CN108284426A - A kind of security robot - Google Patents
A kind of security robot Download PDFInfo
- Publication number
- CN108284426A CN108284426A CN201711195152.1A CN201711195152A CN108284426A CN 108284426 A CN108284426 A CN 108284426A CN 201711195152 A CN201711195152 A CN 201711195152A CN 108284426 A CN108284426 A CN 108284426A
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- CN
- China
- Prior art keywords
- span structure
- crane span
- steering
- chassis
- holder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of security robot, including holder, holder can be circumferentially rotated around own axes；Fuselage, fuselage include electric cabinet；Security device, security device are electrically connected with electric cabinet；Chassis, chassis include driving mechanism and steering mechanism, and driving mechanism and steering mechanism are electrically connected with electric cabinet.The present invention provides a kind of security robots, have the multiple functions such as recharging, avoidance detection, fire alarm, recognition of face, image procossing.
Description
Technical field
The present invention relates to a kind of robot more particularly to a kind of security robots.
Background technology
In traditional security protection system, it is main preventive means that people's air defense, which adds object anti-,（Mostly add manpower on duty with fixing camera
The mode of patrol is realized）Although being technically easily achieved, as aging of population exacerbation, labour cost rise suddenly and sharply, security
The problems such as personnel rate is high, traditional security protection have been difficult to realize modern security protection demand.In the new concept of " robot+security protection "
Under promotion, security protection industry welcomes new development opportunity, also gives the new blood of intelligent security guard.
Invention content
The present invention is in order to overcome the problems, such as that traditional security protection has been difficult to realize modern security protection demand in the prior art, provides
A kind of security robot has the multiple functions such as recharging, avoidance detection, fire alarm, recognition of face, image procossing.
To achieve the goals above, the present invention uses following technical scheme：
A kind of security robot, including holder, the holder can be circumferentially rotated around own axes；Fuselage, the fuselage include electricity
Control case；Security device, the security device are electrically connected with the electric cabinet；Chassis, the chassis include driving mechanism and turn
To mechanism, the driving mechanism and steering mechanism are electrically connected with the electric cabinet.
Preferably, the security device includes 3D laser sensor, thermal infrared imager, starlight camera, panorama camera, cigarette
Mist sensor and ultrasonic radar.Security device can be the combination of a kind of above-mentioned equipment or plurality of devices.
Preferably, the thermal infrared imager is electrically connected with video server and interchanger.
Preferably, the holder includes mounting bracket, the holder bottom is equipped with holder pedestal and rotating basis, the rotation
Turn pedestal and the fuselage to be rotatablely connected, the rotating basis V belt translation is connected with electric rotating machine, the holder pedestal with it is described
Fuselage is fixedly connected, and the holder pedestal is fixedly connected with 3D laser sensor by a laser column, the rotating basis with
The mounting bracket is fixedly connected, and the thermal infrared imager, starlight camera, video server and switch configuration are in the mounting bracket
On, the starlight camera strap is sequentially connected with pitching motor.
Preferably, the fuselage includes casing, is arranged at the top of electric cabinet and equally distributed several are complete circumferential
Scape camera and setting are on casing and in several circumferential equally distributed ultrasonic radars.
Preferably, the chassis is equipped with impact switch holder, impact switch, institute are equipped in the impact switch holder
It states impact switch and is connected with tactile side mounting plate, safe touch side is installed on the tactile side mounting plate.
Preferably, the chassis is equipped with charging mounting blocks, the charging mounting blocks are equipped with multiple charging contacts.
Preferably, the chassis includes carrier frame, battery case is equipped in the carrier frame.
Preferably, the steering mechanism includes deflecting roller and steering box, the carrier frame is connected with steeraxle
Frame, the steering crane span structure left and right ends are connected with tire mounting bracket, and the steering box is arranged between tire mounting bracket, institute
It states and is fixedly connected with two special-shaped suspension arms up and down in the middle part of deflecting roller, the tire mounting bracket is equipped with described for being fixedly connected
The special-shaped suspension arm mounting base of special-shaped suspension arm stretches out two steering push rods respectively in the left and right sides of the steering box,
The steering catch bar is connected with push rod connector, and the push rod connector is connected with turning-bar, and the turning-bar is connected to
The rear portion of the deflecting roller, the abnormal shape suspension arm are equipped with shock-proof spring through hole, and described steering mechanism or so is respectively equipped with
One shock-proof spring, the shock-proof spring pass through the shock-proof spring through hole of upper and lower two special-shaped suspension arms, the shock-proof spring one
End is connected on carrier frame, and the other end, which is connected to, to be turned on crane span structure.
