CN107933738A - A kind of outdoor patrol robot with damping device - Google Patents
A kind of outdoor patrol robot with damping device Download PDFInfo
- Publication number
- CN107933738A CN107933738A CN201711338227.7A CN201711338227A CN107933738A CN 107933738 A CN107933738 A CN 107933738A CN 201711338227 A CN201711338227 A CN 201711338227A CN 107933738 A CN107933738 A CN 107933738A
- Authority
- CN
- China
- Prior art keywords
- link
- lower link
- damping device
- patrol robot
- car body
- 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
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
- B60G11/16—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2500/00—Indexing codes relating to the regulated action or device
- B60G2500/10—Damping action or damper
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
- B60G2800/162—Reducing road induced vibrations
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of outdoor patrol robot with damping device, including car body, driven wheel assembly and drive wheel assemblies, the driven wheel assembly is installed on the bottom of the car body with drive wheel assemblies by dampening assembly respectively；The dampening assembly includes the upper link being connected with car body and the lower link being connected with drive wheel assemblies or driven wheel assembly, and Buffer Unit is provided between the upper link and lower link；Environment detection unit, visual unit and communication unit are additionally provided with the car body.The outdoor patrol robot with damping device of the present invention is with dampening assembly, on the one hand can effective shock-absorbing, ensure the stabilization of visual unit collection image, on the other hand under the situation of road out-of-flatness driving wheel can be made effectively to be bonded ground with driven wheel, ensure the obstacle climbing ability of robot.
Description
Technical field
The present invention relates to robot field, more particularly to a kind of patrol robot.
Background technology
In recent years, more and more researchers, which begin one's study, can change the service robot of mankind's daily life, due to
Security guard patrol robot has broad application prospects, therefore becomes one new research direction of service robot.
At present patrol robot on the market it is most of all can only or the outdoor interior of path formation gone on patrol, almost
There is no an obstacle climbing ability, and the mainstream demand gone on patrol be will be in outdoor application, it is therefore desirable to developing one kind can be in outdoor application, tool
There is the patrol robot of certain obstacle climbing ability.
The content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides one kind can be in outdoor application, tool
There is the outdoor patrol robot with damping device of certain obstacle climbing ability.
Technical solution：To achieve the above object, the outdoor patrol robot with damping device of the invention, including car
Body, driven wheel assembly and drive wheel assemblies, the driven wheel assembly are installed on institute by dampening assembly respectively with drive wheel assemblies
State the bottom of car body；The dampening assembly include the upper link that is connected with car body and with drive wheel assemblies or driven wheel assembly
The lower link of connection, Buffer Unit is provided between the upper link and lower link；Ring is additionally provided with the car body
Border probe unit, visual unit and communication unit.
Further, the Buffer Unit includes being symmetricly set on two of space both sides between link and lower link
A spring damper and two support components；The upper and lower ends of the spring damper be respectively hinged at the upper link with
On lower link, the support component includes connecting rod, and one end of the connecting rod is hinged on lower link, other end rotational installation
There is sliding block, be slidably matched between the sliding block and the upper link, and spring is provided between the sliding block of two support components.
Further, the drive wheel assemblies include two driving wheels being symmetricly set on the lower link, each
Driving wheel is respectively connected with motor.
Further, the driven wheel assembly includes two driven wheels being symmetricly set on the lower link, each
Driven wheel is installed on rotation seat, and the rotation seat can be rotated relative to the lower link along vertical axes, further include both ends
The hinged synchronizing bar with two rotation seats, the synchronizing bar is by driving device powered motion.
The driving device includes drive link, and one end of the drive link is hinged on the synchronizing bar, the other end
It is hinged on the lower link, and the first bevel gear is fixedly installed relative to the drive link；On the lower link
Steering motor is also equipped with, the second umbrella tooth engaged with first bevel gear is installed on the output shaft of the steering motor
Wheel.
Further, upright bar is provided with the car body, vision platform, the visual unit peace are installed in the upright bar
On the vision platform.
Further, the vision platform can be rotated relative to the upright bar along vertical axes.
Further, the environment detection unit includes the laser radar being installed on car body.
Beneficial effect：The outdoor patrol robot with damping device of the present invention is with dampening assembly, one side energy
Effective shock-absorbing, ensure visual unit collection image stabilization, on the other hand can make under the situation of road out-of-flatness driving wheel with
Driven wheel is effectively bonded ground, ensures the obstacle climbing ability of robot.
