Intelligent walking robot

Abstract

The utility model relates to the technical field of robots, and provides an intelligent walking robot which comprises a robot body, an inertial navigation device and an installation mechanism, and the installation mechanism comprises a protection box body and an opening and closing hinge; the protection box body is detachably installed in the robot body, and a connecting hinge is arranged on the side portion of the protection box body and comprises an inertial navigation device, the protection box body and an opening and closing hinge. The inertial navigation device is arranged in the protection box body, a vibration monitoring mechanism is arranged in the protection box body, and the vibration monitoring mechanism comprises a monitoring box, a pressure sensor and a transmission rod; according to the utility model, the vibration condition of the inertial navigation device can be monitored in real time through the vibration monitoring mechanism, the influence of vibration on the test precision is reduced, and the installation stability is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an intelligent walking robot. Background Art

[0002] In the process of robot research and development, inertial navigation is an important technology in the robot navigation system. It measures the angular acceleration and linear acceleration information of the equipment through built-in gyroscopes, accelerometers and other sensor devices, and then obtains the position information of the robot through integration. This technology has the advantages of accurate positioning, small ground processing workload, and strong path flexibility. The devices that make up the inertial navigation system are all installed inside the robot as an autonomous navigation system. At present, intelligent devices such as sweeping robots, driverless cars in transportation, and mobile handling robots used in factories for production usually use inertial navigation equipment.

[0003] CN214200140U discloses a laser intelligent walking robot, including a box body, a first baffle plate arranged horizontally at the inner bottom end of the box body, a fixing frame arranged vertically at the top end of the first baffle plate, a driving motor arranged horizontally at one side of the fixing frame, an output end of the driving motor is connected to a first driving bevel gear and a first gear in sequence through a rotating shaft, a first driving bevel gear is meshedly connected to a first driven bevel gear at one side, a second driving bevel gear is meshedly connected to a second driven bevel gear at one end center through a rotating shaft, and a second driving bevel gear is meshedly connected to a second driven bevel gear at a side close to the first driving bevel gear The cam is an axially-coupled gear, and the axle is connected to the gear of the driven bevel gear through a rotating shaft at the center of one side of the second driven bevel gear. A moving frame is provided on the outer sides of the second gear and the first gear. Rack plates are provided on the inner walls of both sides of the moving frame. The two rack plates are respectively meshed with the corresponding second gear and the first gear. The two ends of the moving frame are symmetrically connected to the first support rod, and a first slide groove is provided on one side of the top of the fixed frame. A pulley is slidably connected in the first slide groove. The pulley is connected to the bottom end of the first support rod. A lifting mechanism is fixed to the top of the pulley. A lifting platform is provided on the top of the lifting mechanism. A testing device is provided on the top of the lifting platform.

[0004] In the prior art, the inertial navigation device needs to be stably installed inside the robot. The current inertial navigation device in the robot is not stable enough, and it is easy to shake or be affected by external factors when the robot is working, which can easily lead to gyroscope drift, calibration error, sensitivity and other phenomena in the inertial navigation device, making the measurement accuracy of the inertial navigation device reduced. Therefore, the installation protection of the inertial navigation device is particularly important. The existing inertial navigation device cannot monitor its installation status, and cannot be promptly repaired when the installation is unstable, which affects the measurement accuracy. At the same time, the existing inertial navigation device is inconvenient to repair. Utility Model Content

[0005] In the prior art, the inertial navigation device needs to be stably installed inside the robot. The current inertial navigation device in the robot is not stable enough, and it is easy to shake or be affected by external factors when the robot is working, which can easily lead to gyroscope drift, calibration error, sensitivity and other phenomena in the inertial navigation device, making the measurement accuracy of the inertial navigation device reduced. Therefore, the installation protection of the inertial navigation device is particularly important. The existing inertial navigation device cannot monitor its installation status, and cannot be promptly repaired when the installation is unstable, which affects the measurement accuracy. At the same time, the existing inertial navigation device is inconvenient to repair.