Preferably, the driving mechanism includes driving wheel, differential mechanism, the driving motor being connected with differential mechanism, left and right
The left and right ends of semiaxis and the axle housing being arranged outside differential mechanism and left and right semiaxis, the axle housing are respectively arranged with connection crane span structure group
Part, the connection crane span structure component include preceding connection crane span structure and rear connection crane span structure, and crane span structure is connected before described and rear connection crane span structure passes through
Screw is fixedly connected and locks the axle housing, and connecting crane span structure before described is welded with crane span structure weld assembly, the crane span structure welding group
Part is fixedly connected with the carrier frame, and rear shock absorber is equipped between the carrier frame and preceding connection crane span structure.
The advantageous effect of the invention reached is compared with prior art：A kind of security robot provided by the invention has
The multiple functions such as recharging, avoidance detection, fire alarm, recognition of face, image procossing.
Description of the drawings
Fig. 1 is the structural schematic diagram of the present invention.
Fig. 2 is the structural schematic diagram of holder.
Fig. 3 is the front-view schematic diagram of holder.
Fig. 4 is the schematic rear view of holder.
Fig. 5 is the schematic top plan view of holder.
Fig. 6 is the elevational schematic view of holder.
Fig. 7 is the structural schematic diagram on chassis.
Fig. 8 is the structural schematic diagram of steering mechanism.
Fig. 9 is the structural schematic diagram of driving mechanism.
Specific implementation mode
Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings, it should be understood that preferred reality described herein
Apply example only for the purpose of illustrating and explaining the present invention and is not intended to limit the present invention.
As shown in Figure 1, a kind of security robot, including sequentially connected holder I, fuselage II and chassis III from top to bottom.
Holder I is connected with fuselage II by connecting axle journal, and fuselage II is fixedly connected with chassis III.
As shown in Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, holder I include mounting bracket 1,3D laser sensor 2, thermal infrared imager 3,
Starlight camera 4, video server 5, interchanger 6, pitching motor 7 and electric rotating machine 8.
The bottoms holder I are equipped with holder pedestal 9 and rotating basis 10, and rotating basis 10 is fixedly connected with mounting bracket 1, rotate base
Seat 10 is connect with 8 V belt translation of electric rotating machine.
Mounting bracket 1 includes bottom plate 101, left plate 102, right plate 103 and is fixedly connected with left plate 102 and right plate
103 two support round bars 104.
Thermal infrared imager 3 is fixedly mounted on bottom plate 101, and video server 5 is fixedly mounted on 103 outer wall of right plate,
Starlight camera 4 is rotatablely connected by the shaft 11 across left plate 102 with mounting bracket 1, and shaft 11 connects with 7 V belt translation of pitching motor
It connects.Holder pedestal 9 is fixedly connected with 3D laser sensor 2 by laser column 12.It is arranged with conducting slip ring on laser column 12
13.The starlight phase trough 1011 for making the 4 accessible rotation of starlight camera is offered on bottom plate 101 and is dissipated for pitching motor 7
The pitching motor slot 1012 of heat.
The tape handler of the shaft 11 of connection starlight camera 4 and the tape handler for connecting rotating basis 10 include
Big belt wheel 14 and small pulley 15.In shaft 11 between the big belt wheel 14 of coupled tape handler and left plate 102
It is provided with rolling bearing 16, is arranged with bearing holder (housing, cover) 17 outside rolling bearing 16, bearing holder (housing, cover) 17 is fixedly connected with mounting bracket 1.Left plate
Pitching motor mounting groove 1021 is offered on 102, pitching motor 7 is mounted in pitching motor mounting groove 1021 and a left side is exposed in part
Side plate 102, pitching motor 7 are fixedly connected with pitching motor mounting base 18, and pitching motor mounting base 18 is fixed with left plate 102 to be connected
It connects.
Connection starlight camera 4 shaft 11 tape handler and connect rotating basis 10 tape handler it is big
It is fixedly installed sensing chip 19 on belt wheel 14, corresponding photoelectric sensor 20, photoelectric transfer are fixedly installed on mounting bracket 1
Sensor 20 includes two inductive heads, and one circle sensing chip 19 of the rotation of big belt wheel 14 is between two inductive heads by primary.
As shown in Figure 1, fuselage II includes casing（It is not drawn into figure）, electric cabinet 22, setting the top of electric cabinet 22 and
Circumferential equally distributed 4 panorama cameras 24 are arranged on casing 21 and in circumferential equally distributed 6 ultrasonic radars（In figure
It is not drawn into）, the ultrasonic wave that ultrasonic radar is sent out is in 60 ° of fan-shaped emissions.Electric cabinet 22 is connected with smoke sensor device 26, waterproof relay
Device 27 and sound equipment 28.Radiator fan 29 is additionally provided on electric cabinet 22.
