Robot sensor platform with two degrees of freedom and damping function

Abstract

The utility model discloses a robot sensor platform with two degrees of freedom and a damping function. The robot sensor platform comprises a damping base, a spherical hinge, a spring, an upper stepping motor, a damping connecting plate, a sensor support, a sensor clamping jaw and a lower stepping motor. The damping device is characterized in that the damping base and the damping connecting plate are connected through a spherical hinge and a spring, and the spherical hinge is a telescopic spherical hinge with damping and is matched with the spring to achieve double damping; the upper stepping motor is fixedly installed on the damping connecting plate, and an output shaft of the upper stepping motor is connected with the sensor support. One side of the sensor support is fixed to a lower stepping motor through a groove, and an output shaft of the lower stepping motor is connected with a sensor clamping jaw. According to the platform, the operation range of the sensor is increased through the two stepping motors, and the precision is ensured while the degree of freedom of the sensor is increased through buffering and damping of the damping assembly.

Description

Technical Field

[0001] This utility model belongs to the field of mobile robots, and in particular relates to a robot sensor platform with dual degrees of freedom and shock absorption function. Background Technology

[0002] With the rapid development of technology, mobile robots have been widely used in many fields such as industry, logistics, medical care, and security. Mobile robots need to accurately perceive information about their surrounding environment in order to achieve functions such as autonomous navigation, obstacle avoidance, target recognition, and operation. As a key component for mobile robots to acquire environmental information, the performance and stability of sensors directly affect the operation of the robot. The sensor platform is an important structure for installing and supporting sensors and plays a decisive role in the working state of the sensors.

[0003] Common sensor platforms can only achieve simple adjustments in a single direction, or they do not have the ability to adjust flexibly at all. Even some sensor platforms with certain adjustment functions can often only achieve horizontal rotation and lack the ability to adjust vertical pitch, making it difficult to meet the perception needs of complex three-dimensional spatial environments. Secondly, mobile robots inevitably encounter various vibration sources during operation. Some sensor platforms only use simple rubber pads and other cushioning materials for shock absorption. For high-frequency vibrations or large-amplitude vibrations, they cannot effectively isolate and absorb vibration energy, which can lead to measurement errors caused by vibration.

[0004] Therefore, it is necessary to design a robot sensor platform with two degrees of freedom and vibration reduction function to solve the above-mentioned technical problems. Utility Model Content

[0005] The purpose of this invention is to design a robot sensor platform with dual degrees of freedom and vibration reduction function, enabling rotation in both horizontal and vertical directions, reducing the impact of vibration, and solving the problems of limited and unstable information acquisition caused by the lack of freedom and excessive vibration of the sensor.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a robot sensor platform with dual degrees of freedom and vibration damping function, comprising a vibration damping base, a vibration damping assembly, a vibration damping connecting plate, a sensor bracket, and sensor grippers; characterized in that the vibration damping base and the vibration damping connecting plate are connected by a vibration damping assembly, which is composed of ball joints and springs, and the ball joints are designed as telescopic damping structures. Specifically, each ball joint consists of an upper damping sleeve and a lower telescopic rod. The upper stepper motor is fixedly mounted on the vibration damping connecting plate, and the output shaft of the upper stepper motor is connected downward to the sensor bracket through the vibration damping connecting plate. One side of the sensor bracket has a groove for fixing the lower stepper motor, and is fixedly connected to the lower stepper motor. The output shaft of the lower stepper motor passes through the side plate of the sensor bracket and is connected to the sensor grippers. There are two sensor grippers, which respectively clamp the two sides of the sensor. One gripper is connected to the lower stepper motor, and the other side plate of the sensor bracket has a circular through hole for rotatable engagement with the other gripper.

[0007] Preferably, the shock-absorbing component is characterized in that it is composed of a ball joint and a spring connected in parallel; the ball joint is a telescopic ball joint, which includes a first rod and a second rod that are nested together, a damping telescopic mechanism is provided between the first rod and the second rod, and the free ends of the first rod and the second rod are provided with universal ball heads; there are three sets of ball joints, which are evenly distributed at 120° around the center of the shock-absorbing base, and each set of ball joints has a spring on each side.

[0008] Preferably, the sensor bracket is characterized in that its upper part is a disc with a central through hole, and two symmetrical side plates extend downward. One side plate has a groove for the lower stepper motor on its outer side and has a through hole to allow the output shaft of the lower stepper motor to pass through. The other side has a through hole at a symmetrical position to engage the sensor gripper by rotation.

[0009] Preferably, the upper stepper motor 4 is characterized in that it is fixed to the shock-absorbing connecting plate by four bolts, and the shock-absorbing connecting plate has a through hole in the center through which the output shaft of the upper stepper motor can pass. The top of the output shaft has a circular end cap that is fixedly engaged with the output shaft. The sensor bracket also has a through hole in the center, and there are four bolt holes around the through hole on the side of the disc facing downward, which are engaged with the four bolt holes of the circular end cap of the upper stepper motor.

