Factory inspection robot dog with object carrying function

Abstract

The invention relates to the technical field of robot dogs, and discloses a factory inspection robot dog with a loading function, the factory inspection robot dog comprises a body, the front side and the rear side of the body are in transmission connection with a front walking part and a rear walking part respectively, and the two sides of the front walking part and the two sides of the rear walking part are rotationally connected with bottom wheels respectively; an auxiliary mechanism and an object taking mechanism are arranged on the top and one side of the body respectively, the object taking mechanism comprises a first swing arm and a second swing arm which are arranged on the side faces of the body respectively, handles are hinged to the sides, away from the body, of the first swing arm and the second swing arm respectively, and electromagnets are arranged at the bottom ends of the handles. The end, close to the body, of the first swing arm and the end, close to the body, of the second swing arm are movably connected with a first shaft body and a second shaft body correspondingly, the ends, close to each other, of the first shaft body and the second shaft body are fixedly connected with two ratchet wheels correspondingly, and the two ratchet wheels are symmetrically arranged and movably meshed.

Description

Technical Field

[0001] The present invention relates to the technical field of robot dogs, and in particular to a factory inspection robot dog with a carrying function. Background Art

[0002] The factory inspection robot dog is an industrial automation device that integrates intelligent inspection, automatic loading, and precise object retrieval. It is mainly used for equipment monitoring, material transportation, and abnormal situation warning in factory environments. Its modular structure enables multifunctional collaborative operation. Compared with traditional manual inspection, it can improve operational efficiency and reduce labor costs and safety risks.

[0003] During the inspection process in the factory, the robot dog encountered an emergency and needed to transport relevant inspection objects and tools. In the existing technology, the robot dog needs the assistance of relevant personnel when transporting items, and needs to stop before loading items, which increases the loading time and affects the inspection time, which is not conducive to improving efficiency. Summary of the Invention

[0004] The present invention aims to provide a factory inspection robot dog with a carrying function to address the problems raised in the aforementioned background art. To achieve this objective, the present invention provides the following technical solution: comprising a body, wherein the front and rear sides of the body are respectively connected to a front running section and a rear running section, each of which is rotatably connected to a bottom wheel on each side, and the top and side of the body are respectively provided with an auxiliary mechanism and a retrieval mechanism, and also includes a loading mechanism;

[0005] The object-retrieving mechanism includes a first swing arm and a second swing arm, respectively provided on the side of the body, wherein the first swing arm and the second swing arm are respectively hingedly connected to a handle on the side away from the body, and an electromagnet is provided at the bottom end of the handle. The ends of the first swing arm and the second swing arm close to the body are respectively movably connected to a first shaft and a second shaft, and the ends of the first shaft and the second shaft close to each other are respectively fixedly connected to two ratchets, and the two ratchets are symmetrically arranged and movably engaged.

[0006] The first shaft and the second shaft are respectively provided with guide grooves, the guide groove of the first shaft is shorter than the guide groove of the second shaft, and the second shaft enables the second swing arm to slide and rotate through the guide groove, while the guide groove of the first shaft is only used to enable the first swing arm to rotate;

[0007] A hollow rotating bracket is sleeved on the second shaft body, a spring is sleeved on the guide groove of the second shaft body, and the spring is located on one side of the hollow rotating bracket. A gasket rotatably connected to the second shaft body is movably inserted in the middle of the hollow rotating bracket.

[0008] Preferably, an electric cylinder is fixedly installed on the surface of the body close to the second swing arm, and the output shaft of the electric cylinder is fixedly connected to a spoon-shaped push handle. The bottom of the spoon-shaped push handle is inserted into the second shaft body and is in friction contact with the second swing arm on the side close to the second swing arm.

[0009] Preferably, a curved groove is provided on the top of the spoon-shaped push handle, a T-shaped push rack is slidably provided in the curved groove, a mounting seat is slidably provided on the top of the T-shaped push rack, and the mounting seat is fixedly connected to the body.

[0010] Preferably, the object-picking mechanism further comprises an elastic sheet arranged on one side of the swing arm, the elastic sheet is elastically connected to the body, and a second motor is arranged near the elastic sheet, and the output end of the second motor is rotatably connected to the second shaft.

[0011] Preferably, the auxiliary mechanism includes a frame frame slidably mounted on the top of the body, the frame frame is slidably connected to the body, and the top and bottom surfaces of one side of the frame frame are respectively fixedly connected with racks, wherein a motor 1 is provided on the side surface of the rack at the top, the output end of the motor 1 is rotatably connected with gear 1, the gear 1 is meshed with the rack on the top surface of the frame frame, the rack on the bottom surface of the frame frame is meshed with gear 2, the axis of the gear 2 is transmission-connected to one end of a pulley group, the other end of the pulley group is transmission-connected to gear 3, and the outer surface of the gear 3 is meshed with a semicircular cover.