Brief description of the drawings
Attached drawing 1 is the stereogram of the outdoor patrol robot with damping device；
Attached drawing 2 is the structure chart of dampening assembly；
Attached drawing 3 is the bottom view of the outdoor patrol robot with damping device；
Attached drawing 4 is the structure chart of drive wheel assemblies.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
The outdoor patrol robot with damping device as shown in Figure 1, including car body 1, driven wheel assembly 2 and active
Wheel assembly 3, the driven wheel assembly 2 are installed on the bottom of the car body 1 with drive wheel assemblies 3 by dampening assembly 4 respectively；Institute
Stating dampening assembly 4 includes the upper link 4-1 that is connected with car body 1 and is connected down with drive wheel assemblies 3 or driven wheel assembly 2
Link 4-2, Buffer Unit is provided between the upper link 4-1 and lower link 4-2；It is additionally provided with the car body 1
Environment detection unit 5, visual unit 6 and communication unit, further include battery and control unit certainly.Visual unit 6 can adopt
Collect image, environment detection unit 5 can detect the environment around patrol robot, it is combined control algolithm automatic obstacle avoiding
With building figure navigation, communication unit can realize patrol robot and extraneous communication.
The Buffer Unit includes be symmetricly set on space both sides between link 4-1 and lower link 4-2 two
Spring damper 4-3 and two support component 4-4；The upper and lower ends of the spring damper 4-3 are respectively hinged on described
On link 4-1 and lower link 4-2, the support component 4-4 includes connecting rod 4-41, and one end of the connecting rod 4-41 is hinged on
On lower link 4-2, the other end is rotatablely equipped between sliding block 4-42, the sliding block 4-42 and the upper link 4-1 and slides
Coordinating, upper link 4-1 is equipped with matched slide 4-6, spring is provided between the sliding block of two support component 4-4
4-5。
The dampening assembly 4 of this structure produces translation, while tilting (even thereon between link 4-1 and lower link 4-2
It is big small on one side on one side to connect gap between frame 4-1 and lower link 4-2) etc. state, realize driven wheel assembly 2, drive wheel assemblies 3
Automatic adjusument between ground, makes robot have preferable obstacle performance.Spring 4-5 is compression spring, one function is
Make the support of support component 4-4 also there is elasticity, it is coordinated the effect of spring damper 4-3；Its another function is in car
Body 1 distributes the strength on both sides in obstacle detouring, the spring damper 4-3 on both sides is produced corresponding deformation to buffer absorbing, and
The spring damper 4-3 and support component 4-4 on both sides is set to return to original state after the completion of obstacle detouring.
The drive wheel assemblies 3 include two driving wheels 3-1, Mei Gezhu being symmetricly set on the lower link 4-2
Driving wheel 3-1 is respectively connected with motor 3-2.
The driven wheel assembly 2 includes two driven wheels 2-1, Mei Gecong being symmetricly set on the lower link 4-2
Driving wheel 2-1 is installed on rotation seat 2-2, and the rotation seat 2-2 can be rotated relative to the lower link 4-2 along vertical axes,
Both ends and synchronizing bar 2-3 hinged two rotation seat 2-2 are further included, the synchronizing bar 2-3 is by driving device powered motion.Two
Parallelogram is formed between rotation seat 2-2, synchronizing bar 2-3 and lower link 4-2.
One end that the driving device includes drive link 2-4, the drive link 2-4 is hinged on the synchronizing bar 2-3
On, the other end is hinged on the lower link 4-2, and is fixedly installed the first bevel gear relative to the drive link 2-4
2-5；Steering motor 2-6 is also equipped with the lower link 4-2, is provided with the output shaft of the steering motor 2-6 and institute
State the second bevel gear 2-7 of the first bevel gear 2-5 engagements.
It is provided with the car body 1 on upright bar 1-1, the upright bar 1-1 and vision platform 1-2, the visual unit 6 is installed
On the vision platform 1-2.The vision platform 1-2 can be rotated relative to the upright bar 1-1 along vertical axes.
The environment detection unit 5 includes the laser radar 5-1 being installed on car body 1.
