High-flexibility submarine robot

Abstract

The utility model discloses a high-flexibility submarine robot. The high-flexibility submarine robot comprises a chassis; a jacking module for jacking goods is mounted above the chassis; a rotating module used for rotating goods is installed above the jacking module. The front end and the rear end of the chassis are each provided with a laser module used for detecting obstacles to conduct obstacle avoidance and navigation. The chassis is further provided with a controller used for processing driving data of the robot to control the robot, two code reading cameras used for reading codes and two pressure sensors used for detecting collision borne by the robot in the front-back direction. One of the two code reading cameras is mounted on the chassis, and the other code reading camera is mounted on the rotating module; the two pressure sensors are respectively mounted at the front end and the rear end of the chassis; the laser module, the code reading camera and the pressure sensor are all electrically connected to the controller. According to the high-flexibility submarine robot, the robot can be accurately and flexibly controlled to carry out transferring operation.

Description

Technical Field

[0001] The utility model relates to a high-flexibility latent robot. Background Art

[0002] The existing lurking robot reads the navigation QR code on the ground through the code reading camera, and then controls the robot's driving component to drive to the designated transfer position for transfer operation through the controller according to the navigation QR code. Such transfer robots are not flexible enough, prone to collision, and cannot intelligently retreat in time after collision. Utility Model Content

[0003] The utility model provides a highly flexible lurking robot to solve the above-mentioned technical problems, and specifically adopts the following technical solutions:

[0004] A highly flexible latent robot comprises: a chassis; a lifting module for lifting goods is installed above the chassis; a rotating module for rotating goods is installed above the lifting module; laser modules for detecting obstacles for obstacle avoidance and navigation are respectively installed at the front and rear ends of the chassis; the chassis also comprises: a controller for processing driving data of the robot to control the robot, two code reading cameras for reading codes and two pressure sensors for detecting collisions suffered by the robot at the front and rear ends; one of the two code reading cameras is installed on the chassis and the other is installed on the rotating module; two pressure sensors are respectively installed at the front and rear ends of the chassis; the laser module, the code reading camera and the pressure sensor are all electrically connected to the controller.

[0005] Furthermore, the rotating module includes: a driving assembly, a pinion, a large gear and a tray; the driving assembly is installed at the upper end of the lifting module; the pinion is fixed to the output end of the driving assembly; the tray is rotatably installed at the upper end of the lifting module; the large gear is installed on the lower side of the tray and meshes with the pinion.

[0006] Furthermore, the chassis includes: a front chassis and a rear chassis; the front chassis and the rear chassis are hingedly connected.

[0007] Furthermore, both the front chassis and the rear chassis are formed with hinged rods; the front chassis and the rear chassis are hingedly connected via their respective hinged rods.

[0008] Furthermore, the hinged rod of the front chassis and the hinged rod of the rear chassis, after being connected, jointly form a through slot for the code reader to read the code.

[0009] Furthermore, a mounting recess for mounting the drive wheel is formed between the front chassis and the rear chassis on both sides of the through slot; the width of the mounting recess in the direction of travel of the robot is equal to the width of the through slot in the direction of travel of the robot.

[0010] Furthermore, driven wheels for improving the steering flexibility of the robot are installed at the ends of the front chassis and the rear chassis that are away from each other.

[0011] Furthermore, the two driven wheels are symmetrically distributed about the rotation axis of the driving wheel and are located on a center line from front to rear of the chassis.

[0012] Further, the two driven wheels are equidistant from the rotational axis of the driving wheel and are located on both sides of a center line from front to rear of the chassis.

[0013] Furthermore, the driven wheel is a universal wheel.

[0014] The utility model is beneficial in that the highly flexible latent robot provided has a compact structure, and through the combined application of a laser module, a code reading camera and a pressure sensor, the latent robot can be accurately and flexibly controlled to perform transfer operations, ensuring that the robot can flexibly move backward and adjust the driving route after a collision. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] 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 be obtained based on these drawings without paying creative labor.

