Boundary-free reference object robot advancing positioning device

Abstract

The utility model discloses a boundary-free reference object robot advancing positioning device, which belongs to the technical field of robots and comprises a robot body, an inner cavity is formed in the robot body, a mounting frame is clamped at the bottom in the inner cavity, and a UWB (Ultra Wideband) positioning tag is mounted on the mounting frame; and the fixing mechanism comprises a sealing door, the two sides of the inner cavity communicate with sliding grooves, and the same sealing door is slidably connected into the two sliding grooves. According to the utility model, the sealing door can open and close the inner cavity, so that the UWB positioning tag can be conveniently mounted and dismounted in the inner cavity; the sealing door forms a sealing protection effect on the UWB positioning label when closing the inner cavity, and meanwhile, the air bag is inflated through the inflation cavity and the inflation pipe, so that the air bag moving to the top of the mounting frame along with the sealing door expands after being inflated, and a wrapping extrusion fixing effect is formed on the top of the mounting frame. And the stability of the UWB positioning tag on the mounting rack when moving along with the robot body is improved.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, and in particular relates to a robot positioning device without a boundary reference object. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. During movement, the robot needs real-time positioning to determine its location, guide its movement, and avoid obstacles. However, in practical use, robots are not flexible enough; the positioning mechanisms are difficult to maintain and replace, making them inconvenient to use.

[0003] In the existing technology, the outer shell is locked by a positioning rod and a plug. After the locking is released, the outer shell is rotated in the opposite direction to remove the shell containing the UWB module. In this method, the protection and fixation of the outer shell and its internal UWB module are poor. It is impossible to achieve both sealing protection and fixation, which increases the installation burden on the staff and reduces the stability of the UWB module when it moves with the robot. Summary of the Invention

[0004] The purpose of this invention is to propose a boundaryless reference object robot positioning device to solve the problem that traditional technologies have poor protection and fixation effects on the outer shell and its internal UWB module, making it impossible to achieve both sealing protection and fixation, thus increasing the installation burden on workers.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A boundless reference object robot positioning device includes:

[0007] The robot body has an internal cavity, and a mounting frame is snapped into the bottom of the internal cavity. A UWB positioning tag is installed on the mounting frame.

[0008] The fixing mechanism includes a sealing door. Sliding grooves are connected to both sides of the inner cavity. The same sealing door is slidably connected within the two sliding grooves. A compression spring is fixedly connected between one side of the sealing door and the inside of the sliding groove, and the other side forms a sealed inflation chamber with the inside of another sliding groove. A through-hole is provided on the sealing door, which communicates with the inside of the inner cavity after the sealing door moves. An airbag is fixedly connected to the bottom of the sealing door. An inflation tube connects the inflation chamber and the airbag. The bottom of the airbag abuts against the top of the mounting frame.

[0009] Preferably, the compression spring is initially in a compressed state, causing the portion of the sealing door above the airbag to block the inner cavity.

[0010] Preferably, the air bag is communicated with an exhaust pipe, and a pressure relief valve is installed on the exhaust pipe, and the output end of the pressure relief valve is communicated with the inside of the inner cavity.

[0011] Preferably, the top of the inflation cavity is communicated with an air inlet, and an air inlet valve is installed in the air inlet, the air inlet valve is a one-way valve, and the one-way communication direction is from the outside to the inside of the inflation cavity.

[0012] Preferably, the inflation pipe is installed with an inflation valve, the inflation valve is a one-way valve, and the one-way communication direction is from the inflation cavity to the air bag.

[0013] Preferably, the sealing door is fixedly connected with a sealing plate at the top, the bottom of the sealing plate is located between the compression spring and the communication port, and the top is in sliding fit with the top of the robot body.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] 1、In the utility model, the sealing door in the fixed mechanism can open and close the inner cavity, which facilitates the installation and disassembly of the UWB positioning tag in the inner cavity; when the sealing door closes the inner cavity, the UWB positioning tag is sealed and protected, and at the same time, the air bag that moves to the top of the mounting frame with the sealing door is inflated by the inflation cavity and the inflation pipe, so that the air bag expands after inflation, forms a covering and extrusion fixing effect on the top of the mounting frame, reduces the installation burden of the staff, and improves the stability of the UWB positioning tag on the mounting frame when the robot body moves.