The outdoor patrol robot with damping device of the present invention with dampening assembly, on the one hand can effective shock-absorbing,
Ensure the stabilization of visual unit collection image, on the other hand driving wheel can be made to have with driven wheel under the situation of road out-of-flatness
Effect fitting ground, ensures the obstacle climbing ability of robot.
The above is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (8)
- A kind of 1. outdoor patrol robot with damping device, it is characterised in that：Including car body (1), driven wheel assembly (2) with Drive wheel assemblies (3), the driven wheel assembly (2) are installed on the car by dampening assembly (4) respectively with drive wheel assemblies (3) The bottom of body (1)；The dampening assembly (4) includes upper link (4-1) and and the drive wheel assemblies being connected with car body (1) (3) or driven wheel assembly (2) connection lower link (4-2), set between the upper link (4-1) and lower link (4-2) It is equipped with Buffer Unit；Environment detection unit (5), visual unit (6) and communication unit are additionally provided with the car body (1).
- A kind of 2. outdoor patrol robot with damping device according to claim 1, it is characterised in that：The buffering Component includes two spring damper (4- for being symmetricly set on space both sides between link (4-1) and lower link (4-2) And two support components (4-4) 3)；The upper and lower ends of the spring damper (4-3) are respectively hinged at the upper link On (4-1) and lower link (4-2), the support component (4-4) includes connecting rod (4-41), one end hinge of the connecting rod (4-41) It is connected on lower link (4-2), the other end is rotatablely equipped with sliding block (4-42), the sliding block (4-42) and the upper link It is slidably matched between (4-1), and spring (4-5) is provided between the sliding block of two support components (4-4).
- A kind of 3. outdoor patrol robot with damping device according to claim 1, it is characterised in that：The active Wheel assembly (3) includes two driving wheels (3-1) being symmetricly set on the lower link (4-2), and each driving wheel (3-1) is equal It is connected with motor (3-2).
- A kind of 4. outdoor patrol robot with damping device according to claim 1, it is characterised in that：It is described driven Wheel assembly (2) includes two driven wheels (2-1) being symmetricly set on the lower link (4-2), and each driven wheel (2-1) is equal On rotation seat (2-2), the rotation seat (2-2) can rotate relative to the lower link (4-2) along vertical axes, also wrap Both ends and the hinged synchronizing bar (2-3) of two rotation seats (2-2) are included, the synchronizing bar (2-3) is by driving device powered motion.
- A kind of 5. outdoor patrol robot with damping device according to claim 4, it is characterised in that：The driving Device includes drive link (2-4), and one end of the drive link (2-4) is hinged on the synchronizing bar (2-3), other end hinge It is connected on the lower link (4-2), and the first bevel gear (2-5) is fixedly installed relative to the drive link (2-4)；Institute State and steering motor (2-6) is also equipped with lower link (4-2), be provided with the output shaft of the steering motor (2-6) and institute State the second bevel gear (2-7) of the first bevel gear (2-5) engagement.
- 6. according to a kind of outdoor patrol robot with damping device of claim 1-5 any one of them, it is characterised in that： Upright bar (1-1) is provided with the car body (1), vision platform (1-2), the visual unit are installed on the upright bar (1-1) (6) it is installed on the vision platform (1-2).
- A kind of 7. outdoor patrol robot with damping device according to claim 6, it is characterised in that：The vision Platform (1-2) can be rotated relative to the upright bar (1-1) along vertical axes.
