Route obstacle avoidance mechanism of mobile robot

Abstract

The utility model relates to the technical field of mobile robots, and discloses a route obstacle avoidance mechanism of a mobile robot, which comprises a mobile robot body, a mounting bottom plate is arranged on the left side of the mobile robot body, a mechanical arm is arranged on the surface of the mobile robot body, and an ultrasonic probe is arranged on the left side of the mounting bottom plate. According to the route obstacle avoidance mechanism of the mobile robot, through the arranged limiting assembly, during installation, a connecting column enters an installation groove, meanwhile, through a first gear, a fixing rod, a second gear, a fixing rod, a volute spiral spring, an abutting rod and a concentric-square-shaped plate, a clamping rod can enter a limiting groove to be limited and stabilized, and therefore the route obstacle avoidance mechanism of the mobile robot is convenient to use. The mounting bottom plate and the mobile robot body are stably mounted, and meanwhile, the mounting hole I is aligned with the mounting hole II, so that the mounting hole I and the mounting hole II can be fixed through screws, and the influence on the mounting efficiency caused by deviation of the mounting hole I and the mounting hole II due to mistaken touch is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of mobile robots, in particular to a route obstacle avoidance mechanism of a mobile robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. A robot can perform tasks such as operation or movement through programming and automatic control. Robots have basic features such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.

[0003] Existing robots use ultrasonic obstacle avoidance sensors when in use. During specific installation, most of them are fixed with screws through the opening of mounting holes. However, during actual installation, personnel are required to align the mounting holes of the sensor with the mounting holes of the robot for installation. If an accidental touch occurs, the mounting holes will be offset, which will affect the installation efficiency. Utility Model Content

[0004] The purpose of the utility model is to provide a route obstacle avoidance mechanism for a mobile robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a route obstacle avoidance mechanism of a mobile robot, comprising a mobile robot body, a mounting base plate is arranged on the left side of the mobile robot body, a mechanical arm is arranged on the surface of the mobile robot body, an ultrasonic probe is arranged on the left side of the mounting base plate, and a limit assembly is arranged on the surface of the mounting base plate, and the limit assembly comprises:

[0006] A connecting column, wherein the connecting column is fixed on a side of the mounting base plate away from the ultrasonic probe, a cavity is provided inside the connecting column, a gear 1 is rotatably connected to the inner wall of the cavity, a gear 2 is rotatably connected to the inner wall of the cavity, the gear 1 is meshed with the gear 2, a through hole is provided on the surface of the gear 2, a fixing rod is fixed to the inner wall of the cavity, a volute spring is fixed to the surface of the fixing rod, one end of the volute spring away from the fixing rod is fixed to the inner wall of the through hole, a resisting rod is fixed to the surface of the gear 2, a clamping rod is provided inside the cavity, and the clamping rod The gear is connected to the gear one by one, and the locking rod is slidably connected to the connecting column, a circular plate is fixed to the end of the locking rod close to the gear one, the surface of the resistance rod passes through the circular plate, and the resistance rod is connected to the bottom of the inner wall of the circular plate, and the surface of the mounting base plate is rotatably connected with a knob, the output shaft of the knob passes through the mounting base plate and the connecting column, and the output shaft of the knob is fixedly connected to the surface of the gear one. During installation, the connecting column enters the mounting groove, and at the same time, through the gear one, the fixed rod, the gear two, the fixed rod, the spiral spring, the resistance rod, and the circular plate, the locking rod can enter the limit groove for limit stability.

[0007] Preferably, the gear 2, fixed rod, spiral spring, resistance rod, circular plate and clamping rod are each provided with four groups, and the four groups of gear 2, fixed rod, spiral spring, resistance rod, circular plate and clamping rod are all arranged in a circular array with the center of the circle of gear 1 as the axis, so that when gear 1 rotates, gear 2, fixed rod, spiral spring, resistance rod, circular plate and clamping rod can be synchronously driven to move.

[0008] Preferably, the side of the clamping rod away from the installation base plate is arranged in an inclined surface shape. During installation, the inclined surface of the clamping rod is abutted, so that the clamping rod can be moved, which facilitates installation.