[0016] Figure 1 is a schematic diagram of a highly flexible latent robot involved in the present application;

[0017] Figure 2 yes Figure 1 A schematic diagram of another state of the high-flexibility latent robot;

[0018] Figure 3 yes Figure 2 A schematic diagram of a chassis mounting structure of a high-flexibility lurking robot;

[0019] Figure 4 yes Figure 2 Schematic diagram of the rotation module of the high-flexibility lurking robot;

[0020] A highly flexible lurking robot 10, a chassis 11, a front chassis 111, a rear chassis 112, an articulated rod 113, a through slot 114, a mounting recess 115, a lifting module 12, a rotating module 13, a driving assembly 14, a small gear 141, a large gear 142, a tray 143, a laser module 15, a driving wheel 16, a code reading camera 17, a driven wheel 18, a pressure sensor (not shown), and a controller 19. DETAILED DESCRIPTION

[0021] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0022] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0023] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0024] like Figures 1 to 4As shown, a highly flexible latent robot 10 of the present application includes: a chassis 11, a lifting module 12 is installed above the chassis 11 for lifting goods, and a rotating module 13 is installed above the lifting module 12 for rotating goods. The front and rear ends of the chassis 11 are respectively installed with laser modules 15 for detecting obstacles for obstacle avoidance and navigation. The chassis 11 is also installed with: a controller 19, two code reading cameras 17 and two pressure sensors. The controller 19 is used to process the driving data of the robot to control the driving of the robot, the two code reading cameras 17 are used to read the code so as to navigate according to the code reading situation, and the two pressure sensors are used to detect the collision of the robot before and after and control the robot to retreat through the controller 19 after detecting the collision information. One of the two code reading cameras 17 is installed on the chassis 11 to identify the navigation QR code on the ground, and the other is installed on the rotating module 13 to identify the QR code of the shelf above the robot to confirm the transfer information. Two pressure sensors are respectively installed at the front and rear ends of the chassis 11, so as to detect the impact on the front and rear ends of the robot. The laser module 15, the code reading camera 17 and the pressure sensor are all electrically connected to the controller 19, so that the controller 19 can accurately control the movement of the robot according to the detection information of the laser module 15, the code reading camera 17 and the pressure sensor. In other words, the highly flexible latent robot 10 of this scheme can accurately and flexibly control the latent robot to perform transfer operations through the combined application of the laser module 15, the code reading camera 17 and the pressure sensor, ensuring that the robot can flexibly move backward and adjust the driving route after a collision. In other words,

[0025] As a specific implementation, the rotating module 13 includes: a driving assembly 14, a pinion 141, a large gear 142 and a tray 143. The driving assembly 14 is installed on the upper end of the lifting module 12, the small gear 141 is fixed to the output end of the driving assembly 14, the tray 143 is rotatably installed on the upper end of the lifting module 12, the large gear 142 is installed on the lower side of the tray 143 and meshes with the small gear 141, and the power is output through the driving assembly 14 and the small gear 141. In this way, the large gear 142 and the tray 143 are directly driven to rotate synchronously, the rotation timeliness is high, the action is more sensitive and stable, and such an installation structure is compact, while completing the rotation operation of the goods and the shelf, it realizes flexible obstacle avoidance in a smaller space.

[0026] As a specific embodiment, the chassis 11 includes: a front chassis 111 and a rear chassis 112, and the front chassis 111 is hingedly connected to the rear chassis 112 to achieve the contact between the chassis 11 and the ground during the transfer process. Specifically, the front chassis 111 and the rear chassis 112 are both formed with a hinge rod 113, and the front chassis 111 and the rear chassis 112 are hingedly connected through their respective hinge rods 113. After being connected, the hinge rod 113 of the front chassis 111 and the hinge rod 113 of the rear chassis 112 jointly form a through groove 114 for the code reader to read the code, so that the overall balance of the front and rear chassis 112 can be ensured. Between the front chassis 111 and the rear chassis 112, a mounting recess 115 is jointly formed on both sides of the through groove 114 for mounting the drive wheel 16, and the two mounting recesses 115 are respectively located on the left and right sides of the chassis 11. The width of the mounting recess 115 in the traveling direction of the robot is equal to the width of the through slot 114 in the traveling direction of the robot. This further ensures the overall balance of the front and rear chassis 112, making the overall structure of the robot compact, flexible and stable.

