A tactile obstacle avoidance robot

Abstract

This utility model relates to the field of robotics technology, and more particularly to a tactile obstacle avoidance robot. It includes a fixed frame, a fixed block fixedly connected to the inner wall of the fixed frame, a rotating shaft fixedly connected inside the fixed block, a connector head rotatably connected to the outer wall of the rotating shaft, one end of a telescopic rod fixedly mounted on the outer wall of the connector head, the other end of the telescopic rod fixedly connected to a connector head, a spring head fitted on the outer wall of the telescopic rod, one end of the spring head fixedly connected to the outer wall of the connector head, a rolling assembly on the outer wall of the cross arm, and a support assembly on the lower surface of the fixed frame. This utility model provides a tactile obstacle avoidance robot that, through the cooperation of the fixed block, rotating shaft, connector head, telescopic rod, connector head, spring head, rotating shaft, connecting block, cross arm, limiting plate, and rolling assembly, can effectively monitor obstacles on both sides of the robot, effectively control the robot's trajectory, and achieve effective obstacle avoidance of side obstacles.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a tactile obstacle avoidance robot. Background Technology

[0002] Robots are programmable, multi-jointed mechanical devices capable of autonomously performing complex tasks. Obstacle-avoidance robots use sensors to detect obstacles and plan paths to avoid collisions. Existing obstacle avoidance technologies mostly rely on vision or radar, which are prone to failure in dark or foggy environments and have difficulty identifying transparent or tiny obstacles. Therefore, a haptic-based obstacle avoidance robot is needed.

[0003] Patent document CN217513880U discloses an obstacle avoidance robot comprising a chassis, a gimbal sensor, and a set of directional wheels. The chassis has several sets of directional wheels at its bottom and a gimbal sensor at its top. A control system is located inside the chassis, with its signal receiving line connected to the gimbal sensor. The control system controls the directional wheels. This utility model is an obstacle avoidance robot with a simple structure, convenient operation, and the ability to accurately determine whether there is a slope ahead, enabling the robot to move along the slope.

[0004] When using the above technology, the following technical problems were found in the existing technology: it can only judge obstacles in front of the robot in one direction, and the obstacle avoidance is relatively limited and not comprehensive enough. Therefore, a tactile obstacle avoidance robot is designed to provide another technical solution to the above technical problems. Utility Model Content

[0005] Therefore, it is necessary to provide a tactile obstacle avoidance robot to address the aforementioned technical problems, thereby solving the problem that the robot can only judge obstacles in front of it in one direction, resulting in limited and incomplete obstacle avoidance.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A tactile obstacle avoidance robot includes a fixed frame. A fixed block is fixedly connected to the inner wall of the fixed frame. A rotating shaft is fixedly connected inside the fixed block. A connector head is rotatably connected to the outer wall of the rotating shaft. One end of a telescopic rod is fixedly mounted on the outer wall of the connector head. The other end of the telescopic rod is fixedly connected to the connector head. A spring is sleeved on the outer wall of the telescopic rod. One end of the spring is fixedly connected to the outer wall of the connector head. The other end of the spring is fixedly connected to the outer wall of the connector head. A rotating shaft is rotatably connected inside the connector head. A connecting block is fixedly connected to the outer wall of the rotating shaft. A cross arm is fixedly connected to the outer wall of the connecting block. A limit plate is slidably connected to the outer wall of the cross arm. The lower surface of the limit plate is fixedly connected to the inside of the fixed frame. A rolling assembly is provided on the outer wall of the cross arm. A support assembly is provided on the lower surface of the fixed frame.

[0008] In a preferred embodiment of the tactile obstacle avoidance robot provided by this utility model, the rolling assembly includes a connecting shaft, the outer wall of which is fixedly connected to both sides of the outer wall of the cross arm, and rollers are rotatably connected to the outer wall of the connecting shaft.