[0016] 2、In the utility model, the air inlet and the air inlet valve are arranged to ensure the continuous inflation effect of the inflation cavity on the air bag through the inflation pipe; the air valve is arranged to prevent the backflow of air in the air bag, ensure the stability of the air in the air bag, and improve the stability of the air bag during work; and the exhaust pipe and the pressure relief valve are arranged to effectively prevent the air bag from being inflated too much and ensure the normal working state of the air bag. DETAILED DESCRIPTION

[0017] Figure 1 It is a structural schematic view of the utility model;

[0018] Figure 2 It is a vertical sectional structural schematic view of the utility model;

[0019] Figure 3 It is another vertical sectional structural schematic view of the utility model;

[0020] Figure 4 It is an air bag structural schematic view of the utility model.

[0021] In the figure: 1 robot body, 2 inner cavity, 3 mounting frame, 4 UWB positioning tag, 5 sliding groove, 6 extrusion spring, 7 sealing door, 8 communication port, 9 air bag, 10 inflation cavity, 11 inflation pipe, 12 inflation valve, 13 exhaust pipe, 14 pressure relief valve, 15 sealing plate, 16 air inlet, 17 air inlet valve. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the utility model will be clearly and completely described 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, rather than all the embodiments.

[0023] Reference Figures 1-4 A borderless reference robot marching positioning device, comprising:

[0024] The robot body 1 is provided with an inner cavity 2, and the inner cavity 2 is provided with a mounting frame 3 at the bottom, and the mounting frame 3 is provided with a UWB positioning tag 4.

[0025] UWB is the abbreviation of Ultra-Wideband, that is, the ultra-wideband technology. The UWB positioning tag 4 cooperates with the deployed UWB base station. The UWB positioning tag 4 emits an ultra-wideband pulse signal when working. Multiple UWB base stations work cooperatively. By measuring the time difference of the signal arriving at different base stations, combining the known base station position information, and using a specific algorithm to calculate the accurate position of the tag, the robot can be positioned and guided to act without a border reference.

[0026] The fixing mechanism comprises a sealing door 7, and the inner cavity 2 is communicated with a sliding groove 5 on both sides. The same sealing door 7 is slidably connected in the two sliding grooves 5. The extrusion spring 6 is fixedly connected between the sealing door 7 and the inside of the sliding groove 5 on one side. The other side is surrounded by the inside of the other sliding groove 5 to form a sealed inflation cavity 10. The communication port 8 is formed through the sealing door 7. The communication port 8 is communicated with the inside of the inner cavity 2 after the sealing door 7 moves. The air bag 9 is fixedly connected to the bottom of the sealing door 7. The inflation pipe 11 is communicated between the inflation cavity 10 and the air bag 9. The air bag 9 is abutted against the top of the mounting frame 3.

[0027] The internal space of the sliding groove 5 communicated with the extrusion spring 6 is larger than the internal space of the other sliding groove 5, so as to conveniently accommodate the air bag 9.

[0028] The extrusion spring 6 is in an initial compressed state, and the part of the sealing door 7 located above the air bag 9 blocks the inner cavity 2.

[0029] When the UWB positioning tag 4 is installed, the sealing door 7 is pulled open, the communication port 8 of the sealing door 7 is communicated with the inner cavity 2, the mounting frame 3 with the installed UWB positioning tag 4 is clamped to the inside of the inner cavity 2, the sealing door 7 is loosened, and under the elastic force of the compression spring 6, the sealing door 7 is reset to block the inner cavity 2. During the movement of the sealing door 7, the inflation cavity 10 is continuously compressed, the air in the inflation cavity 10 is pressed into the air bag 9 through the inflation pipe 11, the air bag 9 moves to the top of the mounting frame 3 with the sealing door 7, and after inflation, the air bag 9 expands to form a wrapping and compression fixing effect on the top of the mounting frame 3, thereby improving the stability of the mounting frame 3 when moving with the robot body 1.

[0030] When the UWB positioning tag 4 needs to be disassembled, the sealing door 7 is pulled open again, the communication port 8 is communicated with the inner cavity 2, and the air bag 9 is retracted into the sliding groove 5, thereby facilitating the removal of the mounting frame 3 and the UWB positioning tag 4.

[0031] The air bag 9 is communicated with an exhaust pipe 13, the exhaust pipe 13 is provided with a pressure relief valve 14, and the output end of the pressure relief valve 14 is communicated with the inside of the inner cavity 2.

[0032] Through the pressure relief valve 14, the air bag 9 is effectively prevented from over-inflating, the air bag 9, the mounting frame 3 and the UWB positioning tag 4 are prevented from being damaged, the protection effect of the UWB positioning tag 4 is improved, and the air bag 9 is prevented from over-expanding and being separated from the mounting frame 3 and being stored in the sliding groove 5.

