Sensor damping mechanism and transfer robot

Abstract

The embodiment of the utility model provides a sensor damping mechanism and a transfer robot, the sensor damping mechanism comprises a bearing plate, a fixing plate and at least two groups of elastic components, and each group of elastic components comprises an elastic piece, an angle positioning piece, a fixing threaded piece and an adjusting threaded piece. And the elastic pieces of each group of elastic components are arranged at different positions between the bearing plate and the fixing plate. When the angle of the bearing plate relative to the fixing plate needs to be adjusted, the adjusting threaded part can be screwed through the screwing end of the adjusting threaded part until the positioning hole is aligned to different connecting holes of the adjusting threaded part connecting plate, and the adjusting hole and the connecting hole which are aligned to each other are connected through the angle positioning part. Compared with the prior art, according to the embodiment of the scheme, the angle of the sensor on the bearing plate can be conveniently adjusted as long as different groups of elastic assemblies penetrate through the adjusting holes of the bearing plate to adjust the screwing ends of the threaded pieces to be screwed.

Description

Technical Field

[0001] The utility model relates to the technical field of shock absorption, in particular to a sensor shock absorption mechanism and a handling robot. Background Art

[0002] AGV (Automated Guided Vehicle) is widely used in industry and logistics, mainly for transporting goods.

[0003] When AGVs are transporting goods in industrial and logistics sites, they use sensors (such as radars, cameras, gyroscopes, etc.) to sense the surrounding environment and can achieve autonomous navigation and transport goods based on the sensed environmental information. When AGVs are transporting goods, they are often affected by the ups and downs of the road. When encountering bumpy road conditions such as ditches and bumps, the sensors are easily impacted and work abnormally. In order to reduce the probability of sensors being impacted and working abnormally, the sensors are usually set on spring shock absorbers to reduce the impact on the sensors.

[0004] However, the current situation is that after the sensor is set on the current spring shock absorber, the angle of the sensor cannot be easily adjusted, making the subsequent use and maintenance of the automatic guided vehicle inconvenient. Utility Model Content

[0005] The purpose of the embodiment of the utility model is to provide a sensor damping mechanism and a handling robot to facilitate the angle adjustment of the sensor on the carrying plate. The specific technical solution is as follows:

[0006] A sensor damping mechanism comprises: a bearing plate for bearing a sensor; a fixing plate; at least two groups of elastic components, each group of elastic components comprises: an elastic member, an angle positioning member, a fixing screw member, and an adjusting screw member; wherein the elastic members of each group of elastic components are arranged at different positions between the bearing plate and the fixing plate, the bottom of the elastic member is connected to the fixing plate, and the top of the elastic member is connected to the fixing screw member; the bearing plate is provided with at least two adjusting holes corresponding to the number of the elastic components, the adjusting screw member is threadedly connected to the fixing screw member, and the adjusting screw member of each group of elastic components The screwing end passes through the corresponding adjustment hole on the supporting plate; the supporting plate is provided with at least two positioning holes corresponding to the number of the elastic components; a connecting plate is provided on the outer periphery of the adjusting screw member, and at least one connecting hole is provided on the connecting plate. When the adjusting screw member is screwed to different angles in the adjusting hole, the relative distance between the fixed screw member and the adjusting screw member is adjusted, and the positioning hole and the connecting hole of the adjusting screw member connecting plate are aligned; the angle positioning member connects the aligned adjustment hole and the connecting hole to limit the relative position relationship between the adjusting screw member and the supporting plate.

[0007] In some embodiments, the elastic member is an elastic block.

[0008] In some embodiments, a first accommodating groove is disposed on the top of the elastic block; a first connecting platform is disposed on the bottom of the fixing screw member, and the first connecting platform is fixed in the first accommodating groove.

[0009] In some embodiments, a second accommodating groove is provided at the bottom of the elastic block; each group of elastic components also includes: a locking nut and a locking bolt; the fixing plate is provided with at least two locking holes corresponding to the number of the elastic components; the locking nut is fixed in the second accommodating groove, the locking nut of each group of elastic components is aligned with the corresponding locking hole on the fixing plate, the locking bolt passes through the locking hole, and is threadedly connected to the locking nut aligned with the locking hole.

[0010] In some embodiments, the inner end of the locking nut extends into the second accommodating groove, the outer end of the locking nut has a second connecting platform, the open end of the second accommodating groove has an outwardly expanded extension groove, and the second connecting platform is fixed in the extension groove.