[0010] Preferably, the lower stepper motor 8 is characterized in that it is fitted into the groove of one side plate of the sensor bracket by a groove and fixedly connected by bolts, and its output shaft is fixedly connected to the sensor gripper through the through hole of the side plate.

[0011] Compared with the prior art, the beneficial effects of this utility model are: a robot sensor platform with dual degrees of freedom and vibration reduction function; the robot sensor platform with dual degrees of freedom and vibration reduction function of this utility model has the following advantages:

[0012] 1. This utility model is driven by two stepper motors, which enables the sensor to obtain two degrees of freedom, namely horizontal rotational freedom and vertical pitch freedom. Compared with traditional sensor platforms with a single degree of freedom or no flexible adjustment function, it can realize a wider range of environmental detection. Traditional platforms may miss abnormal situations in corners due to limited perspective, while this platform can accurately capture targets in all directions, greatly improving the comprehensiveness of environmental perception and providing a richer and more accurate data foundation for robot decision-making.

[0013] 2. The shock absorption design of this utility model consists of a ball joint and a spring. The ball joint serves as a limit and support, while the spring mainly acts as a buffer and shock absorber. In addition, the ball joint can adaptively extend and retract its length according to the vibration of the shock-absorbing base, avoiding the mechanism jamming caused by rigid connections. At the same time, the sliding friction between the telescopic rod and the damping sleeve or the damping medium filled inside can dissipate vibration energy. Combined with the externally connected spring, it achieves a dual shock absorption effect of "spring energy absorption + hinge damping energy dissipation," effectively limiting the excessive horizontal displacement of the platform. This reduces the impact of vibration on the sensor, lowers the risk of wear and loosening of internal components caused by vibration, extends the service life of the sensor, reduces maintenance and replacement costs, and improves the reliability and stability of the robot under complex working conditions. Attached Figure Description

[0014] Figure 1 : Schematic diagram of the overall structure of this utility model;

[0015] Figure 2 Side view of the overall structure of this utility model;

[0016] Figure 3 : Schematic diagram of the shock absorption component structure of this utility model;

[0017] Figure 4 : An exploded view of the connection point of the upper stepper motor 4 in this utility model;

[0018] Figure 5 : Schematic diagram of the sensor bracket structure of this utility model;

[0019] In the figure: shock-absorbing base (1), ball hinge (2), spring (3), upper stepper motor (4), shock-absorbing connecting plate (5), sensor bracket (6), sensor gripper (7), lower stepper motor (8), sensor (9). Detailed Implementation

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0021] Please see Figure 1-5This utility model provides the following technical solution: a robot sensor platform with dual degrees of freedom and shock absorption function, including a shock-absorbing base 1, a ball hinge 2, a spring 3, an upper stepper motor 4, a shock-absorbing connecting plate 5, a sensor bracket 6, a sensor gripper 7, and a lower stepper motor 8; characterized in that the shock-absorbing base 1 and the shock-absorbing connecting plate 5 are connected by the ball hinge 2 and the spring 3, the upper stepper motor 4 is fixedly mounted on the shock-absorbing connecting plate 5, the output shaft of the upper stepper motor 4 is connected downward to the sensor bracket 6 through the shock-absorbing connecting plate 5, one side of the sensor bracket 6 has a groove for fixing the lower stepper motor 8, and is fixedly connected to the lower stepper motor 8, the output shaft of the lower stepper motor 8 passes through the side plate of the sensor bracket 6 and is connected to the sensor gripper 7, there are two sensor grippers 7, which respectively clamp the two sides of the sensor 9, one gripper 7 is connected to the lower stepper motor 8, and the other side plate of the sensor bracket 6 has a circular through hole for rotatable engagement with the other gripper 7.

[0022] The shock absorption assembly consists of a ball joint 2 and a spring 3. The ball joint 2 is a telescopic ball joint, which includes a first rod and a second rod that are nested together. A damping telescopic mechanism is provided between the first rod and the second rod, and the free ends of the first rod and the second rod are provided with universal ball joints. There are three sets of ball joints 2, which are evenly distributed at 120° around the center of the shock absorption base 1. Each set of ball joints 2 has a spring 3 on both sides. The ball joints play a supporting and limiting role, and can also adaptively extend and retract in length with the vibration of the shock absorption base, avoiding the mechanism jamming caused by rigid connection. Meanwhile, the sliding friction between the telescopic rod and the damping sleeve or the damping medium inside can dissipate vibration energy. Combined with the externally connected spring, it achieves a dual shock absorption effect of "spring energy absorption + hinge damping energy dissipation" and effectively limits the excessive displacement of the platform in the horizontal direction. The spring plays the role of energy absorption and shock absorption. When encountering vibration impact, the spring contracts to absorb energy. At the same time, large-amplitude vibration will cause the sensor bracket to move. The ball hinge can ensure that the sensor can move while limiting the maximum range to prevent excessive offset.

