Intelligent mobile robot with obstacle avoidance function

Abstract

The utility model relates to an intelligent mobile robot, in particular to an intelligent mobile robot with an obstacle avoidance function, which belongs to the technical field of intelligent machines and comprises a mobile seat, a lifting seat is fixedly mounted on the upper surface of the mobile seat, a double-rod support frame is slidably mounted in the lifting seat, and a driving support plate is arranged on one side of the lifting seat. A loading box is arranged on the upper surface of the driving supporting plate, angle adjusting assemblies used for driving the supporting plate to ascend and descend on one side are arranged in the two ends of one side of the double-rod supporting frame correspondingly, and driving assemblies used for enabling the symmetrically-arranged adjusting boxes to move in the opposite directions are arranged at the two ends of the upper surface of the driving supporting plate correspondingly. According to the scheme, on the basis that a worker can conveniently adjust the loading box to the proper height to conveniently take goods, the worker can conveniently increase the loading capacity on the original basis through mutual cooperation of the adjusting box in the loading box and the driving assembly, meanwhile, during unloading, the angle adjusting assembly can control and drive the supporting plate to ascend and descend on one side, and the working efficiency is improved. And loading and unloading of workers can be further facilitated.

Description

Technical Field

[0001] The utility model relates to an intelligent mobile robot, in particular to an intelligent mobile robot with an obstacle avoidance function, and belongs to the technical field of intelligent machines. Background Art

[0002] With the development of scientific and technological innovation and industrial technology, some freight companies have gradually begun to introduce intelligent robots to realize automatic handling of goods in order to reduce labor costs. As a result, intelligent robots with obstacle avoidance functions have gradually been promoted and applied. However, the cargo compartment of existing obstacle avoidance intelligent robots is generally an integrated structure with the robot, which is inconvenient during loading and unloading, reducing the work efficiency of cargo handling.

[0003] There is an artificial intelligence robot with obstacle avoidance function (CN216736166U), which relates to the field of intelligent machinery and equipment. In view of the problem that the cargo compartment of the existing obstacle avoidance intelligent robot is generally an integrated structure with the robot, which is inconvenient when loading and unloading goods and reduces the work efficiency of cargo handling, the following scheme is proposed, which includes a mobile base and a supporting base plate, the top of the mobile base is provided with a mounting groove, the mounting groove is H-shaped, the supporting base plate is located above the mobile base, and a lifting drive assembly is arranged between the supporting base plate and the mobile base, the lifting drive assembly includes a threaded rod, a first slider, a scissor arm, a second slider, a driven gear, a first motor and a driving gear, the inner walls of the groove body on both sides of the mounting groove are rotatably provided with threaded rods of the same structure, the utility model has a novel structure, realizes the lifting and lowering adjustment of the loading box of the obstacle avoidance robot when loading and unloading goods, and is conducive to improving work efficiency.

[0004] The above existing devices realize the lifting and adjusting of the loading box of the obstacle avoidance robot when loading and unloading goods, thereby improving work efficiency. However, although the above existing devices can facilitate the staff to complete the lifting and adjusting of the loading box, when transporting goods, the lengths of the goods are different. The length of the loading box of the above existing devices is not convenient for flexible adjustment of the length of the loading box, and when unloading, the loading box is sometimes required to be tilted to facilitate the unloading of the staff. However, the above existing devices are poor in terms of angle adjustment of the loading box, which is not convenient for the staff to unload.

[0005] In view of this, the present utility model is proposed. Utility Model Content

[0006] The purpose of the utility model is to provide an intelligent mobile robot with an obstacle avoidance function in order to solve the above-mentioned problem, which has the effect of adjusting the capacity of a loading box and the tilt angle of the loading box.