[0012] Preferably, the bottom surface of the body is rotatably connected to a pressure wheel, the pressure wheel abuts against the surface of the belt on one side of the pulley assembly, and a distance measuring sensor is provided on the front side of the bottom surface of the frame rack.

[0013] Preferably, the top surface of the frame rack is symmetrically and elastically provided with an L-shaped plate relative to one side of the ranging sensor, the L-shaped plate is installed inverted, and a limiting roller is fixedly installed on the side of the L-shaped plate on the body, and the limiting roller abuts against one of the L-shaped plates.

[0014] Preferably, the loading mechanism includes a box body, and a slanted panel is fixedly installed on one side of the top of the box body. The slanted panel is used to adapt to the distance sensor to detect the distance between the body and the box body. Side ears are symmetrically provided on both sides of the box body, and the surfaces of the side ears are magnetically connected to the electromagnet.

[0015] Preferably, the bottom of the box is rotatably connected to a rubber wheel, and the rubber wheel is used to control the speed of the box to prevent acceleration caused by the push of the swing arm. The bottom of the box is fixedly connected to a clamping rod, and the clamping rod is movably clamped with the L-shaped plate.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. In the present invention, the frame frame triggers the semicircular cover to open when the robot dog approaches the box, causing the swing arm to be lowered. The robot dog can then push the box to move synchronously during its movement, allowing the robot dog to load items without stopping, thereby improving transportation efficiency.

[0018] 2. In the present invention, after the first swing arm contacts the box, the second swing arm moves closer to the first swing arm to clamp the box, and the electromagnet under the handle further fixes the box to achieve automatic loading.

[0019] 3. In the present invention, the L-shaped plate and the limiting rollers can be used to fix the box after it is placed on the body to prevent bumps and displacement during the transportation of items. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a structural schematic diagram of the auxiliary mechanism of the present invention;

[0022] Figure 3 It is a structural schematic diagram of the semicircular cover of the present invention;

[0023] Figure 4 Schematic diagram of the structure of the object-taking mechanism of the present invention;

[0024] Figure 5 This is a schematic structural diagram of the spoon-shaped push handle of the present invention;

[0025] Figure 6 It is a schematic diagram of the box structure of the present invention.

[0026] In the figure: 1, body; 2, front running part; 3, rear running part; 4, bottom wheel; 5, auxiliary mechanism; 501, frame; 502, rack; 503, motor 1; 504, gear 1; 505, gear 2; 506, pulley group; 507, gear 3; 508, semicircular cover; 509, pressure wheel; 510, distance sensor; 511, L-shaped plate; 512, limit roller; 6, picking mechanism; 601, swing arm 1; 602, swing arm 2; 603, Handle; 604, electromagnet; 605, shaft body 1; 606, shaft body 2; 607, ratchet; 608, hollow rotating frame; 609, guide groove; 610, spring 1; 611, electric cylinder; 612, spoon-shaped push handle; 613, curved groove; 614, T-shaped push frame; 615, mounting seat; 616, elastic sheet; 617, motor 2; 7, loading mechanism; 701, box body; 702, inclined panel; 703, side ears; 704, rubber wheel; 705, latching rod. DETAILED DESCRIPTION

[0027] 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 described embodiments 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.

[0028] See also Figures 1 to 6 The present invention provides a technical solution: comprising a body 1, wherein the front side and the rear side of the body 1 are respectively connected to a front walking part 2 and a rear walking part 3 by transmission, and both sides of the front walking part 2 and the rear walking part 3 are respectively connected to bottom wheels 4 for rotation, and the top and one side of the body 1 are respectively provided with an auxiliary mechanism 5 and a picking mechanism 6, and also includes a loading mechanism 7;

[0029] The object-retrieving mechanism 6 includes a swing arm 1 601 and a swing arm 2 602, respectively provided on the side of the body 1. A handle 603 is hingedly connected to the side of the swing arm 1 and the swing arm 2 602 away from the body 1. An electromagnet 604 is provided at the bottom end of the handle 603. The ends of the swing arm 1 601 and the swing arm 2 602 close to the body 1 are respectively movably connected to a shaft 1 605 and a shaft 2 606. The ends of the shaft 1 605 and the shaft 2 606 close to each other are respectively fixedly connected to two ratchets 607. The two ratchets 607 are symmetrically arranged and movably engaged.

