Sensor mounting device for humanoid mobile machine

Abstract

The utility model discloses a sensor mounting device for a human-shaped mobile machine, and relates to the technical field of robot interaction. The robot comprises a robot mechanism, the robot mechanism comprises a base, the bottom of the base is rotationally connected with a lead screw, and a roller assembly is arranged at the end, away from the lead screw, of the lead screw. The rotating force of the rotating rod is matched with assemblies such as the protection plate, the positioning rod and the clamping block A, the protection plate is pushed to make circular motion through the rotating rod so as to be closed with the box body, then the knob is rotated to drive the positioning rod to rotate, the positioning rod drives the clamping block A on the positioning rod to rotate, and the box body is protected from being damaged. And through the mutual contact effect of the clamping block A and the protection plate, the protection plate is limited, so that the dust prevention effect on the sensor in the box body is achieved, the situation that the sensor is exposed outside for a long time is avoided, and the service life is prolonged.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot interaction, in particular to a sensor installation device for a humanoid mobile machine. Background Art

[0002] With the development of unmanned driving technology, mobile robots have developed rapidly. A single sensor cannot guarantee the positioning and navigation accuracy of mobile robots, so multiple sensors such as lidar, visual cameras, IMU (Inertial Measurement Unit), and odometers are widely used. The working principles of different sensors determine the layout of the sensors, and the layout relationship of the sensors determines the external parameter matrix between the sensors (the external parameter matrix determines the calibration accuracy between the sensors, which has an important impact on the navigation, positioning, and mapping of mobile robots.

[0003] According to a disclosed liftable multi-sensor bracket and mobile machine (publication number: CN214981037U), it includes a multi-layer fixed bracket and a lifting mechanism, and the multi-layer fixed bracket is connected to the moving end of the lifting mechanism; the multi-layer fixed bracket at least includes a first support seat for installing a laser radar, a second support seat for installing a visual camera, and a third support seat for installing an inertial sensor, which are arranged in parallel up and down, the first support seat and the second support seat are connected by a plurality of first columns, and the second support seat and the third support seat are connected by a plurality of second columns, and the laser radar is installed on the first support seat; the utility model can simultaneously install multiple sensors such as a laser radar, multiple visual cameras and an IMU, and can reliably maintain the stability of the posture of the laser radar and the visual camera, but in the above-mentioned device, it is difficult to achieve the effect of dustproofing the sensor through the cooperation of components such as the multi-layer fixed bracket and the lifting mechanism, resulting in long-term exposure to the outside, which is easy to damage the internal electronic components, thereby reducing the service life, and needs to be improved. Utility Model Content

[0004] The purpose of the utility model is to provide a sensor installation device for a humanoid mobile machine, which solves the existing problems by pushing the protective plate to make the protective plate move in a circle through the rotating rod, thereby closing with the box body, and then turning the knob to drive the positioning rod to rotate, so that the positioning rod drives the card block A thereon to rotate, and then the card block A and the protective plate are in contact with each other.

[0005] In order to solve the above technical problems, the utility model is realized by the following technical solutions:

[0006] The utility model is a sensor installation device for a humanoid mobile machine, comprising a robot mechanism, the robot mechanism comprising a base, the bottom of the base is rotatably connected to a screw rod, the end of the screw rod away from the screw rod is provided with a roller assembly, the top of the base is fixedly connected to a support rod, the end of the support rod away from the base is rotatably connected to a box, one side of the box is provided with a display screen, and the inside of the box is provided with a sensor;

[0007] A dustproof device is arranged inside the robot mechanism, and the dustproof device includes a rotating rod. The inner wall of the box is rotatably connected to the rotating rod, a protective plate is fixedly connected to the circumferential surface of the rotating rod, a positioning rod is rotatably connected to the side of the box away from the support rod, a block A is fixedly connected to the circumferential surface of the positioning rod, and a knob is fixedly connected to the end of the positioning rod away from the box.

[0008] Furthermore, the number of the screw rods is four, which are arranged in groups of two and are symmetrical with each other along the vertical center axis of the base. The number of the roller assemblies is four, which are arranged in groups of two and are symmetrical with each other along the vertical center axis of the base. The above design is conducive to ensuring the stability of the device.

[0009] Furthermore, the shape of the block A is L-shaped, the protective plate is located on the displacement track of the block A, and the side of the box away from the display screen is located on the displacement track of the protective plate. The above design is conducive to limiting the protective plate by the block A.

[0010] Furthermore, the dust-proof device includes a fixed block, and the side of the inner wall of the box body close to the sensor is fixedly connected to the fixed block, a slide groove is provided on one side of the fixed block, a spring is fixedly connected to the inner wall of the slide groove, and a clamping block B is fixedly connected to the end of the spring away from the slide groove, a baffle is fixedly connected to the side of the inner wall of the box body close to the sensor, a short rod is rotatably connected to one side of the baffle, and a positioning block is fixedly connected to the end of the short rod away from the baffle, and a slot is provided on one side of the positioning block. The above design is conducive to limiting the sensor.

