Barrel collision prevention robot

Abstract

The utility model belongs to the technical field of robots, and discloses an anti-collision barrel robot which comprises a hollow anti-collision barrel and a walking mechanism, the appearance of the hollow anti-collision barrel is of a cylindrical structure, a center through hole penetrating through the upper end and the lower end of the hollow anti-collision barrel is formed in the hollow anti-collision barrel, and the walking mechanism is arranged in the center through hole in the lower end of the hollow anti-collision barrel in a sleeved mode. The lower end of the hollow anti-collision barrel is detachably connected with the walking mechanism so that the hollow anti-collision barrel can be driven to move through the walking mechanism. The hollow anti-collision barrel is adopted as an overall outer layer for protection, so that the anti-collision device is not prone to deformation and damage when being collided, cost is low, the walking mechanism is arranged in the center through hole in the lower end of the hollow anti-collision barrel in a sleeved mode, gravity is concentrated on the lower portion of the whole, and the anti-collision device is not prone to being collided when being collided. And the lower end of the hollow anti-collision barrel is detachably connected with the walking mechanism, so that the stability during operation can be conveniently guaranteed, on the other hand, assembly and disassembly are easy to achieve, equipment maintenance and replacement are achieved, and the maintenance cost is reduced.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, specifically relating to a collision avoidance barrel robot. Background Technology

[0002] In recent years, with the development of my country's transportation industry, the hazards of tunnel accidents have become increasingly prominent, and tunnel traffic safety issues have received more and more attention.

[0003] In response to tunnel accidents, due to the limited space inside the tunnel, it is not suitable for temporary stopping and avoidance operations. Therefore, secondary accidents or even chain-reaction collisions are very likely to occur when a traffic accident occurs. Therefore, it is necessary to use robots to replace humans in traffic flow control, to intercept vehicles in sections inside the tunnel, and to guide vehicles to divert them to wait for rescue personnel to arrive.

[0004] These types of robots are easily hit by cars in tunnels, which can affect their use. Therefore, it is essential to design a robot with anti-collision capabilities. Utility Model Content

[0005] The purpose of this invention is to provide a collision avoidance robot to solve the aforementioned problems in the prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A collision avoidance robot includes a hollow collision avoidance barrel and a walking mechanism. The hollow collision avoidance barrel has a cylindrical structure and a central through hole running through its upper and lower ends. The walking mechanism is fitted into the central through hole at the lower end of the hollow collision avoidance barrel, and the lower end of the hollow collision avoidance barrel is detachably connected to the walking mechanism to move the hollow collision avoidance barrel.

[0008] As a preferred technical solution of this utility model, the walking mechanism includes a horizontally arranged disc, an arc-shaped connecting plate on the edge of the disc, and the arc-shaped connecting plate is detachably connected to the lower end of the hollow anti-collision barrel; two motor-controlled active walking wheels are installed at the lower end of the disc, and a guide wheel assembly is also installed at the lower end of the disc.

[0009] As a preferred technical solution of this utility model, at least two L-shaped hooks are connected to the outer wall of the arc-shaped connecting plate. The L-shaped hooks and the arc-shaped connecting plate cooperate to form slots with the opening facing the direction. The wall of the hollow anti-collision barrel is set in all the slots.

[0010] As a preferred technical solution of this utility model, the guide wheel assembly includes a guide wheel and an electric linear guide rail. The guide wheel and two active walking wheels are arranged in a triangle. The guide wheel is mounted on a U-shaped bracket, and a rotating seat is connected to the upper end of the U-shaped bracket. The rotating seat is rotatably connected to a disk. The electric linear guide rail is mounted on the disk. A connecting rod is rotatably connected to the slider of the electric linear guide rail. The rotating seat has connecting limit holes that pass through both sides. The end of the connecting rod away from the electric linear guide rail matches the connecting limit hole.

[0011] As a preferred technical solution of this utility model, the other end of the connecting rod is rotatably connected to the slider of the electric linear guide rail through a fisheye joint spherical bearing.

[0012] In a preferred embodiment of this invention, the rotating seat is rotatably connected to the disk via a ball bearing, with the inner ring of the ball bearing connected to the rotating seat and the outer ring of the ball bearing connected to the disk.

[0013] As a preferred technical solution of this utility model, the lower end of the disc is connected to a support base, both motors are mounted on the support base, and two gearboxes are also mounted on the support base. Each motor is connected to the drive wheel through a gearbox.

