Control device of intelligent robot

Abstract

The control device comprises a robot body, a material tray is arranged on the top face of the robot body, a front wheel structure and rear wheels are arranged in the robot body, the front wheel structure comprises front wheels, a balance control assembly is arranged in the robot body, and the balance control assembly comprises a left supporting rod and a right supporting rod which are arranged at the front end; the balance control assembly comprises tilting rods, a cross beam is fixed between the rear ends of the two tilting rods, an ejector rod is arranged on the side wall of the cross beam, a discharging control assembly is arranged on the inner bottom face of the robot body and comprises a rotating disc, a guide rail is arranged on the top face of the rotating disc, and a moving block structure is arranged on the top face of the rotating disc. According to the control device of the robot, by arranging the balance control assembly, when the robot climbs a slope, the inclination angle of the material tray can be reduced, and goods and express items are prevented from sliding off from the material tray; in addition, the robot is provided with the unloading control assembly, so that automatic unloading can be carried out after the robot arrives at a specified unloading site.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology, specifically a control device for an intelligent robot. Background Technology

[0002] In warehousing, intelligent transport robots are often used to help move goods to designated locations. Robots are generally guided by electromagnetic or optical mechanisms to move and move goods and express packages. They also use automatic positioning and obstacle avoidance systems to move smoothly to the unloading location for unloading.

[0003] For example, the utility model patent with authorization announcement number CN217396704U discloses a robot chassis and robot in the field of mobile robot technology, including a chassis body; a drive wheel assembly that is movably mounted on both sides of the chassis body; and a caster wheel assembly, including a front caster wheel and a rear caster wheel, which are respectively arranged on the front and rear sides of the chassis body.

[0004] Although the robot described above can ensure that the drive wheel assembly and omnidirectional wheel assembly can be in close contact with the ground when going uphill, the robot cannot keep the top surface level when going uphill, and the goods are prone to slipping and cannot be automatically unloaded. In order to solve the above problems, we propose a control device for an intelligent robot.

[0005] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0006] The purpose of this invention is to provide a control device for an intelligent robot to solve the problems mentioned above in the prior art, such as the inability to keep the top surface level when going uphill, the easy slippage of goods when going uphill, and the inability to automatically unload materials.

[0007] To achieve the above objectives, the present invention provides a control device for an intelligent robot, comprising a robot body, drive wheels symmetrically arranged on the bottom surface of the robot body, a material tray on the top surface of the robot body, a front wheel structure and a rear wheel respectively located near the front and rear ends of the inner bottom surface of the robot body, the front wheel structure including the front wheel, a forward and backward balancing control assembly inside the robot body, the balancing control assembly including two left and right support rods located at the front end, a pivot shaft between the two support rods, the balancing control assembly also including two left and right symmetrically arranged rocker arms, a crossbeam fixed between the rear ends of the two rocker arms, a top rod connected to the side wall of the crossbeam by a second hinge rod, and a material unloading control assembly inside the robot body, the material unloading control assembly including a turntable, a guide rail on the top surface of the turntable, and symmetrically arranged moving block structures on the left and right sides of the top surface of the turntable.

[0008] In the technical solution of the present invention, the bottom surface of the material tray is hinged to the front end of the top surface of the robot body, and the top end of the push rod passes through the top surface of the robot body and is fixedly connected to the bottom surface of the material tray.

[0009] In the technical solution of the present invention, the left and right sides of the front wheel are connected to the same hinge plate by a fixing plate, the pivot passes through the rear end of the hinge plate, and a spring is sleeved on the pivot.

[0010] In the technical solution of the present invention, the front end of the rocker arm is provided with a first hinge rod, the front and rear ends of the first hinge rod are respectively connected to the front end of the rocker arm and the rear end face of the hinge plate, and the middle part of the rocker arm is provided with a left and right transverse shaft.

[0011] In the technical solution of the present invention, the guide rail is generally in the shape of an equidistant spiral, the inner end of the top surface of the moving block structure is provided with an upward extension plate, and the two ends of the shaft pass through the extension plate and are slidably connected.

[0012] In the technical solution of the present invention, the moving block structure includes a moving block, the bottom surface of the moving block is provided with a sliding groove adapted to the guide rail, the center of the bottom surface of the turntable is provided with a recessed mounting groove, the mounting groove is provided with a drive motor, and the output shaft of the drive motor is coaxially connected to the bottom surface of the turntable.

