Patrol robot with anti-collision function

Abstract

The patrol robot with the anti-collision function comprises a base frame, a plurality of electric driving wheels are installed on the lower side of the base frame, a plurality of annular protection devices are installed on the base frame, and each annular protection device comprises an arc-shaped protection plate, a limiting strip, a rotating shaft base, a rotating rod, a deflection plate, a fixing shaft base and a first spring. The arc-shaped protection plate is slidably connected to the base frame, the limiting strips are fixedly installed on the arc-shaped protection plate, the rotating shaft base is fixedly installed on the side wall of the arc-shaped protection plate, the rotating rod is rotatably connected to the rotating shaft base, one end of the deflection plate is fixedly installed on the rotating rod, and the other end of the deflection plate is fixedly installed on the base frame. The fixed shaft seat is slidably connected to the end, away from the rotating rod, of the deflection plate. Omnibearing anti-collision buffering of the fuselage can be achieved, the battery of the fuselage is provided with an anti-collision mechanism, the battery can move in the fuselage in a buffering mode and does not collide with the fuselage, and potential safety hazards are avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of mobile robots, in particular to a patrol robot with an anti-collision function. Background Art

[0002] The intelligent patrol robot is a robot that has both medical care and service functions. As a new type of intelligent equipment, hospital service robots have played an increasingly important role in the medical field. They not only reduce the workload of medical staff, but also improve the quality and efficiency of medical services.

[0003] Patent No. CN202111110370.7 proposes a patrol robot with an anti-collision pan-tilt lifting function. By setting up a chassis with an anti-collision belt and an alarm, and the anti-collision belt is embedded with a distance sensor, obstacles can be detected through the distance sensor, and an anti-collision reminder can be issued through the alarm. In addition, the anti-collision belt can also provide buffering for inevitable collisions to reduce impact damage. It only has body anti-collision in specific directions, and the sides of the wheels cannot effectively prevent collisions, and it cannot perform all-round body anti-collision buffering. The battery of the body has not been processed for anti-collision, and a collision of the battery is likely to cause safety hazards. Therefore, the technical personnel in this field provide a patrol robot with a blood pressure measurement function to solve the problem that it only has body anti-collision in specific directions, the sides of the wheels cannot effectively prevent collisions, and it cannot perform all-round body anti-collision buffering. The battery of the body has not been processed for anti-collision, and a collision of the battery is likely to cause safety hazards. Utility Model Content

[0004] The utility model aims to provide a patrol robot with an anti-collision function to solve the problems raised in the above-mentioned background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A patrol robot with an anti-collision function comprises a base frame, a plurality of electric drive wheels are installed on the lower side of the base frame, a plurality of annular protective devices are installed on the base frame, and the annular protective device comprises: an arc-shaped protective plate, a limiting strip, a rotating shaft base, a rotating rod, a deflection plate, a fixed shaft seat and a first spring, the arc-shaped protective plate is slidably connected to the base frame, a plurality of limiting strips are fixedly installed on the arc-shaped protective plate, the rotating shaft base is fixedly installed on the side wall of the arc-shaped protective plate, the rotating rod is rotatably connected to the rotating shaft base, one end of the deflection plate is fixedly installed on the rotating rod, the fixed shaft seat is slidably connected to an end of the deflection plate away from the rotating rod, the first spring is slidably connected in the fixed shaft seat, one end of the first spring is fixedly installed on an end of the deflection plate away from the rotating rod, and the other end of the first spring is fixedly installed in the fixed shaft seat, which is conducive to all-round fuselage protection.

[0007] As a further solution of the utility model: a plurality of buffer strips are installed on the arc-shaped protective plate, a fixed inner shell is installed on the base frame, a battery is arranged on the fixed inner shell, and square springs are fixedly installed on the upper and lower sides of the battery.

[0008] As a further solution of the utility model: a plurality of battery buffer devices are installed on the fixed inner shell.

[0009] As a further solution of the utility model: the battery buffer device includes: a sliding rod base, a sliding rod, a second spring, a gear and a rack; the sliding rod base is fixedly mounted on the side wall of the battery; the sliding rod is slidably connected to the sliding rod base; the second spring is slidably connected to the sliding rod base; one end of the second spring is fixedly mounted on the sliding rod; an end of the second spring away from the sliding rod is fixedly mounted in the sliding rod base; the gear is rotatably connected to an end of the sliding rod away from the sliding rod base through a rotating shaft; the rack is fixedly mounted on the inner side wall of the fixed inner shell; the gear and the rack mesh with each other, which is beneficial to horizontal buffering of the battery.