[0007] The utility model achieves the above-mentioned purpose through the following technical scheme: an intelligent mobile robot with obstacle avoidance function, comprising a moving seat, a lifting seat is fixedly installed on the upper surface of the moving seat, a double-rod support frame is slidably installed in the lifting seat, a driving pallet is arranged on one side of the lifting seat, a loading box is arranged on the upper surface of the driving pallet, a PLC controller is inlaid on the outer wall of one side of the lifting seat, a lifting component for lifting the double-rod support frame is arranged inside the lifting seat, angle adjustment components for unilateral lifting of the driving pallet are arranged inside both ends of one side of the double-rod support frame, the loading box comprises a stabilizing frame and a symmetrically arranged adjusting box, both ends of the stabilizing frame are plugged into the symmetrically arranged adjusting box, and both ends of the upper surface of the driving pallet are arranged with driving components for the symmetrically arranged adjusting box to move toward each other.

[0008] Furthermore, in order to provide driving force for the active lead screw through the lifting motor, the lifting assembly includes a lifting motor, the lifting motor is fixedly mounted on the inner bottom wall of the lifting seat, an active lead screw is fixedly mounted on the output end of the lifting motor, the upper end of the active lead screw is rotatably mounted on the inner top wall of the lifting seat, a driven lead screw is rotatably mounted on one end inside the lifting seat, the upper end of the driven lead screw and the inner top wall of the lifting seat are rotatably connected to each other, threaded holes are symmetrically opened on the upper surface of the double-rod support frame, and the active lead screw and the driven lead screw are respectively rotatably engaged with the threaded holes.

[0009] Furthermore, in order to make the driven screw and the driving screw rotate synchronously by using the synchronous chain, the lower end of the driving screw is provided with a driving sprocket, and the lower end of the driven screw is provided with a driven sprocket. The outer surfaces of the driving sprocket and the driven sprocket are meshed with a synchronous chain.

[0010] Furthermore, in order to drive the adjusting screw to rotate by the adjusting motor, limiting holes are symmetrically opened on the outer wall of one side of the lifting seat, and both ends of one side of the double-rod support frame are inserted into the limiting holes, and the upper surface of both ends of one side of the double-rod support frame is provided with adjustment grooves, and the angle adjustment assembly includes an adjusting motor, and the adjusting motors are respectively embedded in one end of the adjusting grooves in the two ends of one side of the double-rod support frame, and the output end of the adjusting motor is fixedly installed with an adjusting screw.

[0011] Furthermore, in order to drive the adjusting rod to move by rotating the adjusting screw, an adjusting frame is provided on the outer surface of one end of the adjusting screw, and an adjusting rod is rotatably mounted on the upper end of the adjusting frame. A hinge frame is symmetrically fixedly mounted on one side of the lower surface of the driving support plate, and the other end of the adjusting rod is rotatably mounted in the hinge frame. A side wall of the driving support plate and two ends of one side of the double-rod support frame are hinged to each other through hinges.

[0012] Furthermore, in order to provide a pre-thrust to the driving support plate when the adjusting rod moves through the spring telescopic rod in a compressed state, a spring telescopic rod is fixedly installed at one end of the inner side of the adjusting slot at both ends of one side of the double-rod support frame, and the upper ends of the spring telescopic rods are in contact with the lower surface of the driving support plate.

[0013] Furthermore, in order to drive the driving gear to rotate through the wheel hub motor, gear grooves are symmetrically opened on the upper surface of the driving support plate, and the driving assembly includes a driving gear, which is rotatably installed in the gear groove, and the wheel hub motor is embedded and installed inside the driving gear. The output ends of the wheel hub motor are respectively fixedly connected to the inner walls of the gear groove at both ends, and a driving rack is fixedly installed in the middle position of the outer bottom wall of the adjustment box on the upper surface of the driving support plate, and the driving gear and the driving rack are meshed with each other.

[0014] Furthermore, in order to limit the adjustment box when the adjustment box moves towards each other, the stabilization frame is fixedly mounted on the upper surface of the driving support plate through a stabilization rod, and T-shaped blocks are symmetrically fixedly mounted on the upper surface of the driving support plate. The outer bottom walls of the symmetrically arranged adjustment boxes are symmetrically provided with T-shaped grooves, and the T-shaped blocks and the T-shaped grooves are slidably engaged with each other.