[0013] In the technical solution of the present invention, a limiting groove is provided on the outer wall of the moving block, and a limiting rod is slidably connected in the limiting groove. The outer end of the limiting rod is fixedly connected to the inner wall of the robot body.

[0014] In the technical solution of the present invention, the top surfaces of the two movable blocks are hinged with connecting plates, the top ends of the two connecting plates are hinged with the same connecting seat, the bottom surface of the connecting seat is fixed with a lifting rod near the front end, the side walls of the lifting rod are symmetrically provided with pressure rods, and the pressure rods are located above the front end of the rocker arm.

[0015] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0016] 1. In this invention, by setting up a balance control component, when the robot goes uphill, the front wheels will retract inward with the slope and drive the hinge plate to rotate counterclockwise, thereby causing the rear end of the rocker arm to lift the rear end of the material pallet, thereby reducing the tilt angle of the material pallet and preventing goods and express delivery from slipping off the material pallet.

[0017] 2. In this invention, by setting up an unloading control component, after the robot arrives at the designated unloading location, the drive motor drives the turntable to rotate, thereby causing the two moving blocks 731 to move radially synchronously. Then, the connecting plate and the connecting seat drive the lifting rod to move downward. The pressure rod presses down to make the rear end of the pry bar lift up, thereby causing the second hinge rod to push the top rod upward, so that the goods can slide off the material pallet for automatic unloading. Attached Figure Description

[0018] Figure 1 This is a simplified schematic diagram of the overall structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the internal structure of the present invention;

[0020] Figure 3 This is an exploded view of the balance control component in this invention;

[0021] Figure 4 This is an enlarged view of the structure at point A in this invention;

[0022] Figure 5 This is an enlarged view of the structure at point B in this invention;

[0023] Figure 6 This is an exploded view of the unloading control assembly in this invention;

[0024] Figure 7 This is a cross-sectional view of the movable block structure in this invention.

[0025] Explanation of reference numerals in the attached figures:

[0026] 1. Robot body;

[0027] 2. Material pallets;

[0028] 3. Drive wheels;

[0029] 4. Front wheel structure; 41. Front wheel; 42. Fixing plate; 43. Hinge plate;

[0030] 5. Rear wheels;

[0031] 6. Balance control assembly; 61. Support rod; 62. Rotating shaft; 63. Spring; 64. First hinge rod; 65. Rocker arm; 66. Crossbeam; 67. Second hinge rod; 68. Push rod; 69. Shaft;

[0032] 7. Unloading control assembly; 71. Turntable; 72. Guide rail; 73. Moving block structure; 731. Moving block; 732. Limiting rod; 733. Limiting groove; 74. Drive motor; 75. Connecting plate; 76. Connecting seat; 77. Lifting rod; 78. Pressure rod. Detailed Implementation

[0033] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings, but it should be understood that the scope of protection of the present invention is not limited to the specific embodiments.

[0034] Unless otherwise expressly stated, throughout the specification and claims, the term "comprising" or its variations such as "including" or "comprises" shall be understood to include the stated elements or components without excluding other elements or other components.

[0035] Reference Figures 1-7 The present invention provides a control device for an intelligent robot, comprising a robot body 1, drive wheels 3 symmetrically arranged on the bottom surface of the robot body 1, a material tray 2 on the top surface of the robot body 1, and a front wheel structure 4 and a rear wheel 5 respectively provided on the inner bottom surface of the robot body 1 near the front and rear ends. The front wheel structure 4 includes a front wheel 41.

[0036] The robot body 1 is equipped with a front-to-back balancing control component 6. The balancing control component 6 includes two left and right support rods 61 set at the front end, and a pivot 62 is set between the two support rods 61. The balancing control component 6 also includes two left and right symmetrically arranged rocker arms 65. A crossbeam 66 is fixed between the rear ends of the two rocker arms 65. A top rod 68 is connected to the side wall of the crossbeam 66 through a second hinge rod 67.

[0037] The robot body 1 has an unloading control component 7 on its inner bottom surface. The unloading control component 7 includes a turntable 71, a guide rail 72 on the top surface of the turntable 71, and a moving block structure 73 symmetrically arranged on the left and right sides of the top surface of the turntable 71. By setting a balance control component 6, the robot can keep the material pallet 2 horizontal when it needs to go uphill to transport goods or express delivery. At the same time, the unloading control component 7 can automatically unload the goods when the robot arrives at the unloading location.