[0027] As a specific implementation, driven wheels 18 are installed at the ends of the front chassis 111 and the rear chassis 112 that are away from each other to improve the steering flexibility of the robot. The two driven wheels 18 are equidistant from the rotation axis of the driving wheel 16 and are located on both sides of the center line from the front to the back of the chassis 11, which can improve the steering flexibility of the robot. The driven wheels 18 are universal wheels, which are not only flexible in rotation, but also have better support and fit to the ground.

[0028] Optionally, the two driven wheels 18 are symmetrically distributed about the rotation axis of the driving wheel 16 and are located on the center line from front to back of the chassis 11. This can also ensure the flexibility of the overall steering of the robot, and can also provide good support for the front and rear ends of the chassis 11, with better stability.

[0029] The above shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the above embodiments do not limit the utility model in any form, and any technical solution obtained by equivalent replacement or equivalent transformation falls within the protection scope of the utility model.

Claims

1. A highly flexible lurking robot, comprising: Chassis; A lifting module for lifting cargo is installed above the chassis; A rotating module for rotating goods is installed above the lifting module; it is characterized in that: The front and rear ends of the chassis are respectively equipped with laser modules for detecting obstacles for obstacle avoidance and navigation; The chassis is also equipped with: a controller for processing the driving data of the robot to control the robot, two barcode reading cameras for reading barcodes, and two pressure sensors for detecting the collisions suffered by the robot from front to back; One of the two code reading cameras is mounted on the chassis and the other is mounted on the rotating module; The two pressure sensors are respectively installed at the front end and the rear end of the chassis; The laser module, the code reading camera and the pressure sensor are all electrically connected to the controller.

2. The highly flexible lurking robot according to claim 1, characterized in that: The rotating module comprises: a driving assembly, a pinion, a gear and a tray; The driving assembly is installed at the upper end of the lifting module; The pinion gear is fixed to the output end of the drive assembly; The tray is rotatably mounted on the upper end of the lifting module; The large gear is mounted on the lower side of the tray and meshes with the small gear.

3. The highly flexible lurking robot according to claim 1, characterized in that: The chassis comprises: a front chassis and a rear chassis; The front chassis is hingedly connected to the rear chassis.

4. The highly flexible lurking robot according to claim 3, characterized in that: The front chassis and the rear chassis are both formed with hinged rods; The front chassis and the rear chassis are hingedly connected via their respective hinge rods.

5. The highly flexible lurking robot according to claim 4, characterized in that: The hinged rod of the front chassis and the hinged rod of the rear chassis are connected to form a through slot for a code reader to read codes.

6. The highly flexible lurking robot according to claim 5, characterized in that: A mounting recess for mounting a driving wheel is formed between the front chassis and the rear chassis on both sides of the through slot; The width of the mounting recess in the traveling direction of the robot is equal to the width of the through slot in the traveling direction of the robot.

7. The highly flexible lurking robot according to claim 6, characterized in that: Driven wheels for improving the steering flexibility of the robot are installed at the ends of the front chassis and the rear chassis that are away from each other.

8. The highly flexible lurking robot according to claim 7, characterized in that: The two driven wheels are symmetrically distributed about the rotation axis of the driving wheel and are located on a center line from front to rear of the chassis.

9. The highly flexible lurking robot according to claim 7, characterized in that: The two driven wheels are equidistant from the rotation axis of the driving wheel and are located on both sides of a center line from front to rear of the chassis.

10. The highly flexible lurking robot according to claim 7, characterized in that: The driven wheel is a universal wheel.

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