Robot obstacle avoidance device

Abstract

Provide an obstacle avoidance device for a bait feeding robot. 【Solution means】A bait feeder is fixedly connected to the tip of the body float, a push blade is attached to the bottom end of the body float, a stirring mechanism for stirring foreign objects is attached to the outside of the body float, and a foreign object cutting mechanism is attached inside the body float, which is a bait feeding robot that reduces the influence of the underwater float on the feeding robot.

Description

Technical Field

[0001] The present invention relates to the technical field of robot obstacle avoidance, and specifically to a robot obstacle avoidance device.

Background Art

[0002] A robot obstacle avoidance device is a system that assists a robot in sensing and avoiding collision with obstacles when the robot is performing a task. It is an important component of a robot, especially very important in mobile robots such as autonomous driving robots, driverless vehicles, and service robots. The core purpose of the obstacle avoidance device is to detect obstacles in the surrounding environment and perform corresponding path adjustments so that the robot can safely and effectively complete the task. In the prior art, when some bait feeding robots put bait into the water, they may be collided with and obstructed by floating objects on the water surface. These floating objects may be waterweeds, garbage, bubbles or other foreign objects. The larger the waves on the water surface, the stronger the collision and obstruction of the floating objects on the water surface to the bait feeding robot. A large collision force may damage the bait feeding robot, reduce the service life of the bait feeding robot, and require frequent repairs and component replacements, increasing the maintenance and usage costs. Therefore, a robot obstacle avoidance device has been proposed.

[0003] The object of the present invention is to provide a robot obstacle avoidance device to solve the problem that the bait feeding robot proposed in the above background art is collided with and obstructed by floating objects in the water, damaged, the service life of the bait feeding robot is reduced, and frequent repairs and component replacements may be required, increasing the maintenance and usage costs. ​​​​​To achieve the above object, the present invention provides the following technical solutions. The obstacle avoidance device of the robot includes a body float, a fish bait feeder is fixedly connected to the tip of the body float, a push blade is attached to the bottom end of the body float, a stirring mechanism for stirring foreign objects is attached to the outside of the body float, and a foreign object cutting mechanism is attached to the inside of the body float. Among them, the dial mechanism includes three mounting rings fixedly connected to the outside of the body float. Fixed bars are rotatably connected to the outside of the three mounting rings, and a float ball is fixedly connected to one end of the three fixed bars. Among them, connecting rods are rotatably connected to the outside of the three floating balls. Mounting columns are rotatably connected to one end of the three connecting rods. A push spring ring is fitted to the outside of the three mounting columns. An ejector ring is fixedly connected to the tip of the three mounting columns. Three connecting columns are fixedly connected to the bottom end of the ejector ring. The outside of the three connecting columns is slidably connected to the inside of the body floating ring sheet. Among them, a driving member is fixedly connected to the bottom end of the three connecting columns, a driving motor is fixedly connected to the inside of the body float, and a driving member is fixedly connected to the driving end of the driving motor. . Among them, a shift control device is fixedly connected to the tip of the driving motor, and a shift control slide groove is opened inside the shift control device. Among them, a shift control rod is slidably connected to the inside of the shift control slide groove, a draw rod is fixedly connected to the outside of the shift control rod, and the tip of the draw rod is fixedly connected to the bottom end of the driving member. Here, the foreign object blocking mechanism includes an electric push rod installed inside the body float. Among them, connecting rods are rotatably connected to the outside of the three floating balls. Mounting columns are rotatably connected to one end of the three connecting rods. A push spring ring is fitted to the outside of the three mounting columns. An ejector ring is fixedly connected to the tip of the three mounting columns. Three connecting columns are fixedly connected to the bottom end of the ejector ring. The outside of the three connecting columns is slidably connected to the inside of the body floating ring sheet. Among them, a driving member is fixedly connected to the bottom end of the three connecting columns, a driving motor is fixedly connected to the inside of the body float, and a driving member is fixedly connected to the driving end of the driving motor. Among them, a shift control device is fixedly connected to the tip of the driving motor, and a shift control slide groove is opened inside the shift control device. Among them, a shift control rod is slidably connected to the inside of the shift control slide groove, a draw rod is fixedly connected to the outside of the shift control rod, and the tip of the draw rod is fixedly connected to the bottom end of the driving member. Here, the foreign object blocking mechanism includes an electric push rod installed inside the body float. Among them, a driving member is fixedly connected to the bottom end of the three connecting columns, a driving motor is fixedly connected to the inside of the body float, and a driving member is fixedly connected to the driving end of the driving motor. Among them, a shift control device is fixedly connected to the tip of the driving motor, and a shift control slide groove is opened inside the shift control device. Among them, a shift control rod is slidably connected to the inside of the shift control slide groove, a draw rod is fixedly connected to the outside of the shift control rod, and the tip of the draw rod is fixedly connected to the bottom end of the driving member. Here, the foreign object blocking mechanism includes an electric push rod installed inside the body float. Among them, a shift control rod is slidably connected to the inside of the shift control slide groove, a draw rod is fixedly connected to the outside of the shift control rod, and the tip of the draw rod is fixedly connected to the bottom end of the driving member. Here, the foreign object blocking mechanism includes an electric push rod installed inside the body float. Among them, a driving member is fixedly connected to the bottom end of the three connecting columns, a driving motor is fixedly connected to the inside of the body float, and a driving member is fixedly connected to the driving end of the driving motor. Here, the foreign object blocking mechanism includes an electric push rod installed inside the body float. The bottom end of the electric push rod is fixedly connected to the foreign object cutter, and the outside of the foreign object cutter is mechanically The control switch is fixedly connected to the inside tip of the aircraft float. It has been done. Two guide fins are attached to the bottom end of the aircraft float. A gripping ring is fixedly connected to the outside. The present invention has at least the following beneficial effects: The drive motor adjusts the output power based on the size of the water surface splash and the force of the foreign object collision. This allows the rotation speed of the drive member to be adjusted, and the bait-throwing robot can move according to the water surface conditions by water waves. It can push aside foreign objects and prevent them from directly colliding with the aircraft float. This reduces the impact of floating objects in the water on the bait-casting robot, and prevents floating objects from reaching the robot. Reduces the impact force, improves the service life of the fish bait casting robot, and makes maintenance and use easier. Costs were reduced. [Brief explanation of the drawings]

