1. The utility model provides an utilize touching pole to realize avoiding unexpected collision's intelligent robot chassis equipment which characterized in that: including robot chassis equipment (1), robot chassis equipment (1) is including maincenter positioning frame (3), the inboard central authorities swing joint of maincenter positioning frame (3) has movable runner (302), the equal swing joint in the left and right sides of activity runner (302) has linkage bent lever frame (5), the equal swing joint in the left and right sides of linkage bent lever frame (5) has curved bar (501), the outside swing joint of curved bar (501) has frame (4) of breathing in, the equal swing joint in both sides has touching pole frame (2) about activity runner (302).

2. The intelligent robot chassis device for avoiding accidental collision by using the touch rod as claimed in claim 1, wherein: the ventilation frame (4) comprises a ventilation pipe (402), rubber spring rods (401) are movably connected to the upper side and the lower side of the ventilation pipe (402), load springs (405) are movably connected to the outer sides of the rubber spring rods (401), a telescopic pushing frame (404) is movably connected to the center of the outer side of each rubber spring rod (401), and an electromagnetic rod (403) is movably connected to one side, far away from the ventilation pipe (402), of the telescopic pushing frame (404).

3. The intelligent robot chassis device for avoiding accidental collision by using the touch rod as claimed in claim 1, wherein: the pivot positioning frame (3) comprises a movable rotating wheel (302), the inner side of the movable rotating wheel (302) is movably connected with a control electric pole (303), the outer side of the control electric pole (303) is movably connected with a pulley lever (304), and the outer side of the movable rotating wheel (302) is movably connected with a limiting rod (301).

4. The intelligent robot chassis device for avoiding accidental collision by using the touch rod as claimed in claim 1, wherein: the touch rod frame (2) comprises a touch rod (201), the bottom end of the touch rod (201) is movably connected with a torque spring (202), the bottom end of the torque spring (202) is movably connected with a telescopic sliding rod (203), and the bottom end of the telescopic sliding rod (203) is movably connected with a movable clamp (204).

5. The intelligent robot chassis device for avoiding accidental collision by using the touch rod as claimed in claim 1, wherein: linkage bent lever frame (5) are including bent lever (501), and the bottom swing joint of bent lever (501) has spacing (504), and the outside swing joint of bent lever (501) has inflatable spring pole (503), and the outside swing joint of inflatable spring pole (503) has the tie rod (502).

6. The intelligent robot chassis device for avoiding accidental collision by using the touch rod as claimed in claim 1, wherein: the upper side and the lower side of the center positioning frame (3) are both movably connected with a touch rod frame (2), the left side and the right side of the center positioning frame (3) are both movably connected with a linkage crank rod frame (5), and the outer side of the linkage crank rod frame (5) is movably connected with an air exchange frame (4).

Background

Along with the needs of social development and the expansion of the application field of robots, people have higher and higher requirements on intelligent robots, for example, industrial robots can accelerate the overall efficiency of industrial processing, and when the robots operate processing equipment, due to the fixation and intellectualization of instructions, the problem of misoperation is difficult to occur during working, and the robots are gradually used as mainstream use equipment of industrial development.

Present intelligent robot chassis equipment is usually controlled through fixed procedure, and then avoid the hindrance article that can observe to remove, and the mill can appear more processing part in the factory usually, the difficult control to it of robot procedure, then the condition emergence that the robot can appear colliding with the material can appear, and then equipment can appear damaging, and present intelligent robot is when deflecting and moving, the gap can appear in bottom and control end, have more metal particle in the factory air, metal particle has great influence to controlling of equipment, it gets into inside control accuracy that easily influences the electronic control end, therefore, we have proposed one kind and have utilized touching the pole to realize avoiding unexpected collision's intelligent robot chassis equipment.

