CN109501879B - Trackable tracked crawler robot with strong anti-collision capacity - Google Patents
Trackable tracked crawler robot with strong anti-collision capacity Download PDFInfo
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- CN109501879B CN109501879B CN201811618883.7A CN201811618883A CN109501879B CN 109501879 B CN109501879 B CN 109501879B CN 201811618883 A CN201811618883 A CN 201811618883A CN 109501879 B CN109501879 B CN 109501879B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
Abstract
The invention discloses a trackable crawler robot with strong anti-collision capacity, and relates to the technical field of robots. This trackable formula track robot that crashproof ability is strong, it rotates to drive the drive wheel through the positive and negative direction operation of servo motor one, thereby it rotates to drive the drive track, thereby realize advancing or retreating of this robot, can adjust the acquisition picture angle of surveillance camera head, thereby more accurate let this robot patrol and examine and trail, it rotates at the screwed pipe through three drive threaded rods of servo motor, thereby remove two counter weight rings of inside to the right side, thereby the weight of this robot right-hand member has been increased, make the focus right side partially, thereby better avoid when offeing the problem of toppling over to the rear, stability when offeing has been improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a trackable crawler robot with strong anti-collision capacity.
Background
The robot is a machine device for automatically executing work, can receive human commands, can run a pre-arranged program, and can also perform movements according to principles formulated by artificial intelligence technology, and the types of the robot are various, wherein the crawler robot is widely applied to the fields of transportation, routing inspection, fire fighting and the like due to the characteristics of strong terrain adaptability, strong obstacle crossing capability, strong load bearing capability and the like.
The trackable tracked robot has the advantages that the trackable tracked robot easily collides with obstacles in a stroke in the using process, if the robot is not effectively protected, the damage of the robot can be caused, the use safety of the robot is affected, and in the process of routing inspection and tracking, the visual angle of the trackable tracked robot is fixed, so that the problem that pictures of partial angle positions cannot be obtained easily is solved.
Therefore, the present invention provides a trackable crawler robot with high collision avoidance capability to solve the above problems.
Disclosure of Invention
The invention aims to make up for the defects of the prior art, provides a trackable crawler robot with strong anti-collision capability, has the advantages of good anti-collision effect and capability of acquiring multi-azimuth pictures, and solves the problems of poor anti-collision effect and fixed picture acquisition angle of the trackable crawler robot.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a trackable formula track robot that crashworthiness is strong, includes the bottom plate, crawler drive mechanism is installed to the both sides of bottom plate, monitoring mechanism is installed in the left side of bottom plate top, anticollision mechanism is installed to the right side of bottom plate top, crawler drive mechanism includes that the drive frame, round pin axle one, auxiliary wheel, round pin axle two, fixed slot one, servo motor one, fixed slot two, bearing one, drive track, bearing two and drive wheel.
The monitoring mechanism comprises a fixed cylinder, a fixed plate, a support, a monitoring box, a third pin shaft, an arc-shaped block, an electric push rod, a fourth pin shaft, a monitoring camera, a bottom groove, a connecting groove and a second servo motor.
The anti-collision mechanism comprises a supporting plate, a slide way, a roller, a support, a flexible spring, a collision plate, a bottom box, a third servo motor, a sliding rod, a counterweight ring, a connecting column, a threaded pipe, a threaded rod, a third bearing, a powerful spring, a sliding block, a sliding chute, an on-off switch, a sliding column, a contact switch and a cavity.
Further, the upper surface of the base plate is fixedly connected with a control box, the front surface and the back surface of the base plate are fixedly connected with driving frames, the top end of each driving frame is provided with a first fixing groove, a driving wheel is placed in each first fixing groove, a second pin shaft is fixedly connected in each driving wheel, bearings are fixedly embedded in the upper parts of the front surface and the back surface of the driving frames, the front end and the back end of each pin shaft penetrate through the bearings and extend to the outer parts of the driving frames, the outer surface of each pin shaft is fixedly connected with the inner ring of the bearing, the upper surface of the control box is fixedly connected with two symmetrical first servo motors, the output ends of the two first servo motors are fixedly connected with one ends, close to each other, of the two pin shafts respectively, the bottom end of each driving frame is provided with two symmetrical second fixing grooves, every the auxiliary wheel has all been placed to the inside of fixed slot two, every the equal fixedly connected with round pin axle one in the inside of auxiliary wheel, the lower part at the positive lower part of drive frame and the lower part at the back all fixed the inlaying have two symmetrical bearing one, every both ends all extend to the inside of bearing one around the round pin axle one, and the outer surface of round pin axle one and the inner circle fixed connection of bearing one.
