Mobile robot adopting anti-collision structure

Abstract

The invention relates to the technical field of robots, and particularly discloses a mobile robot adopting an anti-collision structure, the mobile robot comprises a shell, one side of the inner wall of the shell is fixedly connected with a steering system, one side of the inner wall of the shell is fixedly connected with a driving system, and the steering system and the driving system are both fixedly connected with rotating wheels; one side of the shell is connected with a cart through a buckle, the top of the shell is fixedly connected with an assembling box, the top of the assembling box is fixedly connected with a fixing rod, the top of the fixing rod is fixedly connected with an anti-falling device, the top of the assembling box is fixedly connected with a mechanical arm, and one side of the top of the assembling box is fixedly connected with a fixing plate. And one side of the fixing plate is fixedly connected with an integrated system, the side, away from the fixing plate, of the integrated system is fixedly connected with a camera, and the bottom of the integrated system and the bottom of the camera are both fixedly connected with the assembly box. The mobile robot adopting the anti-collision structure achieves the purpose of effectively preventing collision.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a mobile robot employing a collision-avoidance structure. Background Technology

[0002] Mobile robots perceive their environment through sensors such as LiDAR, visual pressure detectors, ultrasonic pressure detectors, and inertial measurement units, and achieve precise localization through SLAM algorithms. SLAM technology enables robots to build maps as they move in unknown or dynamically changing environments, while continuously correcting their position on the map. With the continuous advancement of battery technology, especially the widespread application of lithium batteries, the endurance of mobile robots has been greatly improved. Modern lithium batteries can provide long-term power support and have short charging times. The design of mobile robot power systems also pays more attention to energy efficiency and stability, adopting efficient electric drive systems and intelligent control strategies to optimize energy consumption in different working scenarios.

[0003] Current mobile robots with anti-collision structures still have the problem of being unable to cope with moving impacts. Summary of the Invention

[0004] To solve the above problems, the present invention is implemented through the following technical solution: a mobile robot with an anti-collision structure, including a shell, a steering system fixedly connected to one side of the inner wall of the shell, a drive system fixedly connected to the side of the inner wall of the shell away from the steering system, both the steering system and the drive system being fixedly connected to rotating wheels via rotating shafts, a trolley being connected to one side of the shell via a buckle, an assembly box fixedly connected to the top of the shell, a fixing rod fixedly connected to the top of the assembly box, an anti-fall device fixedly connected to the top of the fixing rod, a robotic arm fixedly connected to the top of the assembly box on the side of the fixing rod, a fixing plate fixedly connected to the portion of the top of the assembly box on the side of the robotic arm and the fixing rod, an integrated system fixedly connected to one side of the fixing plate, a camera fixedly connected to the side of the integrated system away from the fixing plate, and the bottoms of both the integrated system and the camera being fixedly connected to the assembly box; The assembly box includes a first box body, a buffer device fixedly connected to one side of the first box body, a first pressure detector fixedly connected to one side of the first box body, a spring sleeved on the side of the first pressure detector, a pressing plate fixedly connected to one end of the spring, the end of the spring away from the pressing plate fixedly connected to the first box body, a telescopic bracket fixedly connected to the portion of the pressing plate located on the side of the spring, and the side of the telescopic bracket away from the pressing plate fixedly connected to the first box body. The message transmission through the first pressure detector enables a rapid evasive action.

[0005] Preferably, the top of the first housing is fixedly connected to the robotic arm, and the top of the first housing is fixedly connected to the fixing rod.

[0006] Preferably, the top of the first housing is fixedly connected to the integrated system, the top of the first housing is fixedly connected to the camera, and the bottom of the first housing is fixedly connected to the outer shell.

[0007] Preferably, the buffer device includes a first plate, a third rotating groove is formed on one side of the first plate, an assembly groove is formed on one side of the third rotating groove, a second pressure detector is fixedly connected to one side of the inner wall of the assembly groove, a fixed end of a first elastic telescopic rod is fixedly connected to the side of the second pressure detector away from the inner wall of the assembly groove, a slider is fixedly connected to the movable end of the first elastic telescopic rod, a rotating shaft is rotatably connected to one side of the slider, and a roller is sleeved on the rotating shaft. The second pressure detector can effectively receive the speed and trajectory of the simulated impact.

[0008] Preferably, one side of the first plate is fixedly connected to the first housing, and multiple sets of the second pressure detectors are provided.