Disclosure of Invention

In order to solve the technical problems, the invention provides an intelligent robot chassis device for avoiding accidental collision by using a touch rod, which is achieved by the following specific technical means:

the utility model provides an utilize touching pole to realize avoiding unexpected chassis equipment of robot of collision, includes robot chassis equipment, robot chassis equipment includes maincenter positioning frame, the inboard central swing joint of maincenter positioning frame has movable runner, the equal swing joint in the left and right sides of activity runner has linkage curved bar frame, the equal swing joint in the left and right sides of linkage curved bar frame has the curved bar, the outside swing joint of curved bar has the frame of breathing in, the equal swing joint in both sides has touching pole frame about the activity runner.

Furthermore, the frame of taking a breath includes the breather pipe, and the equal swing joint in upper and lower both sides of breather pipe has rubber spring pole, and the outside swing joint of rubber spring pole has a load spring, and the outside central authorities swing joint of rubber spring pole has the flexible frame that pushes away, and the flexible one side swing joint who pushes away the breather pipe that keeps away from of frame has the electromagnetic lever.

Further, maincenter positioning frame is including activity runner, and the inboard swing joint of activity runner has the control pole, and the outside swing joint of control pole has the pulley lever, and the outside swing joint of activity runner has the gag lever post.

Further, the touch rod frame comprises a touch rod, the bottom end of the touch rod is movably connected with a torque spring, the bottom end of the torque spring is movably connected with a telescopic slide rod, and the bottom end of the telescopic slide rod is movably connected with a movable clamp.

Furthermore, the linkage curved bar frame includes the curved bar, and the bottom swing joint of curved bar has spacing, and the outside swing joint of curved bar has the gas spring pole, and the outside swing joint of gas spring pole has the connection to move the pole.

Furthermore, the upper side and the lower side of the center positioning frame are both movably connected with a touch rod frame, the left side and the right side of the center positioning frame are both movably connected with a linkage bent rod frame, and the outer side of the linkage bent rod frame is movably connected with an air exchange frame.

The invention has the following beneficial effects:

1. the intelligent robot chassis equipment for avoiding accidental collision by utilizing the touch rod controls the robot chassis equipment to walk to a specified route through an external program, if a certain obstacle exists in the straight line running process, the touch rod preferentially touches the obstacle, the touch rod drives the telescopic slide rod to move downwards through the torque spring, the telescopic slide rod presses down the movable clamp to open towards two sides, the telescopic slide rod drives the curved rod to deflect towards the outer side, the limiting frame limits the moving distance of the curved rod, the curved rod drives the connecting rod to move towards the inner side through the inflating spring rod through the linkage between the connecting rods, the connecting rod extrudes the limiting rod to move towards the inner side, the limiting rod is in fit connection with the pulley rod, the sliding friction force between the two drives the movable runner to deflect through the pulley rod, the movable runner drives the control electric pole to rotate, the control electric pole is a steering device of a robot, and the robot chassis equipment deflects, the robot deflects the position and avoids the obstacle in front, thereby realizing the condition of preventing the robot from colliding with the material and further ensuring the normal work of the robot.

2. This utilize touching pole to realize avoiding unexpected collision's intelligent robot chassis equipment, drive flexible pushing frame and move to the inboard when deflecting to the outside through the knee lever, during the knee lever deflects, scavenge pipe and external connection, and outside air passes through scavenge pipe and gets into inside, flexible pushing frame passes through load spring extrusion rubber spring pole, the inside atmospheric pressure increase of rubber spring pole, it produces the atmospheric pressure difference, the air passes through the atmospheric pressure difference and gets into rubber spring pole inboard, and the electromagnetism is produced in the electrification of electromagnetic lever, adsorb inspiratory metal ion, when preventing that the atmospheric pressure difference from recovering the former state, metal ion flies out along with the air, thereby realized preventing that metal particle from getting into the inner space of equipment, guarantee the control accuracy of electronic control end, and the life of extension equipment.

