CN108890610A - A kind of mountainous region action intelligent robot of Distance positioning - Google Patents
A kind of mountainous region action intelligent robot of Distance positioning Download PDFInfo
- Publication number
- CN108890610A CN108890610A CN201810742794.7A CN201810742794A CN108890610A CN 108890610 A CN108890610 A CN 108890610A CN 201810742794 A CN201810742794 A CN 201810742794A CN 108890610 A CN108890610 A CN 108890610A
- Authority
- CN
- China
- Prior art keywords
- pedestal
- compoboard
- mountainous region
- intelligent robot
- driving wheel
- 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.)
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
Abstract
The invention discloses a kind of mountainous region of Distance positioning action intelligent robots, including protective device, line shaft and outer encirclement, buffering plate is provided with above the protective device, and linking pedestal is provided with above buffering plate, the left and right ends of the line shaft are provided with power transmission device, the outer encirclement is internally provided with buffering sponge, the front end of the outer encirclement is equipped with distance-sensor, built-in pedestal is provided with above the buffering sponge, compoboard under being fixedly arranged above of the connection bolt, the corner slot is internally provided with support spring, compoboard is provided with above the attachment base.The mountainous region action intelligent robot of the Distance positioning, compared with existing ordinary robot, compared to common robot, the service performance of whole device is substantially increased while increasing structure, whole equipment is set to effectively adapt to effectively meet the use demand of people in concave-convex massif road surface by the increase of dynamic structure.
Description
Technical field
The present invention relates to robotic technology field, the mountainous region action intelligent robot of specially a kind of Distance positioning.
Background technique
Robot is the automatic installations for executing work, it can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology, and its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work, Chinese roboticist, will from application environment
Robot is divided into two major classes, i.e. industrial robot and specialized robot, and so-called industrial robot is exactly towards the more of industrial circle
Joint Manipulator or multi-freedom robot, and specialized robot be then it is in addition to industrial robot, for nonmanufacturing industry simultaneously
The various sophisticated machine people of the mankind are served, including：Service robot, underwater robot, amusement robot, military robot,
Agricultural robot, robotization machine etc., in specialized robot, some branches be have developed rapidly, and have the tendency that independent architectonical,
Such as service robot, underwater robot, military robot, micro-manipulating robot, international robot scholar, from using ring
Border, which is set out, is also classified into two classes for robot：Service under industrial robot and non-fabrication environment and apery type machine under manufacturing environment
Device people, this and Chinese classification are consistent.
Existing mountainous region action robot dynamic structure is relatively simple, and action edge in use is insufficient, and nothing
Method well adapts to mountainous region concave-convex road surface, so that device can be made because of vibration influence using effect, is not well positioned to meet people's
Use demand carries out technological innovation for above situation on existing robot base.
Summary of the invention
The purpose of the present invention is to provide a kind of mountainous region of Distance positioning action intelligent robots, to solve above-mentioned background skill
It is proposed that general dynamic structure is relatively simple in art, action edge in use is insufficient, and can not well adapt to mountain
Ground concave-convex road surface is not well positioned to meet the use demand problem of people so that device can be made because of vibration influence using effect.
To achieve the above object, the present invention provides the following technical solutions：A kind of mountainous region action intelligence machine of Distance positioning
People, including protective device, line shaft and outer encirclement, are provided with buffering plate above the protective device, and buffering plate
Top is provided with linking pedestal, and the left and right ends of the line shaft are provided with power transmission device, and line shaft is located at
It is connected inside the rear and front end of pedestal, the outer encirclement is internally provided with buffering sponge, and outer surround is located at linking pedestal
Top, the front end of the outer encirclement are equipped with distance-sensor, are provided with built-in pedestal above the buffering sponge, and built-in
The inside of pedestal is equipped with connection bolt, compoboard under being fixedly arranged above of the connection bolt, and the left and right two of lower compoboard
End is internal to be provided with corner slot, and the corner slot is internally provided with support spring, and the upper end of support spring is equipped with company
Joint chair is provided with compoboard above the attachment base, and is connected with support base above the middle part of upper compoboard.
Preferably, the inside rear and front end of the protective device is provided with protective baffle plate, and sets above protective baffle plate
It is equipped with lower layer's pedestal, compounded rubber pad is provided with above lower layer's pedestal, and be provided with upper layer above compounded rubber pad
Pedestal.