[0011] In some embodiments, the top of the fixing threaded component has a threaded rod; the adjusting threaded component has an internal threaded barrel adapted to the threaded rod, and the threaded rod is threadedly connected to the internal threaded barrel.

[0012] In some embodiments, the screwing end of the adjusting screw is a screwdriver screwing port disposed at the top of the internal threaded barrel.

[0013] In some embodiments, the elastic block is a rubber block or a silicone block.

[0014] In some embodiments, the connecting hole is an internal threaded hole, the angle positioning member is a positioning screw, and the positioning screw is threadedly connected to the internal threaded hole to lock the adjusting thread member and the supporting plate.

[0015] In some embodiments, the elastic components are in four groups, the supporting plate is a rectangular plate, and the elastic members of the four groups of elastic components are arranged at four corners of the supporting plate.

[0016] In some embodiments, there are at least two connecting holes, and at least two connecting holes surround the adjusting screw at different angles; when the adjusting screw is screwed to different angles in the adjusting hole, the positioning hole and different connecting holes of the adjusting screw connecting plate are aligned.

[0017] In some embodiments, at least two connecting holes are evenly surrounded by the axis of the adjusting screw.

[0018] In some embodiments, the edge of the fixing plate is provided with a fixing hole; the edge of the supporting plate is provided with an avoidance hole corresponding to the position of the fixing hole.

[0019] A handling robot comprises: a vehicle body; a sensor; the above-mentioned sensor damping mechanism; the fixing plate is arranged on the vehicle body; and the sensor is arranged on the carrying plate.

[0020] In some embodiments, the vehicle body includes a top shell and side walls, the side walls and the top shell form a accommodating space, and a supporting component is arranged in the accommodating space; the fixing plate is connected to the supporting component; the top shell is provided with an exposure port, and the screwing end of each group of elastic component adjusting screws is exposed through the exposure port.

[0021] In some embodiments, the screwing ends of at least two groups of elastic component adjustment screws are arranged on the periphery of the sensor; a fixing hole is provided at the edge of the fixing plate, and an avoidance hole corresponding to the position of the fixing hole is provided at the edge of the supporting plate; the fixing hole and the avoidance hole are exposed through the exposure port.

[0022] The sensor damping mechanism provided by the embodiment of the utility model comprises a bearing plate, a fixed plate and at least two groups of elastic components, each group of elastic components comprises: an elastic member, an angle positioning member, a fixed screw member and an adjusting screw member. The elastic members of each group of elastic components are arranged at different positions between the bearing plate and the fixed plate, the bottom of the elastic member is connected to the fixed plate, and the top of the elastic member is connected to the fixed screw member. The adjusting screw member is threadedly connected to the fixed screw member, and the screwing end of the adjusting screw member of each group of elastic components passes through the corresponding adjusting hole on the bearing plate, and the outer periphery of the adjusting screw member is provided with a connecting plate, and at least two connecting holes are provided on the connecting plate. When the angle of the bearing plate relative to the fixed plate needs to be adjusted, the screwing end of the adjusting screw member can be screwed to the adjusting screw member to align the positioning hole and the different connecting holes of the adjusting screw member connecting plate, and the aligning adjusting hole and the connecting hole can be connected by the angle positioning member to limit the relative position relationship between the adjusting screw member and the bearing plate, so that the relative distance between the fixed screw member and the adjusting screw member of each group of adjusting screw members can be adjusted to achieve the adjustment of the angle of the bearing plate and the fixed plate. Compared with the existing solutions, the embodiments of this solution only require screwing the screwing ends of the adjusting screws of different groups of elastic components passing through the adjusting holes of the carrier plate, so that the angle of the sensor on the carrier plate can be easily adjusted.

