Intelligent obstacle avoidance construction site unmanned transportation robot

Abstract

The utility model discloses an intelligent obstacle-avoiding unmanned transport robot for a construction site, and relates to the technical field of transport robots. The left side and the right side of the loading box are each provided with two height adjusting mechanisms, buffering mechanisms are arranged below the height adjusting mechanisms, moving wheels are arranged below the buffering mechanisms, a second infrared distance measuring sensor is arranged on the outer wall of the front side of the loading box, and the detection end of the second infrared distance measuring sensor points to the ground. Through combined use of multiple sensors, the surrounding environment can be sensed in all directions in real time, collision with obstacles is effectively avoided, through the height adjusting mechanism, the height of the loading box can be flexibly adjusted according to the uneven condition of the ground of a construction site or the transportation requirements of different heights, and stability and safety in the transportation process are ensured. Due to the design of the buffer mechanism, the robot can absorb impact force through a buffer spring and other assemblies when encountering an uneven ground or an emergency, and the robot and loaded goods are protected against damage.

Description

TECHNICAL FIELD

[0001] The utility model relates to transport robot technical field especially relates to an intelligent obstacle avoidance construction site unmanned transport robot. BACKGROUND

[0002] In modern construction site, efficient and safe material transportation is the key link to ensure the progress and quality of the project. The construction site environment is complex and changeable, not only needs to frequently carry various building materials, tools and equipment consumables, but also faces the challenges of narrow space, uneven terrain and numerous obstacles. Especially in some specific areas, such as narrow lane, high floor interior or edge zone of completed area, large mechanical equipment is difficult to operate due to its large size and limited flexibility, which greatly restricts the transportation efficiency. Traditionally, these difficult-to-reach areas often rely on manual material handling, but manual handling not only has high labor intensity and low efficiency, but also has safety hazards, especially when handling heavy objects or working at high altitudes, a slight mistake may cause safety accidents. In addition, with the continuous rise of labor cost, finding a solution to replace manual handling has become an urgent need of the industry.

[0003] Therefore, the application scheme provides an intelligent obstacle avoidance construction site unmanned transport robot to solve the above problems. SUMMARY

[0004] The utility model aims at providing an intelligent obstacle avoidance construction site unmanned transport robot, which solves the technical problems in the background art.

[0005] To achieve the above object, the utility model provides the following technical scheme: an intelligent obstacle avoidance construction site unmanned transport robot, comprising a loading box, two height adjusting mechanisms are arranged on the left and right sides of the loading box, a buffer mechanism is arranged below the height adjusting mechanism, a moving wheel is arranged below the buffer mechanism, an infrared distance sensor two is arranged on the front side outer wall of the loading box, and the detection end of the infrared distance sensor two points to the ground.

[0006] The height adjusting mechanism comprises a height adjusting frame, a lifting motor is fixedly connected to the upper end of the height adjusting frame, the output end of the lifting motor penetrates the upper side wall of the height adjusting frame and is fixedly connected with a height adjusting screw rod, the lower end of the height adjusting screw rod is rotatably connected with the lower side inner wall of the height adjusting frame, a sliding plate is slidably connected in the height adjusting frame, the height adjusting screw rod penetrates the sliding plate and is threadedly connected with the sliding plate, one end of the sliding plate close to the loading box is fixedly connected with the side wall of the loading box, and the lower end surface of the sliding plate and the lower end surface of the loading box are located in the same plane.

[0007] Preferably, the front side of the loading box is provided with a mounting plate, the front side ends of the two height adjusting frames are fixedly connected with the rear side end of the mounting plate, and the front side end of the mounting plate is provided with a control module, a laser sensor, a visual sensor, an ultrasonic ranging sensor and an infrared ranging sensor one.

[0008] Preferably, the left and right sides of the loading box are provided with reinforcing plates, the front and rear ends of the reinforcing plates are fixedly connected with the adjacent side walls of the front and rear height adjusting frames respectively, and the side, away from the loading box, of the reinforcing plate is provided with a visual sensor and an infrared ranging sensor one.

[0009] Preferably, the buffer mechanism comprises an upper connecting plate and a lower connecting plate, the lower end of the lower connecting plate is fixedly connected with an auxiliary frame, the moving wheel is located on the inner side of the auxiliary frame, the outer side of the auxiliary frame is provided with a driving motor, the output end of the driving motor penetrates through the side wall of the auxiliary frame and is fixedly connected with the side wall of the moving wheel, the four corners of the upper surface of the lower connecting plate are fixedly connected with sliding rods, the upper ends of the sliding rods penetrate through the upper connecting plate and are fixedly connected with baffles, and buffer springs are sleeved on the sliding rods and are fixedly connected with the adjacent side walls of the upper connecting plate and the lower connecting plate.

