A robot ultrasonic sensor mounting structure

Abstract

This utility model discloses a robot ultrasonic sensor mounting structure, including a mounting base for mounting the sensor body and a support frame disposed on the upper end of the robot. The bottom of the support frame is fixedly connected to the upper end of the robot via a fixed shaft. A connecting seat is fixedly connected to the bottom of the mounting base, and rotating shafts are fixedly connected to both sides of the connecting seat. The rotating shafts are rotatably connected to the inner wall of the support frame. Gearboxes are fixedly connected to the outer walls of both sides of the support frame, and a micro motor for driving the rotating shafts is fixedly connected to the outside of the gearboxes. The upper end of the mounting base is provided with a mounting slot for portable mounting of the sensor body. This utility model can achieve high-precision angle adjustment of the sensor body, avoiding the generation of detection blind spots or false targets due to the sound beam deviating from the expected direction. It also improves the stability of the sensor body mounting, preventing loosening during movement and affecting the detection effect.

Description

Technical Field

[0001] This utility model relates to the field of sensor installation, and in particular to a robot ultrasonic sensor installation structure. Background Technology

[0002] Ultrasonic sensors are widely used in robotics (such as service robots, cleaning robots, AGVs / AMRs, and security patrol robots) for obstacle avoidance, navigation, distance sensing, and map building due to their low cost, non-contact operation, and strong environmental adaptability. These sensors detect surrounding objects by emitting ultrasonic signals and receiving their echoes. However, the detection accuracy and reliability of ultrasonic sensors are highly dependent on their installation location and orientation; improper installation can significantly degrade their performance.

[0003] Currently, common ultrasonic sensor installation methods often employ simple fixed brackets or direct rigid connections to specific locations on the robot body or shell. These installation structures generally suffer from several problems: First, poor adjustment accuracy of the installation angle can cause the sound beam to deviate from the expected direction, resulting in detection blind spots or false targets. Furthermore, the snap-fit ​​design of current installation structures, intended for easy replacement, may not be secure enough and prone to loosening, affecting sound wave quality. Utility Model Content

[0004] To address the problems in the background art, this utility model adopts the following technical solution: a robot ultrasonic sensor mounting structure, including a mounting base for mounting the sensor body, and a support frame disposed on the upper end of the robot. The bottom of the support frame is fixedly connected to the upper end of the robot via a fixed shaft. A connecting seat is fixedly connected to the bottom of the mounting base, and rotating shafts are fixedly connected to both sides of the connecting seat. The rotating shafts are rotatably connected to the inner wall of the support frame. Gearboxes are fixedly connected to the outer walls of both sides of the support frame, and a micro motor for driving the rotating shafts is fixedly connected to the outer side of the gearboxes. The upper end of the mounting base is provided with a mounting groove for portable mounting of the sensor body.

[0005] Preferably, the outer side of the rotating shaft and the power end of the micro motor both extend movably through into the gearbox. The outer end of the rotating shaft located in the inner cavity of the gearbox is fixedly connected to a first gear, and the power end of the micro motor located in the inner cavity of the gearbox is fixedly connected to a second gear.

[0006] Preferably, the first gear meshes with the second gear, and the diameter of the first gear is larger than the diameter of the second gear.

[0007] Preferably, the upper end of the mounting base is symmetrically provided with two sets of slots communicating with the mounting groove, and the inner wall of the mounting groove is provided with an arc-shaped sliding groove communicating with the bottom of the slot.

[0008] Preferably, the sensor body has connecting ears fixedly connected to both sides, and the connecting ears are snapped into the slots and slidably connected to the slide grooves.

[0009] Preferably, both the upper end of the connecting ear and the upper end of the mounting base are provided with insertion holes. The upper end of the mounting base is also provided with a magnetic pin. The magnetic pin passes through the insertion hole at the upper end of the mounting base and is engaged with the insertion hole at the upper end of the connecting ear. The outer wall of the magnetic pin and the inner wall of the insertion hole are provided with magnetic attracting pieces that attract each other magnetically.