[0030] A guide groove 609 is formed on each of the first shaft 605 and the second shaft 606. The guide groove 609 of the first shaft 605 is shorter than the guide groove 609 of the second shaft 606. The second shaft 606 uses the guide groove 609 to slide and rotate the second swing arm 602. The guide groove 609 of the first shaft 605 is only used to rotate the first swing arm 601.

[0031] A hollow rotating bracket 608 is sleeved on the second shaft 606. A spring 1 610 is sleeved on a guide groove 609 formed on the second shaft 606. The spring 1 610 is located on one side of the hollow rotating bracket 608. A washer is movably inserted in the middle of the hollow rotating bracket 608 and is rotatably connected to the second shaft 606.

[0032] An electric cylinder 611 is fixedly mounted on the surface of the body 1 near the second swing arm 602. The output shaft of the electric cylinder 611 is fixedly connected to a spoon-shaped push handle 612. The bottom of the spoon-shaped push handle 612 is inserted into the second shaft body 606, and the side near the second swing arm 602 is in friction contact with the second swing arm 602.

[0033] A curved groove 613 is provided at the top of the spoon-shaped push handle 612, a T-shaped push frame 614 is slidably provided in the curved groove 613, a mounting seat 615 is slidably provided on the top of the T-shaped push frame 614, and the mounting seat 615 is fixedly connected to the body 1;

[0034] The object-retrieving mechanism 6 further includes an elastic sheet 616 disposed on the side of the swing arm 1 601 , the elastic sheet 616 being elastically connected to the body 1 , and a second motor 617 being disposed near the elastic sheet 616 , the output end of the second motor 617 being rotatably connected to the second shaft 606 ;

[0035] In this embodiment, the triggering time of the swing arm 1 601 and the swing arm 2 602 is one in tandem, which enables the robot dog to pick up objects while walking, saving time for picking up objects;

[0036] The auxiliary mechanism 5 includes a frame frame 501 slidably mounted on the top of the body 1, the frame frame 501 is slidably connected to the body 1, and the top and bottom surfaces of one side of the frame frame 501 are respectively fixedly connected to racks 502, wherein a motor 1 503 is provided on the side of the top rack 502, and the output end of the motor 1 503 is rotatably connected to a gear 1 504, which meshes with the rack 502 on the top surface of the frame frame 501, and the rack 502 on the bottom surface of the frame frame 501 is meshed with a gear 2 505, and the axis of the gear 2 505 is transmission-connected to one end of a pulley set 506, and the other end of the pulley set 506 is transmission-connected to a gear 3 507, and the outer surface of the gear 3 507 is meshed with a semicircular cover 508;

[0037] The bottom surface of the body 1 is rotatably connected to a pressure wheel 509, which abuts against the surface of the belt on one side of the pulley assembly 506. A distance sensor 510 is provided on the front side of the bottom of the frame 501.

[0038] An L-shaped plate 511 is elastically provided on the top surface of the frame 501, symmetrically with respect to one side of the distance measuring sensor 510. The L-shaped plate 511 is installed upside down. A limiting roller 512 is fixedly installed on the side of the L-shaped plate 511 on the body 1. The limiting roller 512 abuts against one of the L-shaped plates 511.

[0039] In this embodiment, the semicircular cover 508 rises upward when the robot dog is delivering objects, and can protect the equipment and components on the side of the body 1;

[0040] The loading mechanism 7 includes a box 701, with an inclined panel 702 fixedly mounted on one side of the top of the box 701. The inclined panel 702 is adapted to be used with the distance sensor 510 to detect the distance between the body 1 and the box 701. Side ears 703 are symmetrically provided on both sides of the box 701. The surfaces of the side ears 703 are magnetically connected to the electromagnet 604.

[0041] The bottom of the box 701 is rotatably connected to a rubber wheel 704, which is used to control the speed of the box 701 to prevent it from being pushed by the swing arm 601 and accelerating. The bottom of the box 701 is fixedly connected to a clamping rod 705, which is movably connected to the L-shaped plate 511.

[0042] The usage and advantages of the present invention: The factory inspection robot dog with a carrying function works as follows:

[0043] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 As shown:

[0044] S1: The robot dog moves on the factory floor by means of the bottom wheels 4 of the front walking part 2 and the rear walking part 3, and goes to the target location according to the preset inspection route or instructions. When the robot dog approaches the picking point, the motor 1 503 in the auxiliary mechanism 5 is started, driving the gear 1 504 to rotate. Since the gear 1 504 is engaged with the rack 502 on the top surface of the frame frame 501, the frame frame 501 is driven to slide on the top of the body 1, so that the frame frame 501 is extended outward. At the same time, the gear 1 504 drives the gear 2 505 and the gear 3 507 to rotate through the pulley group 506, so that the semicircular cover 508 is opened downward, and the position and state of the auxiliary mechanism 5 are adjusted to prepare for picking up objects. The distance measuring sensor 510 on the front side of the bottom of the frame frame 501 detects the distance to the surrounding objects in real time to prevent collisions.