[0014] As a preferred technical solution of this utility model, the support base is also equipped with two encoders. Each active walking wheel is coaxially connected to the code disk of an encoder through a gearbox, so as to detect the rotation speed of the active walking wheel through the encoder; both motors and two encoders are electrically connected to the processor.

[0015] As a preferred technical solution of this utility model, a mounting plate is provided above the disk, and the lower end of the mounting plate is connected to the disk through multiple cylinders. The processor is mounted on the mounting plate. A storage battery is also installed on the disk, and the storage battery is electrically connected to the processor, the motor and the encoder.

[0016] As a preferred technical solution of this utility model, a photoelectric gate for detecting the position of the slider is installed on the mounting plate, and the photoelectric gate is electrically connected to the processor.

[0017] Beneficial effects: This utility model uses a hollow anti-collision barrel as the outer layer of protection, which makes it less prone to deformation and damage when subjected to impact, and is also inexpensive. The walking mechanism is fitted into the central through hole at the lower end of the hollow anti-collision barrel, concentrating the weight on the lower part of the whole, making it less likely to be hit when subjected to impact. The lower end of the hollow anti-collision barrel is detachably connected to the walking mechanism to ensure the stability of operation, and also to facilitate loading and unloading, thereby enabling equipment maintenance and replacement, reducing maintenance costs. Attached Figure Description

[0018] Figure 1 This is a first-view structural schematic diagram of the present invention;

[0019] Figure 2 This is a structural schematic diagram of the present invention from a second perspective;

[0020] Figure 3 This is a first-view schematic diagram of the walking mechanism in this utility model;

[0021] Figure 4 This is a second-view schematic diagram of the walking mechanism in this utility model;

[0022] Figure 5 This is a partial structural diagram of the walking mechanism in this utility model.

[0023] In the diagram: 1-Hollow anti-collision barrel; 101-Central through hole; 2-Disc; 201-Arc-shaped connecting plate; 202-L-shaped hook; 203-Support base; 3-Motor; 4-Drive wheel; 5-Guide wheel; 6-Electric linear guide rail; 7-U-shaped bracket; 8-Rotating seat; 9-Connecting rod; 10-Fisheye joint bearing; 11-Gearbox; 12-Encoder; 13-Mounting plate; 14-Battery. Detailed Implementation

[0024] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the present utility model will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying drawings is only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. It should be noted that the description of these embodiments is used to help understand this utility model, but does not constitute a limitation on this utility model.

[0025] Example:

[0026] like Figures 1-5As shown, this embodiment provides a crash barrier robot, including a hollow crash barrier 1 and a walking mechanism. The hollow crash barrier 1 has a cylindrical structure and a central through hole 101 running through its upper and lower ends. Preferably, commercially available plastic crash barriers designed to reduce the impact force of cars are suitable, as they are sturdy and durable. Warning icons are placed on the outer surface of the hollow crash barrier 1, which, under illumination, can effectively intercept objects in segments, allowing cars that see the robot to consciously avoid it and divert traffic, thus buying time for rescue of accident vehicles. The walking mechanism is fitted into the central through hole 101 at the lower end of the hollow crash barrier 1, concentrating the weight at the lower part of the whole, making it less likely to be hit during an impact. The lower end of the hollow crash barrier 1 is detachably connected to the walking mechanism, allowing the walking mechanism to move the hollow crash barrier 1 and adjust its position according to the actual situation. It should be noted that in practice, anti-collision robots are also equipped with vision modules to help them adjust to a suitable position. This application does not protect this aspect, so it will not be described in detail.

[0027] This utility model uses a hollow anti-collision barrel 1 as the outer layer of protection, which makes it less prone to deformation and damage when subjected to impact, and is also inexpensive. The walking mechanism is fitted into the central through hole 101 at the lower end of the hollow anti-collision barrel 1, concentrating the weight on the lower part of the whole, making it less likely to be hit when subjected to impact. The lower end of the hollow anti-collision barrel 1 is detachably connected to the walking mechanism to ensure the stability of operation, and also to facilitate loading and unloading, thereby enabling equipment maintenance and replacement, reducing maintenance costs.