Through adopting above-mentioned technical scheme, can be better provide drive power to advancing of the device to better use patrolling and examining and trail the device.
Further, the last fixed surface of control box is connected with a fixed section of thick bamboo, the inside fixedly connected with servo motor two of a fixed section of thick bamboo, the output fixedly connected with fixed plate of servo motor two, the left side fixedly connected with support of fixed plate upper surface, the control box has been placed to the top of support, the left side fixedly connected with arc piece of control box bottom surface, the inside of support is through round pin axle three with arc piece fixed articulated, the kerve has been seted up to the bottom surface of control box, the inside of kerve is through four fixed articulations of round pin axle has electric putter, the right flank fixed of control box is inlayed and is had two symmetrical surveillance cameras.
Through adopting above-mentioned technical scheme, can better acquire the picture of equidirectional not through adjusting to can acquire the picture of different angles, thereby more accurate patrolling and examining and trail.
Furthermore, the right side of the upper surface of the control box is fixedly connected with a support plate, the right side surface of the support plate is provided with a slide way, the upper surface of the control box is fixedly connected with a support, the inside of the support is fixedly hinged with a sliding column through a pin, one end of the sliding column, which is far away from the support, penetrates through the slide way and extends to the right side of the support plate, the right side of the inside of the bottom plate is provided with a cavity, the right side of the bottom plate is provided with an impact plate, the left end of the impact plate extends to the inside of the cavity, the inner top wall and the inner bottom wall of the cavity are both provided with sliding grooves, each sliding groove is internally clamped with a sliding block matched with the sliding groove, one side surface, close to each other, of the two sliding blocks is fixedly connected with the upper surface and the bottom surface of the impact plate respectively, the left side surface of the impact plate is, the bottom surface fixedly connected with end box of bottom plate, the left side fixedly connected with servo motor three of diapire in the end box, the output fixedly connected with threaded rod of servo motor three, the surface threaded connection of threaded rod has the screwed pipe with threaded rod looks adaptation, two symmetrical slide bars of inside fixedly connected with of end box, every the surface of slide bar all overlaps and is equipped with the counter weight ring, two the equal fixedly connected with spliced pole in a side that the counter weight ring is close to each other, two a side that the spliced pole is close to each other all is connected with the fixed surface of screwed pipe.
Through adopting above-mentioned technical scheme, improvement the device's that can be better anticollision effect to can keep stability after the striking.
Furthermore, the right flank of fixed plate has seted up the spread groove, the inside of spread groove is fixed articulated through pin and electric putter's flexible end.
Through adopting above-mentioned technical scheme, the angle that drives the control box through the flexible of the flexible end of electric putter that can be better is adjusted to the angle to the surveillance camera head is adjusted.
Furthermore, the left side fixedly connected with flexible spring of slip post bottom surface, the bottom and the last fixed surface of control box of flexible spring are connected.
Through adopting above-mentioned technical scheme, can be better when not striking, pulling sliding column and on-off switch contact all the time.
Furthermore, the right side of slip post surface is fixed through the pin and is articulated with two symmetrical gyro wheels, and the diameter value of slip post equals the width value of slide.
Through adopting above-mentioned technical scheme, can be better after the striking, roll at the striking face through the gyro wheel, make the slip post upwards rotate to cushion the impact force through flexible spring.
Further, the inner top wall of the slide is fixedly connected with a contact switch, and the inner bottom wall of the slide is fixedly connected with an on-off switch.
Through adopting above-mentioned technical scheme, the stability and the direction of advancing of the device are regulated and control to the on-off state through contact switch and on-off switch that can be better.
Furthermore, the inner side wall, far away from the servo motor III, of the bottom box is fixedly embedded with a bearing III, and the outer surface, far away from one end of the servo motor III, of the threaded rod is fixedly connected with the inner ring of the bearing III.
Through adopting above-mentioned technical scheme, can be better let the threaded rod rotate, avoid causing the problem of card pause at the in-process of adjusting.