[0011] Furthermore, the sensor is plugged into the positioning block through a slot, the sensor is located between the fixed block and the positioning block, the number of the baffles is two, and they are symmetrical to each other along the vertical center axis of the positioning block. The above design is conducive to limiting the positioning block.

[0012] Furthermore, the shape of the block B is fan-shaped, the circumferential surface of the block B is located on the displacement track of the sensor, and the plane of the block B is in contact with the sensor. The above design is conducive to limiting the sensor and preventing the sensor from falling off the device when the device moves.

[0013] Furthermore, the number of the springs is two and they are symmetrical to each other along the vertical center axis of the fixed block. The slot on the positioning block is located on the displacement track of the sensor. The above design is conducive to resetting the block B through the spring.

[0014] The utility model has the following beneficial effects:

[0015] 1. The utility model cooperates with the protective plate, the positioning rod, the block A and other components through the rotating force of the rotating rod, so that the protective plate is pushed to make the protective plate move in a circle through the rotating rod, thereby closing with the box body, and then turning the knob to drive the positioning rod to rotate, so that the positioning rod drives the block A thereon to rotate, and then the block A and the protective plate are brought into contact with each other, thereby limiting the protective plate, thereby preventing the sensor inside the box from being exposed to dust for a long time, and increasing the service life.

[0016] 2. The utility model realizes the effect of inserting one end of the sensor into the slot on the positioning block and then pushing the sensor through the positioning block through the elastic force of the spring and cooperating with the fixed block, the card block B and the baffle plate, so that the sensor squeezes the card block B, and the card block B is forced to shrink into the slide groove, and then the spring pushes the card block B through the reset property of the spring, so that the card block B clamps the sensor, thereby achieving the effect of positioning and limiting the sensor. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0018] Figure 2 It is a three-dimensional structural schematic diagram of the box body of the utility model from a rear view;

[0019] Figure 3 It is a schematic diagram of the three-dimensional structure of the protective plate of the utility model;

[0020] Figure 4 It is a schematic diagram of the three-dimensional structure of the fixed block of the utility model;

[0021] Figure 5 For the utility model Figure 2 Three-dimensional enlarged image of A in the middle.

[0022] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0023] 1. Robot mechanism; 101. Base; 102. Screw rod; 103. Roller assembly; 104. Support rod; 105. Box; 106. Display screen; 107. Sensor; 2. Dust-proof device; 201. Rotating rod; 202. Protective plate; 203. Positioning rod; 204. Block A; 205. Knob; 206. Fixed block; 207. Slide groove; 208. Spring; 209. Block B; 210. Baffle; 211. Short rod; 212. Positioning block; 213. Slot. DETAILED DESCRIPTION

[0024] See also Figure 1-5 The utility model is a sensor installation device for a humanoid mobile machine, comprising a robot mechanism 1, the robot mechanism 1 comprising a base 101, a screw rod 102 is rotatably connected to the bottom of the base 101, a roller assembly 103 is arranged at one end of the screw rod 102 away from the screw rod 102, a support rod 104 is fixedly connected to the top of the base 101, and a box 105 is rotatably connected to one end of the support rod 104 away from the base 101, a display screen 106 is arranged on one side of the box 105, and a sensor 107 is arranged inside the box 105;

[0025] A dustproof device 2 is arranged inside the robot mechanism 1, and the dustproof device 2 includes a rotating rod 201. The inner wall of the box 105 is rotatably connected to the rotating rod 201, and a protective plate 202 is fixedly connected to the circumferential surface of the rotating rod 201. A positioning rod 203 is rotatably connected to the side of the box 105 away from the support rod 104, and a block A204 is fixedly connected to the circumferential surface of the positioning rod 203. A knob 205 is fixedly connected to the end of the positioning rod 203 away from the box 105.

[0026] There are four screw rods 102, which are arranged in groups of two and are symmetrical along the vertical center axis of the base 101. There are four roller assemblies 103, which are arranged in groups of two and are symmetrical along the vertical center axis of the base 101. The above design is conducive to ensuring the stability of the device.

[0027] The shape of the block A204 is L-shaped, the protective plate 202 is located on the displacement track of the block A204, and the side of the box 105 away from the display screen 106 is located on the displacement track of the protective plate 202. The above design is conducive to limiting the protective plate 202 through the block A204.

[0028] The dustproof device 2 includes a fixed block 206, and the side of the inner wall of the box body 105 close to the sensor 107 is fixedly connected to the fixed block 206, and a slide groove 207 is opened on one side of the fixed block 206. A spring 208 is fixedly connected to the inner wall of the slide groove 207, and the end of the spring 208 away from the slide groove 207 is fixedly connected to a clamping block B209. The side of the inner wall of the box body 105 close to the sensor 107 is fixedly connected to a baffle 210, and a short rod 211 is rotatably connected to one side of the baffle 210, and the end of the short rod 211 away from the baffle 210 is fixedly connected to a positioning block 212, and a slot 213 is opened on one side of the positioning block 212. The above design is conducive to limiting the sensor 107.