[0009] In a preferred embodiment of the tactile obstacle avoidance robot provided by this utility model, the support assembly includes a support frame, the upper surface of which is fixedly connected to the lower surface of a fixed frame, and wheels are fixedly mounted on the lower surface of the support frame.

[0010] In a preferred embodiment of the tactile obstacle avoidance robot provided by this utility model, an electric push rod is fixedly connected inside the support frame, a connecting plate is fixedly connected to the output end of the electric push rod, and a fixing box is fixedly connected to the outer wall of the connecting plate.

[0011] In a preferred embodiment of the tactile obstacle avoidance robot provided by this utility model, a limiting post is fixedly connected to the outer wall of the fixed box, a limiting block is slidably connected to the outer wall of the limiting post, and the lower surface of the limiting block is fixedly connected to the upper surface of the fixed frame.

[0012] In a preferred embodiment of the tactile obstacle avoidance robot provided by this utility model, a camera is fixedly connected to the outer wall of the fixed box, a motor is fixedly connected to the outer wall of the fixed box, a worm gear is fixedly provided at the output end of the motor, the outer wall of the worm gear is rotatably connected to the inside of the fixed box, a worm wheel is meshed with the outer wall of the worm gear, and the outer wall of the worm wheel is rotatably connected to the inside of the fixed box.

[0013] In a preferred embodiment of the tactile obstacle avoidance robot provided by this utility model, the worm gear is internally threaded with a lead screw, the top end of the lead screw is fixedly connected to a top plate, the outer wall of the lead screw is sleeved with a second spring, the top end of the second spring is fixedly connected to the lower surface of the top plate, and the bottom end of the second spring is fixedly connected to the upper surface of the fixed box.

[0014] In a preferred embodiment of the tactile obstacle avoidance robot provided by this utility model, a baffle is fixedly connected to the outer wall of the lead screw, a sliding column is fixedly connected to the upper surface of the baffle, the outer wall of the sliding column is slidably connected to the inside of the fixed box, and a pressure plate is fixedly connected to the bottom end of the lead screw.

[0015] It is clear without a doubt that the technical solution described above in this application can solve the technical problem that this application aims to address.

[0016] At the same time, through the above technical solutions, this utility model has at least the following beneficial effects:

[0017] This utility model provides a tactile obstacle avoidance robot. Through the cooperation of a fixed block, a rotating shaft, a first connector, a telescopic rod, a second connector, a first spring, a rotating shaft, a connecting block, a cross arm, a limiting plate, and a rolling assembly set inside the fixed frame, the robot can monitor obstacles on both sides, thereby effectively controlling the robot's trajectory and achieving effective obstacle avoidance on the sides.

[0018] By starting the motor, the worm gear can be driven to rotate. Through the interaction of the worm wheel, lead screw, top plate, spring 2, baffle, sliding column and pressure plate, the pressure plate can be driven to detect the hardness of the ground in front of the robot, thereby effectively avoiding muddy routes and improving the robot's obstacle avoidance performance. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the internal structure of the cross arm of this utility model;

[0022] Figure 3 This is a schematic diagram of the internal structure of the roller of this utility model;

[0023] Figure 4 This is a schematic diagram of the internal structure of the telescopic rod of this utility model;

[0024] Figure 5 This is a schematic diagram of the internal structure of the limiting block of this utility model;

[0025] Figure 6 This is a schematic diagram of the internal structure of the pressure plate of this utility model.