[0009] Preferably, the anti-fall device includes a second housing, a rubber pad is fixedly connected to the side of the second housing, an emergency device is fixedly connected to the bottom of the second housing, and the movable end of a second elastic telescopic rod is fixedly connected to the bottom of the second housing on the side of the emergency device. The second elastic telescopic rod can play a good cushioning role.

[0010] Preferably, multiple sets of the second elastic telescopic rod are provided, and the fixed end of the second elastic telescopic rod is fixedly connected to the fixed rod.

[0011] Preferably, the emergency device includes a second plate and an air pump. The second plate has a mounting groove at its top and a sliding groove on one side. A support rod is fixedly connected to one side of the second plate. A first rotating groove is formed on one side of the support rod. A second rotating groove is formed on one side of the inner wall of the first rotating groove. A baffle rotating shaft is rotatably connected to one side of the inner wall of the second rotating groove. A torque spring is sleeved on one side of the baffle rotating shaft. The end of the torque spring away from the baffle rotating shaft is fixedly connected to the second rotating groove. A baffle is fixedly connected to the bottom of the baffle rotating shaft. The air pump's inlet is connected to a first pipe. The end of the first pipe away from the air pump passes through the second plate and is fixedly connected to it. The air pump's outlet is connected to a second pipe. The end of the second pipe away from the air pump is connected to an airbag. A fixing block is fixedly connected to one side of the airbag. The air pump can quickly draw in external air and compress it into the airbag.

[0012] Preferably, the top of the air pump is fixedly connected to the second housing, and the top of the second plate is fixedly connected to the second housing.

[0013] This invention provides a mobile robot with an anti-collision structure. It has the following advantages: 1. This mobile robot, featuring an anti-collision structure, is equipped with an assembly box. The design of this assembly box, along with the anti-drop device, further ensures the stability of the robot during operation and prevents items from falling due to unexpected situations. The integrated system and camera work together to give the robot stronger environmental perception and data processing capabilities, enabling it to perform various tasks more accurately. The buffer device, consisting of a first pressure detector, springs, pressing plates, and telescopic brackets, can buffer the robot when it collides, reducing damage to the robot's internal structure and thus extending the robot's service life.

[0014] 2. The mobile robot with an anti-collision structure is equipped with a buffer device. The buffer device can accurately capture the trajectory and speed of the impact through the setting of multiple sets of second pressure detectors. When the roller is squeezed by external force, it will push the slider to slide in the third rotating groove, thereby compressing the first elastic telescopic rod. At this time, the second pressure detector will monitor the pressure change in real time and transmit the signal to the integrated system so as to make timely adjustments.

[0015] 3. This mobile robot, which adopts an anti-collision structure, is equipped with an anti-fall device. The design of this anti-fall device uses rubber pads to cushion the robot when it is accidentally knocked down, protecting the anti-fall device. The emergency device responds promptly when the robot suffers an unavoidable strong impact. The multiple sets of second elastic telescopic rods in the second housing further enhance the anti-fall capability, ensuring the safety and stability of goods during transportation.

[0016] 4. This mobile robot, which adopts an anti-collision structure, is equipped with an emergency device. The design of this emergency device, including the support rod and rotating groove, combined with the baffle rotating shaft and torque spring, realizes the automatic reset function of the baffle, enhancing the stability and reliability of the device. The connection design of the air pump and pipeline allows the airbag to be quickly inflated or deflated, thereby responding quickly in emergency situations and effectively protecting the safety of the equipment. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the mobile robot structure employing the anti-collision structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the mobile robot with an anti-collision structure according to the present invention; Figure 3 This is a schematic diagram of the assembly box structure of the present invention; Figure 4 This is a schematic diagram of the buffer device structure of the present invention; Figure 5This is a schematic diagram of the internal structure of the buffer device of the present invention; Figure 6 This is a schematic diagram of the anti-fall device structure of the present invention; Figure 7 This is a schematic diagram of the emergency device structure of the present invention; Figure 8 This is a schematic diagram of the external structure of the emergency device of the present invention; Figure 9 This is an enlarged structural diagram of part A of the present invention; Figure 10 This is a schematic diagram of the internal structure of the emergency device of the present invention.