[0010] As a further solution of the utility model: a plurality of auxiliary offset mechanisms are installed on the base frame.

[0011] As a further solution of the utility model: the auxiliary offset mechanism includes: a special-shaped bracket, a first magnet and a second magnet, the special-shaped bracket is fixedly mounted on the base frame, the first magnet is fixedly mounted on the special-shaped bracket, the second magnet is fixedly mounted on the arc-shaped protective plate, and the first magnet and the second magnet repel each other.

[0012] As a further solution of the utility model: one end of the fixed shaft seat away from the deflection plate is fixedly installed on the outer side wall of the fixed inner shell.

[0013] As a further solution of the utility model: a top frame is fixedly installed on the upper side of the base frame.

[0014] As a further solution of the utility model: a controller is fixedly installed in the top frame, a camera is fixedly installed on the upper side of the top frame, and the camera is electrically connected to the controller.

[0015] As a further solution of the utility model: a plurality of laser radars are fixedly installed on the outer side wall of the top frame, the laser radars are electrically connected to the controller, and the batteries are electrically connected to the controller.

[0016] Compared with the prior art, the beneficial effects of the utility model are: a patrol robot with anti-collision function. When in use, the external control terminal automatically plans the path and sends the signal to the controller. The controller controls the robot to intelligently navigate to the target point and realizes autonomous obstacle avoidance through the laser radar. Multiple annular protective devices and auxiliary offset mechanisms enable the equipment to perform all-round fuselage anti-collision buffering. When the arc-shaped protective plate is hit, the arc-shaped protective plate moves toward the base frame, driving the rotating shaft base to move toward the base frame. The rotating shaft base moves toward the base frame, driving the rotating rod to move toward the base frame. The rotating rod moves toward the base frame, driving the deflection plate to move toward the base frame, so that the first spring is compressed to absorb the impact force of the impact. When the arc-shaped protective plate is deflected by the impact, the first magnet and the second magnet on the auxiliary offset mechanism repel each other to absorb the deflection. The invention can absorb the impact force of the rotating collision and protect the fuselage from multiple angles. When the fuselage is hit, the square springs on the upper and lower sides of the battery buffer the impact force of the battery in the up and down directions. The up and down movement of the battery drives the gear to rotate on the rack to prevent the outer wall of the battery and the inner wall of the fixed inner shell from rubbing against each other and damaging the battery. The battery buffer device buffers the impact force of the battery in the horizontal direction. The movement of the battery causes the second spring to be compressed, and the sliding rod is pushed into the sliding rod base to absorb the impact force. The compressed second spring recovers and pushes the sliding rod back to the initial position. Through multiple annular protective devices and auxiliary offset mechanisms, the equipment can perform all-round fuselage anti-collision buffering. Through the battery buffer device, the battery can perform all-round buffering. The utility model can perform all-round fuselage anti-collision buffering. The battery of the fuselage is provided with an anti-collision mechanism. The battery can move in the fuselage for buffering without colliding with the fuselage, thereby avoiding safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the utility model;

[0018] Figure 2 It is a top view of the utility model;

[0019] Figure 3 It is the AA cross-sectional view of the top view of the utility model;

[0020] Figure 4 It is a side view of the utility model;

[0021] Figure 5 BB is a cross-sectional view of the side view of the utility model;

[0022] Figure 6 It is a schematic diagram of the structure of the annular protection device and the auxiliary deviation mechanism of the utility model.

[0023] In the figure: 1. base frame; 2. electric drive wheel; 3. annular protective device; 301. arc protective plate; 302. limiting strip; 303. shaft base; 304. rotating rod; 305. deflection plate; 306. fixed shaft seat; 307. first spring; 4. buffer strip; 5. fixed inner shell; 6. battery; 7. square spring; 8. battery buffer device; 801. sliding rod base; 802. sliding rod; 803. second spring; 804. gear; 805. rack; 9. auxiliary offset mechanism; 901. special-shaped bracket; 902. first magnet; 903. second magnet; 10. top frame; 11. controller; 12. camera; 13. laser radar. DETAILED DESCRIPTION

[0024] 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 without creative work are within the scope of protection of the utility model.

