve 607 rotates with 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, in conjunction with the fifth pulley 610, will drive the rear first pulley 409 and the rotating frame 402 to rotate through the rear first transmission belt 410. When the fifth pulley 610 rotates, it will drive the front first pulley 409 and the rotating frame 402 to rotate through the front first transmission belt 410.

[0050] In the operation of this invention, when using this device for security inspections in a warehouse, the AGV trolley 101 drives the robot component 2 to move and inspect within the warehouse. When encountering a fallen obstacle, the second motor 203 drives the lifting shaft 204 to rotate forward, and the robotic arm 206 unfolds, working in conjunction with the AGV trolley 101 to push the obstacle to its designated position, clearing the passageway obstruction. During the process of pushing the obstacle, the robot component 2 experiences a backward thrust. Therefore, as the lifting shaft 204 drives the robotic arm 206 to rotate counterclockwise and unfold, the electric actuator 508 is activated to pull the lifting block 601 upward. At this time, the first slider 603 and the second slider 604 move away from each other. During this process, the first slider 603 drives the insertion shaft 605. The friction plate 205 is located away from the right end of the lifting shaft 204. The second slider 604 pushes the first friction plate 608 on the surface of the outer gear sleeve 607 to press against the friction plate 205 through the semi-circular sleeve 606 and the plane bearing. Under the action of friction, the lifting shaft 204 will drive the outer gear sleeve 607 to rotate counterclockwise. During the rotation of the outer gear sleeve 607, it will cooperate with the second gear 609 to drive the fifth pulley 610 to rotate clockwise. It will also cooperate 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 lands, it can form a forward support force on the robot component 2, thereby preventing the robot from tipping backward when pushing obstacles. The robotic arm 206 in the robot component 2 can grasp the damaged abnormal object. When the abnormal items are removed from the warehouse by the AGV trolley 101, the center of gravity of the entire device will shift forward. Therefore, during the process of the lifting shaft 204 driving the robotic arm 206 to rotate counterclockwise and unfold, the electric actuator 508 is activated to push the lifting block 601 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 through shaft 605 rotatably 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 through shaft 605 is tightly attached to the friction plate 205, under the action of friction, the through shaft 605 will drive the second pulley 504 to follow the lifting shaft. As the second pulley 504 rotates, it drives the third pulley 505 to rotate counterclockwise via the second transmission belt 507. Simultaneously, the fourth pulley 506 on the other side of the pulley frame 503 rotates counterclockwise, driving the front rotating frame 402 forward via the first transmission belt 410 and the first pulley 409. As the front support roller 408 lands, a new support point is formed at the front, effectively preventing the robot from tipping forward when grasping and removing abnormal items. This novel design effectively avoids the problem of the robot easily falling forward when grasping abnormal items and removing hazards, and easily falling backward when pushing obstacles, improving usability. Furthermore, during the retraction of the robotic arm 206…This simultaneously drives the corresponding rotating frame 402 and support roller 408 to fold and store, reducing the robot's footprint and ensuring its good maneuverability in the warehouse.

[0051] Example 2: Figure 3 , Figure 5 and Figure 6 As shown, the difference from the embodiment is that a first universal joint 303 is fixedly connected to the bottom center of the counterweight ball 302. A first damper 305 is installed at the bottom of the first universal joint 303. A second universal joint 304 is fixedly connected to the bottom end of the first damper 305. The bottom end of the second universal joint 304 is fixedly connected to the inner bottom center of the connecting groove 102. A first spring 306 is sleeved on the outside of the first damper 305. Multiple cables 301 are connected to the outer surface of the counterweight ball 302. The top ends of the multiple cables 301 are fixedly connected to the inner surface wall of the outer shell 201 near the top. When the device is impacted during movement and tends to tip over, it is suspended by the cables 301. The counterweight ball 302 inside the outer shell 201 generates a torque opposite to the tilting direction due to its own weight, thereby preventing the robot from tilting further. The counterweight ball 302 can be limited in its swing range by being suspended by multiple cables 301. 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 swings and extends and retracts, thereby providing damping force to suppress the excessive swing of the counterweight ball 302 and prevent the counterweight ball 302 from swinging excessively in the opposite direction due to inertia, which helps the robot maintain a stable posture.