[0010] Preferably, the upper connecting plate is provided with a steering frame above, the upper end of the steering frame is fixedly connected with the lower end of the height adjusting frame, and the inner side of the steering frame is fixedly connected with a steering motor.

[0011] Preferably, the rear side of the loading box is provided with a movable plate, and the left and right ends of the movable plate are slidably connected with the inner walls of the left and right sides of the loading box through limiting sliding grooves.

[0012] Compared with the related art, the intelligent obstacle avoidance construction site unmanned transport robot has the following advantages

[0013] Beneficial effects:

[0014] 1. The intelligent obstacle avoidance construction site unmanned transport robot is provided with multiple obstacle avoidance sensors such as an infrared ranging sensor, a laser sensor, a visual sensor and an ultrasonic ranging sensor, can omnidirectionally and in real time perceive the surrounding environment, and effectively avoids collision with obstacles. The combination use of multiple sensors significantly improves the obstacle avoidance ability and safety of the robot. Through the height adjusting mechanism, the device can flexibly adjust the height of the loading box according to the unevenness of the construction site ground or different height transportation requirements, and ensure the stability and safety in the transportation process. This height adjusting function not only improves the adaptability of the robot, but also enables it to work efficiently in more diversified construction site environments

[0015] 2, The utility model provides a kind of intelligent obstacle avoidance construction site unmanned transport robot, the design of buffer mechanism makes robot when encountering uneven ground or emergent situation, impact force can be absorbed by buffer spring etc. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the three-dimensional structure schematic diagram of the utility model;

[0017] Figure 2 It is Figure 1 It is the local enlarged view of A in Fig.

[0018] Figure 3 It is the three-dimensional structure schematic diagram of the loading box of the utility model;

[0019] Figure 4 It is the partial three-dimensional structure schematic diagram of the utility model;

[0020] Figure 5 It is the three-dimensional structure schematic diagram of height adjusting mechanism of the utility model.

[0021] In the drawing: 1, loading box;2, height adjusting mechanism;3, buffer mechanism;4, moving wheel;5, mounting plate;6, reinforcing plate;7, movable plate;8, sliding plate;9, control module;10, laser sensor;11, visual sensor;12, ultrasonic ranging sensor;13, infrared ranging sensor one;14, height adjusting frame;15, lifting motor;16, height adjusting screw;17, steering frame;18, steering motor;19, auxiliary frame;20, infrared ranging sensor two;21, drive motor;22, upper connecting plate;23, lower connecting plate;24, sliding rod;25, buffer spring;26, baffle. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the utility model will be described clearly and completely below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0023] Please refer to Figures 1-5The utility model provides a technical scheme: an intelligent obstacle avoidance construction site unmanned transport robot, including loading box 1, the left and right sides of loading box 1 are provided with two height adjusting mechanisms 2, the height adjusting mechanism 2 below is provided with buffer mechanism 3, the below of buffer mechanism 3 is provided with moving wheel 4, the front side outer wall of loading box 1 is provided with infrared distance sensor two 20, and the detection end of infrared distance sensor two 20 points to ground,

[0024] Height adjusting mechanism 2 includes height adjusting frame 14, and the upper end of height adjusting frame 14 is fixedly connected with lifting motor 15, the output end of lifting motor 15 penetrates the upper side wall of height adjusting frame 14, and is fixedly connected with height adjusting screw rod 16, the lower end of height adjusting screw rod 16 is rotatably connected with the lower side inner wall of height adjusting frame 14, sliding plate 8 is slidably connected in height adjusting frame 14, height adjusting screw rod 16 penetrates sliding plate 8 and is threadedly connected with sliding plate 8, and the end of sliding plate 8 close to loading box 1 is fixedly connected with the side wall of loading box 1, and the lower end surface of sliding plate 8 and the lower end surface of loading box 1 are located in the same plane;When encountering higher obstacles, lifting motor 15 drives height adjusting screw rod 16 to rotate, height adjusting screw rod 16 cooperates with sliding plate 8 to drive loading box 1 to move upwards, and infrared distance sensor two 20 detects the height of the bottom of loading box 1 during movement, lifting motor 15 is paused when detection can pass through the obstacle, and loading box 1 is moved downwards by lifting motor 15 and height adjusting screw rod 16 after passing through the obstacle, the gravity center of the equipment is reduced, and the stability of the device is ensured;