[0025] See also Figures 1 to 6 In the embodiment of the utility model, a patrol robot with anti-collision function includes a base frame 1, a plurality of electric drive wheels 2 are installed on the lower side of the base frame 1, a plurality of annular protection devices 3 are installed on the base frame 1, and the annular protection device 3 includes: an arc protection plate 301, a limiting bar 302, a rotating shaft base 303, a rotating rod 304, a deflection plate 305, a fixed shaft seat 306 and a first spring 307, the arc protection plate 301 is slidably connected to the base frame 1, a plurality of limiting bars 302 are fixedly installed on the arc protection plate 301, and the rotating shaft base 303 is fixedly installed on the side wall of the arc-shaped protective plate 301, the rotating rod 304 is rotatably connected to the rotating shaft base 303, one end of the deflection plate 305 is fixedly installed on the rotating rod 304, the fixed shaft seat 306 is slidably connected to the end of the deflection plate 305 away from the rotating rod 304, the first spring 307 is slidably connected in the fixed shaft seat 306, one end of the first spring 307 is fixedly installed on the end of the deflection plate 305 away from the rotating rod 304, and the other end of the first spring 307 is fixedly installed in the fixed shaft seat 306, which is conducive to all-round fuselage protection.

[0026] Among them, a plurality of buffer strips 4 are installed on the arc-shaped protective plate 301, a fixed inner shell 5 is installed on the base frame 1, a battery 6 is arranged on the fixed inner shell 5, and square springs 7 are fixedly installed on the upper and lower sides of the battery 6; a plurality of battery buffer devices 8 are installed on the fixed inner shell 5; the battery buffer device 8 includes: a slide bar base 801, a slide bar 802, a second spring 803, a gear 804 and a rack 805, the slide bar base 801 is fixedly installed on the side wall of the battery 6, the slide bar 802 is slidably connected to the slide bar base 801, the second spring 803 is slidably connected to the slide bar base 801, one end of the second spring 803 is fixedly installed on the slide bar 802, and the end of the second spring 803 away from the slide bar 802 is fixedly installed in the slide bar base 801, the gear 804 is rotatably connected to the end of the slide bar 802 away from the slide bar base 801 through a rotating shaft, the rack 805 is fixedly installed on the inner wall of the fixed inner shell 5, and the gear 804 and the rack 805 are mutually The meshing is beneficial to the horizontal buffering of the battery 6; a plurality of auxiliary offset mechanisms 9 are installed on the base frame 1; the auxiliary offset mechanism 9 includes: a special-shaped bracket 901, a first magnet 902 and a second magnet 903, the special-shaped bracket 901 is fixedly installed on the base frame 1, the first magnet 902 is fixedly installed on the special-shaped bracket 901, the second magnet 903 is fixedly installed on the arc-shaped protective plate 301, and the first magnet 902 and the second magnet 903 repel each other; the end of the fixed shaft seat 306 away from the deflection plate 305 is fixedly installed on the outer wall of the fixed inner shell 5; the top frame 10 is fixedly installed on the upper side of the base frame 1; a controller 11 is fixedly installed in the top frame 10, and a camera 12 is fixedly installed on the upper side of the top frame 10, and the camera 12 is electrically connected to the controller 11; a plurality of laser radars 13 are fixedly installed on the outer wall of the top frame 10, the laser radars 13 are electrically connected to the controller 11, and the battery 6 is electrically connected to the controller 11.

[0027] The working principle of the utility model is:

[0028] A patrol robot with an anti-collision function. When in use, an external control terminal automatically plans a path and sends a signal to a controller 11. The controller 11 controls the robot to intelligently navigate to a target point and realizes autonomous obstacle avoidance through a laser radar 13. Multiple annular protective devices 3 and an auxiliary offset mechanism 9 enable the device to perform all-round fuselage anti-collision buffering. When an arc-shaped protective plate 301 is hit, the arc-shaped protective plate 301 moves toward the base frame 1, driving the shaft base 303 to move toward the base frame 1. The shaft base 303 moves toward the base frame 1, driving the rotating rod 304 to move toward the base frame 1. The rotating rod 304 moves toward the base frame 1, driving the deflection plate 305 to move toward the base frame 1, so that the first spring 307 is compressed to absorb the impact force of the impact. When the arc-shaped protective plate 301 is deflected by a collision, the auxiliary The first magnet 902 and the second magnet 903 on the offset mechanism 9 repel each other, absorbing the impact force of the deflected collision and protecting the fuselage from multiple angles. When the fuselage is hit, the square springs 7 on the upper and lower sides of the battery 6 buffer the impact force of the battery 6 in the up and down directions. The battery 6 moves up and down to drive the gear 804 to rotate on the rack 805 to prevent the outer wall of the battery 6 and the inner wall of the fixed inner shell 5 from rubbing against each other and damaging the battery 6. The battery buffer device 8 buffers the impact force of the battery 6 in the horizontal direction. The movement of the battery 6 causes the second spring 803 to be compressed, and the sliding rod 802 is pushed into the sliding rod base 801 to absorb the impact force. The compressed second spring 803 recovers and pushes the sliding rod 802 back to the initial position. The utility model can perform all-round anti-collision buffering for the fuselage. The battery 6 of the fuselage is provided with an anti-collision mechanism. The battery 6 can move in the fuselage for buffering without colliding with the fuselage, thereby avoiding safety hazards.