Compared with the prior art, the trackable crawler robot with strong anti-collision capacity has the following beneficial effects:
1. the driving frame, the first pin shaft, the auxiliary wheels, the second pin shaft, the first fixing groove, the first servo motor, the second fixing groove, the first bearing, the driving crawler, the second bearing and the driving wheel are arranged, the driving wheel can be driven to rotate through forward and reverse operation of the first servo motor, the driving crawler is driven to rotate, the robot can move forwards or backwards, the driving crawler can be rotated through the two auxiliary wheels below, and steering processing can be performed through matching of the two independent first servo motors.
2. According to the invention, the fixed cylinder, the fixed plate, the bracket, the monitoring box, the third pin shaft, the arc-shaped block, the electric push rod, the fourth pin shaft, the monitoring camera, the bottom groove, the connecting groove and the second servo motor are arranged, so that the fixed plate can be better driven to rotate through the operation of the second servo motor, the direction of the monitoring box can be rotatably adjusted, the monitoring camera can better monitor different directions, the height of the right end of the monitoring box can be adjusted through the extension of the extension end of the electric push rod, the angle of an acquired picture of the monitoring camera can be better adjusted, and the robot can be more accurately patrolled and tracked.
3. The invention is provided with a supporting plate, a slideway, an impact plate, a bottom box, a servo motor III, an on-off switch, a sliding column and a contact switch, when the robot collides with an object in the advancing process and an obstacle contacts with a roller, the right end of the sliding column is pressed to rotate upwards by impact force and the impact plate is pressed towards the inner side of the device, so that a strong spring in a bottom plate is compressed by the impact plate to contract, thereby playing a role of buffer protection, and when the sliding column is separated from the on-off switch, the servo motor III is controlled by a control box to rotate in the positive direction, thereby a threaded rod is driven by the servo motor III to rotate in a threaded pipe, thereby the threaded pipe is pushed to move to the right side, thereby two internal counter weights are moved to the right side, the weight of the right end of the robot is increased, the center of gravity is deviated to the right side, and the problem of backward tilting in collision is better avoided, stability when offeing is improved, when the sliding column pushes up right and contacts contact switch, the servo motor is controlled through the control box to rotate in the reverse direction, the robot is moved away in the reverse direction, and therefore the problem that damage to the servo motor is caused because the robot stays in an impact position after impact is better avoided.
4. According to the invention, the control box is arranged, and the controller and the battery board for endurance are arranged in the control box, so that the management of each driving device of the robot can be better realized, the direction, the speed, the angle and the response time of the servo motor can be controlled, the telescopic length of the electric push rod 307 can be controlled, and the acquired real-time pictures can be transmitted through the monitoring camera, so that the robot can be better used for routing inspection and tracking.
Drawings
FIG. 1 is a perspective view of a bottom plate of the present invention from a front perspective;
FIG. 2 is a cross-sectional view of a stationary barrel of the present invention;
FIG. 3 is a cross-sectional view of a top view of the back box of the present invention;
FIG. 4 is a partial cross-sectional view of a front view of the base plate of the present invention;
fig. 5 is a side view of the inventive skid.
In the figure: 1-base plate, 2-track driving mechanism, 201-driving frame, 202-pin shaft I, 203-auxiliary wheel, 204-pin shaft II, 205-fixed groove I, 206-servo motor I, 207-fixed groove II, 208-bearing I, 209-driving track, 210-bearing II, 211-driving wheel, 3-monitoring mechanism, 301-fixed cylinder, 302-fixed plate, 303-bracket, 304-monitoring box, 305-pin shaft III, 306-arc block, 307-electric push rod, 308-pin shaft IV, 309-monitoring camera, 310-bottom groove, 311-connecting groove, 312-servo motor II, 4-anti-collision mechanism, 401-supporting plate, 402-slideway, 403-roller, 404-support, 405-flexible spring, 406-impact plate, 407-bottom box, 408-three servo motors, 409-sliding rod, 410-counterweight ring, 411-connecting column, 412-threaded pipe, 413-threaded rod, 414-three bearings, 415-strong spring, 416-sliding block, 417-sliding chute, 418-on-off switch, 419-sliding column, 420-contact switch, 421-cavity and 5-control box.
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.