As shown in fig. 7, chassis III includes carrier frame 30, steering mechanism and driving mechanism, electricity is equipped in carrier frame 30
Pond box 31.
The front end of carrier frame 30 is connected with impact switch holder 32, and impact switch is equipped in impact switch holder 32（Figure
In be not drawn into）, 32 front end of impact switch holder, which is equipped with, touches side mounting plate 33, touches and is equipped with safe touch side 34 on side mounting plate 33.
As shown in figure 8, steering mechanism includes deflecting roller 35 and steering box 36.Carrier frame 30 is connected with steering crane span structure
37, it turns to 37 left and right ends of crane span structure and is connected with tire mounting bracket 38, steering box 36 is provided between tire mounting bracket 38.
35 middle part of deflecting roller is fixedly connected with two special-shaped suspension arms 39, tire mounting bracket 38 up and down and is equipped with for fixing
The special-shaped suspension arm mounting base 40 of connection abnormal shape suspension arm 39.Two steerings are stretched out respectively in the left and right sides of steering box 36
Push rod 41 turns to push rod 41 and is connected with push rod connector 42, and push rod connector 42 is connected with turning-bar 43, and turning-bar 43 connects
At the rear portion of deflecting roller 35.
Special-shaped suspension arm 39 is equipped with shock-proof spring through hole, and steering mechanism or so is respectively equipped with a shock-proof spring 44, keeps away
The shock-proof spring through hole that spring 44 passes through upper and lower two special-shaped suspension arms 39 is shaken, 44 one end of shock-proof spring is connected to carrier frame
On 30, the other end, which is connected to, to be turned on crane span structure 37.
36 front end of steering box is welded with charging column weld assembly 45, and charging column weld assembly 45 is connected with charging column peace
Block 46 is filled, sets that there are three charging contacts 47 on charging column mounting blocks 46.
As shown in figure 9, driving mechanism include driving wheel 48, differential mechanism 49, the driving motor 50 being connected with differential mechanism 49,
Left and right semiaxis and the axle housing 51 being arranged outside differential mechanism 49 and left and right semiaxis.The left and right ends of axle housing 51 are respectively arranged with connection
Crane span structure component 52, connection crane span structure component 52 include preceding connection crane span structure 5201 and rear connection crane span structure 5202, preceding 5201 He of connection crane span structure
Connection crane span structure 5202 is fixedly connected by screw and locks axle housing 51 afterwards.30 rear end of carrier frame is equipped with upper and lower two pairs of hinges
Seat, wherein a pair of of the hinge seat in lower section is fixedly connected with a pair of of driving unit connects hinge 53, wherein a pair of of the hinge seat and one in top
It is connected to one end of rear shock absorber 54, the other end of rear shock absorber 54 is connected with preceding connection crane span structure 5201.Driving unit connects
Hinge 53 is connect to be fixed on driving unit connecting plate 55, driving unit connecting plate 55 is welded on crane span structure weld assembly 56,
Before crane span structure weld assembly 56 is welded on connection crane span structure 5201.
Finally it should be noted that：The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (10)
1. a kind of security robot, which is characterized in that including
Holder, the holder can be circumferentially rotated around own axes；
Fuselage, the fuselage include electric cabinet；
Security device, the security device are electrically connected with the electric cabinet；
Chassis, the chassis include driving mechanism and steering mechanism, the driving mechanism and steering mechanism and electric cabinet electricity
Property connection.
2. a kind of security robot according to claim 1, which is characterized in that the security device includes 3D laser sensings
Device, thermal infrared imager, starlight camera, panorama camera, smoke sensor device and ultrasonic radar.
3. a kind of security robot according to claim 2, which is characterized in that the thermal infrared imager, which is electrically connected with, to be regarded
Frequency server and interchanger.
4. a kind of security robot according to claim 3, which is characterized in that the holder includes mounting bracket, the cloud
Platform bottom is equipped with holder pedestal and rotating basis, and the rotating basis is rotatablely connected with the fuselage, and the rotating basis band passes
Dynamic to be connected with electric rotating machine, the holder pedestal is fixedly connected with the fuselage, and the holder pedestal is logical with 3D laser sensor
It crosses a laser column to be fixedly connected, the rotating basis is fixedly connected with the mounting bracket, the thermal infrared imager, starlight phase
On the mounting bracket, the starlight camera strap is sequentially connected with pitching motor for machine, video server and switch configuration.