[0029] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A medical patrol robot with an anti-collision function, comprising a base frame (1), characterized in that: A plurality of electric drive wheels (2) are installed on the lower side of the base frame (1); a plurality of annular protection devices (3) are installed on the base frame (1); the annular protection devices (3) include: an arc-shaped protection plate (301), a limiting strip (302), a rotating shaft base (303), a rotating rod (304), a deflection plate (305), a fixed shaft seat (306) and a first spring (307); the arc-shaped protection plate (301) is slidably connected to the base frame (1); the plurality of limiting strips (302) are fixedly installed on the arc-shaped protection plate (301); the rotating shaft base (303) is fixedly installed on the rotating shaft base (303); The side wall of the arc-shaped protective plate (301), the rotating rod (304) is rotatably connected to the rotating shaft base (303), one end of the deflection plate (305) is fixedly installed on the rotating rod (304), the fixed shaft seat (306) is slidably connected to the end of the deflection plate (305) away from the rotating rod (304), the first spring (307) is slidably connected in the fixed shaft seat (306), one end of the first spring (307) is fixedly installed on the end of the deflection plate (305) away from the rotating rod (304), and the other end of the first spring (307) is fixedly installed in the fixed shaft seat (306).

2. The medical patrol robot with anti-collision function according to claim 1, characterized in that: A plurality of buffer strips (4) are mounted on the arc-shaped protective plate (301), a fixed inner shell (5) is mounted on the base frame (1), a battery (6) is arranged on the fixed inner shell (5), and square springs (7) are fixedly mounted on the upper and lower sides of the battery (6).

3. The medical patrol robot with anti-collision function according to claim 2, characterized in that: A plurality of battery buffer devices (8) are installed on the fixed inner shell (5).

4. The medical patrol robot with anti-collision function according to claim 3, characterized in that: The battery buffer device (8) comprises: a slide bar base (801), a slide bar (802), a second spring (803), a gear (804) and a rack (805); the slide bar base (801) is fixedly mounted on the side wall of the battery (6); the slide bar (802) is slidably connected to the slide bar base (801); the second spring (803) is slidably connected to the slide bar base (801); one end of the second spring (803) is fixedly mounted on the slide bar (802); one end of the second spring (803) away from the slide bar (802) is fixedly mounted in the slide bar base (801); the gear (804) is rotatably connected to one end of the slide bar (802) away from the slide bar base (801) via a rotating shaft; the rack (805) is fixedly mounted on the inner side wall of the fixed inner shell (5); and the gear (804) and the rack (805) are meshed with each other.

5. The medical patrol robot with anti-collision function according to claim 4, characterized in that: A plurality of auxiliary deflection mechanisms (9) are installed on the base frame (1).

6. The medical patrol robot with anti-collision function according to claim 5, characterized in that: The auxiliary deflection mechanism (9) comprises: a special-shaped bracket (901), a first magnet (902) and a second magnet (903); the special-shaped bracket (901) is fixedly mounted on the base frame (1); the first magnet (902) is fixedly mounted on the special-shaped bracket (901); the second magnet (903) is fixedly mounted on the arc-shaped protective plate (301); and the first magnet (902) and the second magnet (903) repel each other.

7. The medical patrol robot with anti-collision function according to claim 6, characterized in that: One end of the fixed shaft seat (306) away from the deflection plate (305) is fixedly mounted on the outer side wall of the fixed inner shell (5).

8. The medical patrol robot with anti-collision function according to claim 7, characterized in that: A top frame (10) is fixedly mounted on the upper side of the base frame (1).

9. The medical patrol robot with anti-collision function according to claim 8, characterized in that: A controller (11) is fixedly installed inside the top frame (10), a camera (12) is fixedly installed on the upper side of the top frame (10), and the camera (12) is electrically connected to the controller (11).

10. The medical patrol robot with anti-collision function according to claim 9, characterized in that: A plurality of laser radars (13) are fixedly mounted on the outer side wall of the top frame (10); the laser radars (13) are electrically connected to the controller (11); and the battery (6) is electrically connected to the controller (11).

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