Drawings

FIG. 1 is a schematic diagram of a robot chassis apparatus according to the present invention;

FIG. 2 is a schematic view of the ventilation frame of the present invention;

FIG. 3 is a schematic view of the pivot adjusting frame of the present invention;

FIG. 4 is a schematic view of a touch bar structure according to the present invention;

FIG. 5 is a schematic view of the linkage crankshaft rack of the present invention.

In the figure: 1. a robot chassis device; 2. touching the bar frame; 201. a touch lever; 202. a torque spring; 203. a telescopic slide bar; 204. a movable clamp; 3. a central pivot positioning frame; 301. a limiting rod; 302. a movable runner; 303. controlling the electric pole; 304. a pulley lever; 4. a ventilation frame; 401. a rubber spring rod; 402. a ventilation tube; 403. an electromagnetic rod; 404. a telescopic pushing frame; 405. a load spring; 5. a linkage curved bar frame; 501. a curved bar; 502. connecting a moving rod; 503. an inflatable spring rod; 504. a limiting frame.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The first embodiment is as follows:

referring to fig. 1-5, an intelligent robot chassis device for avoiding accidental collisions by using a touch rod includes a robot chassis device 1, the robot chassis device 1 includes a center positioning frame 3, a movable rotating wheel 302 is movably connected to the center of the inner side of the center positioning frame 3, linkage curved rod frames 5 are movably connected to the left and right sides of the movable rotating wheel 302, curved rods 501 are movably connected to the left and right sides of the linkage curved rod frames 5, a ventilation frame 4 is movably connected to the outer side of the curved rods 501, and touch rod frames 2 are movably connected to the upper and lower sides of the movable rotating wheel 302.

Further, the ventilation frame 4 comprises a ventilation tube 402, rubber spring rods 401 are movably connected to the upper side and the lower side of the ventilation tube 402, a load spring 405 is movably connected to the outer side of the rubber spring rods 401, a telescopic pushing frame 404 is movably connected to the center of the outer side of the rubber spring rods 401, and an electromagnetic rod 403 is movably connected to one side, far away from the ventilation tube 402, of the telescopic pushing frame 404.

Further, the center positioning frame 3 includes a movable rotating wheel 302, the inner side of the movable rotating wheel 302 is movably connected with a control pole 303, the outer side of the control pole 303 is movably connected with a pulley lever 304, and the outer side of the movable rotating wheel 302 is movably connected with a limiting rod 301.

Spacing 504 carries on spacingly to curved bar 501's displacement, linkage nature through between the connecting rods, curved bar 501 drives through inflatable spring pole 503 and connects and move pole 502 to the inboard and move, it extrudes gag lever post 301 and moves to the inboard to connect to move pole 502, gag lever post 301 agrees with pulley lever 304 and is connected, sliding friction between the two drives movable runner 302 through pulley lever 304 and deflects, movable runner 302 drives control pole 303 and rotates, control pole 303 is the steering device of robot, robot chassis equipment 1 deflects, make the robot deflect the position and avoid the obstacle in place ahead, thereby realized preventing that the robot from appearing taking place with the condition of material collision, and then guaranteed the normal work of robot.

Example two:

referring to fig. 1 and 5, an intelligent robot chassis device for avoiding accidental collisions by using a touch rod includes a robot chassis device 1, the robot chassis device 1 includes a center positioning frame 3, a movable rotating wheel 302 is movably connected to the center of the inner side of the center positioning frame 3, linkage curved rod frames 5 are movably connected to the left and right sides of the movable rotating wheel 302, curved rods 501 are movably connected to the left and right sides of the linkage curved rod frames 5, a ventilation frame 4 is movably connected to the outer side of the curved rods 501, and touch rod frames 2 are movably connected to the upper and lower sides of the movable rotating wheel 302.

Further, the touch bar frame 2 comprises a touch bar 201, a torque spring 202 is movably connected to the bottom end of the touch bar 201, a telescopic slide bar 203 is movably connected to the bottom end of the torque spring 202, and a movable clamp 204 is movably connected to the bottom end of the telescopic slide bar 203.