[0018] In the diagram: 1. Outer shell; 2. Steering system; 3. Drive system; 4. Rotating wheel; 5. Trolley; 6. Assembly box; 61. First box; 62. Buffer device; 621. First plate; 622. Third rotating groove; 623. Assembly groove; 624. Second pressure detector; 625. First elastic telescopic rod; 626. Slider; 627. Rotating shaft; 628. Roller; 63. First pressure detector; 64. Spring; 65. Telescopic bracket; 66. Pressing plate; 7. Anti-fall device; 71. Second box; 72. Rubber... 73. Rubber pad; 731. Emergency device; 732. Second plate; 733. Mounting groove; 734. Sliding groove; 735. Support rod; 736. First rotating groove; 737. Second rotating groove; 738. Baffle rotating shaft; 739. Torque spring; 7310. Baffle; 7311. Air pump; 7312. First pipe; 7313. Second pipe; 7314. Airbag; 74. Fixing block; 75. Second elastic telescopic rod; 8. Robotic arm; 9. Integrated system; 10. Fixing plate; 11. Camera; 12. Fixing rod. Detailed Implementation

[0019] 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.

[0020] For the first embodiment, please refer to... Figures 1-3This invention provides a technical solution: a mobile robot with an anti-collision structure, comprising a shell 1, a steering system 2 fixedly connected to one side of the inner wall of the shell 1, a drive system 3 fixedly connected to the side of the inner wall of the shell 1 away from the steering system 2, a rotating wheel 4 fixedly connected to both the steering system 2 and the drive system 3 via a rotating shaft, a trolley 5 connected to one side of the shell 1 via a snap fastener, an assembly box 6 fixedly connected to the top of the shell 1, a fixing rod 12 fixedly connected to the top of the assembly box 6, an anti-fall device 7 fixedly connected to the top of the fixing rod 12, a robotic arm 8 fixedly connected to the top of the assembly box 6 on one side of the fixing rod 12, a fixing plate 10 fixedly connected to the portion of the top of the assembly box 6 on one side of the robotic arm 8 and the fixing rod 12, an integrated system 9 fixedly connected to one side of the fixing plate 10, a camera 11 fixedly connected to the side of the integrated system 9 away from the fixing plate 10, and the bottoms of the integrated system 9 and the camera 11 fixedly connected to the assembly box 6. The assembly box 6 includes a first box body 61. A buffer device 62 is fixedly connected to one side of the first box body 61. A first pressure detector 63 is fixedly connected to one side of the first box body 61. A spring 64 is sleeved on the side of the first pressure detector 63. A pressing plate 66 is fixedly connected to one end of the spring 64. The end of the spring 64 away from the pressing plate 66 is fixedly connected to the first box body 61. A telescopic bracket 65 is fixedly connected to the part of the pressing plate 66 located on the side of the spring 64. The side of the telescopic bracket 65 away from the pressing plate 66 is fixedly connected to the first box body 61. The top of the first box body 61 is fixedly connected to a robotic arm 8. The top of the first box body 61 is fixedly connected to a fixing rod 12.

[0021] In use, the mobile robot is placed in the area where it needs to work. The drive system 3 operates, driving the rotating wheel 4 to rotate, thus moving the robot as a whole. During the movement, the steering system 2 controls the rotation direction of the rotating wheel 4 according to the external signal received by the integrated system 9, thereby realizing the robot's steering. When a collision is about to occur in front, the collision will first press the pressure plate 66. After the pressure plate 66 is compressed, it will compress the spring 64. The spring 64 transmits the pressure to the first pressure detector 63. The first pressure detector transmits the signal to the integrated system 9. After analysis and processing, the integrated system 9 can control the drive system 3 to run in the opposite direction. At the same time, the integrated system 9 will send a signal to make the robot move away from the direction of the impending collision, so that the robot can avoid the impending collision.

[0022] Second embodiment, please refer to Figures 1-5Based on the first embodiment, the present invention provides a technical solution: the buffer device 62 includes a first plate 621, a third rotating groove 622 is provided on one side of the first plate 621, an assembly groove 623 is provided on one side of the third rotating groove 622, a second pressure detector 624 is fixedly connected to one side of the inner wall of the assembly groove 623, a fixed end of a first elastic telescopic rod 625 is fixedly connected to the side of the second pressure detector 624 away from the inner wall of the assembly groove 623, a slider 626 is fixedly connected to the movable end of the first elastic telescopic rod 625, a rotating shaft 627 is rotatably connected to one side of the slider 626, a roller 628 is sleeved on the rotating shaft 627, one side of the first plate 621 is fixedly connected to a first housing 61, and multiple sets of the second pressure detector 624 are provided.