[0038] The bottom surface of the material pallet 2 is hinged to the front end of the top surface of the robot body 1, and the top end of the push rod 68 passes through the top surface of the robot body 1 and is fixedly connected to the bottom surface of the material pallet 2, so that the push rod 68 can lift the rear end of the material pallet 2 when going uphill.

[0039] Furthermore, the front wheel 41 is connected to the same hinge plate 43 on both sides by a fixing plate 42. The pivot 62 passes through the rear end of the hinge plate 43 on both sides. The pivot 62 is fitted with a spring spring 63 to ensure that the front wheel 41, the drive wheel 3 and the rear wheel 5 are on the same horizontal plane during normal driving.

[0040] In addition, the front end of the rocker arm 65 is provided with a first hinge rod 64, the front and rear ends of the first hinge rod 64 are respectively connected to the front end of the rocker arm 65 and the rear end face of the hinge plate 43, and the middle part of the rocker arm 65 is provided with a left and right transverse shaft 69, so that the rocker arm 65 can rotate around the shaft 69.

[0041] In addition, the guide rail 72 is in the shape of an equidistant spiral, and the inner end of the top surface of the moving block structure 73 is provided with an upward extension plate. The two ends of the shaft 69 pass through the extension plate and are slidably connected to each other, thereby limiting the shaft 69 and preventing the shaft 69 from moving up and down or back and forth.

[0042] The movable block structure 73 includes a movable block 731. The bottom surface of the movable block 731 is provided with a sliding groove that is adapted to the guide rail 72. The bottom surface of the turntable 71 is provided with a recessed mounting groove in the middle. The mounting groove is provided with a drive motor 74. The output shaft of the drive motor 74 is coaxially connected to the bottom surface of the turntable 71. The drive motor 74 drives the turntable 71 to rotate, thereby causing the two movable blocks 731 to move synchronously radially through the guide rail 72.

[0043] Furthermore, the outer wall of the movable block 731 is provided with a limiting groove 733, and a limiting rod 732 is slidably connected in the limiting groove 733. The outer end of the limiting rod 732 is fixedly connected to the inner wall of the robot body 1 to prevent the movable block 731 from rotating with the turntable 71.

[0044] In addition, the top surfaces of the two moving blocks 731 are hinged with connecting plates 75, and the top of the two connecting plates 75 are hinged with the same connecting seat 76. The bottom surface of the connecting seat 76 is fixed with a lifting rod 77. When the two moving blocks 731 move radially in sync, the connecting plates 75 will lift or pull down the connecting seat 76, thereby driving the lifting rod 77 to move up and down.

[0045] Each of the two movable blocks 731 has a connecting plate 75 hinged to its top surface. The top of the two connecting plates 75 is hinged to the same connecting seat 76. A lifting rod 77 is fixed to the bottom surface of the connecting seat 76 near the front end. The side wall of the lifting rod 77 is symmetrically provided with pressure rods 78. The pressure rods 78 are located above the front end of the rocker arm 65. During unloading, the lifting rod 77 will move downward under the action of the movable blocks 731 and the connecting seat 76, thereby pressing down on the front end of the rocker arm 65, causing it to rotate clockwise around the shaft 69, and thus lifting up the rear end of the top rod 68.

[0046] Finally, it is worth noting that the obstacle avoidance system and positioning system required for the intelligent robot to handle goods and deliver packages are all publicly available technologies for intelligent robots, and will not be elaborated upon here.

[0047] The working principle of the control device for an intelligent robot according to the present invention is as follows:

[0048] When the robot body 1 is loading goods uphill, the front wheel 41 will be pressed back inward with the slope. At this time, the hinge plate 43 will rotate counterclockwise around the rear end, which will drive the first hinge rod 64 to pull down the rocker arm 65. At this time, the rocker arm 65 will rotate clockwise around the shaft 69, which will cause the rear end to lift up. It will then push the top rod 68 upward through the second hinge rod 67, thereby reducing the tilt angle of the material pallet 2 and preventing express goods from sliding off the material pallet 2.