Referring to fig. 1-5, the present invention provides a technical solution: the utility model provides a trackable formula track robot that crashworthiness is strong, includes bottom plate 1, and track actuating mechanism 2 is installed to the both sides of bottom plate 1, and monitoring mechanism 3 is installed in the left side of bottom plate 1 top, and anticollision mechanism 4 is installed on the right side of bottom plate 1 top, and track actuating mechanism 2 includes that the drive frame 201, round pin axle one 202, auxiliary wheel 203, round pin axle two 204, fixed slot one 205, servo motor one 206, fixed slot two 207, bearing one 208, drive track 209, bearing two 210 and drive wheel 211.
The monitoring mechanism 3 comprises a fixed cylinder 301, a fixed plate 302, a bracket 303, a monitoring box 304, a third pin 305, an arc-shaped block 306, an electric push rod 307, a fourth pin 308, a monitoring camera 309, a bottom groove 310, a connecting groove 311 and a second servo motor 312.
The anti-collision mechanism 4 comprises a support plate 401, a slide way 402, a roller 403, a support 404, a flexible spring 405, a collision plate 406, a bottom box 407, a servo motor three 408, a slide rod 409, a counterweight ring 410, a connecting column 411, a threaded pipe 412, a threaded rod 413, a bearing three 414, a strong spring 415, a slide block 416, a slide groove 417, an on-off switch 418, a slide column 419, a contact switch 420 and a cavity 421.
Further, the upper surface of the base plate 1 is fixedly connected with a control box 5, the front and the back of the base plate 1 are fixedly connected with driving frames 201, the top end of each driving frame 201 is provided with a first fixing groove 205, a driving wheel 211 is arranged inside each fixing groove 205, a second pin shaft 204 is fixedly connected inside each driving wheel 211, bearings 210 are fixedly embedded on the upper portion of the front and the upper portion of the back of the driving frame 201, the front and the back ends of each pin shaft 204 penetrate through the bearings 210 and extend to the outside of the driving frame 201, the outer surface of the second pin shaft 204 is fixedly connected with the inner ring of the bearing 210, the upper surface of the control box 5 is fixedly connected with two symmetrical first servo motors 206, the output ends of the two first servo motors 206 are fixedly connected with the ends, close to each other, of the two second pin shafts 204, the bottom end of each driving frame 201 is provided with two symmetrical fixing grooves 207, auxiliary wheel 203 has all been placed in the inside of every two fixed slots 207, the equal fixedly connected with round pin axle 202 in inside of every auxiliary wheel 203, the lower part on the front of driving rack 201 and the lower part at the back all fixed the inlaying have two symmetrical bearings 208, both ends all extend to the inside of bearing 208 around every round pin axle 202, and the outer surface of round pin axle 202 and the inner circle fixed connection of bearing 208, can be better provide drive power to advancing of the device, thereby better use the device to patrol and trace.
Further, the upper surface of the control box 5 is fixedly connected with a fixed cylinder 301, the inside of the fixed cylinder 301 is fixedly connected with a second servo motor 312, the output end of the second servo motor 312 is fixedly connected with a fixed plate 302, the left side of the upper surface of the fixed plate 302 is fixedly connected with a bracket 303, a monitoring box 304 is placed above the bracket 303, the left side of the bottom surface of the monitoring box 304 is fixedly connected with an arc-shaped block 306, the inside of the bracket 303 is fixedly hinged with the arc-shaped block 306 through a third pin shaft 305, the bottom surface of the monitoring box 304 is provided with a bottom groove 310, the inside of the bottom groove 310 is fixedly hinged with an electric push rod 307 through a fourth pin shaft 308, the electric push rod 307 is also called a linear driver, the electric push rod 307 is an extension of the rotary motor in the structural aspect, the electric push rod 307 mainly comprises a novel linear actuator composed of mechanisms such as a motor rod and a control device, the electric push, the electric push rod 307 is a device known in the prior art, two symmetrical monitoring cameras 309 are fixedly embedded on the right side of the monitoring box 304, pictures in different directions can be better acquired through adjustment, and pictures at different angles can be acquired, so that inspection and tracking can be performed more accurately.