[0004]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

[0005] In the figure: 1, body float; 2, fish bait feeder; 3, push blade; 4, stirring mechanism; 401, mounting ring; 402, fixed bar; 403, floating ball; 404, connecting rod; 4 05, mounting post; 406, push spring; 407, ejector ring; 408, connection post; 409, drive member; 410, drive motor; 411, dial plate; 412, shift control device; 413, shift control slide groove; 414, shift control rod; 415, tension rod; 5, foreign object cutting mechanism; 501, electric push rod; 502, foreign object cutter; 50 3, control switch; 6, guide fin; 7, gripping ring

Modes for Carrying Out the Invention

[0006] Hereinafter, in connection with the drawings in the embodiments of the present invention, the technical aspects in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention and not all embodiments. Based on the examples in the present invention, all other examples obtained by those skilled in the art without creative labor belong to the protection scope of the present invention. Referring to FIGS. 1 to 8, the present invention provides an obstacle avoidance device for a robot, including a body float 1 which itself has buoyancy and is also a basis for carrying other structures. A fish bait feeder 2 is fixedly connected to the tip of the body float 1. Fish bait is placed inside the fish bait feeder 2, and the fish bait feeder 2 can put the internal fish bait into the water. A push blade 3 is attached to the bottom end of the body float 1, and the push blade 3 can provide power for the body float 1 to move on the water surface. A stirring mechanism 4 for moving foreign objects is attached to the outside of the body float 1, and a foreign object cutting mechanism 5 is provided inside the body float 1. ​ The stirring mechanism 4 includes three mounting rings 401 fixedly connected to the outside of the body float 1. The mounting ring 401 is designed to facilitate the mounting of the fixing bar 402. A fixing bar 402 is rotatably connected to the outside of the three mounting rings 401. The fixing bar 402 is a component that connects the floating ball 40 3 and the mounting ring 401. At one end of the three fixing bars 402, a floating ball 40 3 is fixedly connected. The floating ball 403 itself has relatively good buoyancy. When the floating ball 403 is subjected to the impact of waves and the collision of floating objects, the floating ball 403 moves the mounting post 405 upward through the connecting rod 404. A connecting rod 404 is rotatably connected to the outside of each of the three floating balls 403. The design of the connecting rod 404 is a component for connecting the mounting post 405 and the floating ball 403. At one end of the three connecting rods 404, a mounting post 405 is rotatably connected. The design of the mounting post 405 is to pull the ejector ring 407 when pulled by the connecting rod 404 and the floating ball 403. A push spring 406 is fitted outside the three mounting posts 405. The design of the push spring 406 is to push the mounting post 405, drive the ejector ring 407 on the mounting post 405, and fit the ejector ring 407 exactly to the tip portion of the body floating sheet 1. At the tips of the three mounting posts 405, an ejector ring 407 designed to drive the drive member 409 through the connecting column 408 when driven by the mounting post 405 is fixedly connected. At the lower end of the ejector ring 407, three connecting columns 408 are fixedly connected. The connecting column 408 is a member for connecting the ejector ring 407 and the drive member 409. The outside of the three connecting columns 408 is the body float 1. It is slidably connected inside 1. A driving member 409 is fixedly connected to the bottom ends of the three connecting columns 408. The design of the driving member 409 is such that when driven by the connecting column 408 and the ejector ring 407, it drives the driving rod 415. A driving motor 410 is fixedly connected inside the body float 1. The design of the driving motor 410 is to rotate the driving member 411, thereby scraping away foreign objects close to the driving member 411. A driving member 411 is fixedly connected to the driving end of the driving motor 410. A shift control device 412 is fixedly connected to the tip of the driving motor 410. The shift control device 412 itself