[0028] As a preferred embodiment of this invention, it should be further explained that the walking mechanism includes a horizontally arranged disc 2, with an arc-shaped connecting plate 201 on the edge of the disc 2. The arc-shaped connecting plate 201 preferably extends downwards and is detachably connected to the lower end of the hollow anti-collision barrel 1, which can be achieved directly through bolts. Two active walking wheels 4 controlled by a motor 3 are installed at the lower end of the disc 2. A guide wheel assembly is also installed at the lower end of the disc 2, controlling the direction. Combined with the active walking wheels 4, this enables the anti-collision barrel robot to move freely. It should be noted that the disc 2 also serves a waterproof function, preventing water from splashing upwards from the ground and thus affecting the electronic equipment above the disc 2.

[0029] As a preferred embodiment of this invention, it should be further explained that at least two L-shaped hooks 202 are connected to the outer wall of the arc-shaped connecting plate 201. The L-shaped hooks 202 and the arc-shaped connecting plate 201 cooperate to form slots with the opening facing the orientation. The wall of the hollow anti-collision barrel 1 is set in all the slots. In this way, the lower end of the hollow anti-collision barrel 1 can be directly set in the slot, ensuring the basic positioning of the hollow anti-collision barrel 1 outside the arc-shaped connecting plate 201. Then, the connection can be made. The operation is simple and convenient.

[0030] As a preferred embodiment of this invention, it should be further explained that the guide wheel assembly includes a guide wheel 5 and an electric linear guide rail 6. The guide wheel 5 and the two active walking wheels 4 are arranged in a triangle to ensure the stability of the structure. The guide wheel 5 is mounted on a U-shaped bracket 7, and a rotating seat 8 is connected to the upper end of the U-shaped bracket 7. The rotating seat 8 is rotatably connected to the disk 2, so that the guide wheel 5 can rotate relative to the disk 2, thereby adjusting the direction of travel. The electric linear guide rail 6 is mounted on the disk 2. A connecting rod 9 is rotatably connected to the slider of the electric linear guide rail 6. The rotating seat 8 is located on one side of the electric linear guide rail 6. A connecting limit hole is opened on the rotating seat 8 through both sides. The end of the connecting rod 9 away from the electric linear guide rail 6 matches the connecting limit hole. One end of the connecting rod 9 can slide relative to the connecting limit hole. When it is necessary to adjust the direction, the electric linear guide rail 6 controls its slider to move. The slider drives the connecting rod 9 to swing relative to the rotating seat 8, and then the connecting rod 9 drives the rotating seat 8 to rotate, thereby realizing the control of the direction. It should be noted that the connecting rod 9 can also act as a lever to increase torque, thereby enabling stable control of the rotating seat 8 within a smaller space.

[0031] As a preferred embodiment of this invention, it should be further explained that the other end of the connecting rod 9 is rotatably connected to the slider of the electric linear guide 6 through the fisheye joint joint bearing 10. The rotatable connection between the connecting rod 9 and the slider can be achieved through a simple structure.

[0032] As a preferred embodiment of this example, it should be further explained that the rotating seat 8 is rotatably connected to the disk 2 via a ball bearing. The inner ring of the ball bearing is connected to the rotating seat 8, and the outer ring of the ball bearing is connected to the disk 2. The structure is simple and stable, ensuring both the stability and flexibility of the rotating seat 8.

[0033] As a preferred embodiment of this scheme, it should be further explained that the lower end of the disc 2 is connected to a support base 203, which can also be connected to the arc-shaped connecting plate 201. Both motors 3 are mounted on the support base 203, and two gearboxes 11 are also mounted on the support base 203. Each motor 3 is connected to the drive wheel 4 via a gearbox 11. The gearboxes 11 allow for force direction adjustment and deceleration adjustment as needed. The support base 203 also provides a waterproofing effect, preventing water from splashing upwards and affecting the electronic equipment above it.

[0034] As a preferred embodiment of this invention, it should be further explained that two encoders 12 are also installed on the support base 203. Each active walking wheel 4 is coaxially connected to the code disk of an encoder 12 through a gearbox 11, so as to detect the rotation speed of the active walking wheel 4 through the encoder 12. The two motors 3 and the two encoders 12 are electrically connected to the processor. Thus, when walking in a straight line, the two encoders 12 can coordinate the rotation speed of the two motors 3, so that the two active walking wheels 4 keep synchronized. When turning, the two encoders 12 can also feed back the rotation speed to the processor, so that the processor can adjust the rotation speed of different motors, thereby making the turning more natural and also facilitating remote control.