Further, a supporting plate 401 is fixedly connected to the right side of the upper surface of the control box 5, a slide channel 402 is formed in the right side surface of the supporting plate 401, a support 404 is fixedly connected to the upper surface of the control box 5, a sliding column 419 is fixedly hinged inside the support 404 through a pin, one end of the sliding column 419, which is far away from the support 404, penetrates through the slide channel 402 and extends to the right side of the supporting plate 401, a cavity 421 is formed in the right side of the inside of the bottom plate 1, a collision plate 406 is placed on the right side of the bottom plate 1, the left end of the collision plate 406 extends to the inside of the cavity 421, sliding grooves 417 are formed in the inner top wall and the inner bottom wall of the cavity 421, a sliding block 416 which is matched with the sliding grooves 417 is clamped inside each sliding groove 417, one side surface, which is close to each other, of the two sliding blocks 416 is fixedly connected to the upper surface and the bottom surface of the collision plate 406, strong springs 415 which, the bottom surface of the bottom plate 1 is fixedly connected with a bottom box 407, the left side of the bottom wall in the bottom box 407 is fixedly connected with a servo motor III 408, the servo motor I206, the servo motor II 312 and the servo motor III 408 refer to an engine for controlling mechanical elements to operate in a servo system, and are auxiliary motor indirect speed changing devices, so that the control speed and the position precision are very accurate, voltage signals can be converted into torque and rotating speed to drive a control object, the rotating speed of a rotor is controlled by input signals and can be quickly reacted, the self-rotation phenomenon does not occur when the voltage signals are zero, the models of the servo motor I206, the servo motor II 312 and the servo motor III 408 are all 60CB060C-200000, the servo motors are known devices in the prior art, the output end of the servo motor III 408 is fixedly connected with a threaded rod 413, the outer surface of the threaded rod 413 is in threaded connection with a threaded pipe 412 matched, two symmetrical slide bars 409 of inside fixedly connected with of end box 407, the surface of every slide bar 409 all overlaps and is equipped with counterweight ring 410, the equal fixedly connected with spliced pole 411 of the side that two counterweight rings 410 are close to each other, the side that two spliced poles 411 are close to each other all is connected with the surface fixed connection of screwed pipe 412, improvement the device's that can be better anticollision effect to can remain stability after the striking.
Further, the connecting groove 311 has been seted up to the right flank of fixed plate 302, and the inside of connecting groove 311 is fixed articulated through pin and electric putter 307's flexible end, and the angle that drives monitoring box 304 through the flexible end of electric putter 307 that can be better is adjusted to the angle to surveillance camera 309 is adjusted.
Further, the flexible spring 405 is fixedly connected to the left side of the bottom surface of the sliding column 419, and the bottom end of the flexible spring 405 is fixedly connected to the upper surface of the control box 5, so that the sliding column 419 can be pulled to be always in contact with the on-off switch 418 when the sliding column 419 is not impacted.
Furthermore, two symmetrical rollers 403 are fixedly hinged on the right side of the outer surface of the sliding column 419 through pins, and the diameter value of the sliding column 419 is equal to the width value of the slide way 402, so that after the impact, the rollers 403 can roll on the impact surface, the sliding column 419 can rotate upwards, and the impact force can be buffered through the flexible spring 405.
Further, the inner top wall of the slide rail 402 is fixedly connected with a contact switch 420, the inner bottom wall of the slide rail 402 is fixedly connected with an on-off switch 418, and the stability and the advancing direction of the device can be better regulated and controlled through the on-off states of the contact switch 420 and the on-off switch 418.
Further, the fixed bearing three 414 that inlays of inside wall that the third servo motor 408 was kept away from to end box 407, and the outer surface that three servo motor 408 one end was kept away from to threaded rod 413 and the inner circle fixed connection of bearing three 414, can be better let threaded rod 413 rotate, avoid causing the problem of card pause at the in-process of regulation.