[0023] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0025] Figure 1 It is a structural schematic diagram of a sensor damping mechanism after a sensor is provided according to an embodiment of the utility model;

[0026] Figure 2 for Figure 1 An exploded diagram of the structure of the sensor damping mechanism after the sensor is set;

[0027] Figure 3 for Figure 2 A magnified view of middle;

[0028] Figure 4 It is a cross-sectional structural diagram of some components of the sensor damping mechanism according to one embodiment of the utility model;

[0029] Figure 5 This is a schematic diagram of the combined structure of the elastic member, the fixing thread member and the locking nut of the sensor shock absorbing mechanism according to an embodiment of the utility model;

[0030] Figure 6 It is a schematic diagram of the exploded structure of the elastic member, the fixing thread member and the locking nut of the sensor shock absorbing mechanism according to one embodiment of the utility model;

[0031] Figure 7 It is a schematic diagram of the axonometric structure of the adjusting threaded member of the sensor damping mechanism according to one embodiment of the utility model;

[0032] Figure 8 It is a cross-sectional structural schematic diagram of an adjusting threaded member of a sensor damping mechanism according to an embodiment of the utility model;

[0033] Fig. 9 It is a structural schematic diagram of a handling robot according to an embodiment of the utility model;

[0034] Fig.10 The figure is a schematic diagram of the partial structure of a handling robot according to an embodiment of the utility model.

[0035] The reference numerals are as follows:

[0036] The carrier plate 10, the adjusting hole 11, the positioning hole 12, the locking hole 13, the avoiding hole 14, the connecting structure 15, the fixing plate 20, the fixing hole 21, the elastic component 30, the elastic member 31, the first accommodating groove 311, the second accommodating groove 312, the extension groove 313, the angle positioning member 32, the fixing thread member 33, the first connecting platform 331, the threaded rod 332, the adjusting thread member 34, the screwing end 34a, the connecting plate 341, the connecting hole 342, the internal threaded cylinder 343, the screwdriver screwing opening 344, the locking nut 35, the inner end 35a of the locking nut, the outer end 35b of the locking nut, the second connecting platform 351, and the locking bolt 36;

[0037] Vehicle body 100 , top shell 101 , side wall 102 , exposure opening 103 , sensor 200 , sensor shock absorbing mechanism 300 . DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field based on this application belong to the scope of protection of the utility model.

[0039] Generally, different sensors need to be installed on AVG vehicles according to different requirements. The number of sensors can be one or more. The types of sensors can be the same or different. Angle adjustment may be required for different sensors.

[0040] Take the camera as an example. After the camera is installed on the AVG vehicle, its angle is usually fixed and cannot be adjusted. Alternatively, the outer shell of the AVG vehicle needs to be disassembled and the camera installation needs to be modified to adjust the camera angle. The entire angle adjustment process is relatively time-consuming. In particular, for AVG vehicles with a large number of sensors, the maintenance process of adjusting the sensor angle is often involved, and the entire process consumes a lot of human resources.

[0041] In order to improve the convenience of sensor adjustment, the utility model proposes a sensor shock absorbing mechanism and a handling robot.

[0042] Specifically, a sensor shock absorbing mechanism and a handling robot according to an embodiment of the utility model are described below with reference to the accompanying drawings.

[0043] Figure 1 This is a structural schematic diagram of a sensor damping mechanism after a sensor is provided according to an embodiment of the utility model. Figure 2 for Figure 1The structural explosion diagram of the sensor damping mechanism after the sensor is set. Figure 3 for Figure 2 A magnified image of Figure 4 The figure is a schematic cross-sectional structural diagram of some components of a sensor damping mechanism according to an embodiment of the utility model.

[0044] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the sensor damping mechanism comprises: a bearing plate 10, a fixing plate 20 and at least two sets of elastic components 30. The bearing plate 10 is used to carry the sensor. Each set of elastic components 30 comprises: an elastic member 31, an angle positioning member 32, a fixing screw member 33 and an adjusting screw member 34.

[0045] The elastic member 31 of each group of elastic components 30 is arranged at different positions between the supporting plate 10 and the fixing plate 20 , the bottom of the elastic member 31 is connected to the fixing plate 20 , and the top of the elastic member 31 is connected to the fixing screw member 33 .

[0046] The supporting plate 10 is provided with at least two adjustment holes 11 corresponding to the number of the elastic components 30 , the adjustment screw 34 and the fixing screw 33 are threadedly connected, and the screwing end 34a of the adjustment screw 34 of each group of elastic components 30 passes through the corresponding adjustment hole 11 on the supporting plate 10 .

[0047] The carrier plate 10 is provided with at least two positioning holes 12 corresponding to the number of the elastic components 30. A connecting plate 341 is provided on the outer periphery of the adjusting screw 34, and at least one connecting hole 342 is provided on the connecting plate 341. When the adjusting screw 34 is screwed to different angles in the adjusting hole 11, the relative distance between the fixing screw 33 and the adjusting screw 34 is adjusted, and the positioning hole 12 and the connecting hole 342 of the connecting plate 341 of the adjusting screw 34 are aligned. The angle positioning member 32 connects the aligned adjusting hole 11 and the connecting hole 342 to limit the relative position relationship between the adjusting screw 34 and the carrier plate 10.