[0033] The top of the inflation cavity 10 is communicated with an air inlet 16, the air inlet 16 is provided with an air inlet valve 17, the air inlet valve 17 is a one-way valve, and the one-way valve is directed from the outside to the inside of the inflation cavity 10.

[0034] When the sealing door 7 is pulled open, the space inside the inflation cavity 10 increases, the air pressure decreases, and the outside air is sucked into the inflation cavity 10 through the air inlet 16. When the sealing door 7 is reset, the space inside the inflation cavity 10 decreases, the air pressure increases, and under the limitation of the air inlet valve 17, the air in the inflation cavity 10 is discharged through the inflation pipe 11 to inflate the air bag 9. During the repeated opening and resetting of the sealing door 7, the air bag 9 is repeatedly inflated, and the air loss in the air bag 9 is effectively prevented to affect its working effect.

[0035] The inflation pipe 11 is provided with an inflation valve 12, the inflation valve 12 is a one-way valve, and the one-way valve is directed from the inflation cavity 10 to the air bag 9.

[0036] After the air is filled into the air bag 9 through the inflation pipe 11, the air in the air bag 9 is prevented from flowing back through the inflation pipe 11 through the limitation of the inflation valve 12, the stability of the air in the air bag 9 is ensured, and the stability of the air bag 9 during work is improved.

[0037] The sealing door 7 is fixedly connected with a sealing plate 15 at the top, the bottom of the sealing plate 15 is located between the extrusion spring 6 and the communication port 8, and the top is in sliding fit with the top of the robot body 1.

[0038] The sealing plate 15 forms a groove with the top of the inner cavity 2 after the sealing door 7 is reset, the sealing plate 15 forms a sealing effect on the groove after being reset with the sealing door 7, dust is prevented from accumulating in the groove, and the protection effect on the sealing door 7 is improved.

[0039] The above is only a preferred specific implementation of the present application, but the protection scope of the present application is not limited to this, any person skilled in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered in the protection scope of the present application.

Claims

1. A boundaryless reference object robot travel positioning apparatus characterized by, The utility model relates to a kind of robot and sealing door, including: robot body (1), inner cavity (2) is opened in the robot body (1), the inner cavity (2) bottom is clamped with mounting bracket (3), UWB positioning label (4) is installed on the mounting bracket (3);Fixed mechanism, the inner cavity (2) both sides are communicated with sliding slot (5), the same sealing door (7) is slidably connected in two sliding slots (5), extrusion spring (6) is fixedly connected between the sealing door (7) one side and sliding slot (5) inside, the other side and another sliding slot (5) inside form sealed inflation cavity (10), the sealing door (7) is perforated with communication port (8) on, the communication port (8) is communicated with the inner cavity (2) after sealing door (7) moves, the sealing door (7) bottom is fixedly connected with air bag (9), inflation tube (11) is communicated between the inflation cavity (10) and air bag (9), air bag (9) bottom is abutted on mounting bracket (3) top. Wherein: The extrusion spring (6) is initially in compression state, and the part of sealing door (7) located above air bag (9) blocks the inner cavity (2).

2. A boundaryless reference object robot travel positioning apparatus according to claim 1, wherein Wherein: Air bag (9) is communicated with exhaust pipe (13) on, exhaust pipe (13) is installed with pressure relief valve (14), and the output end of pressure relief valve (14) is communicated with the inner cavity (2).

3. A boundaryless reference object robot travel positioning apparatus according to claim 1, wherein Wherein: The inflation cavity (10) top is communicated with air inlet (16), air inlet (16) is installed with air inlet valve (17), air inlet valve (17) is one-way valve, and one-way communication direction is from outside to the inside of inflation cavity (10).

4. A boundaryless reference object robot travel positioning apparatus according to claim 3, wherein Wherein: Inflation tube (11) is installed with inflation valve (12), inflation valve (12) is one-way valve, and one-way communication direction is from inflation cavity (10) to air bag (9).

5. A boundaryless reference object robot travel positioning apparatus according to claim 4, wherein Wherein: Sealing plate (15) is fixedly connected on the sealing door (7) top, and the bottom of sealing plate (15) is between extrusion spring (6) and communication port (8), and the top is slidably connected with the top of robot body (1).

6. A boundaryless reference object robot travel positioning apparatus according to claim 1, wherein ​ ​

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