The working principle is as follows: the controller in the control box 5 is connected with the battery panel, and each driving device is controlled and connected through the controller, when the device is used, the controller controls the two servo motors I206 to synchronously rotate in the positive direction to drive the driving wheel 211 to rotate, so that the driving crawler 209 rotates to enable the robot to advance, when the robot needs to turn or turn, the controller controls the two servo motors I206 to rotate in the opposite direction, so that the two driving crawlers 209 rotate in the opposite direction, so that the robot turns, in the process of inspection and tracking of the robot, the controller controls the monitoring camera 309 to acquire pictures in real time, and transmits the pictures to a monitor in real time through the controller, and when pictures in other directions need to be acquired, the controller controls the servo motors II 312 to operate, thereby driving the monitoring camera 309 to rotate through the rotation of the servo motor II 312, thereby obtaining pictures in different directions, controlling the extension and retraction of the telescopic end of the electric push rod 307 through the controller, and driving the angle of the monitoring box 304 to change, thereby better adjusting the monitored angle, better monitoring different directions and angles, thereby better enabling the device to perform routing inspection and tracking, when colliding with an object in the process of traveling, the impact force presses the impact plate 406 towards the inner side of the device, the impact plate 406 compresses the strong spring 415 in the bottom plate 1 to contract, thereby playing a role of buffering protection, and when impacting, the right end of the sliding column 419 is pressed to rotate upwards, when the sliding column 419 is separated from the on-off switch 418, the on-off switch 418 is started, so that the controller controls the servo motor III 408 to perform positive rotation, thereby it rotates in screwed pipe 412 to drive threaded rod 413 through servo motor three 408, thereby promote screwed pipe 412 to the right side and remove, two counter weight rings 410 with inside move to the right side, thereby the weight of this robot right-hand member has been increased, make the focus right side partially, avoid the problem of toppling over backward when offeing, promote and contact switch 420 when sliding post 419 upwards right, contact switch 420 starts, control servo motor 206 through control box 5 and carry out the reverse rotation, move away this robot to the reverse direction, thereby better avoid stopping the problem that leads to blocking bad to servo motor 206 in the striking position all the time after the striking.
In the description of the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. It is noted that, herein, relational terms such as "first," "second," and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
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.
Claims (1)
1. The utility model provides a trackable formula track robot that crashworthiness is strong, includes bottom plate (1), crawler drive mechanism (2) are installed to the both sides of bottom plate (1), monitoring mechanism (3) are installed in the left side of bottom plate (1) top, anticollision mechanism (4), its characterized in that are installed to the right side of bottom plate (1) top: the track driving mechanism (2) comprises a driving frame (201), a first pin shaft (202), an auxiliary wheel (203), a second pin shaft (204), a first fixing groove (205), a first servo motor (206), a second fixing groove (207), a first bearing (208), a driving track (209), a second bearing (210) and a driving wheel (211); the monitoring mechanism (3) comprises a fixed cylinder (301), a fixed plate (302), a support (303), a monitoring box (304), a third pin shaft (305), an arc-shaped block (306), an electric push rod (307), a fourth pin shaft (308), a monitoring camera (309), a bottom groove (310), a connecting groove (311) and a second servo motor (312);
the anti-collision mechanism (4) comprises a supporting plate (401), a slide way (402), a roller (403), a support (404), a flexible spring (405), a collision plate (406), a bottom box (407), a servo motor III (408), a sliding rod (409), a counterweight ring (410), a connecting column (411), a threaded pipe (412), a threaded rod (413), a bearing III (414), a powerful spring (415), a sliding block (416), a sliding groove (417), an on-off switch (418), a sliding column (419), a contact switch (420) and a cavity (421);
last fixed surface of bottom plate (1) is connected with control box (5), the front of bottom plate (1) and the equal fixedly connected with drive frame (201) in the back, every fixed slot (205) have all been seted up on the top of drive frame (201), every drive wheel (211), every have all been placed to the inside of fixed slot (205) the equal fixedly connected with round pin axle two (204) in inside of drive wheel (211), the equal fixed bearing two (210) of inlaying in the upper portion that drive frame (201) was positive and the upper portion at the back, both ends all run through bearing two (210) and extend to the outside of drive frame (201) around round pin axle two (204), and the surface of round pin axle two (204) and the inner circle fixed connection of bearing two (210), the last fixed surface of control box (5) is connected with two symmetrical servo motor one (206), two the output of servo motor one (206) is respectively with the one end fixed connection that two round pin axles two (204) are close to each other Two symmetrical fixing grooves II (207) are formed in the bottom end of each driving frame (201), an auxiliary wheel (203) is placed in each fixing groove II (207), a pin shaft I (202) is fixedly connected to the inside of each auxiliary wheel (203), two symmetrical bearings I (208) are fixedly embedded in the lower portion of the front face and the lower portion of the back face of each driving frame (201), the front end and the rear end of each pin shaft I (202) extend into the bearings I (208), and the outer surface of each pin shaft I (202) is fixedly connected with the inner ring of each bearing I (208);