[0023] When a side impact occurs, the roller 628 will drive the slider 626 to move within the assembly slot 623 via the rotating shaft 627. The movement of the slider 626 will compress or stretch the first elastic telescopic rod 625. The change in elastic force generated by the first elastic telescopic rod 625 will be sensed by the second pressure detector 624. Multiple sets of second pressure detectors 624 can more accurately capture the path and speed of the impact and send these pressure signals to the integrated system 9 for processing and corresponding avoidance response, thereby effectively preventing the impact from occurring. At the same time, minor scrapes and other impacts can be dissipated by the rotation of the roller 628 to avoid impact.

[0024] Third embodiment, please refer to Figures 1-6 Based on the second embodiment, the present invention provides a technical solution: the anti-fall device 7 includes a second box 71, a rubber pad 72 is fixedly connected to the side of the second box 71, an emergency device 73 is fixedly connected to the bottom of the second box 71, and the movable end of a second elastic telescopic rod 74 is fixedly connected to the part of the bottom of the second box 71 located on the side of the emergency device 73. Multiple sets of the second elastic telescopic rod 74 are provided, and the fixed end of the second elastic telescopic rod 74 is fixedly connected to the fixed rod 12.

[0025] If an item is accidentally dropped during the robot's operation, the anti-drop device 7 will activate, and the item will fall into the second housing 71. At the same time, the force on the second housing 71 will cause the second elastic telescopic rod 74 to compress. Multiple sets of second elastic telescopic rods 74 can better distribute the force, ensuring the stability and reliability of the anti-drop device 7. This not only prevents the robot from being damaged by the falling object, but also protects the falling object from direct impact and damage.

[0026] For the fourth embodiment, please refer to [link / reference]. Figures 1-10Based on the third embodiment, the present invention provides a technical solution: the emergency device 73 includes a second plate 731 and an air pump 7310. The top of the second plate 731 has a mounting groove 732, and one side of the second plate 731 has a sliding groove 733. A support rod 734 is fixedly connected to one side of the second plate 731. A first rotating groove 735 is formed on one side of the support rod 734. A second rotating groove 736 is formed on one side of the inner wall of the first rotating groove 735. A baffle rotating shaft 737 is rotatably connected to one side of the inner wall of the second rotating groove 736. A torque spring 738 is sleeved on one side of the baffle rotating shaft 737, and the torque spring 738 is located away from the baffle rotating shaft 7310. One end of 37 is fixedly connected to the second rotating groove 736. A baffle 739 is fixedly connected to the bottom of the baffle rotating shaft 737. The air inlet of the air pump 7310 is connected to the first pipe 7311. The end of the first pipe 7311 away from the air pump 7310 passes through the second plate 731 and is fixedly connected to the second plate 731. The air outlet of the air pump 7310 is connected to the second pipe 7312. The end of the second pipe 7312 away from the air pump 7310 is connected to the airbag 7313. A fixing block 7314 is fixedly connected to one side of the airbag 7313. The top of the air pump 7310 is fixedly connected to the second box 71. The top of the second plate 731 is fixedly connected to the second box 71.

[0027] When an emergency occurs and the device needs to be triggered, the air pump 7310 in the mounting slot 732 of the second plate 731 is activated. The air pump 7310 starts working, and its air inlet end draws in air from the outside through the first pipe 7311. After compression, the compressed air is delivered to the airbag 7313 from the air outlet end through the second pipe 7312. As the airbag 7313 continues to inflate, the airbag 7313 pushes open the baffle 739. The baffle 739 rotates, and at the same time, it drives the baffle rotation shaft 737 to rotate. The torque spring 738 rotates and generates force, so that the baffle 739 has a squeezing force on the airbag 7313, guiding the airbag 7313, so that the airbag 7313 can protect the entire robot. The fixing block 7314 can limit the airbag 7313 to prevent it from falling.

[0028] Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art and related fields based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described and explained in the present invention, unless otherwise specified or limited, shall be implemented according to conventional means in the art.