[0015] The technical effects and advantages of the utility model are as follows: while facilitating the staff to adjust the loading box to a suitable height for easy picking of goods, the scheme can facilitate the staff to increase the loading capacity on the original basis through the cooperation between the adjustment box and the drive assembly in the loading box. At the same time, when unloading, the angle adjustment assembly can control the unilateral lifting of the drive pallet, thereby further facilitating the staff to carry out unloading and loading work. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2 It is a structural schematic diagram of the lifting assembly of the utility model;

[0018] Figure 3 It is a side sectional view of the double-head support frame of the utility model;

[0019] Figure 4 It is a schematic diagram of the position of the spring telescopic rod of the utility model;

[0020] Figure 5 This is a schematic diagram of the position of the hub motor of the utility model;

[0021] Figure 6 It is a schematic diagram of the position of the stabilizer bar of the utility model;

[0022] In the figure: 1. moving seat; 2. lifting seat; 3. double-rod support frame; 4. driving pallet; 5. loading box; 501. stabilizing frame; 502. adjusting box; 6. PLC controller; 7. lifting assembly; 701. lifting motor; 702. active lead screw; 703. driven lead screw; 704. active sprocket; 705. driven sprocket; 706. synchronous chain; 8. angle adjustment assembly; 801. adjusting motor; 802. adjusting lead screw; 803. adjusting frame; 804. adjusting rod; 805. articulated frame; 806. spring telescopic rod; 9. driving assembly; 901. driving gear; 902. hub motor; 10. adjusting slot; 11. hinge; 12. driving rack; 13. stabilizing rod; 14. T-block. DETAILED DESCRIPTION

[0023] 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.

[0024] See also Figure 1-Figure 6 As shown, an intelligent mobile robot with obstacle avoidance function includes a moving seat 1, a lifting seat 2 is fixedly installed on the upper surface of the moving seat 1, a double-rod support frame 3 is slidably installed in the lifting seat 2, a driving pallet 4 is arranged on one side of the lifting seat 2, a loading box 5 is arranged on the upper surface of the driving pallet 4, a PLC controller 6 is inlaid and installed on the outer wall of one side of the lifting seat 2, a lifting component 7 for lifting the double-rod support frame 3 is arranged inside the lifting seat 2, angle adjustment components 8 for driving the pallet 4 to lift on one side are arranged inside both ends of one side of the double-rod support frame 3, the loading box 5 includes a stabilizing frame 501 and a symmetrically arranged adjusting box 502, both ends of the stabilizing frame 501 are plugged into the symmetrically arranged adjusting box 502, and both ends of the upper surface of the driving pallet 4 are arranged with driving components 9 for the symmetrically arranged adjusting box 502 to move toward each other.

[0025] like Figure 2As shown, the lifting assembly 7 includes a lifting motor 701, which is fixedly mounted on the inner bottom wall of the lifting seat 2, and an active lead screw 702 is fixedly mounted on the output end of the lifting motor 701, and the upper end of the active lead screw 702 is rotatably mounted on the inner top wall of the lifting seat 2, and a driven lead screw 703 is rotatably mounted on one end of the interior of the lifting seat 2, and the upper end of the driven lead screw 703 is rotatably connected to the inner top wall of the lifting seat 2, and the upper surface of the double-rod support frame 3 is symmetrically provided with threaded holes, and the active lead screw 702 and the driven lead screw 703 are respectively rotatably engaged with the threaded holes, and the lower end of the active lead screw 702 is sleeved with a driving sprocket 704, and the lower end of the driven lead screw 703 is sleeved with a driven sprocket 705, and the active sprocket 7 04 is provided with a synchronous chain 706 which is meshed with the outer surface of the driven sprocket 705, so that when the staff needs to load and unload the goods, it is necessary to drive the height of the loading box 5 on the pallet 4. At this time, the staff controls the start of the lifting motor 701 through the PLC controller 6. At this time, the lifting motor 701 can drive the active lead screw 702 to rotate. Through the rotation of the active lead screw 702 and the cooperation of the active sprocket 704, the driven sprocket 705 and the synchronous chain 706, the driven lead screw 703 can rotate synchronously with the active lead screw 702. At this time, the double-rod support frame 3 which is rotatably meshed with the active lead screw 702 and the driven lead screw 703 is lifted and lowered, so as to facilitate the staff to load and unload the goods.