[0025] The front side of loading box 1 is provided with mounting plate 5, and the front side end of two height adjusting frames 14 is fixedly connected with the rear side end of mounting plate 5, and the front side end of mounting plate 5 is provided with control module 9, laser sensor 10, visual sensor 11, ultrasonic ranging sensor 12 and infrared distance sensor one 13;Operation display screen is arranged on control module 9, and the inside of control module 9 is provided with GPS positioning module and wireless communication module, and a variety of obstacle avoidance sensors such as infrared distance sensor one 13, laser sensor 10, visual sensor 11 and ultrasonic ranging sensor 12 can perceive the surrounding environment in all directions and in real time, and effectively avoid collision with obstacles;

[0026] The buffer mechanism 3 comprises an upper connecting plate 22 and a lower connecting plate 23, the lower end of the lower connecting plate 23 is fixedly connected with an auxiliary frame 19, the moving wheel 4 is located on the inner side of the auxiliary frame 19, a driving motor 21 is arranged on the outer side of the auxiliary frame 19, the output end of the driving motor 21 penetrates the side wall of the auxiliary frame 19 and is fixedly connected with the side wall of the moving wheel 4, the upper surface of the lower connecting plate 23 is fixedly connected with a sliding rod 24 at four corners, the upper end of the sliding rod 24 penetrates the upper connecting plate 22 and is fixedly connected with a baffle 26, the sliding rod 24 is sleeved with a buffer spring 25, the upper and lower ends of the buffer spring 25 are fixedly connected with the adjacent side walls of the upper connecting plate 22 and the lower connecting plate 23 respectively, and the design of the buffer mechanism 3 enables the robot to absorb impact force through components such as the buffer spring 25 when encountering uneven ground or unexpected situations, so as to protect the robot itself and the loaded goods from being damaged;

[0027] The left and right sides of the loading box 1 are provided with reinforcing plates 6, the front and rear ends of the reinforcing plates 6 are fixedly connected with the adjacent side walls of the front and rear height adjusting frames 14 respectively, and the side, away from the loading box 1, of the reinforcing plate 6 is provided with a visual sensor 11 and an infrared distance measuring sensor 13; the upper connecting plate 22 is provided with a steering frame 17, the upper end of the steering frame 17 is fixedly connected with the lower end of the height adjusting frame 14, the inner side of the steering frame 17 is fixedly connected with a steering motor 18, the output end of the steering motor 18 penetrates the lower side wall of the steering frame 17 and is fixedly connected with the upper end of the upper connecting plate 22, when encountering an obstacle that cannot be passed, the moving wheel 4 at the lower end is driven to steer through the steering motor 18, so as to ensure that the device passes through the obstacle smoothly through lateral movement, and the safety of lateral movement of the device is ensured through the visual sensor 11 and the infrared distance measuring sensor 13 at the same time;

[0028] The rear side of the loading box 1 is provided with a movable plate 7, the left and right ends of the movable plate 7 are slidably connected with the inner walls of the left and right sides of the loading box 1 through limiting sliding grooves, and the movable plate 7 is pulled out upward during use, so as to be more convenient for loading goods.

[0029] Working principle: in use, pull out the movable plate 7 upward, at this time the upper end and the rear side of the loading box 1 are both open, which is more convenient for placing the building materials that need to be transported. After the building materials are placed, set the route through the operation display screen on the control module 9. In the process of material transfer, the robot can realize omnidirectional and real-time sensing of the surrounding environment through various obstacle avoidance sensors such as infrared distance sensor 1 3, laser sensor 10, visual sensor 11 and ultrasonic distance sensor 12, which can effectively avoid collision with obstacles. When encountering higher obstacles, the lifting motor 15 drives the height adjusting screw 16 to rotate, and through the cooperation of the height adjusting screw 16 and the sliding plate 8, the loading box 1 is moved upward. In the process of moving, the infrared distance sensor 2 0 detects the height of the bottom of the loading box 1. When the detection can pass through the obstacle, the lifting motor 15 is paused. After passing through the obstacle, the loading box 1 is moved downward by the cooperation of the lifting motor 15 and the height adjusting screw 16, which reduces the gravity center of the device and ensures the stability of the device. When encountering obstacles that cannot be passed through, the steering motor 18 drives the moving wheels 4 at the lower end to steer, so as to ensure the smooth passing of the device through the obstacles by lateral movement. At the same time of lateral movement, the visual sensor 11 and the infrared distance sensor 1 3 are used to ensure the safety of the lateral movement of the device. The design of the buffer mechanism 3 makes the robot able to absorb impact force through components such as buffer spring 25 when encountering uneven ground or unexpected situations, protecting the robot itself and the loaded goods from damage.