Preferably, the protective baffle plate is set as bending structure, and protective baffle plate by connection bolt respectively with lower layer
The rear and front end of pedestal is connected, and between the lower surface of compounded rubber pad and the upper surface of lower layer's pedestal and compounded rubber
It is fitted closely between the upper surface of pad and the lower surface of upper layer pedestal.
Preferably, the power transmission device is internally provided with movable crawler belt, and movable crawler belt is internally provided with biography
Driving wheel, the driving wheel is internally provided with driving wheel, and the front end of driving wheel is equipped with fixture nut.
Preferably, the driving wheel is equally spaced with equilateral triangle track in the surrounding of driving wheel, and movable crawler belt is equal
The even outside for being wrapped in driving wheel, and driving wheel is connected by fixture nut with the left and right ends of line shaft.
Preferably, the level between the lower end and the upper end for being connected pedestal of the outer encirclement to be fixedly connected, and surrounding outside
The level height of height range inductor is identical, and the external dimensions knot of the inside dimension structure surrounded outside and built-in pedestal
Structure matches.
Preferably, the upper end of the lower compoboard passes through the cooperation between support spring and attachment base and upper compoboard, and
Center line between support spring about lower compoboard is symmetrical, and upper compoboard constitutes elastic construction by support spring.
Preferably, the support base is fixedly arranged above hydraulic lifting post, and the upper end of hydraulic lifting post is connected with six ribs
Connector is provided with photographic device above the six ribs connector, and the front end of photographic device is provided with camera lens.
Preferably, the lower end of the hydraulic lifting post is connected by support base with upper compoboard, and photographic device passes through
Six rib connectors are connected with the upper end of hydraulic lifting post, and the central axes of upper compoboard, hydraulic lifting post and photographic device it
Between coincide.
Compared with prior art, beneficial effects of the present invention are as follows：
1. passing through the setting of protective device, protective baffle plate, lower layer's pedestal, compounded rubber pad and upper layer pedestal, by compound
Rubber layer can directly contacting to avoid upper layer pedestal and lower layer base interior, reduce abrasion between the two in use process,
Slow vibration effect can be formed to top operating table surface simultaneously, the setting of protective baffle plate can be integrally formed the lower end of lower layer's pedestal
Package isolation effect, avoids the scuffing occurred in rubble or driving process, and the processing technology of protective baffle plate is relatively simple, just
In mass production.
2. by the setting of power transmission device, movable crawler belt, driving wheel, driving wheel and fixture nut, by driving wheel
Engaged transmission between driving wheel forms the locomotivity of whole device, and movable crawler belt can increase between ground
Contact area is more applicable for the uneven road of massif so that making equipment in the process of moving has more good road holding
Road.
3. being realized up and down by linking pedestal, outer encirclement, the setting of distance-sensor and built-in pedestal using linking pedestal
Being fixedly connected between overall structure, and the equipment can determine by distance-sensor progress apart from upper in use
Bit manipulation makes the device with more controllability, and wherein distance-sensor uses model RS232.
4. can be entire by support spring by lower compoboard, the setting of support spring, attachment base and upper compoboard
Top structure provides enough buffer capacities, thus reduce in use because significantly being shaken caused by the injustice of ground,
To improve the quality of finding a view of top capture apparatus.
5. passing through the setting of support base, hydraulic lifting post, six rib connectors, photographic device and camera lens, photographic device passes through liquid
It presses lifting column to form support fixed operation, and can realize that the position in vertical direction adjusts operation by hydraulic lifting post,
And the also relatively simple convenience of the connection type between photographic device and hydraulic lifting post.
Detailed description of the invention
Fig. 1 is schematic view of the front view of the present invention；
Fig. 2 is side exterior structural schematic diagram of the present invention；
Fig. 3 is side view half section structure diagram of the present invention；
Fig. 4 is partial enlargement structural representation at A of the present invention；
Fig. 5 is partial enlargement structural representation at B of the present invention.