docks with the driving motor 410 and can control the output power of the driving motor 410. A shift control slide groove 413 is opened inside the shift control device 412. The shift control slide groove 413 is used to facilitate the sliding of the shift control device 412. A shift control rod 414 is connected to the internal slide of the shift control slide groove 413. When the shift control rod 414 is pulled from low to high, the shift control device 412 controls the output of the driving motor 410 and increases the output of the driving motor 410. When the shift control rod 414 is at the lowermost end, the driving motor 410 stops operating. A driving rod 415 is fixedly connected to the outside of the shift control rod 414. The driving rod 415 is designed to connect the driving member 409 and the shift control rod 414. The tip of the driving rod 415 is fixedly connected to the lower end of the driving member 409. It can adjust the height position in the shift position slide groove 413 via the shift control rod 414 and adjust the output of the driving motor 410. At the bottom end of the fuselage float 1, two guide fins 6 are attached. The two guide fins 6 can cooperate with each other to adjust the moving direction of the fuselage float 1. A gripping ring 7 is fixedly connected to the outside of the fuselage float 1. The gripping ring 7 is designed to lift the entire fuselage float 1 out of the water for easy maintenance. When it is necessary to put bait into the water using a bait feeding robot, the bait feeding machine 2 is filled with bait and then the fuselage float 1 is activated. The fuselage float 1 can move on the water surface by controlling the push blade 3 and the guide fins 6. The bait feeding machine 2 puts bait on the water surface during this process. When large water waves rise on the water surface, foreign objects in the water float around. If a floating object with a large mass and a deep draft line collides with the fuselage floating seat 1, it will damage the fuselage float 1. However, the water wave can move and lift the floating ball 403. The lifted floating ball 403 moves the connecting rod 404, the mounting post 405 and the jack ring 407 through it, thereby moving the connecting column 408 and the driving member 409. The driven driving member 409 moves the traction rod 415, thereby moving the shift control rod 414. The greater the force of the floating ball 403 colliding with the water wave and the outside during this process, the more the shift control rod 414 controls the shift control device 412, thereby controlling the output power of the driving motor 410. The driving member 411 rotates at a high speed, and the driving member 412 with a high rotation speed is controlled to more timely sweep away foreign objects caused by water waves or sweep away the fuselage float 1 itself, and avoid direct collision between foreign objects with a large draft line and a large mass and the outside of the fuselage float 1. During this process, part of it is caused by large waves ​​​​​​​​​​​ The aquatic plants that float quickly and have small bodies are easy to spot. Avoid winding it around the push blade 3, which will affect the push blade 3. The large waves impact the floating ball 403, thereby affecting the lift stroke of the drive member 409. The highest driving member 409 can push out the control switch 503, Therefore, the electric push rod 501 is activated, and the electric push rod 501 is driven to cut the foreign matter 5 By driving 02, the flow of downward pressure and recovery is completed, and the aquatic plants are partially cut and pushed. The influence on the blade 3 is reduced, and the driving motor 410 is controlled by the size of the water surface wave splash and the amount of foreign matter. The impact force adjusts the output power, which can remove foreign objects caused by water waves. In this way, the rotation speed of the dial plate 411 can be adjusted, or the foreign matter can be directly guided into the aircraft flow. By preventing collisions with the robot, the impact of floating objects in the water on the robot is reduced. , reduce the impact force that floating objects in the water give to the fish feed injection robot, and extend the service life of the fish feed injection robot Improved performance and reduced maintenance and usage costs.