[0048] The sensor shock absorbing mechanism provided by the embodiment of the utility model comprises a bearing plate 10, a fixing plate 20 and at least two groups of elastic components 30, each group of elastic components 30 comprises: an elastic member 31, an angle positioning member 32, a fixing screw member 33 and an adjusting screw member 34. The elastic member 31 of each group of elastic components 30 is arranged at different positions between the bearing plate 10 and the fixing plate 20, the bottom of the elastic member 31 is connected to the fixing plate 20, and the top of the elastic member 31 is connected to the fixing screw member 33. The adjusting screw member 34 is threadedly connected to the fixing screw member 33, and the screwing end 34a of the adjusting screw member 34 of each group of elastic components 30 passes through the corresponding adjusting hole 11 on the bearing plate 10, and the outer periphery of the adjusting screw member 34 is provided with a connecting plate 341, and at least two connecting holes 342 are provided on the connecting plate 341. When the angle of the carrier plate 10 relative to the fixed plate 20 needs to be adjusted, the adjusting screw 34 can be screwed to the different connection holes 342 of the positioning hole 12 and the connecting plate 341 of the adjusting screw 34 by screwing the screw end 34a of the adjusting screw 34, and the adjusting hole 11 and the connecting hole 342 are connected by the angle positioning member 32 to limit the relative position relationship between the adjusting screw 34 and the carrier plate 10, so that the relative distance between the fixing screw 33 of each group of adjusting screws 34 and the adjusting screw 34 can be adjusted to achieve the adjustment of the angle of the carrier plate 10 and the fixed plate 20. Compared with the existing scheme, the embodiment of the present scheme only needs to screw the screw ends 34a of the adjusting screws 34 of different groups of elastic components 30 that pass through the adjusting holes 11 of the carrier plate 10, so that the angle of the sensor on the carrier plate 10 can be conveniently adjusted.

[0049] like Figure 2 As shown, the carrier plate 10 is provided with a connection structure 15 for installing the sensor, and the connection structure 15 is adapted to the specific structure of the sensor to be installed. For example, the connection structure 15 can be a screw, which passes through the fixing hole 21 of the carrier plate 10 from the bottom of the carrier plate 10 and is fixedly connected to the sensor. There can be multiple screws, and multiple screws can fix the sensor to the carrier plate 10.

[0050] Handling sensors typically use a variety of sensing technologies to detect and monitor the position, movement, weight, and other relevant parameters of an object. Common types of handling sensors include the following:

[0051] The sensor can be at least one of an ultrasonic sensor, a visual sensor, a gyro sensor, and an acceleration sensor. These sensor types can be used alone or in combination to enable the handling robot to monitor multiple parameters during the handling process. Different types of sensors can be installed on the bearing plate 10 of the same sensor damping mechanism, or can be installed on the bearing plates 10 of different sensor damping mechanisms of the same handling robot.

[0052] The fixing plate 20 is used to be connected to an external supporting component, for example, a supporting component installed on a handling robot, so as to realize setting the sensor shock absorbing mechanism on the handling robot.

[0053] like Figure 1 and Figure 2 As shown, in a specific implementation, a fixing hole 21 may be provided at the edge of the fixing plate 20. The screw passes through the fixing hole 21 at the edge of the fixing plate 20 and is connected to the supporting component, so that the fixing plate 20 can be fixed to the supporting component. In practice, a screwdriver is usually used to tighten the screw. In order to facilitate installation, an avoidance hole 14 corresponding to the position of the fixing hole 21 is provided at the edge of the supporting plate 10. When the screwdriver is tightening the screw, the screwdriver passes through the avoidance hole 14, and the screw can be conveniently tightened from the top of the fixing hole 21. Among them, the number of the fixing holes 21 can be at least two, and correspondingly, the number of the avoidance holes 14 corresponds to the number of the fixing holes 21, which is at least two. At least two fixing holes 21 can be evenly arranged on the periphery of the fixing plate 20, and correspondingly, at least two avoidance holes 14 can be evenly arranged on the periphery of the supporting plate 10.

