A robot automatic obstacle avoidance chassis structure

Abstract

The utility model discloses a kind of robot automatic obstacle avoidance chassis structure including base, further include: sensing camera, fixedly connected to the top end outer wall of base;Roller group, fixedly connected to the bottom end inner wall of base;Driving mechanism, installed in the bottom end inner wall of base;Multiple poking mechanism, with driving mechanism fixed connection;Multiple cleaning mechanism, installed in the bottom of each poking mechanism;The driving mechanism includes: annular groove, around setting in the circumference inner wall of base, and rotatingly connected with ring in annular groove, the circumference outer wall of ring is equidistantly fixedly connected with multiple pawls;Gear, movably engaged in the inner wall of pawl, and the bottom end of gear is fixedly connected with motor;Bearing seat two, fixedly connected to the side inner wall of base, and motor is fixed to the side outer wall of bearing seat two, the robot automatic obstacle avoidance chassis structure disclosed in the utility model has the effect that the misjudgment of sensor to small garbage is avoided, further avoid system disorder, the situation of route planning failure appears.

Description

Technical Field

[0001] This utility model relates to the field of obstacle avoidance robots, and in particular to a chassis structure for automatic obstacle avoidance of robots. Background Technology

[0002] An obstacle avoidance robot is an intelligent mobile device that can sense obstacles in its environment through sensors and automatically adjust its path to avoid collisions.

[0003] Because obstacle avoidance robots encounter not only immovable obstacles on the ground, but also small pieces of litter such as plastic bags, the robot may frequently recalculate its path when sensors misidentify harmless small litter as obstacles. This results in a meandering and circuitous route. Over time, this can lead to system malfunctions, route planning errors, and a significant reduction in its efficiency. Utility Model Content

[0004] This utility model discloses an automatic obstacle avoidance chassis structure for robots, aiming to solve the technical problem that when sensors misjudge harmless small pieces of trash as obstacles, the robot frequently recalculates its path, resulting in a meandering and circuitous route. Over time, this leads to system disorder, route planning errors, and a significant reduction in its working efficiency.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A robot automatic obstacle avoidance chassis structure includes a base, and further includes: a sensing camera fixedly connected to the top outer wall of the base; a roller assembly fixedly connected to the bottom inner wall of the base; a drive mechanism installed on the bottom inner wall of the base; multiple actuating mechanisms fixedly connected to the drive mechanism; and multiple cleaning mechanisms installed at the bottom of each actuating mechanism. The driving mechanism includes: an annular groove, which is arranged around the inner circumference of the base, and a rotating ring is rotatably connected in the annular groove. Multiple teeth are fixedly connected at equal intervals on the outer circumference of the rotating ring; a gear, which is movably meshed with the inner wall of the teeth, and a motor is fixedly connected to the bottom end of the gear; and a bearing seat two, which is fixedly connected to the inner wall of one side of the base, and the motor is fixed to the outer wall of one side of the bearing seat two.

[0006] By incorporating a drive mechanism, in addition to using a sensor camera to detect foreign objects along the route, a rotating mechanism drives multiple actuating mechanisms to move along the outer perimeter of the base. If the foreign object in the path is a small piece of trash or other movable item, it will be moved to one side by the rotating actuating mechanism, revealing space in front of the route. This structure avoids the sensor misjudging small pieces of trash, further preventing system malfunctions and route planning errors, thus ensuring work efficiency.

[0007] In a preferred embodiment, the cleaning mechanism includes: a second metal support rod, fixedly connected to the bottom outer wall of the hinge shaft; and an L-shaped brush holder, one side of which has a slot through which a first metal support rod is located. The cleaning mechanism further includes: a second slot, which is located on the inner wall of one side of the L-shaped brush holder, and a second metal support rod is located inside the second slot. The opening directions of the first and second slots are opposite to the rotation direction of the drive mechanism; a magnetic sticker, which is fixedly attached to the inner walls of the first and second slots; and a brush, which is fixedly connected to the outer wall of the bottom end of the L-shaped brush holder.

[0008] With its cleaning mechanism, this structure is easy to install and quick to disassemble. Based on the brush design, it can also be installed to adhere to the ground when there is too much small debris, thus achieving both pushing and cleaning.