[0026] like Figure 3-Figure 6As shown, the outer wall of one side of the lifting seat 2 is symmetrically provided with limit holes, and both ends of one side of the double-rod support frame 3 are inserted into the limit holes. The upper surfaces of both ends of one side of the double-rod support frame 3 are provided with adjustment grooves 10. The angle adjustment component 8 includes an adjustment motor 801. The adjustment motor 801 is respectively inlaid and installed at one end of the adjustment groove 10 in the two ends of one side of the double-rod support frame 3. The output end of the adjustment motor 801 is fixedly installed with an adjustment screw 802. The outer surface of one end of the adjustment screw 802 is rotatably engaged with an adjustment frame 803. The upper end of the adjustment frame 803 is rotatably installed with an adjustment rod 804. A hinge frame 805 is symmetrically fixedly installed on one side of the lower surface of the driving support plate 4. The other end of the adjustment rod 804 is rotatably installed in the hinge frame 805. The side wall of one side of the driving support plate 4 is separated from the two ends of one side of the double-rod support frame 3. They are hinged to each other through hinges 11, and one end of the inner side of the adjustment slots 10 at both ends of one side of the double-rod support frame 3 is fixedly installed with a spring telescopic rod 806, and the upper ends of the spring telescopic rod 806 are in contact with the lower surface of the driving pallet 4, so that when the staff needs to load and unload goods more conveniently, at this time, the PLC controller 6 is used to adjust the start of the motor 801, so that the adjustment frame 803 rotates along the adjusting screw 802. At this time, as the adjusting screw 802 rotates, the spring telescopic rod 806 in the adjustment slot 10 has a continuous thrust on one side of the driving pallet 4, so that the adjustment frame 803 can more easily push the driving pallet 4 to rotate through the adjustment rod 804 hinged to the driving pallet 4 after moving, thereby realizing the angle adjustment of the loading box 5 on the driving pallet 4.

[0027] As shown in the figure, the upper surface of the driving support plate 4 is symmetrically provided with gear grooves, and the driving assembly 9 includes a driving gear 901, which is rotatably installed in the gear groove, and a hub motor 902 is embedded and installed inside the driving gear 901. The output ends of the hub motor 902 are respectively fixedly connected to the inner walls of the gear groove at both ends. A driving rack 12 is fixedly installed in the middle position of the outer bottom wall of the adjustment box 502 on the upper surface of the driving support plate 4. The driving gear 901 and the driving rack 12 are meshed with each other, and the stabilizing frame 501 is fixedly installed through the stabilizing rod 13. It is mounted on the upper surface of the driving pallet 4, and a T-shaped block 14 is symmetrically fixedly installed on the upper surface of the driving pallet 4. The outer bottom walls of the symmetrically arranged adjusting box 502 are symmetrically opened with T-shaped grooves. The T-shaped block 14 and the T-shaped groove are slidably engaged with each other, so that the PLC controller 6 controls the start of the hub motor 902, so that the hub motor 902 drives the driving gear 901 to engage with the driving rack 12, and then the symmetrically arranged adjusting box 502 can be synchronously moved under the limit of the T-shaped block 14 and the T-shaped groove, thereby increasing the capacity for loading goods.

[0028] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0029] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. An intelligent mobile robot with obstacle avoidance function, comprising a moving seat (1), a lifting seat (2) is fixedly mounted on the upper surface of the moving seat (1), a double-rod support frame (3) is slidably mounted in the lifting seat (2), a driving support plate (4) is arranged on one side of the lifting seat (2), a loading box (5) is arranged on the upper surface of the driving support plate (4), and a PLC controller (6) is inlaid on the outer wall of one side of the lifting seat (2), characterized in that: The lifting seat (2) is provided with a lifting assembly (7) for lifting the double-rod support frame (3), and both ends of one side of the double-rod support frame (3) are provided with angle adjustment assemblies (8) for lifting the driving support plate (4) on one side. The loading box (5) includes a stabilizing frame (501) and a symmetrically arranged adjustment box (502), and both ends of the stabilizing frame (501) are inserted into the symmetrically arranged adjustment box (502), and both ends of the upper surface of the driving support plate (4) are provided with driving assemblies (9) for the symmetrically arranged adjustment box (502) to move toward each other.