[0054] The number of groups of the elastic components 30 can be determined according to the angle range that needs to be adjusted for the carrier plate 10. For example, the number of groups of the elastic components 30 can be two groups. Then, by screwing the screwing end 34a of the adjusting screw 34 of at least one group of elastic components 30 that passes through the adjustment hole 11 of the carrier plate 10, the inclination angle of the sensor on the carrier plate 10 can be easily adjusted on both sides.

[0055] For another example, the number of groups of elastic components 30 may be three groups, and the three groups of elastic components 30 are distributed in a triangle. Then, by selectively screwing the screwing ends 34a of the adjusting screws 34 of the three groups of elastic components 30 that pass through the adjusting holes 11 of the carrier plate 10, more tilt angle adjustments of the sensors on the carrier plate 10 can be conveniently achieved.

[0056] In specific implementation, Figure 1 and Figure 2 As shown, the carrier plate 10 may be a rectangular plate, and the elastic components 30 are four groups, and the elastic members 31 of the four groups of elastic components 30 are arranged at the four corners of the carrier plate 10. By selectively screwing the screw ends 34a of the adjustment screw members 34 of the four groups of elastic components 30 that pass through the adjustment holes 11 of the carrier plate 10, the sensor on the carrier plate 10 can be conveniently adjusted to a variety of tilt angles, which can meet most of the angle adjustment requirements of users.

[0057] The elastic member 31 can exert a buffering effect between the carrier plate 10 and the fixed plate 20 . When the fixed plate 20 is subjected to a large bump, the elastic member 31 can effectively absorb the impact force of the bump, thereby achieving shock reduction for the sensor on the carrier plate 10 .

[0058] The elastic member 31 can be made of a spring. In some other embodiments, in order to facilitate production assembly and accurate angle adjustment, in some embodiments of the present solution, the elastic member 31 is an elastic block, the top of the elastic member 31 is connected to the fixing screw member 33, and the angle between the elastic block and the fixing screw member 33 can achieve relatively stable fixation.

[0059] The elastic block may be a rubber block or a silicone block.

[0060] Figure 5 This is a schematic diagram of the combined structure of the elastic member 31, the fixing thread member 33 and the locking nut 35 of the sensor shock absorbing mechanism according to an embodiment of the present utility model. Figure 6 This is a schematic diagram of the exploded structure of the elastic member 31, the fixing thread member 33 and the locking nut 35 of the sensor damping mechanism according to an embodiment of the present invention. Figure 4 , Figure 5 and Figure 6 As shown, in the implementation, the top of the elastic block is provided with a first accommodating groove 311. The bottom of the fixing screw member 33 has a first connecting platform 331, and the first connecting platform 331 is fixed in the first accommodating groove 311. In order to further improve the connection stability between the elastic block and the fixing screw member 33, a concave-convex structure that cooperates with each other is provided on the contact surface of the first connecting platform 331 and the first accommodating groove 311, so as to limit the relative rotation of the first connecting platform 331 and the first accommodating groove 311.

[0061] In some other embodiments, the first connecting platform 331 may also be pre-buried on the top of the elastic block.

[0062] See also Figures 3 to 6 As shown, in the connection scheme between the bottom of the elastic member 31 and the fixing plate 20, in order to facilitate assembly and production, the bottom of the elastic block is provided with a second accommodating groove 312, and each group of elastic components 30 also includes: a locking nut 35 and a locking bolt 36. The fixing plate 20 is provided with at least two locking holes 13 corresponding to the number of the elastic components 30, and the locking nut 35 is fixed in the second accommodating groove 312. The locking nut 35 of each group of elastic components 30 is aligned with the corresponding locking hole 13 on the fixing plate 20, and the locking bolt 36 passes through the locking hole 13 and is threadedly connected with the locking nut 35 aligned with the locking hole 13.

[0063] like Figure 6As shown, if the locking nut 35 adopts a cylindrical structure with the same diameter, the contact area between the locking nut 35 and the inner wall of the second accommodating groove 312 is small. In some embodiments of the present solution, the inner end 35a of the locking nut extends into the second accommodating groove 312, the outer end 35b of the locking nut has a second connecting platform 351, the open end of the second accommodating groove 312 has an outwardly expanded extension groove 313, and the second connecting platform 351 is fixed in the extension groove 313, thereby further improving the restriction of relative rotation between the second connecting platform 351 and the extension groove 313.