[0029] The sensor 107 is plugged into the positioning block 212 through the slot 213 . The sensor 107 is located between the fixing block 206 and the positioning block 212 . There are two baffles 210 , which are symmetrical to each other along the vertical center axis of the positioning block 212 . The above design is conducive to limiting the positioning block 212 .

[0030] The shape of the block B209 is fan-shaped, and the circumferential surface of the block B209 is located on the displacement track of the sensor 107. The plane of the block B209 is in contact with the sensor 107. The above design is conducive to limiting the sensor 107 and preventing the sensor 107 from falling off the device when the device moves.

[0031] There are two springs 208 , which are symmetrical to each other along the vertical center axis of the fixed block 206 . The slot 213 on the positioning block 212 is located on the displacement track of the sensor 107 . The above design is conducive to resetting the block B209 through the spring 208 .

[0032] A specific application of this embodiment is: the present application pushes the protective plate 202 to make the protective plate 202 perform a circular motion through the rotating rod 201, thereby closing with the box body 105, and then by rotating the knob 205, the knob 205 drives the positioning rod 203 to rotate, so that the positioning rod 203 drives the block A204 thereon to rotate, and then the block A204 and the protective plate 202 contact each other, thereby limiting the protective plate 202, thereby preventing the sensor 107 inside the box body 105 from being dusty, avoiding the situation where the sensor 107 is exposed to the outside for a long time, and increasing the use efficiency. During the service life, when the sensor 107 needs to be installed, one end of the sensor 107 is plugged into the slot 213 on the positioning block 212, and then the sensor 107 is pushed to make the sensor 107 perform a circular motion through the positioning block 212, so that the sensor 107 squeezes the block B209, and the block B209 is forced to retract into the slide groove 207. When the sensor 107 is away from the block B209, the block B209 is pushed by the spring 208 through the reset property of the spring 208, so that the block B209 clamps the sensor 107, thereby achieving the effect of positioning and limiting the sensor 107.

Claims

1. A sensor installation device for a humanoid mobile machine, comprising a robot mechanism (1), characterized in that: The robot mechanism (1) comprises a base (101), the bottom of the base (101) is rotatably connected to a screw rod (102), one end of the screw rod (102) away from the screw rod (102) is provided with a roller assembly (103), the top of the base (101) is fixedly connected to a support rod (104), one end of the support rod (104) away from the base (101) is rotatably connected to a box (105), a display screen (106) is provided on one side of the box (105), and a sensor (107) is provided inside the box (105); The robot mechanism (1) is provided with a dustproof device (2) inside, the dustproof device (2) comprising a rotating rod (201), the inner wall of the box body (105) being rotatably connected to the rotating rod (201), a protective plate (202) being fixedly connected to the circumferential surface of the rotating rod (201), a positioning rod (203) being rotatably connected to the side of the box body (105) away from the support rod (104), a block A (204) being fixedly connected to the circumferential surface of the positioning rod (203), and a knob (205) being fixedly connected to the end of the positioning rod (203) away from the box body (105).

2. The sensor mounting device for a humanoid mobile machine according to claim 1, characterized in that: The number of the screw rods (102) is four, which are arranged in groups of two and are symmetrical with each other along the vertical center axis of the base (101); the number of the roller assemblies (103) is four, which are arranged in groups of two and are symmetrical with each other along the vertical center axis of the base (101).

3. The sensor mounting device for a humanoid mobile machine according to claim 2, characterized in that: The shape of the card block A (204) is L-shaped, the protective plate (202) is located on the displacement track of the card block A (204), and the side of the box (105) away from the display screen (106) is located on the displacement track of the protective plate (202).

4. The sensor mounting device for a humanoid mobile machine according to claim 3, characterized in that: The dustproof device (2) comprises a fixed block (206), a side of the inner wall of the box body (105) close to the sensor (107) is fixedly connected to the fixed block (206), a sliding groove (207) is provided on one side of the fixed block (206), a spring (208) is fixedly connected to the inner wall of the sliding groove (207), an end of the spring (208) away from the sliding groove (207) is fixedly connected to a clamping block B (209), a side of the inner wall of the box body (105) close to the sensor (107) is fixedly connected to a baffle (210), a side of the baffle (210) is rotatably connected to a short rod (211), an end of the short rod (211) away from the baffle (210) is fixedly connected to a positioning block (212), and a slot (213) is provided on one side of the positioning block (212).

5. The sensor mounting device for a humanoid mobile machine according to claim 4, characterized in that: The sensor (107) is plugged into the positioning block (212) via a slot (213); the sensor (107) is located between the fixing block (206) and the positioning block (212); and there are two baffles (210) which are symmetrical to each other along the vertical center axis of the positioning block (212).

6. The sensor mounting device for a humanoid mobile machine according to claim 5, characterized in that: The shape of the block B (209) is a sector, the circumferential surface of the block B (209) is located on the displacement track of the sensor (107), and the plane of the block B (209) is in contact with the sensor (107).

7. The sensor mounting device for a humanoid mobile machine according to claim 6, characterized in that: The number of the springs (208) is two, and they are symmetrical to each other along the vertical center axis of the fixed block (206), and the slot (213) on the positioning block (212) is located on the displacement track of the sensor (107).

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