[0009] Preferably, a second mounting hole is provided on the surface of the mounting base plate, and a first mounting hole is provided on the surface of the mobile robot body, so as to facilitate fixing by screws.

[0010] Preferably, a mounting groove is provided on the surface of the mobile robot body, and a limiting groove is provided on the inner wall of the mounting groove, so that the mounting groove and the limiting groove are convenient for preliminary fixation.

[0011] Preferably, the surface of the mobile robot body is slidably connected to a protective frame, a damper is fixed on the inner side of the protective frame, an end of the damper away from the protective frame is fixed to the surface of the mobile robot body, a spring is fixed to the surface of the mobile robot body, an end of the spring away from the mobile robot body is fixed to the surface of the protective frame, the protective frame touches the outside, the damper and the spring perform buffering, and can prevent the mobile robot body from colliding and causing damage.

[0012] Preferably, the mounting groove is consistent with the shape of the connecting column, so that the connecting column can easily enter the mounting groove.

[0013] Compared with the prior art, the utility model provides a route obstacle avoidance mechanism for a mobile robot, which has the following beneficial effects:

[0014] 1. The route obstacle avoidance mechanism of the mobile robot, through the setting of the limit assembly, when installed, allows the connecting column to enter the installation groove, and at the same time, through the gear one, the fixed rod, the gear two, the fixed rod, the spiral spring, the contact rod, and the return plate, the clamping rod can enter the limit groove for limit stability, stabilize the installation base plate and the mobile robot body, and at the same time, the mounting hole one is aligned with the mounting hole two. At this time, it can be fixed by screws, and there will be no accidental touch, which will cause the mounting hole one and the mounting hole two to deviate and affect the installation efficiency.

[0015] 2. The route obstacle avoidance mechanism of the mobile robot can provide buffering when the ultrasonic probe fails and the mobile robot body collides with it through the protective frame, damper and spring, thereby avoiding damage caused by collision of the mobile robot body. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the front view structure of the utility model;

[0017] Figure 2 It is a schematic diagram of the local structure of the utility model;

[0018] Figure 3 It is a schematic diagram of the partial internal structure of the utility model;

[0019] Figure 4 This is a front view structural diagram of the clamping rod of the utility model.

[0020] In the figure: 1. Mobile robot body; 2. Robotic arm; 3. Mounting hole 1; 4. Mounting slot; 5. Limiting slot; 6. Mounting base plate; 7. Ultrasonic probe; 8. Mounting hole 2; 9. Limiting assembly; 90. Connecting column; 91. Cavity; 92. Gear 1; 93. Gear 2; 94. Through hole; 95. Fixing rod; 96. Volute spring; 97. Resistance rod; 98. Reciprocating plate; 99. Clamping rod; 900. Knob; 10. Protective frame; 11. Damper; 12. Spring. DETAILED DESCRIPTION

[0021] like Figure 1-Figure 4As shown, the utility model provides a technical solution: a route obstacle avoidance mechanism of a mobile robot, comprising a mobile robot body 1, a mounting base plate 6 is arranged on the left side of the mobile robot body 1, a mechanical arm 2 is arranged on the surface of the mobile robot body 1, an ultrasonic probe 7 is arranged on the left side of the mounting base plate 6, and a limit assembly 9 is arranged on the surface of the mounting base plate 6. The limit assembly 9 includes: a connecting column 90, a cavity 91, a gear one 92, a gear two 93, a through hole 94, a fixing rod 95, a spiral spring 96, a resisting rod 97, a circular plate 98, a clamping rod 99, and a knob 900.