[0006] In view of this, the utility model aims to propose an intelligent walking robot. In the utility model, the intelligent walking robot includes a robot body, an inertial navigation device and a mounting mechanism, and the mounting mechanism includes a protective box and an opening and closing leaf;

[0007] The protective box can be detachably installed inside the robot body, and a connecting page is provided on the side of the protective box, including an inertial navigation device, a protective box and an opening and closing page; the inertial navigation device is arranged inside the protective box, and an opening is arranged on the protective box, and the opening and closing page can close the opening, and one end of the opening and closing page is hinged to the protective box;

[0008] The protection box is provided with a driving mechanism for controlling the rotation of the opening and closing leaf and a vibration monitoring mechanism for detecting the vibration of the inertial navigation device; the vibration monitoring mechanism includes a monitoring box installed on the inner wall of the protection box, a pressure sensor installed in the monitoring box, and a transmission rod;

[0009] One end of the transmission rod is connected to the inertial navigation device, and the other end is inserted into the monitoring box; transmission plates are fixed on both sides of the pressure sensor on the transmission rod, and the transmission plates are connected to the pressure sensor.

[0010] Furthermore, a support frame is provided in the protection box, and the inertial navigation device is arranged on the support frame through a mounting bracket.

[0011] Furthermore, the mounting bracket includes a mounting portion and a fixing portion, the mounting portion is fixedly connected to the inertial navigation device, the fixing portion is fixed to the support frame, and the mounting portion and the fixing portion are connected by bolts.

[0012] Furthermore, the mounting portion and the fixing portion are both provided with a first limiting ring and a first limiting groove, and the first limiting ring and the first limiting groove cooperate with each other to limit each other.

[0013] Furthermore, a rubber cushion layer is provided between the mounting portion and the fixing portion.

[0014] Furthermore, a rotating mechanism for driving the inertial navigation device to rotate is arranged in the protective box; the rotating mechanism includes a stepping motor, a driving gear and a rotating table; the stepping motor is installed inside the protective box to drive the driving gear to rotate, the rotating table is rotatably installed on the support frame, the side of the rotating table is provided with teeth meshing with the driving gear, and the mounting bracket is arranged on the rotating table.

[0015] Furthermore, the transmission rod is connected to the mounting portion, a slide rail is vertically arranged on the inner wall of the protection box, the monitoring box is slidably arranged on the slide rail, and an electric push rod for controlling the lifting and lowering of the monitoring box is installed on the top of the protection box.

[0016] Furthermore, the transmission rod is pressed on the upper end of the mounting portion, and a second limiting ring and a second limiting groove are provided on the transmission rod and the mounting portion, and the second limiting ring and the second limiting groove cooperate with each other to limit the position.

[0017] Furthermore, a slide groove is provided at the bottom of the protective box, and a travel track cooperating with the slide groove is provided on the robot body.

[0018] Furthermore, a maintenance door is provided on the protection box, and a dehumidification mechanism is provided inside the protection box.

[0019] The intelligent walking robot disclosed by the utility model arranges an inertial navigation device inside a protective box, and then installs the protective box on the robot. When the robot is working, external impact is prevented, damage to the inertial navigation device is avoided, and external influence on the inertial navigation device is reduced, thereby protecting the inertial navigation device. The vibration state of the inertial navigation device is monitored by a vibration monitoring mechanism, so that timely maintenance is carried out when the equipment fails or is loosely installed, and the inertial navigation device is repaired or reinstalled and fixed, which reduces the time of error testing, can timely perform maintenance on the inertial navigation device in the robot, and improves the accuracy and stability of the test.

[0020] Other features and advantages of the present invention will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic implementation modes and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. In the accompanying drawings:

[0022] Figure 1This is a schematic diagram of the structure of a walking robot in one embodiment of the utility model;

[0023] Figure 2 This is a schematic diagram of the structure of a protective box in one embodiment of the utility model;

[0024] Figure 3 for Figure 2 A side perspective schematic diagram of

[0025] Figure 4 This is a structural schematic diagram of a vibration monitoring mechanism in one embodiment of the utility model;

[0026] Figure 5 This is a structural schematic diagram of an installation bracket in one embodiment of the utility model;

[0027] Figure 6 for Figure 5 A magnified schematic diagram of center A.