[0026] In the diagram: 1. Fixing frame; 2. Fixing block; 3. Rotating shaft; 4. Connector 1; 5. Telescopic rod; 6. Connector 2; 7. Spring 1; 8. Rotating shaft; 9. Connecting block; 10. Cross arm; 11. Limiting plate; 12. Rolling assembly; 1201. Connecting shaft; 1202. Roller; 13. Support assembly; 1301. Support frame; 1302. Wheel; 14. Electric push rod; 15. Connecting plate; 16. Fixing box; 17. Limiting post; 18. Limiting block; 19. Motor; 20. Worm gear; 21. Worm wheel; 22. Lead screw; 23. Top plate; 24. Spring 2; 25. Baffle; 26. Sliding column; 27. Pressure plate; 28. Camera. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0028] To enable those skilled in the art to better understand the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0029] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0030] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0031] Reference Figure 1 - Figure 6A tactile obstacle avoidance robot includes a fixed frame 1. A fixed block 2 is fixedly connected to the inner wall of the fixed frame 1. A rotating shaft 3 is fixedly connected to the inside of the fixed block 2. A connector 4 is rotatably connected to the outer wall of the rotating shaft 3. One end of a telescopic rod 5 is fixedly installed on the outer wall of the connector 4. A connector 6 is fixedly connected to the other end of the telescopic rod 5. A spring 7 is sleeved on the outer wall of the telescopic rod 5. One end of the spring 7 is fixedly connected to the outer wall of the connector 4. The other end of the spring 7 is fixedly connected to the outer wall of the connector 6. A rotating shaft 8 is rotatably connected inside the connector 6. A connecting block 9 is fixedly connected to the outer wall of the rotating shaft 8. A horizontal arm 10 is fixedly connected to the outer wall of the connecting block 9. A limit plate 11 is slidably connected to the outer wall of the horizontal arm 10. The limit plate 11 limits the movement of the horizontal arm 10. The lower surface of the limit plate 11 is fixedly connected to the inside of the fixed frame 1. A rolling assembly 12 is provided on the outer wall of the horizontal arm 10. A support assembly 13 is provided on the lower surface of the fixed frame 1.

[0032] In this embodiment, a distance sensor is installed inside the fixed frame 1. The distance sensor can measure the sliding distance of the horizontal arm 10. Based on the distance measured by the distance sensor, the distance between the robot and the obstacles on the left and right sides can be determined so as to control the robot's trajectory.

[0033] The operation of the tactile obstacle avoidance robot provided by this utility model is as follows: When the robot encounters obstacles on both sides, the obstacles will exert pressure on the horizontal arm 10, which will then cause the horizontal arm 10 to slide on the inner wall of the limiting plate 11. When the horizontal arm 10 slides, it can drive the connecting block 9 on the outer wall of the horizontal arm 10 to move, thereby driving the rotating shaft 8 to move. At the same time, it can drive the connecting head 6 to rotate on the outer wall of the rotating shaft 8, and simultaneously drive the telescopic rod 5 to extend and retract, thereby driving the spring 7 to stretch. While the telescopic rod 5 extends and retracts, it can drive the connecting head 4 to rotate on the outer wall of the rotating shaft 3. The fixing block 2 and the fixing frame 1 play the role of supporting and fixing the device. According to the sliding of the horizontal arm 10, obstacles on the left and right sides of the robot can be effectively avoided, achieving the effect of accurately controlling the robot's driving path.

[0034] Reference Figure 3 The rolling assembly 12 includes a connecting shaft 1201, the outer wall of which is fixedly connected to both sides of the outer wall of the cross arm 10, and a roller 1202 is rotatably connected to the outer wall of the connecting shaft 1201.

[0035] The usage process of the tactile obstacle avoidance robot provided by this utility model is as follows: Rolling components 12 are provided on both the left and right sides of the horizontal arm 10. The rolling components 12 can slide on the surface of the obstacle to avoid the special shape of the obstacle from jamming the device and affecting its use. When the roller 1202 rolls on the surface of the obstacle, the roller 1202 can rotate on the outer wall of the connecting shaft 1201 to ensure that the horizontal arm 10 can slide smoothly.

[0036] Reference Figure 2 The support assembly 13 includes a support frame 1301, the upper surface of which is fixedly connected to the lower surface of the fixed frame 1, and a wheel 1302 is fixedly mounted on the lower surface of the support frame 1301.