[0035] As a preferred embodiment of this invention, it should be further explained that a mounting plate 13 is provided above the disk 2, and the lower end of the mounting plate 13 is connected to the disk 2 through multiple cylinders. The processor is mounted on the mounting plate 13 to ensure structural stability. A storage battery 14 is also installed on the disk 2. The storage battery 14 is electrically connected to the processor, the motor 3 and the encoder 12 to ensure power supply requirements.

[0036] As a preferred embodiment of this invention, it should be further explained that a photoelectric gate (not shown in the figure) for detecting the position of the slider is installed on the mounting plate 13. The photoelectric gate is electrically connected to the processor. The position of the slider is detected by the photoelectric gate, which facilitates real-time monitoring and eliminates possible errors in the slider movement control.

[0037] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A collision avoidance robot, characterized in that, The device includes a hollow crash barrier (1) and a walking mechanism. The hollow crash barrier (1) has a cylindrical shape and a central through hole (101) that runs through both the upper and lower ends of the hollow crash barrier (1). The walking mechanism is fitted into the central through hole (101) at the lower end of the hollow crash barrier (1), and the lower end of the hollow crash barrier (1) is detachably connected to the walking mechanism to drive the hollow crash barrier (1) to move.

2. The anti-collision barrel robot according to claim 1, characterized in that, The walking mechanism includes a horizontally arranged disc (2), with an arc-shaped connecting plate (201) on the edge of the disc (2), and the arc-shaped connecting plate (201) is detachably connected to the lower end of the hollow anti-collision barrel (1); two active walking wheels (4) controlled by a motor (3) are installed at the lower end of the disc (2), and a guide wheel assembly is also installed at the lower end of the disc (2).

3. The anti-collision barrel robot according to claim 2, characterized in that, At least two L-shaped hooks (202) are connected to the outer wall of the arc-shaped connecting plate (201). The L-shaped hooks (202) and the arc-shaped connecting plate (201) cooperate to form a slot with the opening facing the direction. The wall of the hollow anti-collision barrel (1) is set in all the slots.

4. The anti-collision barrel robot according to claim 2, characterized in that, The guide wheel assembly includes a guide wheel (5) and an electric linear guide rail (6). The guide wheel (5) and two active walking wheels (4) are arranged in a triangle. The guide wheel (5) is mounted on a U-shaped bracket (7). The upper end of the U-shaped bracket (7) is connected to a rotating seat (8). The rotating seat (8) is rotatably connected to a disc (2). The electric linear guide rail (6) is mounted on the disc (2). A connecting rod (9) is rotatably connected to the slider of the electric linear guide rail (6). The rotating seat (8) has a connecting limit hole that passes through both sides. The end of the connecting rod (9) away from the electric linear guide rail (6) matches the connecting limit hole.

5. A collision avoidance robot according to claim 4, characterized in that, The other end of the connecting rod (9) is rotatably connected to the slider of the electric linear guide (6) via a fisheye joint spherical bearing (10).

6. The anti-collision barrel robot according to claim 4, characterized in that, The rotating seat (8) is rotatably connected to the disk (2) via a ball bearing. The inner ring of the ball bearing is connected to the rotating seat (8), and the outer ring of the ball bearing is connected to the disk (2).

7. The anti-collision barrel robot according to claim 2, characterized in that, The lower end of the disc (2) is connected to a support base (203). Both motors (3) are mounted on the support base (203). Two gearboxes (11) are also mounted on the support base (203). Each motor (3) is connected to the drive wheel (4) through a gearbox (11).

8. A collision avoidance robot according to claim 7, characterized in that, Two encoders (12) are also installed on the support base (203). Each active walking wheel (4) is coaxially connected to the code disk of an encoder (12) through a gearbox (11) to detect the rotation speed of the active walking wheel (4) through the encoder (12). The two motors (3) and the two encoders (12) are all electrically connected to the processor.

9. A collision avoidance robot according to claim 8, characterized in that, A mounting plate (13) is provided above the disk (2). The lower end of the mounting plate (13) is connected to the disk (2) through multiple cylinders. The processor is installed on the mounting plate (13). A storage battery (14) is also installed on the disk (2). The storage battery (14) is electrically connected to the processor, the motor (3) and the encoder (12).

10. A collision avoidance robot according to claim 9, characterized in that, The mounting plate (13) is equipped with a photoelectric gate for detecting the position of the slider, and the photoelectric gate is electrically connected to the processor.

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