[0010] Compared with the prior art, the present invention has the following beneficial effects;

[0011] This invention uses a support frame to movably mount the sensor body onto a mounting base. An angle adjustment is achieved through a micro motor and transmission structure. During the drive process, the principle of small teeth driving large teeth is utilized to achieve high-precision angle adjustment. Simultaneously, when the sensor body is easily disassembled and installed, a limiting structure ensures stable positioning, preventing the sensor body from becoming loose during movement and affecting the detection effect. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the installation structure of this utility model;

[0013] Figure 2 This is a schematic diagram of the disassembled structure of this utility model;

[0014] Figure 3 This is a top view of the mounting base structure of this utility model;

[0015] Figure 4 This is a cross-sectional schematic diagram of the gearbox structure of this utility model.

[0016] In the diagram: 1-Support frame, 2-Fixed shaft, 3-Mounting base, 4-Sensor body, 5-Connecting base, 6-Rotating shaft, 7-Gearbox, 701-First gear, 702-Second gear, 8-Micro motor, 9-Mounting slot, 901-Card slot, 902-Slide groove, 10-Connecting ear, 1001-Insertion hole, 1002-Magnetic pin. Detailed Implementation

[0017] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0018] In the description of this utility model, "multiple" means two or more, unless otherwise explicitly specified.

[0019] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0021] Reference Figure 1-4 A robot ultrasonic sensor mounting structure includes a mounting base 3 for mounting a sensor body 4, and a support frame 1 set on the upper end of the robot. The bottom of the support frame 1 is fixedly connected to the upper end of the robot via a fixed shaft 2. During the movement of the robot, the sensor body 4 at the upper end scans obstacles in a certain range in front of it, facilitating normal movement of the robot. A connecting seat 5 is fixedly connected to the bottom of the mounting base 3, and a rotating shaft 6 is fixedly connected to both sides of the connecting seat 5. The rotating shaft 6 is rotatably connected to the inner wall of the support frame 1. Gearboxes 7 are fixedly connected to the outer walls of both sides of the support frame 1, and a micro motor 8 for driving the rotating shaft 6 is fixedly connected to the outer side of the gearboxes 7. The upper end of the mounting base 3 is provided with a mounting slot 9 for portable mounting of the sensor body 4.

[0022] The rotating shaft 6 and the power end of the micro motor 8 extend movably into the gearbox 7. A first gear 701 is fixedly connected to the outer end of the rotating shaft 6 within the gearbox 7, and a second gear 702 is fixedly connected to the power end of the micro motor 8 within the gearbox 7. The first gear 701 meshes with the second gear 702, and the diameter of the first gear 701 is larger than the diameter of the second gear 702. Based on this structural design, during use, when adjusting the vertical angle of the sensor body 4, to ensure the expected detection direction of the sound beam, the micro motors 8 on both sides of the support frame 1 can be activated by an external switch to rotate synchronously. The micro motors 8 on both sides synchronously drive the second gear 702 at the power end to mesh with the first gear 701 on the outer side of the rotating shaft 6, thereby driving the rotating shaft 6 to rotate and adjusting the angle of the sensor body 4 vertically. The smaller diameter of the second gear 702 allows for higher precision in adjusting the rotation of the rotating shaft 6, thus achieving a fine-tuning effect for the angle adjustment of the sensor body 4.