Claims

1. A mobile robot employing an anti-collision structure, characterized in that: The system includes an outer shell (1), a steering system (2) fixedly connected to one side of the inner wall of the outer shell (1), a drive system (3) fixedly connected to the side of the inner wall of the outer shell (1) away from the steering system (2), a rotating wheel (4) fixedly connected to both the steering system (2) and the drive system (3) via a rotating shaft, a trolley (5) connected to one side of the outer shell (1) via a snap fastener, an assembly box (6) fixedly connected to the top of the outer shell (1), a fixing rod (12) fixedly connected to the top of the assembly box (6), and a fixing rod (12) fixedly connected to the top of the fixing rod (12). A fixed anti-fall device (7) is fixedly connected to the top of the assembly box (6) on one side of the fixed rod (12). A mechanical arm (8) is fixedly connected to the top of the assembly box (6) on one side of the mechanical arm (8) and the fixed rod (12). A fixed plate (10) is fixedly connected to the top of the assembly box (6). An integrated system (9) is fixedly connected to one side of the fixed plate (10). A camera (11) is fixedly connected to the side of the integrated system (9) away from the fixed plate (10). The bottoms of the integrated system (9) and the camera (11) are both fixedly connected to the assembly box (6). The assembly box (6) includes a first box body (61), a buffer device (62) is fixedly connected to one side of the first box body (61), a first pressure detector (63) is fixedly connected to one side of the first box body (61), a spring (64) is sleeved on the side of the first pressure detector (63), a pressing plate (66) is fixedly connected to one end of the spring (64), the end of the spring (64) away from the pressing plate (66) is fixedly connected to the first box body (61), a telescopic bracket (65) is fixedly connected to the part of the pressing plate (66) located on the side of the spring (64), and the side of the telescopic bracket (65) away from the pressing plate (66) is fixedly connected to the first box body (61).

2. A mobile robot with an anti-collision structure according to claim 1, characterized in that: The top of the first box (61) is fixedly connected to the robotic arm (8), and the top of the first box (61) is fixedly connected to the fixed rod (12).

3. A mobile robot with an anti-collision structure according to claim 2, characterized in that: The top of the first housing (61) is fixedly connected to the integrated system (9), the top of the first housing (61) is fixedly connected to the camera (11), and the bottom of the first housing (61) is fixedly connected to the outer shell (1).

4. A mobile robot with an anti-collision structure according to claim 3, characterized in that: The buffer device (62) includes a first plate (621), a third rotating groove (622) is provided on one side of the first plate (621), an assembly groove (623) is provided on one side of the third rotating groove (622), a second pressure detector (624) is fixedly connected to one side of the inner wall of the assembly groove (623), a fixed end of a first elastic telescopic rod (625) is fixedly connected to the side of the second pressure detector (624) away from the inner wall of the assembly groove (623), a slider (626) is fixedly connected to the movable end of the first elastic telescopic rod (625), a rotating shaft (627) is rotatably connected to one side of the slider (626), and a roller (628) is sleeved on the rotating shaft (627).

5. A mobile robot with an anti-collision structure according to claim 4, characterized in that: The first plate (621) is fixedly connected to the first housing (61) on one side, and the second pressure detector (624) is provided in multiple sets.

6. A mobile robot with an anti-collision structure according to claim 5, characterized in that: The anti-fall device (7) includes a second box (71), a rubber pad (72) is fixedly connected to the side of the second box (71), an emergency device (73) is fixedly connected to the bottom of the second box (71), and the movable end of a second elastic telescopic rod (74) is fixedly connected to the bottom of the second box (71) on the side of the emergency device (73).

7. A mobile robot with an anti-collision structure according to claim 6, characterized in that: Multiple sets of the second elastic telescopic rod (74) are provided, and the fixed end of the second elastic telescopic rod (74) is fixedly connected to the fixed rod (12).

8. A mobile robot with an anti-collision structure according to claim 7, characterized in that: The emergency device (73) includes a second plate (731) and an air pump (7310). The second plate (731) has a mounting groove (732) on its top and a sliding groove (733) on one side. A support rod (734) is fixedly connected to one side of the second plate (731). A first rotating groove (735) is provided on one side of the support rod (734). A second rotating groove (736) is provided on one side of the inner wall of the first rotating groove (735). A baffle rotating shaft (737) is rotatably connected to one side of the inner wall of the second rotating groove (736). A torque spring (738) is sleeved on one side of one end of the baffle rotating shaft (737). 38) One end of the rotating shaft (737) away from the baffle is fixedly connected to the second rotating groove (736). A baffle (739) is fixedly connected to the bottom of the rotating shaft (737). The air inlet of the air pump (7310) is connected to the first pipe (7311). One end of the first pipe (7311) away from the air pump (7310) passes through the second plate (731) and is fixedly connected to the second plate (731). The air outlet of the air pump (7310) is connected to the second pipe (7312). One end of the second pipe (7312) away from the air pump (7310) is connected to the airbag (7313). A fixing block (7314) is fixedly connected to one side of the airbag (7313).

9. A mobile robot with an anti-collision structure according to claim 8, characterized in that: The top of the air pump (7310) is fixedly connected to the second housing (71), and the top of the second plate (731) is fixedly connected to the second housing (71).

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