2. The intelligent mobile robot with obstacle avoidance function according to claim 1, characterized in that: The lifting assembly (7) comprises a lifting motor (701), wherein the lifting motor (701) is fixedly mounted on the inner bottom wall of the lifting seat (2), and an active lead screw (702) is fixedly mounted on the output end of the lifting motor (701), and the upper end of the active lead screw (702) is rotatably mounted on the inner top wall of the lifting seat (2), and a driven lead screw (703) is rotatably mounted on one end inside the lifting seat (2), and the upper end of the driven lead screw (703) and the inner top wall of the lifting seat (2) are rotatably connected to each other, and threaded holes are symmetrically opened on the upper surface of the double-rod support frame (3), and the active lead screw (702) and the driven lead screw (703) are respectively rotatably engaged with the threaded holes.

3. The intelligent mobile robot with obstacle avoidance function according to claim 2, characterized in that: The lower end of the active lead screw (702) is sleeved with a driving sprocket (704), the lower end of the driven lead screw (703) is sleeved with a driven sprocket (705), and the outer surfaces of the active sprocket (704) and the driven sprocket (705) are meshed with a synchronous chain (706).

4. The intelligent mobile robot with obstacle avoidance function according to claim 1, characterized in that: The outer wall of one side of the lifting seat (2) is symmetrically provided with limit holes, and both ends of one side of the double-rod support frame (3) are inserted into the limit holes. The upper surfaces of both ends of one side of the double-rod support frame (3) are provided with adjustment grooves (10). The angle adjustment component (8) includes an adjustment motor (801), and the adjustment motor (801) is respectively embedded in one end of the adjustment groove (10) in the two ends of one side of the double-rod support frame (3), and the output end of the adjustment motor (801) is fixedly installed with an adjustment screw (802).

5. The intelligent mobile robot with obstacle avoidance function according to claim 4, characterized in that: An adjusting frame (803) is rotatably engaged with the outer surface of one end of the adjusting screw (802), an adjusting rod (804) is rotatably mounted on the upper end of the adjusting frame (803), an articulated frame (805) is symmetrically fixedly mounted on one side of the lower surface of the driving support plate (4), the other end of the adjusting rod (804) is rotatably mounted in the articulated frame (805), and a side wall of the driving support plate (4) and two ends of one side of the double-rod support frame (3) are respectively hinged to each other through hinges (11).

6. The intelligent mobile robot with obstacle avoidance function according to claim 5, characterized in that: A spring telescopic rod (806) is fixedly installed at one end of the inner side of the adjustment slot (10) at both ends of one side of the double-rod support frame (3), and the upper end of the spring telescopic rod (806) is in contact with the lower surface of the driving support plate (4).

7. The intelligent mobile robot with obstacle avoidance function according to claim 1, characterized in that: The upper surface of the driving support plate (4) is symmetrically provided with gear grooves, the driving assembly (9) comprises a driving gear (901), the driving gear (901) is rotatably mounted in the gear groove, a hub motor (902) is embedded and mounted inside the driving gear (901), the output ends at both ends of the hub motor (902) are respectively fixedly connected to the inner walls at both ends of the gear groove, and a driving rack (12) is fixedly mounted at the middle position of the outer bottom wall of the adjustment box (502) on the upper surface of the driving support plate (4), and the driving gear (901) and the driving rack (12) are meshed with each other.

8. The intelligent mobile robot with obstacle avoidance function according to claim 7, characterized in that: The stabilizing frame (501) is fixedly mounted on the upper surface of the driving support plate (4) via a stabilizing rod (13); a T-shaped block (14) is symmetrically fixedly mounted on the upper surface of the driving support plate (4); the outer bottom walls of the symmetrically arranged regulating boxes (502) are symmetrically provided with T-shaped grooves; the T-shaped blocks (14) and the T-shaped grooves are slidably engaged with each other.

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