[0064] A thread pair is formed between the fixed thread member 33 and the adjusting thread member 34. For example, the number of the connecting holes 342 is one. In this embodiment, the adjusting thread member 34 is provided with one connecting hole 342 around the adjusting thread member 34. The thread pitch of the thread pair of the fixed thread member 33 and the adjusting thread member 34 is p. The minimum adjustment height of the relative distance between the fixed thread member 33 and the adjusting thread member 34 of the elastic component 30 is 1×p. If the adjusting thread member 34 is rotated once, the relative distance between the fixed thread member 33 and the adjusting thread member 34 changes by p. If the adjusting thread member 34 is rotated twice, the relative distance between the fixed thread member 33 and the adjusting thread member 34 changes by 2p.

[0065] In order to further increase the minimum adjustment height of the relative distance between the fixing screw 33 and the adjusting screw 34 of the elastic component 30, the connecting holes 342 may be at least two, and the at least two connecting holes 342 surround the adjusting screw 34 at different angles. When the adjusting screw 34 is screwed to different angles in the adjusting hole 11, the positioning hole 12 and the different connecting holes 342 of the connecting plate 341 of the adjusting screw 34 are aligned. Specifically, at least two connecting holes 342 evenly surround the axis of the adjusting screw 34.

[0066] Figure 7 This is a schematic diagram of the isometric structure of the adjusting screw member 34 of the sensor damping mechanism according to an embodiment of the utility model. Figure 8 FIG. 1 is a cross-sectional structural diagram of a sensor damping mechanism adjusting screw member 34 according to an embodiment of the present invention. Figure 7 and Figure 8As shown, taking the two connecting holes 342 as an example, in this embodiment, the adjusting screw member 34 is provided with two connecting holes 342 around the circle, and the two connecting holes 342 are 180° apart, that is, the two connecting holes 342 are symmetrically arranged on both sides of the adjusting screw member 34, and the thread pitch of the fixed screw member 33 and the adjusting screw member 34 is p, then the minimum adjustment height of the relative distance between the fixed screw member 33 and the adjusting screw member 34 of the elastic component 30 is 0.5×p. If the adjusting screw member 34 is rotated half a circle, the relative distance between the fixed screw member 33 and the adjusting screw member 34 changes to 0.5p. If the adjusting screw member 34 is rotated once a circle, the relative distance between the fixed screw member 33 and the adjusting screw member 34 changes to 1p.

[0067] In practice, a thread pair is formed between the internal thread hole of the fixing thread member 33 and the external thread column of the adjusting thread member 34 , or a thread pair is formed between the external thread column of the fixing thread member 33 and the internal thread hole of the adjusting thread member 34 .

[0068] In the embodiment of the present application, a thread pair is formed between the external thread column of the fixing thread member 33 and the internal thread hole of the adjusting thread member 34 as an example, and the following detailed description is made:

[0069] like Figure 6 , Figure 7 and Figure 8 As shown, the top of the fixing screw member 33 has a threaded rod 332, and the threaded rod 332 can be fixedly connected to the first connecting platform 331. The adjusting screw member 34 has an internal threaded barrel 343 adapted to the threaded rod 332, and a connecting plate 341 is arranged on the outer periphery of the internal threaded barrel 343. The threaded rod 332 is threadedly connected to the internal threaded barrel 343 to form a thread pair.

[0070] like Figure 7 As shown, the angle of the carrier plate 10 is adjusted by screwing the screw end 34a of the adjusting screw member 34. In practice, for easy adjustment, the screw end 34a of the adjusting screw member 34 is a screwdriver screw opening 344 disposed at the top of the internal threaded barrel 343, and the screwdriver screw opening 344 can be a straight screw opening or a cross screw opening, and the specific shape can be set according to the shape of the screwdriver used.

[0071] like Figure 8 As shown, in order to facilitate the connection between the bottom of the elastic member 31 and the fixing plate 20, the connecting hole 342 is an internal threaded hole, and the angle positioning member 32 is a positioning screw, which is threadedly connected to the internal threaded hole to lock the adjusting thread member 34 and the supporting plate 10.

[0072] Fig. 9FIG. 1 is a schematic diagram of the structure of a handling robot according to an embodiment of the utility model. Fig. 9 As shown, a handling robot according to another embodiment of the utility model comprises: a vehicle body 100 , a sensor 200 and the sensor shock absorbing mechanism 300 described in any of the above embodiments, the fixing plate 20 is arranged on the vehicle body 100 , and the sensor 200 is arranged on the supporting plate 10 .