In figure：1, protective device, 101, protective baffle plate, 102, lower layer's pedestal, 103, compounded rubber pad, 104, upper layer base
Seat, 2, buffering plate, 3, linking pedestal, 4, line shaft, 5, power transmission device, 501, movable crawler belt, 502, driving wheel, 503,
Driving wheel, 504, fixture nut, 6, outer encirclement, 7, buffering sponge, 8, distance-sensor, 9, built-in pedestal, 10, connection bolt,
11, lower compoboard, 12, corner slot, 13, support spring, 14, attachment base, 15, upper compoboard, 16, support base, 17, hydraulic lifting
Column, 18, six rib connectors, 19, photographic device, 20, camera lens.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-5 is please referred to, the present invention provides a kind of technical solution：A kind of mountainous region action intelligent robot of Distance positioning,
Including protective device 1, line shaft 4 and outer encirclement 6, the top of protective device 1 is provided with buffering plate 2, and buffering plate 2 is upper
Side is provided with linking pedestal 3, and the inside rear and front end of protective device 1 is provided with protective baffle plate 101, and protective baffle plate 101
Top is provided with lower layer's pedestal 102, and the top of lower layer's pedestal 102 is provided with compounded rubber pad 103, and compounded rubber pad 103
Top is provided with upper layer pedestal 104, and protective baffle plate 101 is set as bending structure, and protective baffle plate 101 passes through connection bolt 10
It is connected respectively with the rear and front end of lower layer pedestal 102, and the lower surface of compounded rubber pad 103 and lower layer pedestal 102 is upper
It is fitted closely between surface and between the upper surface of compounded rubber pad 103 and the lower surface of upper layer pedestal 104, passes through protection
The setting of device 1, protective baffle plate 101, lower layer's pedestal 102, compounded rubber pad 103 and upper layer pedestal 104, passes through composite rubber layer
103 can reduce mill between the two in use process to avoid upper layer pedestal 104 and directly contacting inside lower layer pedestal 102
Damage, while slow vibration effect can be formed to top operating table surface, the left and right ends of line shaft 4 are provided with power transmission device 5,
And line shaft 4 is located inside the rear and front end of linking pedestal 3, power transmission device 5 is internally provided with movable crawler belt
501, and movable crawler belt 501 is internally provided with driving wheel 502, driving wheel 502 is internally provided with driving wheel 503, and actively
The front end of wheel 503 is equipped with fixture nut 504, and driving wheel 502 is equally spaced with equilateral triangle track in the four of driving wheel 503
Week, and movable crawler belt 501 is uniformly wrapped in the outside of driving wheel 502, and driving wheel 503 passes through fixture nut 504 and power
The left and right ends of axis 4 are connected, and pass through power transmission device 5, movable crawler belt 501, driving wheel 502, driving wheel 503 and fixed spiral shell
The setting of mother 504 forms the locomotivity of whole device by the engaged transmission between driving wheel 503 and driving wheel 502, and
Movable crawler belt 501 can increase the contact area between ground, to make equipment in the process of moving and have and is more good
Road holding is more applicable for the uneven road of massif, and outer encirclement 6 is internally provided with buffering sponge 7, and outer encirclement 6 is located at
It is connected the top of pedestal 3, outer 6 front end of surrounding is equipped with distance-sensor 8, outer to surround 6 lower end and the upper end for being connected pedestal 3
Between to be fixedly connected, and it is outer surround 6 level height it is identical with the level height of distance-sensor 8, and encirclement 6 outside is interior
Portion's dimensional structure matches with the external dimensions structure of built-in pedestal 9, by being connected pedestal 3, outer encirclement 6,8 and of distance-sensor
The setting of built-in pedestal 9 realizes being fixedly connected between upper and lower overall structure using linking pedestal 3, and the equipment is using
It can carry out making the device have more controllability, wherein distance perception apart from upper positioning operation by distance-sensor 8 in the process
Device 8 is answered to use model RS232, the top of buffering sponge 7 is provided with built-in pedestal 9, and the inside of built-in pedestal 9 is equipped with company
Connecting bolt 10 connects compoboard 11 under being fixedly arranged above of bolt 10, and is provided with inside the left and right ends of lower compoboard 11
Corner slot 12, corner slot 12 is internally provided with support spring 13, and the upper end of support spring 13 is equipped with attachment base 14, connection
The top of seat 14 is provided with compoboard 15, and is connected with support base 16 above the middle part of upper compoboard 15, lower compoboard 11
Upper end passes through cooperation and upper compoboard 15 between support spring 13 and attachment base 14, and about lower combination between support spring 13
The center line of plate 11 is symmetrical, and upper compoboard 15 constitutes elastic construction by support spring 13, passes through lower compoboard 11, support
The setting of spring 13, attachment base 14 and upper compoboard 15 can be provided enough by support spring 13 for entire top structure
Buffer capacity is set to reduce in use because significantly shaking caused by the injustice of ground to improve top shooting
Standby quality of finding a view, support base 16 is fixedly arranged above hydraulic lifting post 17, and the upper end of hydraulic lifting post 17 is connected with six ribs
Connector 18, the top of six rib connectors 18 is provided with photographic device 19, and the front end of photographic device 19 is provided with camera lens 20, hydraulic liter
The lower end of drop column 17 is connected by support base 16 with upper compoboard 15, and photographic device 19 passes through six rib connectors 18 and hydraulic liter
The upper end of drop column 17 is connected, and coincides between upper compoboard 15, hydraulic lifting post 17 and the central axes of photographic device 19,
By support base 16, the setting of hydraulic lifting post 17, six rib connectors 18, photographic device 19 and camera lens 20, photographic device 19 passes through
Hydraulic lifting post 17 forms support fixed operation, and can realize that the position in vertical direction is adjusted by hydraulic lifting post 17
Operation, and the also relatively simple convenience of the connection type between photographic device 19 and hydraulic lifting post 17.