the upper surface of the control box (5) is fixedly connected with a fixed cylinder (301), the interior of the fixed cylinder (301) is fixedly connected with a second servo motor (312), the output end of the second servo motor (312) is fixedly connected with a fixed plate (302), the left side of the upper surface of the fixed plate (302) is fixedly connected with a bracket (303), a monitoring box (304) is arranged above the bracket (303), an arc-shaped block (306) is fixedly connected to the left side of the bottom surface of the monitoring box (304), the inner part of the bracket (303) is fixedly hinged with the arc-shaped block (306) through a pin shaft III (305), a bottom groove (310) is arranged on the bottom surface of the monitoring box (304), an electric push rod (307) is fixedly hinged inside the bottom groove (310) through a pin shaft four (308), two symmetrical monitoring cameras (309) are fixedly embedded on the right side face of the monitoring box (304);
the right side fixedly connected with backup pad (401) of control box (5) upper surface, slide (402) have been seted up to the right flank of backup pad (401), the last fixed surface of control box (5) is connected with support (404), the inside of support (404) is through fixed hinge joint of pin sliding column (419), the one end that support (404) were kept away from to sliding column (419) runs through slide (402) and extends to the right side of backup pad (401), cavity (421) have been seted up on the inside right side of bottom plate (1), impact plate (406) have been placed on the right side of bottom plate (1), the left end of impact plate (406) extends to the inside of cavity (421), spout (417) have all been seted up to the interior roof and the interior diapire of cavity (421), every the inside of spout (417) all the joint have with spout (417) adapted slider (416), and the side that two sliders (416) are close to each other is fixed with the upper surface and the bottom surface of impact plate (406) respectively Fixedly connected, the left side surface of the impact plate (406) is fixedly connected with strong springs (415) which are arranged at equal intervals, the left end of the strong spring (415) is fixedly connected with the inner side wall of the cavity (421), the bottom surface of the bottom plate (1) is fixedly connected with a bottom box (407), the left side of the inner bottom wall of the bottom box (407) is fixedly connected with a third servo motor (408), the output end of the servo motor III (408) is fixedly connected with a threaded rod (413), the outer surface of the threaded rod (413) is in threaded connection with a threaded pipe (412) matched with the threaded rod (413), two symmetrical sliding rods (409) are fixedly connected to the inside of the bottom box (407), a counterweight ring (410) is sleeved on the outer surface of each sliding rod (409), one side face, close to each other, of each counterweight ring (410) is fixedly connected with a connecting column (411), and one side face, close to each other, of each connecting column (411) is fixedly connected with the outer surface of a threaded pipe (412);
a connecting groove (311) is formed in the right side surface of the fixing plate (302), and the inside of the connecting groove (311) is fixedly hinged with the telescopic end of the electric push rod (307) through a pin;
the left side of the bottom surface of the sliding column (419) is fixedly connected with a flexible spring (405), and the bottom end of the flexible spring (405) is fixedly connected with the upper surface of the control box (5);
the right side of the outer surface of the sliding column (419) is fixedly hinged with two symmetrical rollers (403) through pins, and the diameter value of the sliding column (419) is equal to the width value of the slide way (402);
the inner top wall of the slide way (402) is fixedly connected with a contact switch (420), and the inner bottom wall of the slide way (402) is fixedly connected with an on-off switch (418);
and a third bearing (414) is fixedly embedded in the inner side wall, far away from the third servo motor (408), of the bottom box (407), and the outer surface, far away from one end of the third servo motor (408), of the threaded rod (413) is fixedly connected with the inner ring of the third bearing (414).
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| CN201811618883.7A CN109501879B (en) | 2018-12-28 | 2018-12-28 | Trackable tracked crawler robot with strong anti-collision capacity |
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| CN110315498B (en) * | 2019-03-26 | 2020-06-26 | 特斯联（北京）科技有限公司 | Autonomous mobile patrol robot linked with MR glasses and system thereof |
| CN110096060A (en) * | 2019-05-14 | 2019-08-06 | 青岛黄海学院 | A kind of inspecting robot and its control method with monitoring function |
| CN110351485A (en) * | 2019-08-12 | 2019-10-18 | 乌鲁木齐明华智能电子科技有限公司 | A kind of machine vision tracking rotation device and control method |
| CN110802571A (en) * | 2019-12-03 | 2020-02-18 | 向宇辰 | Wheel type robot anti-falling protection device |
| CN111956989B (en) * | 2020-08-25 | 2021-09-03 | 上海同尊企业管理中心 | Auxiliary robot for fire fighting |
| CN113499558A (en) * | 2020-11-24 | 2021-10-15 | 刘克稳 | Anti-back-tipping robot for fire fighting and use method |
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