Claims

1. An intelligent obstacle-avoiding construction site unmanned transport robot comprising a loading box (1), characterized in that: Two height adjusting mechanisms (2) are arranged on the left and right sides of the loading box (1), a buffer mechanism (3) is arranged below the height adjusting mechanism (2), a moving wheel (4) is arranged below the buffer mechanism (3), an infrared distance sensor two (20) is arranged on the front side outer wall of the loading box (1), and the detection end of the infrared distance sensor two (20) points to the ground. The height adjusting mechanism (2) comprises a height adjusting frame (14), the upper end of the height adjusting frame (14) is fixedly connected with a lifting motor (15), the output end of the lifting motor (15) penetrates the upper side wall of the height adjusting frame (14) and is fixedly connected with a height adjusting screw rod (16), the lower end of the height adjusting screw rod (16) is rotatably connected with the lower side inner wall of the height adjusting frame (14), a sliding plate (8) is slidably connected in the height adjusting frame (14), the height adjusting screw rod (16) penetrates the sliding plate (8) and is threadedly connected with the sliding plate (8), and the end of the sliding plate (8) close to the loading box (1) is fixedly connected with the side wall of the loading box (1). 2.The intelligent obstacle avoidance construction site unmanned transport robot according to claim 1, characterized in that: A mounting plate (5) is arranged on the front side of the loading box (1), the front side ends of the two height adjusting frames (14) are fixedly connected with the rear side end of the mounting plate (5), and the front side end of the mounting plate (5) is provided with a control module (9), a laser sensor (10), a visual sensor (11), an ultrasonic distance sensor (12) and an infrared distance sensor one (13). 3.The intelligent obstacle avoidance construction site unmanned transport robot of claim 2, wherein: Reinforcing plates (6) are arranged on the left and right sides of the loading box (1), the front and rear ends of the reinforcing plates (6) are fixedly connected with the adjacent side walls of the front and rear two height adjusting frames (14) respectively, and the side, away from the loading box (1), of the reinforcing plate (6) is provided with the visual sensor (11) and the infrared distance sensor one (13). 4.The intelligent obstacle avoidance construction site unmanned transport robot of claim 1, wherein: The buffer mechanism (3) comprises an upper connecting plate (22) and a lower connecting plate (23), the lower end of the lower connecting plate (23) is fixedly connected with an auxiliary frame (19), the moving wheel (4) is located on the inner side of the auxiliary frame (19), a drive motor (21) is arranged on the outer side of the auxiliary frame (19), the output end of the drive motor (21) penetrates the side wall of the auxiliary frame (19) and is fixedly connected with the side wall of the moving wheel (4), sliding rods (24) are fixedly connected with the four corners of the upper surface of the lower connecting plate (23), the upper ends of the sliding rods (24) penetrate the upper connecting plate (22) and are fixedly connected with baffle plates (26), buffer springs (25) are sleeved on the sliding rods (24), and the upper and lower ends of the buffer springs (25) are fixedly connected with the adjacent side walls of the upper connecting plate (22) and the lower connecting plate (23). 5.The intelligent obstacle avoidance construction site unmanned transport robot according to claim 4, characterized in that: The upper connecting plate (22) is provided with a steering frame (17) above, the upper end of the steering frame (17) is fixedly connected with the lower end of the height adjusting frame (14), the inner side of the steering frame (17) is fixedly connected with a steering motor (18), the output end of the steering motor (18) penetrates through the lower side wall of the steering frame (17) and is fixedly connected with the upper end of the upper connecting plate (22). 6.The intelligent obstacle avoidance construction site unmanned transport robot according to claim 1, characterized in that: The rear side of the loading box (1) is provided with a movable plate (7), the left and right ends of the movable plate (7) are respectively slidably connected with the left and right side inner walls of the loading box (1) through limiting sliding grooves.

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