[0049] When the robot body 1 arrives at the designated unloading location, the drive motor 74 drives the turntable 71 to rotate, which in turn causes the two moving blocks 731 to move radially synchronously via the guide rail 72. Then, the connecting plate 75 and the connecting seat 76 drive the lifting rod 77 to move downward. At this time, the rear end of the rocker arm 65 will lift up, which will cause the second hinge rod 67 to push the top rod 68 upward, so that the goods can slide off the material pallet 2 for unloading.

[0050] The foregoing description of specific exemplary embodiments of the invention is for illustrative and explanatory purposes. These descriptions are not intended to limit the invention to the precise forms disclosed, and it will be apparent that many changes and variations can be made in accordance with the foregoing teachings. The exemplary embodiments were chosen and described in order to explain the specific principles of the invention and its practical application, thereby enabling those skilled in the art to implement and utilize various different exemplary embodiments of the invention, as well as various different choices and variations. The scope of the invention is intended to be defined by the claims and their equivalents.

Claims

1. A control device for an intelligent robot, comprising a robot body (1) and drive wheels (3) symmetrically arranged on the bottom surface of the robot body (1), characterized in that: The top surface of the robot body (1) is provided with a material tray (2). The bottom surface of the robot body (1) near the front and rear ends is provided with a front wheel structure (4) and a rear wheel (5), respectively. The front wheel structure (4) includes a front wheel (41). The robot body (1) is provided with a forward-backward balancing control assembly (6). The balancing control assembly (6) includes two left and right support rods (61) located at the front end, with a pivot (62) between the two support rods (61). The balancing control assembly (6) also... The robot body (1) includes two symmetrically arranged rocker arms (65), and a crossbeam (66) is fixed between the rear ends of the two rocker arms (65). The side wall of the crossbeam (66) is connected to a top rod (68) by a second hinge rod (67). The bottom surface of the robot body (1) is provided with a material unloading control assembly (7). The material unloading control assembly (7) includes a turntable (71). The top surface of the turntable (71) is provided with a guide rail (72). The top surface of the turntable (71) is symmetrically provided with moving block structures (73).

2. The control device for an intelligent robot as described in claim 1, characterized in that: The bottom surface of the material tray (2) is hinged to the front end of the top surface of the robot body (1), and the top end of the top rod (68) passes through the top surface of the robot body (1) and is fixedly connected to the bottom surface of the material tray (2).

3. The control device for an intelligent robot as described in claim 1, characterized in that: The front wheel (41) is connected to the same hinge plate (43) on both sides by a fixing plate (42). The pivot (62) passes through the rear end of the hinge plate (43) on both sides. The pivot (62) is fitted with a spring spring (63).

4. The control device for an intelligent robot as described in claim 3, characterized in that: The front end of the rocker arm (65) is provided with a first hinge rod (64), the front and rear ends of the first hinge rod (64) are respectively connected to the front end of the rocker arm (65) and the rear end face of the hinge plate (43), and the middle part of the rocker arm (65) is provided with a left and right transverse shaft (69).

5. The control device for an intelligent robot as described in claim 4, characterized in that: The guide rail (72) is generally equidistant spiral, and the inner end of the top surface of the moving block structure (73) is provided with an upward extension plate. The two ends of the shaft (69) pass through the extension plate and are slidably connected.

6. The control device for an intelligent robot as described in claim 5, characterized in that: The movable block structure (73) includes a movable block (731), the bottom surface of which is provided with a sliding groove adapted to the guide rail (72), the center of the bottom surface of the turntable (71) is provided with a recessed mounting groove, the mounting groove is provided with a drive motor (74), and the output shaft of the drive motor (74) is coaxially connected to the bottom surface of the turntable (71).

7. The control device for an intelligent robot as described in claim 6, characterized in that: The outer wall of the movable block (731) is provided with a limiting groove (733), and a limiting rod (732) is slidably connected in the limiting groove (733). The outer end of the limiting rod (732) is fixedly connected to the inner wall of the robot body (1).

8. The control device for an intelligent robot as described in claim 7, characterized in that: Both of the moving blocks (731) have connecting plates (75) hinged to their top surfaces. The top of the two connecting plates (75) is hinged to the same connecting seat (76). A lifting rod (77) is fixed to the bottom surface of the connecting seat (76) near the front end. The side walls of the lifting rod (77) are symmetrically provided with pressure rods (78). The pressure rods (78) are located above the front end of the rocker arm (65).

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