5. a kind of security robot according to claim 2, which is characterized in that the fuselage includes casing, is arranged in electricity
If controlling box top and in several circumferential equally distributed panorama cameras and setting on casing and circumferential equally distributed
Dry ultrasonic radar.
6. a kind of security robot according to claim 1, which is characterized in that the chassis is equipped with impact switch branch
Frame, impact switch is equipped in the impact switch holder, and the impact switch is connected with tactile side mounting plate, the tactile side mounting plate
On safe touch side is installed.
7. a kind of security robot according to claim 1, which is characterized in that the chassis is equipped with charging mounting blocks,
The charging mounting blocks are equipped with multiple charging contacts.
8. a kind of security robot according to claim 1, which is characterized in that the chassis includes carrier frame, described
Battery case is equipped in carrier frame.
9. a kind of security robot chassis according to claim 8, which is characterized in that the steering mechanism includes deflecting roller
And steering box, the carrier frame are connected with steering crane span structure, the steering crane span structure left and right ends are connected with tire mounting bracket,
The steering box is arranged between tire mounting bracket, and two special-shaped suspensions up and down are fixedly connected in the middle part of the deflecting roller
Arm, the tire mounting bracket is equipped with the special-shaped suspension arm mounting base for being fixedly connected with the special-shaped suspension arm, at described turn
Two steering push rods are stretched out respectively to the left and right sides of mechanism case, and the steering catch bar is connected with push rod connector, described
Push rod connector is connected with turning-bar, and the turning-bar is connected to the rear portion of the deflecting roller, and the abnormal shape suspension arm is equipped with
Shock-proof spring through hole, described steering mechanism or so are respectively equipped with a shock-proof spring, and the shock-proof spring is different across upper and lower two
The shock-proof spring through hole of type suspension arm, described shock-proof spring one end are connected on carrier frame, and the other end is connected to steeraxle
On frame.
10. a kind of security robot chassis according to claim 8, which is characterized in that the driving mechanism includes driving
Wheel, differential mechanism, the driving motor being connected with differential mechanism, left and right semiaxis and the axis being arranged outside differential mechanism and left and right semiaxis
Shell, the left and right ends of the axle housing are respectively arranged with connection crane span structure component, the connection crane span structure component include preceding connection crane span structure with
After connect crane span structure, connection crane span structure and connect crane span structure afterwards before described and be fixedly connected by screw and lock the axle housing, before described
Connection crane span structure is welded with crane span structure weld assembly, and the crane span structure weld assembly is fixedly connected with the carrier frame, the chassis frame
Rear shock absorber is equipped between frame and preceding connection crane span structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711195152.1A CN108284426A (en) | 2017-11-24 | 2017-11-24 | A kind of security robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711195152.1A CN108284426A (en) | 2017-11-24 | 2017-11-24 | A kind of security robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108284426A true CN108284426A (en) | 2018-07-17 |
Family
ID=62831685
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711195152.1A Pending CN108284426A (en) | 2017-11-24 | 2017-11-24 | A kind of security robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108284426A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109887208A (en) * | 2019-02-28 | 2019-06-14 | 同方威视技术股份有限公司 | Safety protection device and security system |
| CN110202589A (en) * | 2019-06-14 | 2019-09-06 | 樊晓龙 | One kind is based on double line laser radar independent navigation robots |
| CN110405787A (en) * | 2019-07-31 | 2019-11-05 | 河南牧业经济学院 | A kind of military explosive-removal robot |
| CN111010543A (en) * | 2019-12-18 | 2020-04-14 | 深圳市荣盛智能装备有限公司 | Robot remote-viewing video monitoring method and device, electronic equipment and storage medium |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109887208A (en) * | 2019-02-28 | 2019-06-14 | 同方威视技术股份有限公司 | Safety protection device and security system |
| CN110202589A (en) * | 2019-06-14 | 2019-09-06 | 樊晓龙 | One kind is based on double line laser radar independent navigation robots |
| CN110202589B (en) * | 2019-06-14 | 2021-02-05 | 东方电子股份有限公司 | Autonomous navigation robot based on double laser radars in one line |
| CN110405787A (en) * | 2019-07-31 | 2019-11-05 | 河南牧业经济学院 | A kind of military explosive-removal robot |
| CN111010543A (en) * | 2019-12-18 | 2020-04-14 | 深圳市荣盛智能装备有限公司 | Robot remote-viewing video monitoring method and device, electronic equipment and storage medium |
| CN111010543B (en) * | 2019-12-18 | 2021-09-14 | 深圳市荣盛智能装备有限公司 | Robot remote-viewing video monitoring method and device, electronic equipment and storage medium |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180717 |
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| RJ01 | Rejection of invention patent application after publication |