[0045] S2: When approaching the box 701, the box 701 is located on the side of the picking mechanism 6. At this time, since the semicircular cover 508 opens downward, the elastic sheet 616 is automatically released outward, the swing arm 1 601 is bounced open and swings downward. After the swing arm 1 601 approaches the back of the box 701, it pushes the box 701 forward to move synchronously. At the same time, the handle 603 contacts the back of the box 701, and the distance sensor 510 emits a laser to the inclined panel 702 to detect the distance between the box 701 and the body 1. When the distance is too large or too small, the body 1 passes through. The bottom wheel 4 automatically adjusts the spacing. After the adjustment is completed, the electric cylinder 611 is started. The output shaft of the electric cylinder 611 pushes the spoon-shaped push handle 612. The bottom of the spoon-shaped push handle 612 is inserted into the shaft body 2 606 and is in friction contact with the swing arm 2 602. The swing arm 2 602 can be pushed toward the swing arm 1 601 by the push of the spoon-shaped push handle 612. When the handle 603 of the swing arm 2 602 contacts the front of the box 701, the electric cylinder 611 stops, and the swing arm 2 602 stops sliding on the shaft body 2 606. Before the swing arm 2 602 falls, the swing arm The second swing arm 602 is in an upright state and tilted toward the middle of the body 1. When the second swing arm 602 slides on the second shaft 606, the curved groove 613 of the spoon-shaped push handle 612 drives the T-shaped push frame 614 to be pushed outward from the mounting seat 615, so that the T-shaped push frame 614 pushes the erected second swing arm 602 to swing downward. As the second swing arm 602 moves, the spring 1 610 is compressed, and the hollow rotating frame 608 slides on the second shaft 606 toward the first shaft 605. When the first swing arm 601 and the second swing arm 602 reach the predetermined position, After the two arms approach the box 701, the two ratchet wheels 607 engage with each other, and the motor 2 617 is started to drive the shaft 1 605 to rotate. The ratchet wheel 607 drives the shaft 2 606 to rotate through the shaft 1 605, so that the two swing arms move upward and lift the box 701. During the lifting process of the two swing arms, the end of the electromagnet 604 contacts the bottom surface of the side ear 703, automatically lifting the box 701. At the same time, the electromagnet 604 is energized, and the electromagnet 604 generates a magnetic force to adsorb the box 701, thereby improving the stability of the box 701 during the lifting process.

[0046] After the box 701 is lifted to the top of the body 1, the two swing arms rotate continuously, and the card rod 705 at the bottom of the box 701 falls between the two L-shaped plates 511 and touches the bottom. At this time, the motor 1 503 starts, driving the frame 501 to return. During the process, the L-shaped plate 511 on the side close to the limiting roller 512 is pressed and slides toward the other L-shaped plate 511, limiting the card rod 705 to prevent the box 701 from moving during the object transfer. After the frame 501 returns, the semicircular cover 508 automatically returns to cover the side of the body 1. The robot dog carries the box 701 loaded with items and goes to the target location according to the instructions to complete the transportation task. After arriving at the destination, the electromagnet 604 is powered off, and the frame 501 is expanded outward. The card rod 705 at the bottom of the box 701 loses its limit, and the operator can take away the box 701. The robot dog completes the delivery task.

[0047] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and modifications fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A factory inspection robot dog with a carrying function, characterized in that: The invention comprises a body (1), wherein the front side and the rear side of the body (1) are respectively connected to a front walking part (2) and a rear walking part (3) in a transmission manner, and both sides of the front walking part (2) and the rear walking part (3) are respectively connected to bottom wheels (4) in a rotation manner, and the top and one side of the body (1) are respectively provided with an auxiliary mechanism (5) and a picking mechanism (6), and also includes a loading mechanism (7); The object-picking mechanism (6) comprises a swing arm 1 (601) and a swing arm 2 (602) respectively arranged on the side of the body (1); the swing arm 1 (601) and the swing arm 2 (602) are respectively hinged with a handle (603) on the side away from the body (1); an electromagnet (604) is provided at the bottom end of the handle (603); the ends of the swing arm 1 (601) and the swing arm 2 (602) close to the body (1) are respectively movably connected with a shaft 1 (605) and a shaft 2 (606); the ends of the shaft 1 (605) and the shaft 2 (606) close to each other are respectively fixedly connected with two ratchets (607); the two ratchets (607) are symmetrically arranged and movably engaged; The shaft body 1 (605) and the shaft body 2 (606) are respectively provided with guide grooves (609), the guide groove (609) of the shaft body 1 (605) is shorter than the guide groove (609) of the shaft body 2 (606), and the shaft body 2 (606) enables the swing arm 2 (602) to slide and rotate through the guide groove (609), while the guide groove (609) of the shaft body 1 (605) is only used to enable the swing arm 1 (601) to rotate; A hollow rotating frame (608) is sleeved on the second shaft (606), a spring (610) is sleeved on a guide groove (609) provided on the second shaft (606), and the spring (610) is located on one side of the hollow rotating frame (608), and a gasket rotatably connected to the second shaft (606) is movably inserted in the middle of the hollow rotating frame (608).