- 8. according to a kind of outdoor patrol robot with damping device of claim 1-5 any one of them, it is characterised in that： The environment detection unit (5) includes the laser radar (5-1) being installed on car body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711338227.7A CN107933738A (en) | 2017-12-14 | 2017-12-14 | A kind of outdoor patrol robot with damping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711338227.7A CN107933738A (en) | 2017-12-14 | 2017-12-14 | A kind of outdoor patrol robot with damping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107933738A true CN107933738A (en) | 2018-04-20 |
Family
ID=61944100
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711338227.7A Pending CN107933738A (en) | 2017-12-14 | 2017-12-14 | A kind of outdoor patrol robot with damping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107933738A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544898A (en) * | 2018-06-07 | 2018-09-18 | 斯坦德机器人（深圳）有限公司 | A kind of suspension mechanism of mobile robot |
| CN108656887A (en) * | 2018-07-18 | 2018-10-16 | 河南职业技术学院 | A kind of suspension and automobile chassis |
| CN108756331A (en) * | 2018-06-13 | 2018-11-06 | 广州马其纳工程技术有限公司 | A kind of universal ride of automatic and accurate positioning |
| CN108819647A (en) * | 2018-07-10 | 2018-11-16 | 苏州宏奇锐自动化有限公司 | A kind of wheeled supporting mechanism of robot |
| CN110027711A (en) * | 2019-04-29 | 2019-07-19 | 哈瓦国际航空技术（深圳）有限公司 | Shock-damping structure and unmanned plane |
| CN111055946A (en) * | 2019-02-09 | 2020-04-24 | 孙风云 | Obstacle crossing device and mobile equipment provided with same |
| CN111576308A (en) * | 2020-04-08 | 2020-08-25 | 浙江勤泽美业环境科技有限公司 | Automatic noise-reduction oil stain washing vehicle |
| CN111673763A (en) * | 2020-06-18 | 2020-09-18 | 北京深醒科技有限公司 | Patrol robot suitable for rugged topography |
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| CN204956703U (en) * | 2015-09-17 | 2016-01-13 | 北京云迹科技有限公司 | Six rounds of chassis systems and adopt vehicle and wheeled robot of this system |
| CN105598940A (en) * | 2016-03-18 | 2016-05-25 | 昆山市工业技术研究院有限责任公司 | Patrol robot |
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| CN206155063U (en) * | 2016-11-01 | 2017-05-10 | 田雨生 | Shockproof equalizing suspension system system of spring that motor vehicles were used |
| CN206264938U (en) * | 2016-12-08 | 2017-06-20 | 鄂尔多斯市普渡科技有限公司 | A kind of pilotless automobile detection means |
| CN106892014A (en) * | 2017-02-22 | 2017-06-27 | 华中科技大学 | A kind of planet gear type barrier-surpassing robot suitable for rotating ladder |
| CN207657932U (en) * | 2017-12-14 | 2018-07-27 | 昆山市工研院智能制造技术有限公司 | A kind of outdoor patrol robot with damping device |
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2017
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1608919A (en) * | 2004-11-23 | 2005-04-27 | 张向阳 | Miniature four-wheel vehicle steering mechanism |
| CN201670261U (en) * | 2010-05-14 | 2010-12-15 | 江苏大学 | Moving platform steering mechanism |
| CN204956703U (en) * | 2015-09-17 | 2016-01-13 | 北京云迹科技有限公司 | Six rounds of chassis systems and adopt vehicle and wheeled robot of this system |
| CN106585311A (en) * | 2015-10-19 | 2017-04-26 | 沈阳新松机器人自动化股份有限公司 | Low-gravity-center travelling mechanism with shock-absorption four wheels and shock-absorption chassis |
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| CN206155063U (en) * | 2016-11-01 | 2017-05-10 | 田雨生 | Shockproof equalizing suspension system system of spring that motor vehicles were used |
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| CN207657932U (en) * | 2017-12-14 | 2018-07-27 | 昆山市工研院智能制造技术有限公司 | A kind of outdoor patrol robot with damping device |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108544898A (en) * | 2018-06-07 | 2018-09-18 | 斯坦德机器人（深圳）有限公司 | A kind of suspension mechanism of mobile robot |
| CN108756331A (en) * | 2018-06-13 | 2018-11-06 | 广州马其纳工程技术有限公司 | A kind of universal ride of automatic and accurate positioning |
| CN108819647A (en) * | 2018-07-10 | 2018-11-16 | 苏州宏奇锐自动化有限公司 | A kind of wheeled supporting mechanism of robot |
| CN108656887A (en) * | 2018-07-18 | 2018-10-16 | 河南职业技术学院 | A kind of suspension and automobile chassis |
| CN111055946A (en) * | 2019-02-09 | 2020-04-24 | 孙风云 | Obstacle crossing device and mobile equipment provided with same |
| CN110027711A (en) * | 2019-04-29 | 2019-07-19 | 哈瓦国际航空技术（深圳）有限公司 | Shock-damping structure and unmanned plane |
| CN111576308A (en) * | 2020-04-08 | 2020-08-25 | 浙江勤泽美业环境科技有限公司 | Automatic noise-reduction oil stain washing vehicle |
| CN111673763A (en) * | 2020-06-18 | 2020-09-18 | 北京深醒科技有限公司 | Patrol robot suitable for rugged topography |
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