[0009] In a preferred embodiment, the actuating mechanism includes: a first metal support rod, fixedly connected to the outer circumferential wall of the rotating ring; a first push plate, fixedly connected to one end of the first metal support rod; and a second push plate, movably connected to one side of the first push plate. The actuating mechanism further includes: a hinge shaft, fixedly connected to one side of the second push plate, and the second push plate is hinged to the first push plate via the hinge shaft; and two bearing seats, respectively fixedly connected to the top outer walls of the first push plate and the second push plate. The actuating mechanism further includes: an L-shaped screw, rotatably connected to a bearing seat located at the top of the push plate; and an L-shaped support rod, rotatably connected to a bearing seat located at the top of the push plate. The actuating mechanism further includes: a snap-fit ​​connector, fixedly connected to one end of the L-shaped support rod; and a threaded sleeve, movably snapped onto the snap-fit ​​connector and movably engaged with the outside of the L-shaped screw.

[0010] The device is equipped with a toggle mechanism, which mainly uses a large-area toggle plate consisting of a first toggle plate and a second toggle plate to move the waste. This mechanism is suitable for environments with large spaces. If the environment is small, the first and second toggle plates can be bent at the hinge position to reduce the toggle area and avoid frequent collisions caused by movement in small spaces, thus having higher adaptability.

[0011] As described above, an automatic obstacle avoidance chassis structure for robots includes a base, and further includes: a sensor camera fixedly connected to the top outer wall of the base; a roller assembly fixedly connected to the bottom inner wall of the base; a drive mechanism installed on the bottom inner wall of the base; multiple actuating mechanisms fixedly connected to the drive mechanism; and multiple cleaning mechanisms installed at the bottom of each actuating mechanism. The drive mechanism includes: an annular groove surrounding the inner circumference of the base, with a rotating ring rotatably connected within the annular groove, and multiple teeth fixedly connected at equal intervals on the outer circumference of the rotating ring; a gear movably meshing with the inner wall of the teeth, with a motor fixedly connected to the bottom of the gear; and a second bearing seat fixedly connected to one side inner wall of the base, with the motor fixed to one side outer wall of the second bearing seat. The automatic obstacle avoidance chassis structure for robots provided by this utility model has the technical effect of avoiding misjudgment of small debris by sensors, further preventing system malfunctions and route planning errors. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of a robot automatic obstacle avoidance chassis proposed in this utility model.

[0013] Figure 2 This is a bottom disassembly diagram of a robot automatic obstacle avoidance chassis structure proposed in this utility model.

[0014] Figure 3 This is a schematic diagram showing the disassembled actuation mechanism of a robot automatic obstacle avoidance chassis structure proposed in this utility model.

[0015] Figure 4 This is a schematic diagram showing the disassembled cleaning mechanism of a robot automatic obstacle avoidance chassis structure proposed in this utility model.

[0016] In the attached diagram: 1. Base; 2. Sensor camera; 3. Actuating mechanism; 4. Cleaning mechanism; 5. Drive mechanism; 6. Roller assembly; 301. Metal support rod one; 302. Push plate one; 303. Hinge shaft; 304. Push plate two; 305. Bearing seat one; 306. L-shaped support rod; 307. Snap connector; 308. Threaded sleeve; 309. L-shaped screw; 401. L-shaped brush holder; 402. Magnetic sticker; 403. Snap slot one; 404. Brush; 405. Snap slot two; 406. Metal support rod two; 501. Annular groove; 502. Rotary ring; 503. Snap tooth; 504. Motor; 505. Gear; 506. Bearing seat two. Detailed Implementation

[0017] 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.

[0018] The automatic obstacle avoidance chassis structure for robots disclosed in this utility model is mainly applied to scenarios where obstacle avoidance robots are used.