[0022] The connecting column 90 is fixed to the side of the mounting base plate 6 away from the ultrasonic probe 7. A cavity 91 is provided inside the connecting column 90. A gear 1 92 is rotatably connected to the inner wall of the cavity 91. A gear 2 93 is rotatably connected to the inner wall of the cavity 91. The gear 1 92 meshes with the gear 2 93. A through hole 94 is provided on the surface of the gear 2 93. A fixing rod 95 is fixed to the inner wall of the cavity 91. A volute spring 96 is fixed to the surface of the fixing rod 95. One end of the volute spring 96 away from the fixing rod 95 is fixed to the inner wall of the through hole 94. A resisting rod 97 is fixed to the surface of the gear 2 93. A clamping rod 99 is provided inside the cavity 91. The clamping rod 99 penetrates The connecting column 90 is connected with the clamping rod 99 in a sliding manner. A circular plate 98 is fixed to one end of the clamping rod 99 close to the gear 1 92. The surface of the abutment rod 97 passes through the circular plate 98, and the abutment rod 97 and the bottom of the inner wall of the circular plate 98. The surface of the mounting base plate 6 is rotatably connected with a knob 900. The output shaft of the knob 900 passes through the mounting base plate 6 and the connecting column 90, and the output shaft of the knob 900 is fixedly connected to the surface of the gear 1 92. The connecting column 90 enters the mounting groove 4, and the clamping rod 99 enters the limiting groove 5. The inner wall of the limiting groove 5 contacts the side of the clamping rod 99 away from the inclined surface, thereby stabilizing the mounting base plate 6 and the mobile robot body 1.

[0023] Gear 2 93, fixed rod 95, scroll spring 96, resistance rod 97, return plate 98, and clamping rod 99 are all provided with four groups, and the four groups of gear 2 93, fixed rod 95, scroll spring 96, resistance rod 97, return plate 98, and clamping rod 99 are all arranged in a circular array with the center of the circle of gear 1 92 as the axis center, so that when gear 1 92 rotates, gear 2 93, fixed rod 95, scroll spring 96, resistance rod 97, return plate 98, and clamping rod 99 can be synchronously driven to move.

[0024] The side of the clamping rod 99 away from the mounting base plate 6 is set to be inclined, and when it is resisted, the clamping rod 99 can be moved. The surface of the mounting base plate 6 is provided with a mounting hole 28, and the surface of the mobile robot body 1 is provided with a mounting hole 3, which is convenient for screw fixing. The surface of the mobile robot body 1 is provided with a mounting groove 4, and the inner wall of the mounting groove 4 is provided with a limiting groove 5. The mounting groove 4 and the limiting groove 5 are convenient for stably mounting the base plate 6. The surface of the mobile robot body 1 is slidably connected with a protective frame 10, and a damper 11 is fixed to the inner side of the protective frame 10. The end of the damper 11 away from the protective frame 10 is fixed to the surface of the mobile robot body 1. A spring 12 is fixed to the surface of the mobile robot body 1, and the end of the spring 12 away from the mobile robot body 1 is fixed to the surface of the protective frame 10. When the ultrasonic probe 7 fails and the mobile robot body 1 collides, the protective frame 10 touches the outside at this time, and the damper 11 and the spring 12 are used for buffering, so that the mobile robot body 1 can be prevented from being damaged by collision. The mounting groove 4 is consistent with the shape of the connecting column 90, which facilitates the connecting column 90 to enter the mounting groove 4.

[0025] During installation, the connecting column 90 is placed into the installation groove 4. At this time, the inclined surface of the clamping rod 99 contacts the surface of the installation groove 4. At this time, the clamping rod 99 drives the circular plate 98 to move. At this time, the inner wall of the circular plate 98 contacts the surface of the contact rod 97, thereby driving the gear 2 93 to rotate. At this time, the volute spring 96 is wound up, and at the same time drives the gear 1 92 to rotate, so that the four groups of clamping rods 99 can move synchronously. When the clamping rod 99 is parallel to the position of the limiting groove 5, the volute spring 96 is released, the gear 2 93 reverses, and the contact rod 97 drives the circular plate 98 and the clamping rod 99 to reset. At this time, the clamping rod 99 enters the limiting groove 5, and the inner wall of the limiting groove 5 contacts the side of the clamping rod 99 away from the inclined surface, thereby stabilizing the installation base plate 6 and the mobile robot body 1. The mounting hole 1 3 is aligned with the mounting hole 2 8, and can be fixed with screws at this time, and there will be no accidental touch, which will cause the mounting hole 1 3 and the mounting hole 2 8 to deviate and affect the installation efficiency. During use, if the ultrasonic probe 7 fails and the mobile robot body 1 collides, the protective frame 10 touches the outside, and the damper 11 and the spring 12 are used for buffering, so that the mobile robot body 1 can be prevented from colliding and causing damage. When the ultrasonic probe 7 needs to be inspected and maintained, the screws are removed, and the reverse knob 900 drives the gear 1 92 and the gear 2 93 to rotate, and the circular plate 98 is driven to move through the resistance rod 97, so that the pull rod 99 is disengaged from the limit slot 5. At this time, the mounting base plate 6 and the mobile robot body 1 can be separated for inspection and maintenance.