[0023] The mounting base 3 has two sets of slots 901 symmetrically arranged on its upper end, which are connected to the mounting groove 9. The inner wall of the mounting groove 9 is provided with an arc-shaped sliding groove 902 connected to the bottom of the slot 901. The sensor body 4 is fixedly connected to both sides with connecting ears 10. The connecting ears 10 are engaged with the slots 901 and then slidably connected with the sliding grooves 902. The upper end of the connecting ears 10 and the upper end of the mounting base 3 are both provided with insertion holes 1001. The upper end of the mounting base 3 is also provided with a magnetic pin 1002. The magnetic pin 1002 is engaged with the insertion hole 1001 at the upper end of the mounting base 3 and then engaged with the insertion hole 1001 at the upper end of the connecting ears 10. The outer wall of the magnetic pin 1002 and the inner wall of the insertion hole 1001 are both provided with magnetic attracting sheets that attract each other magnetically. When installing the sensor body 4 in a portable manner, the sensor body 4 is aligned with the mounting groove 9 at the upper end of the mounting base 3. At this time, the connecting ears 10 on both sides of the sensor body 4 are aligned with two sets of symmetrical slots 901 and are inserted downwards. After the connecting ears 10 are engaged with the slots 901, they slide along the arc-shaped sliding groove 902 until they abut against the inner wall of the sliding groove 902. Then, the insertion hole 1001 at the upper end of the mounting base 3 corresponds vertically with the insertion hole 1001 at the upper end of the connecting ears 10. Then, the magnetic pin 1002 is inserted vertically into the insertion hole 1001 to lock the position of the sensor body 4 and achieve stable installation.

[0024] The above embodiments are preferred embodiments of the present utility model, but the embodiments of the present utility model are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present utility model shall be considered equivalent substitutions and shall be included within the protection scope of the present utility model.

[0025] In the description of this utility model, it should be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

Claims

1. A robot ultrasonic sensor mounting structure, comprising a mounting base (3) for mounting a sensor body (4), and a support frame (1) disposed on the upper end of the robot, the bottom of the support frame (1) being fixedly connected to the upper end of the robot via a fixed shaft (2), characterized in that, The mounting base (3) is fixedly connected to a connecting base (5) at its bottom. The connecting base (5) is fixedly connected to two rotating shafts (6) on both sides. The rotating shafts (6) are rotatably connected to the inner wall of the support frame (1). The outer walls of both sides of the support frame (1) are fixedly connected to a gearbox (7). The outer side of the gearbox (7) is fixedly connected to a micro motor (8) that drives the rotating shaft (6) to rotate. The upper end of the mounting base (3) is provided with a mounting slot (9) for portable installation of the sensor body (4).

2. The robot ultrasonic sensor mounting structure according to claim 1, characterized in that, The outer side of the rotating shaft (6) and the power end of the micro motor (8) are both movably extended into the gearbox (7). The outer end of the rotating shaft (6) located in the inner cavity of the gearbox (7) is fixedly connected to the first gear (701), and the power end of the micro motor (8) located in the inner cavity of the gearbox (7) is fixedly connected to the second gear (702).

3. The robot ultrasonic sensor mounting structure according to claim 2, characterized in that, The first gear (701) meshes with the second gear (702), and the diameter of the first gear (701) is larger than the diameter of the second gear (702).

4. The robot ultrasonic sensor mounting structure according to claim 3, characterized in that, The mounting base (3) is symmetrically provided with two sets of slots (901) connected to the mounting groove (9) at its upper end, and the inner wall of the mounting groove (9) is provided with an arc-shaped sliding groove (902) connected to the bottom of the slot (901).

5. The robot ultrasonic sensor mounting structure according to claim 4, characterized in that, The sensor body (4) has connecting ears (10) fixedly connected to both sides. The connecting ears (10) are snapped into the slot (901) and then slidably connected to the slide groove (902).

6. The robot ultrasonic sensor mounting structure according to claim 5, characterized in that, The upper end of the connecting ear (10) and the upper end of the mounting base (3) are both provided with a plug hole (1001). The upper end of the mounting base (3) is also provided with a magnetic pin (1002). The magnetic pin (1002) passes through the plug hole (1001) at the upper end of the mounting base (3) and is snapped into the plug hole (1001) at the upper end of the connecting ear (10). The outer wall of the magnetic pin (1002) and the inner wall of the plug hole (1001) are both provided with magnetic attracting pieces that attract each other magnetically.

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