[0007] Example 2 In this second embodiment, the other configuration remains the same, but the difference from the first embodiment is that the foreign object cutting mechanism 5 is The electric push rod 501 is attached to the inside of the main float 1. The design of the head 501 is such that the foreign object cutter 502 moves up and down, and the foreign object cutter 3 moves up and down to catch the floating water. The foreign object cutter 502 cuts the aquatic plants pushed out by the big waves so that they do not get tangled in the grass. A foreign object cutter 502 is fixedly connected to the bottom end of the brush rod 501, and the foreign object cutter 502 itself The body is driven by an electric push rod 501, and most of it is inside the aircraft float 1. When it is taken out by the electric push rod 501, the foreign object cutter 502 that can cut the aquatic plants taken out by the electric push rod 501, the outside of the foreign object cutter 502 is slidably connected to the inside of the body float 1, and the control switch 503 is fixedly connected to the inner tip of the body float 1. The design of the control switch 503 is such that under the pressing of the driving member 409, the foreign object cutter 502 is opened. When the water wave is large enough, the effect of the driving member 411 scraping foreign objects is affected, and still a small amount of aquatic plants avoid the driving member 411, and the driving member 409 that has risen to the highest point touches the control switch 503, causing the control switch 503 to turn the electric push rod 501 on and off. The electric push rod 501 moves the foreign object cutter 502 to complete the operations of pressing down and retracting, and cutting the aquatic plants that wind the push blade 3 around the foreign object cutter 502. It should be noted that in this specification, relational terms such as first and second do not necessarily require or imply that such an actual relationship or order exists between these entities or operations. They are only used to distinguish one entity or operation from another entity or operation. Further, the terms "comprise", "comprising", or any other variation thereof are intended to include non-exclusive inclusion, so that a process, method, article, or apparatus that comprises a series of elements includes not only those elements but also other elements not explicitly listed, or may include elements specific to such a process, method, article, or apparatus. Although embodiments of the present invention have been shown and described, without departing from the principle and spirit of the present invention, the scope of the present invention is defined by the appended claims and their equivalents, and various modifications of the present invention are possible. The embodiments of the present invention are shown and described, but various changes of the present invention can be made without departing from the principle and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents. It is intended to include non-exclusive inclusion so that a process, method, article, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or may include elements specific to such a process, method, article, or apparatus. Although embodiments of the present invention have been shown and described, without departing from the principle and spirit of the present invention, the scope of the present invention is defined by the appended claims and their equivalents, and various modifications of the present invention are possible. It will be understood by those skilled in the art that corrections, replacements, and modifications can be made.

Claims

1. An obstacle avoidance device for a robot, including a body float (1), a fish bait feeder (2) is fixedly connected to the tip of the body float (1), a push blade (3) is attached to the bottom end of the body float (1), a scraping mechanism (4) for scraping foreign objects is attached to the outside of the body float (1), and a foreign object cutting mechanism (5) is attached inside the body float (1). An obstacle avoidance device for a robot.

2. The obstacle avoidance device for a robot according to Claim 1, wherein the scraping mechanism (4) comprises three mounting rings (401) fixedly connected to the outside of the body float 1, fixed bars (402) are pivotally connected to the outside of the three mounting rings (401), one ends of the three fixed bars (402) are all fixedly connected to floating balls (403). An obstacle avoidance device for a robot. 、

3. The obstacle avoidance device for a robot according to Claim 2, the outside of the three floating balls (403) are all pivotally connected to connecting rods (404), one ends of the three connecting rods (404) are all pivotally connected to mounting posts (405), push springs (406) are interposed outside the three mounting posts (405), ejector rings (407) are fixedly connected to the tips of the three mounting posts (405), three connecting columns (408) are fixedly connected to the lower end of the ejector ring (407), the outside of the three connecting columns (408) is slidably connected inside the body float (1). An obstacle avoidance device for a robot.

4. The obstacle avoidance device for a robot according to Claim 3, a driving member (409) is fixedly connected to the bottom end of the three connecting columns (408), a driving motor (410) is fixedly connected inside the body float (1), a dial plate (411) is fixedly connected to the driving end of the driving motor (410). An obstacle avoidance device for a robot. 、

5. The obstacle avoidance device for a robot according to Claim 4, a shift control device (412) is fixedly connected to the tip of the driving motor (410), a shift control slide groove (413) is opened inside the shift control device (412). An obstacle avoidance device for a robot.

6. The obstacle avoidance device for a robot according to Claim 5, a shift control rod (414) is slidably connected inside the shift control slide groove (413), a tension rod (415) is fixedly connected to the outside of the shift control rod (414), An obstacle avoidance device for a robot. 、 ​ The tip of the tension rod (415) is fixedly connected to the lower end of the drive member (409). Obstacle avoidance device for a robot.

7. The obstacle avoidance device for a robot according to claim 1, The foreign object cutting mechanism (5) includes an electric push rod (5 01) installed inside the body float 1, A foreign object cutter (502) is fixedly connected to the bottom end of the electric push rod (501), The outside of the foreign object cutter (502) is slidably connected inside the body float (1), A control switch (503) is fixedly connected to the inner tip of the body float (1). Obstacle avoidance device for a robot.

8. The obstacle avoidance device for a robot according to claim 1, Two guide fins (6) are attached to the bottom end of the body float (1), A gripping ring (7) is fixedly connected to the outside of the body float (1). Obstacle avoidance device for a robot.

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