2. The factory inspection robot dog with a carrying function according to claim 1, characterized in that: An electric cylinder (611) is fixedly mounted on a side of the surface of the body (1) close to the second swing arm (602), and a spoon-shaped push handle (612) is fixedly connected to the output shaft of the electric cylinder (611). The bottom of the spoon-shaped push handle (612) is inserted into the second shaft body (606), and the side close to the second swing arm (602) is in friction contact with the second swing arm (602).

3. The factory inspection robot dog with a carrying function according to claim 2, characterized in that: A curved groove (613) is provided on the top of the spoon-shaped push handle (612), a T-shaped push frame (614) is slidably provided in the curved groove (613), a mounting seat (615) is slidably provided on the top of the T-shaped push frame (614), and the mounting seat (615) is fixedly connected to the body (1).

4. The factory inspection robot dog with a carrying function according to claim 1, characterized in that: The object-picking mechanism (6) further comprises an elastic sheet (616) arranged on the side of the first swing arm (601), wherein the elastic sheet (616) is elastically connected to the body (1), and a second motor (617) is arranged near the elastic sheet (616), and the output end of the second motor (617) is rotationally connected to the second shaft (606).

5. The factory inspection robot dog with a carrying function according to claim 1, characterized in that: The auxiliary mechanism (5) includes a frame frame (501) slidably mounted on the top of the body (1), the frame frame (501) is slidably connected to the body (1), and the top and bottom surfaces of one side of the frame frame (501) are respectively fixedly connected with racks (502), wherein a motor 1 (503) is provided on the side of the rack (502) at the top, and the output end of the motor 1 (503) is rotatably connected with a gear 1 (504), the gear 1 (504) is meshed with the rack (502) on the top surface of the frame frame (501), and the rack (502) on the bottom surface of the frame frame (501) is meshed with a gear 2 (505), and the axis of the gear 2 (505) is transmission-connected to one end of a pulley group (506), and the other end of the pulley group (506) is transmission-connected to a gear 3 (507), and the outer surface of the gear 3 (507) is meshed with a semicircular cover (508).

6. The factory inspection robot dog with a carrying function according to claim 5, characterized in that: The bottom surface of the body (1) is rotatably connected to a pressure wheel (509), and the pressure wheel (509) abuts against the surface of a belt on one side of the pulley assembly (506). A distance sensor (510) is provided on the front side of the bottom of the frame frame (501).

7. The factory inspection robot dog with a carrying function according to claim 5, characterized in that: An L-shaped plate (511) is elastically provided on the top surface of the frame bar rack (501) symmetrically with respect to one side of the distance measuring sensor (510), and the L-shaped plate (511) is installed upside down. A limiting roller (512) is fixedly installed on the side of the L-shaped plate (511) on the body (1), and the limiting roller (512) abuts against one of the L-shaped plates (511).

8. The factory inspection robot dog with a carrying function according to claim 1, characterized in that: The loading mechanism (7) comprises a box (701), a top side of which is fixedly mounted an inclined panel (702), the inclined panel (702) being adapted for use with a distance measuring sensor (510) to detect the distance between the body (1) and the box (701), and side ears (703) being symmetrically provided on both sides of the box (701), the surfaces of the side ears (703) being magnetically connected to the electromagnet (604).

9. The factory inspection robot dog with a carrying function according to claim 8, characterized in that: The bottom of the box body (701) is rotatably connected to a rubber wheel (704), and the rubber wheel (704) is used to control the speed of the box body (701) to prevent acceleration caused by the push of the swing arm (601). The bottom of the box body (701) is fixedly connected to a clamping rod (705), and the clamping rod (705) is movably clamped to the L-shaped plate (511).

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