Working principle：When intelligent robot is taken action in the mountainous region using the Distance positioning, whole device is before use first
It needs to install corresponding motive power outputting apparatus inside linking pedestal 3, and is realized between up-down structure by connecting base 3
It is connected, while photographic device 19 is connected with the upper end of hydraulic lifting post 17 by six rib connectors 18, passes through hydraulic lifting
Operation can be adjusted to the level height of photographic device 19 in column 17, the device can be used after the installation is completed, when use
Motive power outputting apparatus drives the rotation of driving wheel 503 by line shaft 4, to realize the rotation of driving wheel 502 and movable crawler belt 501
Turn, forms the locomotivity of whole device, and movable crawler belt by the engaged transmission between driving wheel 503 and driving wheel 502
501 can increase the contact area between ground, so that making equipment in the process of moving has more good road holding, more
Add and be suitable for the uneven road of massif, can be carried out by distance-sensor 8 in use apart from upper positioning operation,
Make the device with more controllability, wherein distance-sensor 8 uses model RS232, wherein can be by support spring 13
Entire top structure provides enough buffer capacities, to reduce in use because significantly shaking caused by the injustice of ground
Dynamic, to improve the quality of finding a view of top capture apparatus, here it is the work of the mountainous region of Distance positioning action intelligent robot
Principle.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
- The intelligent robot 1. a kind of mountainous region of Distance positioning is taken action, including protective device (1), line shaft (4) and outer encirclement (6), It is characterized in that：It is provided with buffering plate (2) above the protective device (1), and is provided with rank above buffering plate (2) It connects pedestal (3), the left and right ends of the line shaft (4) are provided with power transmission device (5), and line shaft (4) is located at It is connected inside the rear and front end of pedestal (3), the outer encirclement (6) is internally provided with buffering sponge (7), and outer encirclement (6) position In the top of linking pedestal (3), the outer front end for surrounding (6) is equipped with distance-sensor (8), buffering sponge (7) Top is provided with built-in pedestal (9), and the inside of built-in pedestal (9) is equipped with connection bolt (10), the connection bolt (10) Being fixedly arranged above under compoboard (11), and corner slot (12) are provided with inside the left and right ends of lower compoboard (11), it is described Corner slot (12) is internally provided with support spring (13), and the upper end of support spring (13) is equipped with attachment base (14), described It is provided with above attachment base (14) compoboard (15), and is connected with support base (16) above the middle part of upper compoboard (15).
- The intelligent robot 2. a kind of mountainous region of Distance positioning according to claim 1 is taken action, it is characterised in that：The protection The inside rear and front end of device (1) is provided with protective baffle plate (101), and is provided with lower layer's base above protective baffle plate (101) Seat (102) is provided with compounded rubber pad (103) above lower layer's pedestal (102), and the top of compounded rubber pad (103) It is provided with upper layer pedestal (104).
- The intelligent robot 3. a kind of mountainous region of Distance positioning according to claim 2 is taken action, it is characterised in that：The protection Baffle (101) is set as bending structure, and protective baffle plate (101) by connection bolt (10) respectively with lower layer's pedestal (102) Rear and front end be connected, and it is between the lower surface of compounded rubber pad (103) and the upper surface of lower layer's pedestal (102) and multiple It closes and is fitted closely between the upper surface of rubber pad (103) and the lower surface of upper layer pedestal (104).