[0019] Reference Figures 1-2 A robot automatic obstacle avoidance chassis structure includes a base 1, and further includes: a sensor camera 2, fixedly connected to the top outer wall of the base 1; a roller assembly 6, fixedly connected to the bottom inner wall of the base 1; a drive mechanism 5, installed on the bottom inner wall of the base 1; multiple actuating mechanisms 3, fixedly connected to the drive mechanism 5; and multiple cleaning mechanisms 4, installed at the bottom of each actuating mechanism 3. The drive mechanism 5 includes: an annular groove 501, which is arranged around the inner circumference of the base 1, and a rotating ring 502 is rotatably connected inside the annular groove 501. Multiple locking teeth 503 are fixedly connected at equal intervals to the outer circumference of the rotating ring 502; a gear 505, which movably meshes with the inner wall of the locking teeth 503, and a motor 504 is fixedly connected to the bottom end of the gear 505; and a bearing seat 506, which is fixedly connected to one side of the inner wall of the base 1, and the motor 504 is fixed to one side of the outer wall of the bearing seat 506. Besides using the sensor camera 2 to detect foreign objects in the path, before that, the motor 504 drives the gear 505 to rotate, and the gear 503 meshes with the locking teeth 503. The engagement of 3 drives the rotating ring 502 to rotate, thereby driving multiple actuating mechanisms 3 to move along the outer periphery of the base 1. During the movement, the multiple actuating mechanisms 3 act on foreign objects within the visible range. If the foreign object is a small piece of trash or other movable item, it will be moved to one side by the rotating actuating mechanism 3, exposing the space in front of the route. After the sensor camera 2 detects that there are no foreign objects, it moves forward along the original path. Under the action of this structure, the sensor avoids misjudging small trash and avoids the need to frequently recalculate the path due to the obstruction of small trash, which would cause the route to be detour and cause system disorder and route planning errors.

[0020] Reference Figure 3 In a preferred embodiment, the actuating mechanism 3 includes: a metal support rod 301, which is fixedly connected to the outer circumferential wall of the rotating ring 502; a push plate 302, which is fixedly connected to one end of the metal support rod 301; and a push plate 304, which is movably connected to one side of the push plate 302.

[0021] Reference Figure 3 In a preferred embodiment, the actuating mechanism 3 further includes: a hinge shaft 303, which is fixedly connected to one side of the second push plate 304, and the second push plate 304 is hinged to the first push plate 302 through the hinge shaft 303; and two bearing seats 305, which are fixedly connected to the top outer walls of the first push plate 302 and the second push plate 304, respectively.

[0022] Reference Figure 3In a preferred embodiment, the actuating mechanism 3 further includes: an L-shaped screw 309, rotatably connected to a bearing seat 305 located at the top of the push plate 302; and an L-shaped support rod 306, rotatably connected to a bearing seat 305 located at the top of the push plate 304.

[0023] Reference Figure 3 In a preferred embodiment, the actuating mechanism 3 further includes: a snap-fit ​​connector 307, fixedly connected to one end of the L-shaped support rod 306; and a threaded sleeve 308, movably snapped onto the snap-fit ​​connector 307 and movably engaged with the outside of the L-shaped screw 309. The actuating mechanism 3 mainly uses a large-area push plate composed of push plate one 302 and push plate two 304 to push the garbage. If the environmental space is large, push plate one 302 and push plate two 304 can be aligned in a straight line to maximize the pushing area. If the environmental space is small, the threaded sleeve 308 can be rotated to shorten its total length with the L-shaped screw 309, causing push plate one 302 and push plate two 304 to bend from the hinge position, shortening their total length and reducing the pushing area. This avoids frequent collisions caused by movement in small spaces and provides higher adaptability.

[0024] Reference Figure 4 In a preferred embodiment, the cleaning mechanism 4 includes: a second metal support rod 406, which is fixedly connected to the bottom outer wall of the hinge shaft 303; and an L-shaped brush holder 401, on one side of which an inner wall is provided with a slot 403, and the first metal support rod 301 is located in the slot 403.

[0025] Reference Figure 4 In a preferred embodiment, the cleaning mechanism 4 further includes: a second slot 405, disposed on one inner wall of the L-shaped brush holder 401, with a second metal support rod 406 located within the second slot 405; the opening directions of the first slot 403 and the second slot 405 being opposite to the rotation direction of the drive mechanism 5; a magnet 402, fixedly attached to the inner walls of the first slot 403 and the second slot 405; and a brush 404, fixedly connected to the bottom outer wall of the L-shaped brush holder 401, thus connecting the first slot 403 and the second slot 405 of the L-shaped brush holder 401. Metal support rod 301 and metal support rod 406 are respectively inserted into position 405 and magnetically attached by magnet 402, thus completing the installation of brush 404 under push plate 302. This structure is simple to install and quick to disassemble. Since the opening direction is opposite to the rotation direction of drive mechanism 5, it ensures that L-shaped brush holder 401 will not fall off during rotation. Based on the design of brush 404, it can also be installed to adhere to the ground when there is too much small debris on the ground, so as to achieve the effect of pushing away and cleaning at the same time.