[0037] The usage process of the tactile obstacle avoidance robot provided by this utility model is as follows: A support component 13 is provided on the lower surface of the fixed frame 1. The support component 13 is used to support the entire robot device. Wheels 1302 that can rotate in any direction are provided on the lower surface of the support frame 1301. The robot can rotate in any direction according to the instructions issued by the system to drive the robot to avoid obstacles.

[0038] Reference Figure 5 An electric push rod 14 is fixedly connected inside the support frame 1301. A connecting plate 15 is fixedly connected to the output end of the electric push rod 14. A fixed box 16 is fixedly connected to the outer wall of the connecting plate 15. A limit post 17 is fixedly connected to the outer wall of the fixed box 16. A limit block 18 is slidably connected to the outer wall of the limit post 17. The lower surface of the limit block 18 is fixedly connected to the upper surface of the fixed frame 1.

[0039] The operation of the tactile obstacle avoidance robot provided by this utility model is as follows: An electric push rod 14 is fixedly installed inside the support frame 1301. By activating the electric push rod 14, the connecting plate 15 can be moved, which in turn moves the fixed box 16. A limit post 17 is provided on the outer wall of the fixed box 16. When the fixed box 16 moves, the limit post 17 can slide inside the limit block 18. The limit block 18 plays a limiting role on the limit post 17, ensuring that the fixed box 16 moves forward stably so as to effectively explore the path in front of the robot.

[0040] Reference Figure 6 A camera 28 is fixedly connected to the outer wall of the fixed box 16. A motor 19 is fixedly connected to the outer wall of the fixed box 16. A worm gear 20 is fixedly installed at the output end of the motor 19. The outer wall of the worm gear 20 is rotatably connected to the inside of the fixed box 16. A worm wheel 21 is meshed with the outer wall of the worm gear 20. The outer wall of the worm wheel 21 is rotatably connected to the inside of the fixed box 16. A lead screw 22 is threadedly connected inside the worm wheel 21. A top plate 23 is fixedly connected to the top of the lead screw 22. A second spring 24 is sleeved on the outer wall of the lead screw 22. The top of the second spring 24 is fixedly connected to the lower surface of the top plate 23. The bottom of the second spring 24 is fixedly connected to the upper surface of the fixed box 16. A baffle 25 is fixedly connected to the outer wall of the lead screw 22. A sliding column 26 is fixedly connected to the upper surface of the baffle 25. The outer wall of the sliding column 26 is slidably connected to the inside of the fixed box 16. A pressure plate 27 is fixedly connected to the bottom of the lead screw 22.

[0041] In this embodiment, a pressure sensor is connected to the pressure plate 27. By detecting the pressure of the pressure plate 27 on the ground, the hardness of the ground can be determined, which can effectively avoid muddy sections and improve obstacle avoidance.

[0042] In this embodiment, each structure has its own service life. In actual manufacturing and application, the corresponding structure made of different materials can be replaced according to the needs of use.

[0043] In this embodiment, the motor 19 is a self-locking motor 19, which can drive the connected structure to rotate normally when it is powered on and working. When the motor 19 stops working, it can prevent the connected structure from rotating through its self-locking function.

[0044] The operation of the tactile obstacle avoidance robot provided by this utility model is as follows: When detecting the hardness of the ground in front of the robot, the motor 19 is started to drive the worm gear 20 to rotate. When the worm gear 20 rotates, it drives the worm wheel 21 to rotate. The fixed box 16 can limit the worm wheel 21 to ensure that the worm wheel 21 always rotates on the same horizontal plane. When the worm wheel 21 rotates, it can drive the lead screw 22 to move. When the lead screw 22 moves, it can drive the second spring 24 to compress. The second spring 24 plays a rebound role. When the lead screw 22 moves, it can drive the baffle 25 to move, which in turn drives the sliding column 26 to slide inside the fixed box 16. The sliding column 26 plays a limiting role to ensure that the lead screw 22 does not rotate with the worm wheel 21. When the lead screw 22 moves, it can drive the pressure plate 27 at the bottom to squeeze the ground to detect the hardness of the ground. In addition, a camera 28 is set in front of the fixed box 16. The camera 28 can detect obstacles directly in front of the robot.