[0073] Compared with the existing solutions, the handling robot provided by the embodiment of the utility model only needs to screw the screwing end 34a of the adjusting screw 34 of different groups of elastic components 30 passing through the adjusting hole 11 of the supporting plate 10, so as to conveniently achieve angle adjustment of the sensor 200 of the handling robot.

[0074] The vehicle body 100 may be an AGV vehicle body 100, and the information collected by the sensor 200 is used by the AGV vehicle body 100 to facilitate autonomous navigation and transportation of goods. The sensor 200 may be at least one of an ultrasonic sensor 200, a visual sensor 200, a gyroscope sensor 200, and an acceleration sensor 200. The number of sensors 200 may be one, or two or more, and the types of sensors 200 may be one, two, or more. At least one of the ultrasonic sensor information, visual sensor information, gyroscope sensor information, and acceleration sensor information collected by the sensor 200 is provided to the AGV vehicle body 100 to facilitate autonomous navigation and transportation of goods.

[0075] There may be one sensor damping mechanism 300 , or two or more sensor damping mechanisms 300 . That is, the same vehicle body 100 is not limited to be provided with only one sensor damping mechanism 300 .

[0076] Fig.10 FIG. 1 is a partial structural diagram of a handling robot according to an embodiment of the present invention. Fig. 9 and Fig.10 As shown, it is usually not convenient to adjust the angle of the sensor 200. In the embodiment of the present solution, the vehicle body 100 includes a top shell 101 and a side wall 102. The side wall 102 and the top shell 101 form a receiving space, and a supporting component is arranged in the receiving space. The fixing plate 20 is connected to the supporting component, and the top shell 101 is provided with an exposure port 103. The screwing end 34a of the adjusting screw member 34 of each group of elastic components 30 is exposed through the exposure port 103. When adjusting the angle of the sensor 200, a screwdriver can be used to screw and adjust the screwing end 34a of the adjusting screw member 34 through the exposure port 103.

[0077] like Fig.10As shown, at least two groups of elastic components 30 adjusting the screw ends 34a of the screw members 34 are arranged on the periphery of the sensor 200, and at least two groups of elastic components 30 adjusting the screw ends 34a of the screw members 34 on the periphery of the sensor 200 are exposed through the exposure port 103.

[0078] like Fig.10 As shown, during assembly, in order to facilitate the assembly of the sensor shock absorbing mechanism 300 and the vehicle body 100, a fixing hole 21 is provided at the edge of the fixing plate 20, and an avoidance hole 14 corresponding to the position of the fixing hole 21 is provided at the edge of the supporting plate 10; the avoidance hole 14 is exposed through the revealing opening 103, and the fixing plate 20 is connected to the supporting component by bolts passing through the fixing hole 21.

[0079] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A sensor damping mechanism, characterized in that: include: A carrying plate (10) for carrying a sensor (200); Fixed plate (20); At least two groups of elastic components (30), each group of elastic components (30) comprises: an elastic member (31), an angle positioning member (32), a fixing thread member (33), and an adjusting thread member (34); wherein: The elastic member (31) of each group of elastic components (30) is arranged at different positions between the carrying plate (10) and the fixing plate (20), the bottom of the elastic member (31) is connected to the fixing plate (20), and the top of the elastic member (31) is connected to the fixing screw member (33); The bearing plate (10) is provided with at least two adjustment holes (11) corresponding to the number of the elastic components (30); the adjustment screw member (34) and the fixing screw member (33) are threadedly connected; and the screwing end (34a) of the adjustment screw member (34) of each group of elastic components (30) passes through the corresponding adjustment hole (11) on the bearing plate (10); The bearing plate (10) is provided with at least two positioning holes (12) corresponding to the number of the elastic components (30); a connecting plate (341) is provided on the outer periphery of the adjusting screw member (34), and at least one connecting hole (342) is provided on the connecting plate (341); when the adjusting screw member (34) is screwed to different angles in the adjusting hole (11), the relative distance between the fixing screw member (33) and the adjusting screw member (34) is adjusted, and the positioning hole (12) and the connecting hole (342) of the connecting plate (341) of the adjusting screw member (34) are aligned; The angle positioning member (32) connects the aligned adjustment hole (11) and the connection hole (342) to limit the relative position relationship between the adjustment screw member (34) and the bearing plate (10).

2. The sensor damping mechanism according to claim 1, characterized in that: The elastic member (31) is an elastic block.