[0026] Working principle: In addition to using sensor camera 2 to detect foreign objects in the route, before that, motor 504 drives gear 505 to rotate, and through meshing with cleat 503, drives rotating ring 502 to rotate, thereby driving multiple actuating mechanisms 3 to move along the outer periphery of base 1. During the movement, multiple actuating mechanisms 3 act on foreign objects within the visible range. If the foreign object is a small piece of trash or other movable item, it will be moved to one side by the rotating actuating mechanism 3, exposing space in front of the route. After sensor camera 2 detects no foreign objects, it moves along the original path. Under the action of this structure, the sensor avoids misjudging small trash, and avoids the need to frequently recalculate the path due to the obstruction of small trash, which would cause the route to be detour and tortuous, resulting in system disorder and route planning errors.

[0027] The above description is merely a preferred embodiment of this utility model, but the protection scope of this utility model is not limited thereto. The substitutions may be replacements of some structures, devices, or method steps, or they may be complete technical solutions. Equivalent substitutions or modifications made based on the technical solution and inventive concept of this utility model should all be covered within the protection scope of this utility model.

Claims

1. A robot automatic obstacle avoidance chassis structure, comprising a base (1), characterized in that, Also includes: The sensor camera (2) is fixedly connected to the top outer wall of the base (1); The roller assembly (6) is fixedly connected to the inner wall of the bottom end of the base (1); The drive mechanism (5) is installed on the inner wall of the bottom end of the base (1); Multiple actuating mechanisms (3) are fixedly connected to the driving mechanism (5); Multiple cleaning mechanisms (4) are installed at the bottom of each actuating mechanism (3); The drive mechanism (5) includes: An annular groove (501) is arranged around the inner circumference of the base (1), and a rotating ring (502) is rotatably connected inside the annular groove (501). Multiple locking teeth (503) are fixedly connected at equal intervals on the outer circumference of the rotating ring (502). The gear (505) is movably meshed with the inner wall of the toothed tooth (503), and the bottom end of the gear (505) is fixedly connected to the motor (504). Bearing housing 2 (506) is fixedly connected to the inner wall of one side of the base (1), and the motor (504) is fixed to the outer wall of one side of the bearing housing 2 (506).

2. The robot automatic obstacle avoidance chassis structure according to claim 1, characterized in that, The actuating mechanism (3) includes: Metal support rod 1 (301) is fixedly connected to the outer circumferential wall of the swivel ring (502); Push plate 1 (302) is fixedly connected to one end of metal support rod 1 (301); Push plate two (304) is movably connected to one side of push plate one (302).

3. The robot automatic obstacle avoidance chassis structure according to claim 2, characterized in that, The actuating mechanism (3) further includes: The hinge shaft (303) is fixedly connected to one side of the push plate two (304), and the push plate two (304) is hinged to the push plate one (302) through the hinge shaft (303); Two bearing seats (305) are fixedly connected to the top outer walls of push plate 1 (302) and push plate 2 (304), respectively.

4. The robot automatic obstacle avoidance chassis structure according to claim 3, characterized in that, The actuating mechanism (3) further includes: The L-shaped screw (309) is rotatably connected to the bearing seat (305) located at the top of the push plate (302); The L-shaped support rod (306) is rotatably connected to the bearing seat (305) located at the top of the push plate (304).

5. The robot automatic obstacle avoidance chassis structure according to claim 4, characterized in that, The actuating mechanism (3) further includes: The snap-fit ​​connector (307) is fixedly connected to one end of the L-shaped support rod (306); The threaded sleeve (308) is movably snapped onto the outside of the clamping head (307) and movably engaged with the outside of the L-shaped screw (309).

6. The robot automatic obstacle avoidance chassis structure according to claim 3, characterized in that, The cleaning mechanism (4) includes: Metal support rod 2 (406) is fixedly connected to the bottom outer wall of hinge shaft (303); The L-shaped brush holder (401) has a slot (403) through which a metal support rod (301) is located in the slot (403).

7. The robot automatic obstacle avoidance chassis structure according to claim 6, characterized in that, The cleaning mechanism (4) also includes: The second slot (405) is located on the inner wall of one side of the L-shaped brush holder (401), and the second metal support rod (406) is located in the second slot (405). The opening directions of the first slot (403) and the second slot (405) are opposite to the rotation direction of the drive mechanism (5). The magnetic sticker (402) is fixedly attached to the inner wall of the card slot 1 (403) and the card slot 2 (405); The brush (404) is fixedly connected to the bottom outer wall of the L-shaped brush holder (401).

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