[0045] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the present utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the present utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A haptically based obstacle avoiding robot comprising a stationary frame (1), characterized in that, A fixing block (2) is fixedly connected to the inner wall of the fixing frame (1). A rotating shaft (3) is fixedly connected inside the fixing block (2). A connector (4) is rotatably connected to the outer wall of the rotating shaft (3). One end of a telescopic rod (5) is fixedly installed on the outer wall of the connector (4). A connector (6) is fixedly connected to the other end of the telescopic rod (5). A spring (7) is sleeved on the outer wall of the telescopic rod (5). One end of the spring (7) is fixedly connected to the outer wall of the connector (4). The other end of the spring (7) is fixed... A rotating shaft (8) is rotatably connected to the outer wall of the connecting head two (6). A connecting block (9) is fixedly connected to the outer wall of the rotating shaft (8). A cross arm (10) is fixedly connected to the outer wall of the connecting block (9). A limit plate (11) is slidably connected to the outer wall of the cross arm (10). The lower surface of the limit plate (11) is fixedly connected to the inside of the fixing frame (1). A rolling component (12) is provided on the outer wall of the cross arm (10). A support component (13) is provided on the lower surface of the fixing frame (1).

2. The haptic-based obstacle avoidance robot according to claim 1, characterized in that, The rolling assembly (12) includes a connecting shaft (1201), the outer wall of which is fixedly connected to both sides of the outer wall of the cross arm (10), and a roller (1202) is rotatably connected to the outer wall of the connecting shaft (1201).

3. The tactile obstacle avoidance robot according to claim 1, characterized in that, The support assembly (13) includes a support frame (1301), the upper surface of which is fixedly connected to the lower surface of the fixed frame (1), and a wheel (1302) is fixedly mounted on the lower surface of the support frame (1301).

4. The tactile obstacle avoidance robot according to claim 3, characterized in that, An electric push rod (14) is fixedly connected inside the support frame (1301), and a connecting plate (15) is fixedly connected to the output end of the electric push rod (14). A fixing box (16) is fixedly connected to the outer wall of the connecting plate (15).

5. A tactile obstacle avoidance robot according to claim 4, characterized in that, The outer wall of the fixed box (16) is fixedly connected to a limiting post (17), and the outer wall of the limiting post (17) is slidably connected to a limiting block (18). The lower surface of the limiting block (18) is fixedly connected to the upper surface of the fixed frame (1).

6. A tactile obstacle avoidance robot according to claim 4, characterized in that, A camera (28) is fixedly connected to the outer wall of the fixed box (16), and a motor (19) is fixedly connected to the outer wall of the fixed box (16). A worm gear (20) is fixedly installed at the output end of the motor (19). The outer wall of the worm gear (20) is rotatably connected to the inside of the fixed box (16). A worm wheel (21) is meshed with the outer wall of the worm gear (20). The outer wall of the worm wheel (21) is rotatably connected to the inside of the fixed box (16).

7. A tactile obstacle avoidance robot according to claim 6, characterized in that, The worm gear (21) is internally threaded with a lead screw (22), and the top end of the lead screw (22) is fixedly connected to a top plate (23). A second spring (24) is sleeved on the outer wall of the lead screw (22). The top end of the second spring (24) is fixedly connected to the lower surface of the top plate (23), and the bottom end of the second spring (24) is fixedly connected to the upper surface of the fixed box (16).

8. A tactile obstacle avoidance robot according to claim 7, characterized in that, A baffle plate (25) is fixedly connected to the outer wall of the lead screw (22), and a sliding column (26) is fixedly connected to the upper surface of the baffle plate (25). The outer wall of the sliding column (26) is slidably connected to the inside of the fixed box (16), and a pressure plate (27) is fixedly connected to the bottom end of the lead screw (22).

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