[0028] Description of reference numerals:

[0029] 100. Robot body; 1. Inertial navigation device; 2. Protective box; 21. Connection page; 3. Opening and closing page; 4. Driving mechanism; 5. Vibration monitoring mechanism; 51. Monitoring box; 52. Pressure sensor; 53. Transmission rod; 54. Transmission plate; 6. Support frame; 7. Mounting bracket; 71. Fixing part; 72. Mounting part; 73. Bolt; 74. First limiting ring; 75. First limiting groove; 76. Second limiting ring; 77. Second limiting groove; 78. Rubber cushion; 8. Rotating mechanism; 81. Stepping motor; 82. Driving gear; 83. Rotating table; 9. Electric push rod; 10. Maintenance door; 11. Dehumidification mechanism; 12. Slide groove. DETAILED DESCRIPTION

[0030] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0031] In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the utility model and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so as to describe the embodiments of the utility model described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices; "fixed" or "fixed connection" generally refers to common mechanical connection methods, such as threaded connection, welding or bonding, etc.

[0033] In the prior art, the inertial navigation device needs to be stably installed inside the robot. The current inertial navigation device in the robot is not stable enough, and it is easy to shake or be affected by external factors when the robot is working, which can easily lead to gyroscope drift, calibration error, sensitivity and other phenomena in the inertial navigation device, making the measurement accuracy of the inertial navigation device reduced. Therefore, the installation protection of the inertial navigation device is particularly important. The existing inertial navigation device cannot monitor its installation status, and cannot be promptly repaired when the installation is unstable, which affects the measurement accuracy. At the same time, the existing inertial navigation device is inconvenient to repair.

[0034] The utility model provides an intelligent walking robot, such as Figure 1 , Figure 2 and Figure 3 As shown, in this embodiment, the intelligent walking robot includes a robot body 100, an inertial navigation device 1 and a mounting mechanism, the robot body 100 includes at least a walking device, a frame, a camera device, and a mechanical arm. In this embodiment, the robot is configured as a planting robot, and the mounting mechanism includes a protective box 2 and an opening and closing page 3; the protective box is detachably mounted on the frame of the robot body 100, a connecting page 21 is provided on the side of the protective box, a mounting hole is provided on the connecting page 21, and a threaded hole is provided on the corresponding robot body, and a bolt is inserted through the mounting hole on the connecting page into the bolt hole on the robot body for connection, so as to realize a detachable connection between the protective box and the robot body; the inertial navigation device 1 is arranged inside the protective box 2, an opening is provided on the protective box 2, the opening and closing page 3 can close the opening, and one end of the opening and closing page 3 is hinged to the protective box 2; a driving mechanism 4 for controlling the rotation of the opening and closing page 3 and a vibration monitoring mechanism 5 for detecting the vibration of the inertial navigation device 1 are provided inside the protective box 2.

[0035] By setting up a protective box and placing the inertial navigation device inside the box, the robot can be prevented from external impact when it is working and moving, thereby avoiding damage to the inertial navigation device, reducing external influences on it, isolating the air inside and outside the protective box, and reducing the impact of external gas and water vapor on the equipment. At the same time, by setting up a vibration monitoring mechanism, the vibration of the inertial navigation device can be remotely monitored to improve the accuracy of the test device.

[0036] like Figure 4 As shown, a remote control system is also provided, and the vibration monitoring mechanism 5 includes a monitoring box 51 installed on the inner wall of the protective box 2, a pressure sensor 52 installed in the monitoring box 51, and a transmission rod 53; one end of the transmission rod 53 is connected to the inertial navigation device 1, and the other end is inserted into the monitoring box 51; transmission plates 54 are fixed on both sides of the pressure sensor 52 on the transmission rod 53, and the transmission plates 54 are connected to the pressure sensor 52; the remote control system is connected to the pressure sensor, receives the pressure signals on both sides of the pressure sensor, and forms an image for monitoring. When the pressure difference on both sides is in a large toggle state for a long time, maintenance work is required to improve the accuracy of the test device.

[0037] In addition, in order to enable the inertial navigation device to switch its position on the robot body for installation and fixation, the protective box is set on a pre-set travel track in the robot. Specifically, a slide groove 12 that slides in cooperation with the travel track is set at the bottom of the protective box, so that the test device can move as a whole, and the installation position of the entire protective box on the robot body can be adjusted, and the installation position of the inertial navigation device can be adjusted so that it can be adjusted and installed according to the specific robot structure, thereby expanding the scope of application and improving the flexibility of installation.