Further, the linkage curved bar frame 5 comprises a curved bar 501, the bottom end of the curved bar 501 is movably connected with a limiting frame 504, the outer side of the curved bar 501 is movably connected with an inflatable spring bar 503, and the outer side of the inflatable spring bar 503 is movably connected with a linkage bar 502.

The curved bar 501 drives the telescopic pushing frame 404 to move inwards when deflecting outwards, when the curved bar 501 deflects, the air exchange pipe 402 is connected with the outside, outside air enters the inside through the air exchange pipe 402, the telescopic pushing frame 404 extrudes the rubber spring rod 401 through the load spring 405, the air pressure inside the rubber spring rod 401 is increased, and metal particles are prevented from entering the inner space of the equipment.

Example three:

referring to fig. 1 and 2, an intelligent robot chassis device for avoiding accidental collisions by using a touch rod includes a robot chassis device 1, the robot chassis device 1 includes a center positioning frame 3, a movable rotating wheel 302 is movably connected to the center of the inner side of the center positioning frame 3, linkage curved rod frames 5 are movably connected to the left and right sides of the movable rotating wheel 302, curved rods 501 are movably connected to the left and right sides of the linkage curved rod frames 5, a ventilation frame 4 is movably connected to the outer side of the curved rods 501, and touch rod frames 2 are movably connected to the upper and lower sides of the movable rotating wheel 302.

Further, the upper side and the lower side of the center positioning frame 3 are movably connected with a touch rod frame 2, the left side and the right side of the center positioning frame 3 are movably connected with a linkage curved rod frame 5, and the outer side of the linkage curved rod frame 5 is movably connected with an air exchange frame 4.

Air enters the inner side of the rubber spring rod 401 through air pressure difference, the electromagnetic rod 403 is electrified to generate electromagnetism, absorbed metal ions are absorbed, when the air pressure difference recovers the original shape, the metal ions are prevented from flying out along with the air, the control precision of an electronic control end is guaranteed, and the service life of equipment is prolonged.

The working principle is as follows: an external program controls the robot chassis equipment 1 to walk to a specified route, if a certain obstacle exists in the straight line driving process, the touch rod 201 preferentially touches the obstacle, the touch rod 201 drives the telescopic slide rod 203 to move downwards through the torque spring 202, the telescopic slide rod 203 presses the movable clamp 204 downwards to open towards two sides, the telescopic slide rod 203 drives the curved rod 501 to deflect outwards, the limiting frame 504 limits the moving distance of the curved rod 501, the curved rod 501 drives the connecting rod 502 to move inwards through the inflatable spring rod 503 through the linkage between the connecting rods, the connecting rod 502 extrudes the limiting rod 301 to move inwards, the limiting rod 301 is in fit connection with the pulley rod 304, the sliding friction force between the limiting rod and the pulley rod 304 drives the movable rotating wheel 302 to deflect through the pulley rod 304, the movable rotating wheel 302 drives the control electric pole 303 to rotate, the control electric pole 303 is a steering device of the robot, and the robot chassis equipment 1 deflects, the robot deflects the position and avoids the obstacle in front, thereby realizing the condition of preventing the robot from colliding with the material and further ensuring the normal work of the robot.

The curved rod 501 drives the telescopic pushing frame 404 to move inwards when deflecting outwards, when the curved rod 501 deflects, the air exchange tube 402 is connected with the outside, outside air enters the inside through the air exchange tube 402, the telescopic pushing frame 404 extrudes the rubber spring rod 401 through the load spring 405, the air pressure inside the rubber spring rod 401 is increased, air pressure difference is generated, the air enters the inside of the rubber spring rod 401 through the air pressure difference, the electromagnetic rod 403 is electrified to generate electromagnetism, the sucked metal ions are adsorbed, and when the air pressure difference is prevented from recovering the original shape, the metal ions fly out along with the air, so that the metal particles are prevented from entering the inner space of the equipment, the control precision of an electronic control end is ensured, and the service life of the equipment is prolonged.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.