[0052] In the operation of this invention, when the robot component 2 tilts due to a collision while being driven by the AGV trolley 101, the counterweight ball 302 fixed below the cable 301 will generate a torque opposite to the tilting direction under its own weight. This torque can effectively prevent the device from tilting forward. Furthermore, during the swinging process of the counterweight ball 302, the first damper 305 will swing and extend accordingly, thereby providing damping force to suppress the swinging of the counterweight ball 302, thus enabling the robot to quickly restore a stable posture and further improving the anti-tipping effect of the security inspection robot.

[0053] Example 3: Figures 1-3 , Figure 7 and Figure 8As shown, the difference in the basic embodiment is that a second damper 405 is fixedly connected between the inner wall of the sliding groove 403 and the outer surface of the sliding block 404. A second spring 406 is sleeved on the outside of the second damper 405. When the stabilizing component 3 is rotated and unfolded, the rotating frame 402 provides support for the device. The support roller 408, which is 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, reducing damage to the rotating frame 402. Furthermore, when the support roller 408 is in the unfolded support state... When encountering a bumpy road surface, the sliding block 404 will slide inside the sliding groove 403. The second damper 405, together with the second spring 406, acts on the sliding block 404 to provide a buffering and shock absorption effect. At the same time, when the rotating frame 402 is in the upward rotating and retracted state, the front and rear support rollers 408 are located outside the outer shell 201. When the device moves back and forth, the support rollers 408 provide an anti-collision protection effect. At this time, the buffering effect provided by the second damper 405 and the second spring 406 can reduce the impact force generated by the impact, further improving the protection effect of the device.

[0054] In the operation of this invention, during the movement of the device, the stabilizing component 3 is in an upward retracted state. At this time, the front and rear support rollers 408 are located outside the outer shell 201, which enables the robot component 2 to move forward and backward. The support rollers 408 provide anti-collision protection. When the support rollers 408 are impacted, they will 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 extending and retracting, thereby further reducing the impact force generated by the impact and improving the protection effect of the device.

[0055] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope 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); A avoidance groove (207) is provided at a position near the rear side of the top of the shell (201); a lifting shaft (204) is rotatably connected to a position near the front side between the inner surface walls on both sides of the avoidance groove (207); a mechanical arm (206) is fixedly connected to the outer surface of the lifting shaft (204) near the middle position; a friction plate (205) is fixedly connected to the right end of the lifting shaft (204); the fixing frame (501) is L-shaped; the fixing frame (501) is fixedly connected to the right surface of the shell (201); and an upper frame (501) is fixedly connected to the top of the fixing frame (501) near the right edge. 02), the inner top of the upper frame (502) is fixedly connected with an 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 fixed frame (501) is fixedly connected with a pulley frame (503) extending upward near the edge, the right surface of the pulley frame (503) is symmetrically connected with a second pulley (504) and a third pulley (505) at a position near the top, the 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 close to the A fourth pulley (506) is rotatably connected to a position near the top, and the fourth pulley (506) is fixedly connected to the third pulley (505) through a shaft. 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 interlaced shaft (605). The outer surface of the interlaced shaft (605) movably penetrates the outer surface of the upper frame (502) and the outer surface of the second slider (604). The second slider (604) is fixedly connected to a semicircular sleeve (606) on its left surface, and an outer gear sleeve (607) is rotatably connected to the left surface of the semicircular sleeve (606) via a plane bearing. The outer gear sleeve (607) is fixedly connected to a first friction plate (608) on its left surface. The second pulley (504) is located on the inner side of the semicircular sleeve (606). The left end of the interpenetrating shaft (605) is fixedly connected to a second friction plate (611). Both the second friction plate (611) and the first friction plate (608) cooperate with the friction plate (205).

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 second motor (203) is fixedly installed on the left surface of the shell (201) near the front side, and both ends of the lifting shaft (204) rotate to penetrate the inner wall of the shell (201) and extend to the outside. The output end of the second motor (203) and the left end of the lifting shaft (204) are fixedly connected, and the positions of the mechanical arm (206) and the avoidance groove (207) are matched.

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 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).

6. 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).

7. 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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