[0038] In this embodiment, if Figure 5 and Figure 6 As shown, in order to ensure stable installation and disassembly of the inertial navigation device, a support frame 6 is arranged in the protective box 2, and the inertial navigation device 1 is arranged on the support frame 6 through a mounting bracket 7; the mounting bracket 7 includes a mounting portion 72 and a fixing portion 71, the mounting portion 72 is fixedly connected to the inertial navigation device 1, the fixing portion 71 is fixed to the support frame 6, and the mounting portion 72 and the fixing portion 71 are connected by bolts 73; the mounting portion 72 and the fixing portion 71 are both provided with a first limiting ring 74 and a first limiting groove 75, and the first limiting ring 74 and the first limiting groove 75 cooperate with each other to limit each other; a rubber cushion layer 78 is provided between the mounting portion 72 and the fixing portion 71.

[0039] The bolt connection method between the fixing part and the mounting part makes it easy to replace the inertial navigation device. Not only is the disassembly stable and convenient, but also the first limiting ring and the first limiting groove make the connection between the mounting part and the fixing part more stable and play a limiting role to avoid relative sliding between the two, thereby further improving the stability of the inertial navigation device installed in the robot.

[0040] In this embodiment, a rotating mechanism 8 for driving the inertial navigation device 1 to rotate is provided in the protective box 2; the rotating mechanism 8 includes a stepping motor 81, a driving gear 82 and a rotating table 83; the stepping motor 81 is installed inside the protective box 2 to drive the driving gear 82 to rotate, the rotating table 83 is rotatably installed on the support frame 6, the side of the rotating table 83 is provided with teeth meshing with the driving gear 82, and the mounting bracket 7 is arranged on the rotating table 83; the driving gear is driven to rotate by the stepping motor, and then the rotating table and the inertial navigation device thereon are driven to rotate to adjust the orientation angle of the inertial navigation device, so that it is convenient to adjust different angles for installation and maintenance.

[0041] Based on the convenient installation of the transmission rod, it can be conveniently connected to the inertial navigation device and transmit the vibration state, the transmission rod 53 is connected to the mounting part 72, and a slide rail is vertically arranged on the inner wall of the protective box 2, and the monitoring box 51 is slidably arranged on the slide rail, and an electric push rod 9 for controlling the lifting and lowering of the monitoring box 51 is installed on the top of the protective box 2; the transmission rod 53 is pressed on the upper end of the mounting part 72, and the transmission rod 53 and the mounting part 72 are both provided with a second limiting ring 76 and a second limiting groove 77, and the second limiting ring 76 and the second limiting groove 77 cooperate with each other to limit; wherein, the second limiting groove on the mounting part is set as an annular groove body, and cooperates with the second limiting ring to allow the first limiting ring on the transmission rod to slide therein, so as to meet the limiting function while not affecting the rotation adjustment angle of the inertial navigation device.

[0042] In order to enable the opening and closing pages to seal the protective box and isolate the inside and outside of the protective box, a sealing strip is provided on the opening and closing pages 3 to improve the sealing of the opening and closing pages, further preventing external moisture and impurities from entering the box when the test device is not in use, thereby optimizing the placement environment of the test device.

[0043] When the inertial navigation device is installed unstably or needs to be inspected and maintained regularly, the opening and closing door is opened through the driving mechanism, the upper end of the protection box is opened, the position of the inertial navigation device is adjusted, or maintenance work is performed on it. After the maintenance is completed, the opening and closing door is closed again to isolate the inside and the outside; at the same time, a maintenance door 10 is provided on the protection box 2, and a dehumidification mechanism 11 is provided in the protection box 2. The maintenance door is provided so that the dehumidification mechanism, stepper motor and other equipment inside the protection box can be repaired; the dehumidification mechanism is provided to remove moisture from the inside of the protection box to ensure that the inside of the box is dry when stored; and the dehumidification mechanism and driving mechanism mentioned in this application are relatively mature existing technologies, so their structures are not described in detail in this application.