- The intelligent robot 4. a kind of mountainous region of Distance positioning according to claim 1 is taken action, it is characterised in that：The power Transmitting device (5) is internally provided with movable crawler belt (501), and movable crawler belt (501) is internally provided with driving wheel (502), The driving wheel (502) is internally provided with driving wheel (503), and the front end of driving wheel (503) is equipped with fixture nut (504)。
- The intelligent robot 5. a kind of mountainous region of Distance positioning according to claim 4 is taken action, it is characterised in that：The transmission Wheel (502) is equally spaced with equilateral triangle track in the surrounding of driving wheel (503), and movable crawler belt (501) is uniformly wrapped in The outside of driving wheel (502), and driving wheel (503) is connected by fixture nut (504) with the left and right ends of line shaft (4) It connects.
- The intelligent robot 6. a kind of mountainous region of Distance positioning according to claim 1 is taken action, it is characterised in that：The outsourcing It encloses to be fixedly connected between the lower end of (6) and the upper end for being connected pedestal (3), and the outer level height for surrounding (6) is answered with distance perception The level height of device (8) is identical, and surrounds the inside dimension structure and the external dimensions structure phase of built-in pedestal (9) of (6) outside It coincide.
- The intelligent robot 7. a kind of mountainous region of Distance positioning according to claim 1 is taken action, it is characterised in that：The following group The upper end of plywood (11) passes through cooperation and upper compoboard (15) between support spring (13) and attachment base (14), and support spring (13) center line between about lower compoboard (11) is symmetrical, and upper compoboard (15) constitutes elasticity by support spring (13) Structure.
- The intelligent robot 8. a kind of mountainous region of Distance positioning according to claim 1 is taken action, it is characterised in that：The support Seat (16) is fixedly arranged above hydraulic lifting post (17), and the upper end of hydraulic lifting post (17) is connected with six rib connectors (18), institute It states and is provided with photographic device (19) above six rib connectors (18), and the front end of photographic device (19) is provided with camera lens (20).
- The intelligent robot 9. a kind of mountainous region of Distance positioning according to claim 8 is taken action, it is characterised in that：It is described hydraulic The lower end of lifting column (17) is connected by support base (16) with upper compoboard (15), and photographic device (19) passes through six rib connectors (18) it is connected with the upper end of hydraulic lifting post (17), and upper compoboard (15), hydraulic lifting post (17) and photographic device (19) it coincides between central axes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810742794.7A CN108890610A (en) | 2018-07-09 | 2018-07-09 | A kind of mountainous region action intelligent robot of Distance positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810742794.7A CN108890610A (en) | 2018-07-09 | 2018-07-09 | A kind of mountainous region action intelligent robot of Distance positioning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108890610A true CN108890610A (en) | 2018-11-27 |
Family
ID=64348644
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810742794.7A Pending CN108890610A (en) | 2018-07-09 | 2018-07-09 | A kind of mountainous region action intelligent robot of Distance positioning |
Country Status (1)
| Country | Link |
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| CN (1) | CN108890610A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106379436A (en) * | 2016-11-24 | 2017-02-08 | 国网山东省电力公司电力科学研究院 | Wheel type obstacle crossing mechanism of transformer substation, robot and method of obstacle crossing mechanism |
| US20170261993A1 (en) * | 2016-03-10 | 2017-09-14 | Xerox Corporation | Systems and methods for robot motion control and improved positional accuracy |
| CN206863584U (en) * | 2017-03-28 | 2018-01-09 | 佛山职业技术学院 | A kind of corridor Detecting Robot |
| CN108221570A (en) * | 2018-02-02 | 2018-06-29 | 李翠仙 | A kind of packer of road administration construction damping |
-
2018
- 2018-07-09 CN CN201810742794.7A patent/CN108890610A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20170261993A1 (en) * | 2016-03-10 | 2017-09-14 | Xerox Corporation | Systems and methods for robot motion control and improved positional accuracy |
| CN106379436A (en) * | 2016-11-24 | 2017-02-08 | 国网山东省电力公司电力科学研究院 | Wheel type obstacle crossing mechanism of transformer substation, robot and method of obstacle crossing mechanism |
| CN206863584U (en) * | 2017-03-28 | 2018-01-09 | 佛山职业技术学院 | A kind of corridor Detecting Robot |
| CN108221570A (en) * | 2018-02-02 | 2018-06-29 | 李翠仙 | A kind of packer of road administration construction damping |
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Application publication date: 20181127 |
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