3. The sensor damping mechanism according to claim 2, characterized in that: A first accommodating groove (311) is provided on the top of the elastic block; The bottom of the fixing screw member (33) has a first connecting platform (331), and the first connecting platform (331) is fixed in the first accommodating groove (311).

4. The sensor damping mechanism according to claim 3, characterized in that: A second accommodating groove (312) is provided at the bottom of the elastic block; Each set of elastic components (30) also includes: a locking nut (35) and a locking bolt (36); The fixing plate (20) is provided with at least two locking holes (13) corresponding in number to the elastic components (30); The locking nut (35) is fixed in the second accommodating groove (312), the locking nut (35) of each group of elastic components (30) is aligned with the corresponding locking hole (13) on the fixing plate (20), and the locking bolt (36) passes through the locking hole (13) and is threadedly connected to the locking nut (35) aligned with the locking hole (13).

5. The sensor damping mechanism according to claim 4, characterized in that: The inner end (35a) of the locking nut extends into the second accommodating groove (312), the outer end (35b) of the locking nut has a second connecting platform (351), the open end of the second accommodating groove (312) has an outwardly expanded extension groove (313), and the second connecting platform (351) is fixed in the extension groove (313).

6. The sensor damping mechanism according to claim 3, characterized in that: The top of the fixing threaded member (33) is provided with a threaded rod (332); The adjusting threaded member (34) has an internal threaded barrel (343) adapted to the threaded rod (332), and the threaded rod (332) is threadedly connected to the internal threaded barrel (343).

7. The sensor damping mechanism according to claim 6, characterized in that: The screwing end (34a) of the adjusting screw member (34) is a screwdriver screwing opening (344) arranged at the top of the internal threaded barrel (343).

8. The sensor damping mechanism according to claim 2, characterized in that: The elastic block is a rubber block or a silicone block.

9. The sensor damping mechanism according to any one of claims 1 to 8, characterized in that: The connecting hole (342) is an internal threaded hole, and the angle positioning member (32) is a positioning screw, which is threadedly connected to the internal threaded hole to lock the adjusting thread member (34) and the supporting plate (10).

10. The sensor damping mechanism according to any one of claims 1 to 8, characterized in that: The elastic components (30) are four groups, the supporting plate (10) is a rectangular plate, and the elastic members (31) of the four groups of elastic components (30) are arranged at four corners of the supporting plate (10).

11. The sensor damping mechanism according to any one of claims 1 to 8, characterized in that: There are at least two connecting holes (342), and the at least two connecting holes (342) surround the adjusting screw member (34) at different angles. When the adjusting screw (34) is screwed to different angles in the adjusting hole (11), the positioning hole (12) and different connecting holes (342) of the connecting plate (341) of the adjusting screw (34) are aligned.

12. The sensor damping mechanism according to claim 11, characterized in that: At least two connection holes (342) are evenly arranged around the axis of the adjusting screw member (34).

13. The sensor damping mechanism according to any one of claims 1 to 8, characterized in that: The edge of the fixing plate (20) is provided with a fixing hole (21); The edge of the carrying plate (10) is provided with an avoidance hole (14) corresponding to the position of the fixing hole (21).

14. A transport robot, characterized in that: include: Car body (100); Sensor(200); The sensor damping mechanism (300) according to any one of claims 1 to 13; The fixing plate (20) is arranged on the vehicle body (100); The sensor (200) is arranged on the carrying plate (10).

15. The handling robot according to claim 14, characterized in that: The vehicle body (100) comprises a top shell (101) and a side wall (102), wherein the side wall (102) and the top shell (101) form a receiving space, and a supporting component is arranged in the receiving space; The fixing plate (20) is connected to the supporting component; The top shell (101) is provided with an exposure opening (103), and the screwing end (34a) of the adjusting screw member (34) of each set of elastic components (30) is exposed to the outside through the exposure opening (103).

16. The handling robot according to claim 15, characterized in that: At least two groups of elastic components (30) adjusting screw ends (34a) of the screw members (34) are arranged on the periphery of the sensor (200); The edge of the fixing plate (20) is provided with a fixing hole (21), and the edge of the carrying plate (10) is provided with an avoidance hole (14) corresponding to the position of the fixing hole (21); The avoidance hole (14) is exposed to the outside through the revealing opening (103), and the fixing plate (20) is connected to the supporting component via bolts penetrating the fixing hole (21).

Images