[0026] The above generally describes the present invention in detail, but it is obvious to a person skilled in the art that some modifications or improvements can be made to the present invention. Therefore, modifications or improvements that do not depart from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. A route obstacle avoidance mechanism for a mobile robot, comprising a mobile robot body (1), characterized in that: A mounting base plate (6) is arranged on the left side of the mobile robot body (1), a mechanical arm (2) is arranged on the surface of the mobile robot body (1), an ultrasonic probe (7) is arranged on the left side of the mounting base plate (6), and a limit assembly (9) is arranged on the surface of the mounting base plate (6), and the limit assembly (9) comprises: A connecting column (90), wherein the connecting column (90) is fixed to a side of the mounting base plate (6) away from the ultrasonic probe (7), wherein a cavity (91) is provided inside the connecting column (90), wherein the inner wall of the cavity (91) is rotatably connected to a gear 1 (92), wherein the inner wall of the cavity (91) is rotatably connected to a gear 2 (93), wherein the gear 1 (92) meshes with the gear 2 (93), wherein a through hole (94) is provided on the surface of the gear 2 (93), wherein a fixing rod (95) is fixed to the inner wall of the cavity (91), wherein a spiral spring (96) is fixed to the surface of the fixing rod (95), wherein one end of the spiral spring (96) away from the fixing rod (95) is fixed to the inner wall of the through hole (94) A resistance rod (97) is fixed on the surface of the gear 2 (93), a clamping rod (99) is arranged inside the cavity (91), the clamping rod (99) passes through the connecting column (90), and the clamping rod (99) is slidably connected to the connecting column (90), a circular plate (98) is fixed to one end of the clamping rod (99) close to the gear 1 (92), the surface of the resistance rod (97) passes through the circular plate (98), and the resistance rod (97) is connected to the bottom of the inner wall of the circular plate (98), the surface of the mounting base plate (6) is rotatably connected to a knob (900), the output shaft of the knob (900) passes through the mounting base plate (6) and the connecting column (90), and the output shaft of the knob is fixedly connected to the surface of the gear 1 (92).

2. The route obstacle avoidance mechanism of the mobile robot according to claim 1, characterized in that: The gear 2 (93), the fixed rod (95), the spiral spring (96), the contact rod (97), the return plate (98), and the clamping rod (99) are all arranged in four groups, and the four groups of gear 2 (93), the fixed rod (95), the spiral spring (96), the contact rod (97), the return plate (98), and the clamping rod (99) are all arranged in a circular array with the center of the circle of the gear 1 (92) as the axis center.

3. The route obstacle avoidance mechanism of the mobile robot according to claim 1, characterized in that: The side of the clamping rod (99) away from the mounting base plate (6) is configured to be in the shape of an inclined surface.

4. The route obstacle avoidance mechanism of the mobile robot according to claim 1, characterized in that: The surface of the mounting base plate (6) is provided with a second mounting hole (8), and the surface of the mobile robot body (1) is provided with a first mounting hole (3).

5. The route obstacle avoidance mechanism of the mobile robot according to claim 1, characterized in that: The surface of the mobile robot body (1) is provided with a mounting groove (4), and the inner wall of the mounting groove (4) is provided with a limiting groove (5).

6. The route obstacle avoidance mechanism of the mobile robot according to claim 1, characterized in that: The surface of the mobile robot body (1) is slidably connected to a protective frame (10), a damper (11) is fixed on the inner side of the protective frame (10), and one end of the damper (11) away from the protective frame (10) is fixed to the surface of the mobile robot body (1), and a spring (12) is fixed to the surface of the mobile robot body (1), and one end of the spring (12) away from the mobile robot body (1) is fixed to the surface of the protective frame (10).

7. The route obstacle avoidance mechanism of the mobile robot according to claim 5, characterized in that: The mounting groove (4) and the connecting column (90) are consistent in shape.

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