[0023] The upper part of the sensor bracket 6 is a disc with a central through hole, from which two symmetrical side plates extend downward. One side plate has a groove for the lower stepper motor 8 and a through hole for the output shaft of the lower stepper motor 8 to pass through. The other side has a through hole at a symmetrical position, which, through rotation, engages with the sensor gripper 7. Its main function is to connect to the output shaft of the upper stepper motor 4, providing fixation while bearing the torque output by the upper stepper motor 4, thus enabling the sensor to rotate in the horizontal direction. The two symmetrical side plates provide space for the sensor to pitch in the vertical direction. One side plate connects and fixes the lower stepper motor 8 and has a through hole for the output shaft to pass through. The symmetrical side plate has a through hole for placing the sensor gripper, thus enabling the sensor to pitch in the vertical direction.

[0024] The upper stepper motor 4 is fixed to the shock-absorbing connecting plate 5 by four bolts. The shock-absorbing connecting plate 5 has a through hole in the center through which the output shaft of the upper stepper motor 4 can pass. The top of the output shaft has a circular end cap that is fixedly engaged with the output shaft. The sensor bracket 6 also has a through hole in the center, and there are four bolt holes around the through hole on the side of the disc facing downwards. These bolt holes engage with the four bolt holes of the circular end cap of the upper stepper motor 4. The main body of the motor is fixed to the shock-absorbing connecting plate, and the output shaft is connected to the sensor bracket through the circular end cap, outputting torque to the sensor bracket and realizing the rotation of the sensor in the horizontal direction.

[0025] The lower stepper motor 8 is characterized in that it fits into the groove of one side plate of the sensor bracket 6 through a groove and is fixedly connected by bolts. Its output shaft is fixedly connected to the sensor gripper 7 through the through hole of the side plate. The main body of the lower stepper motor 8 is fixed on the side plate of the sensor bracket. The torque is transmitted to the sensor through the sensor gripper to realize the pitch movement of the sensor in the vertical direction.

[0026] The above-described specific embodiments are preferred embodiments of this utility model and are not intended to limit this utility model. Any other changes or equivalent substitutions made without departing from the technical solution of this utility model are included within the protection scope of this utility model.

Claims

1. A robot sensor platform with dual degrees of freedom and vibration damping function, comprising a vibration damping base (1), a ball hinge (2), a spring (3), an upper stepper motor (4), a vibration damping connecting plate (5), a sensor bracket (6), a sensor gripper (7), and a lower stepper motor (8); characterized in that The shock-absorbing base (1) and the shock-absorbing connecting plate (5) are connected by a ball hinge (2) and a spring (3). The upper stepper motor (4) is fixedly installed on the shock-absorbing connecting plate (5). The output shaft of the upper stepper motor (4) is connected downward to the sensor bracket (6) through the shock-absorbing connecting plate (5). One side of the sensor bracket (6) has a groove for fixing the lower stepper motor (8). The output shaft of the lower stepper motor (8) passes through the side plate of the sensor bracket (6) and is connected to the sensor gripper (7). There are two sensor grippers (7), which clamp the two sides of the sensor (9) respectively. One gripper (7) is connected to the lower stepper motor (8). There is a circular through hole on the other side plate of the sensor bracket (6) for rotational engagement with the other gripper (7).

2. The robot sensor platform with dual degrees of freedom and vibration reduction function according to claim 1, characterized in that, The shock-absorbing base (1) and the shock-absorbing connecting plate (5) are connected by a ball joint (2) and a spring (3) arranged in parallel. The ball joint (2) is a telescopic ball joint, which includes a first rod and a second rod that are nested together. A damping telescopic mechanism is provided between the first rod and the second rod, and the free ends of the first rod and the second rod are provided with universal ball heads. There are three sets of ball joints (2), which are evenly distributed at 120° around the center of the shock-absorbing base (1). Each set of ball joints (2) is provided with a spring (3) on both sides.

3. The robot sensor platform with dual degrees of freedom and vibration reduction function according to claim 1, characterized in that, The upper part of the sensor bracket (6) is a disc with a through hole in the center, and two symmetrical side plates extend downward. One side plate has a groove on the outside that can hold the lower stepper motor (8) and has a through hole to pass through the output shaft of the lower stepper motor (8). The other side has a through hole at a symmetrical position, which can be rotated to engage with another sensor gripper (7).

4. A robot sensor platform with dual degrees of freedom and vibration reduction function according to claim 1, characterized in that, The upper stepper motor (4) is fixed to the shock-absorbing connecting plate (5) by four bolts. The shock-absorbing connecting plate (5) has a through hole in the center through which the output shaft of the upper stepper motor (4) can pass. The top of the output shaft has a circular end cap that is fixedly fitted to the output shaft. The sensor bracket (6) also has a through hole in the center. There are four bolt holes around the through hole on the side of the disc facing down, which fit with the four bolt holes of the circular end cap of the upper stepper motor (4).

5. A robot sensor platform with dual degrees of freedom and vibration reduction function according to claim 1, characterized in that, The lower stepper motor (8) is fitted into the groove of one side plate of the sensor bracket (6) through a groove and is fixedly connected by bolts. Its output shaft is fixedly connected to the sensor gripper (7) through the through hole of the side plate.

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