[0044] The utility model can effectively protect the robot by arranging the inertial navigation device inside the protection box and then installing it on the robot, and the sealing installation of the test device can be completed by closing the opening and closing page, and the opening and closing door can be opened when maintenance or reinstallation is required. The vibration state of the inertial navigation device is monitored by the vibration monitoring mechanism, which is convenient for timely maintenance when the equipment fails or the installation is loose, and the inertial navigation device is repaired or reinstalled and fixed, which reduces the time of error testing, can timely perform maintenance on the inertial navigation device in the robot, and at the same time improves the accuracy and stability of the test.

[0045] The above description is only the preferred embodiment of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. An intelligent walking robot, characterized in that: It comprises a robot body (100), an inertial navigation device (1) and a mounting mechanism, wherein the mounting mechanism comprises a protective box (2) and an opening and closing leaf (3); The protective box (2) is detachably mounted inside the robot body (100); a connecting page (21) is provided on the side of the protective box (2); the inertial navigation device (1) is arranged inside the protective box (2); an opening is provided on the protective box (2); the opening and closing page (3) can close the opening; one end of the opening and closing page (3) is hingedly connected to the protective box (2); The protection box (2) is provided with a driving mechanism (4) for controlling the rotation of the opening and closing leaf (3) and a vibration monitoring mechanism (5) for detecting the vibration of the inertial navigation device (1); the vibration monitoring mechanism (5) comprises a monitoring box (51) installed on the inner wall of the protection box (2), a pressure sensor (52) installed in the monitoring box (51), and a transmission rod (53); One end of the transmission rod (53) is connected to the inertial navigation device (1), and the other end is inserted into the monitoring box (51); transmission plates (54) are fixed on both sides of the pressure sensor (52) on the transmission rod (53), and the transmission plates (54) are connected to the pressure sensor (52).

2. The intelligent walking robot according to claim 1, characterized in that: A support frame (6) is arranged in the protection box (2), and the inertial navigation device (1) is arranged on the support frame (6) via a mounting bracket (7).

3. The intelligent walking robot according to claim 2, characterized in that: The mounting bracket (7) comprises a mounting portion (72) and a fixing portion (71); the mounting portion (72) is fixedly connected to the inertial navigation device (1); the fixing portion (71) is fixed to the support frame (6); and the mounting portion (72) and the fixing portion (71) are connected via bolts (73).

4. The intelligent walking robot according to claim 3, characterized in that: The mounting portion (72) and the fixing portion (71) are both provided with a first limiting ring (74) and a first limiting groove (75), and the first limiting ring (74) and the first limiting groove (75) cooperate with each other to limit each other.

5. The intelligent walking robot according to claim 3, characterized in that: A rubber cushion layer (78) is provided between the mounting portion (72) and the fixing portion (71).

6. The intelligent walking robot according to any one of claims 3 to 5, characterized in that: A rotating mechanism (8) for driving the inertial navigation device (1) to rotate is arranged in the protection box (2); The rotating mechanism (8) comprises a stepping motor (81), a driving gear (82) and a rotating platform (83); the stepping motor (81) is installed inside the protective box (2) to drive the driving gear (82) to rotate, the rotating platform (83) is rotatably installed on the support frame (6), the side of the rotating platform (83) is provided with teeth that mesh with the driving gear (82), and the mounting bracket (7) is arranged on the rotating platform (83).

7. The intelligent walking robot according to any one of claims 3 to 5, characterized in that: The transmission rod (53) is connected to the mounting portion (72); a slide rail is vertically arranged on the inner wall of the protection box (2); the monitoring box (51) is slidably arranged on the slide rail; and an electric push rod (9) for controlling the lifting and lowering of the monitoring box (51) is installed on the top of the protection box (2).

8. The intelligent walking robot according to claim 7, characterized in that: The transmission rod (53) is pressed against the upper end of the mounting portion (72); a second limiting ring (76) and a second limiting groove (77) are provided on the transmission rod (53) and the mounting portion (72); the second limiting ring (76) and the second limiting groove (77) cooperate with each other to limit each other.

9. The intelligent walking robot according to any one of claims 3 to 5, characterized in that: The bottom of the protective box (2) is provided with a slide groove (12), and the robot body (100) is provided with a travel track that cooperates with the slide groove (12).

10. The intelligent walking robot according to any one of claims 3 to 5, characterized in that: A maintenance door (10) is provided on the protection box (2), and a dehumidification mechanism (11) is provided inside the protection box (2).

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