CN109625093A - A kind of split type robot moving platform and working method - Google Patents
A kind of split type robot moving platform and working method Download PDFInfo
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- CN109625093A CN109625093A CN201811651396.0A CN201811651396A CN109625093A CN 109625093 A CN109625093 A CN 109625093A CN 201811651396 A CN201811651396 A CN 201811651396A CN 109625093 A CN109625093 A CN 109625093A
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- moving platform
- robot moving
- split type
- type robot
- bracket
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/12—Understructures, i.e. chassis frame on which a vehicle body may be mounted assembled from readily detachable parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D21/00—Understructures, i.e. chassis frame on which a vehicle body may be mounted
- B62D21/18—Understructures, i.e. chassis frame on which a vehicle body may be mounted characterised by the vehicle type and not provided for in groups B62D21/02 - B62D21/17
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of split type robot moving platform, belong to machinery field, the invention includes driving wheel (1), crossbeam (2), connecting bracket (3), equipment support frame (4), control system (5), power plant module (6), driving wheel (1) drives complete machine movement, crossbeam (2) is arranged in above driving wheel (1), connecting bracket (3) is arranged on crossbeam (2), connecting bracket (3) at left and right sides of mobile platform has connection, the function of disconnection, intermediate barrier is avoided by control connecting bracket (3) on-off, the two-part separation of mobile platform or so and combination are also achieved simultaneously, equipment support frame (4) realizes different working modes for installing various equipments, control system (5) controls action of each part, power plant module (6) provides energy for complete machine movement Amount, the present invention disclose a kind of split type robot moving platform and working method, robot moving platform fission avoidance may be implemented.
Description
Technical field
The present invention relates to a kind of robot moving platform, a kind of split type robot moving platform and work are in particulard relate to
Method.
Background technique
Existing robot moving platform or vehicle chassis be typically all an entirety, but monoblock type in some cases
Mobile platform is not well positioned to meet working condition requirement, such as the case where carry out operation to the greenbelt among road, especially high
Greenbelt among fast highway, if mobile platform is walked on the road of greenbelt side, entire mobile platform will be accounted for
One lane, this not only influences the passage speed of road, but also is breakneck, if mobile platform is across in greenbelt
On, might have very high trees or billboard etc. halfway influences the normal pass of mobile platform, asks to solve this
Topic, we use completely new mentality of designing, propose a set of split type design scheme, the present invention discloses a kind of split type machine
People's mobile platform and working method, this kind of robot moving platform can work across on greenbelt, occupy seldom
Road surface, has little influence on the normal pass of vehicle, and encounters barrier robot moving platform the right and left and can separate, no
The greenbelt being suitable only among road is also applied for situations such as operation is carried out below the woods.
Summary of the invention
In order to realize robot moving platform can seperated avoidance this purpose, the present invention discloses a kind of split type robot
Mobile platform, the invention include driving wheel, crossbeam, connecting bracket, equipment support frame, control system, power plant module, driving
Wheel is placed in robot moving platform bottom, complete machine can be driven to move, and crossbeam is arranged in above driving wheel, and connecting bracket setting exists
On crossbeam, the connecting bracket at left and right sides of mobile platform has the function of connection, disconnects, and is kept away by control connecting bracket on-off
Intermediate barrier is opened, while also achieving mobile platform or so two-part separation and combination, equipment support frame to be used for
Various equipments are installed and realize different working modes, control system controls action of each part, and power plant module is that complete machine movement mentions
For energy.
Preferably, the driving wheel includes wheel carrier, turns to revolution, power wheel, turn to revolution be placed in wheel carrier and power wheel it
Between, power wheel can be driven to rotate relative to wheel carrier, and then increase the flexibility of mobile platform mass motion.
Preferably, the crossbeam is equipped with guide rail, and connecting bracket is moved freely along guide rail.
Preferably, the connecting bracket includes bracket support base, bracket revolution, connecting rod of support, fixing lock, bracket revolution
It is placed between bracket support base and connecting rod of support, the two can be driven to be freely rotated, connecting rod of support can stretch, fixing lock
It is placed on connecting rod of support, the connecting rod of support of the left and right sides fixes it by fixing lock when docking.
Preferably, two parts of the fixing lock docking are equipped with guiding flaring, and guiding flaring is taper, the big internal orifice of collar extension
It is small.
Preferably, the bracket support base is set as telescope support, can be drivingly connected bracket lifting.
Preferably, the equipment support frame includes support base, center steering, luffing revolution, working arm, equipment
Mounting base, center steering are placed between support base and luffing revolution, the two can be driven to be freely rotated, working arm is arranged in luffing
In revolution, luffing revolution can drive working arm to swing up and down, and working arm can stretch, and equipment mounting base is placed in working arm
On, equipment mounting base is for installing various equipments.
Preferably, the support base is set as telescope support, driving equipment support frame lifting.
Preferably, the control system is equipped with obstacle identification module, obstacle identification module preferred image identifying system, figure
As the case where identifying system can monitor barrier, and control system is according to barrier is monitored, the dynamic of each executive item is automatically determined
Make to carry out automatic avoiding obstacles.
A kind of split type robot moving platform and working method include:
Including driving wheel, crossbeam, connecting bracket, equipment support frame, control system, power plant module, drive wheel complete machine
Movement, crossbeam are arranged in above driving wheel, and connecting bracket is arranged on crossbeam, and the connecting bracket at left and right sides of mobile platform can be with
Linking together can also disconnect, and intermediate barrier be avoided by control connecting bracket on-off, while also achieving movement
The two-part separation of platform or so and combination, equipment support frame realize different operating mould for installing various equipments
Formula, control system control action of each part, and power plant module provides energy for complete machine movement.
Through the above technical solutions, the present invention realize robot moving platform can seperated this function of avoidance.
Other features and advantages of the present invention will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.Attached drawing is for providing to of the invention further
Understand, and constitute part of specification, is used to explain the present invention together with following specific embodiment, but do not constitute
Limitation of the present invention.In the accompanying drawings:
Fig. 1 is split type robot moving platform integral structure layout schematic diagram；
Fig. 2 is driving wheel partial structure diagram；
Fig. 3 is connecting bracket partial structure diagram；
Fig. 4 is equipment supporting frame part structural schematic diagram.
Description of symbols
1, driving wheel；101, wheel carrier；102, revolution is turned to；103, power wheel；2, crossbeam；201, guide rail；3, connecting bracket；
301, bracket support base；302, bracket turns round；303, connecting rod of support；304, fixing lock；304a, guiding flaring；4, work dress
Set support frame；401, support base；402, center steering；403, luffing turns round；404, working arm；405, equipment mounting base；
5, control system；6, power plant module.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In the present invention, in the absence of explanation to the contrary, the noun of locality used such as " upper and lower, top, bottom " is usually needle
For direction shown in the drawings either for it is vertical, on vertical or gravity direction for each component mutual alignment relation
Word is described.The noun of locality used such as " left and right " refers to the left and right orientation in attached drawing.
As shown in Figure 1, the invention includes driving wheel 1, crossbeam the present invention provides a kind of split type robot moving platform
2, connecting bracket 3, equipment support frame 4, control system 5, power plant module 6, driving wheel 1 are placed in robot moving platform bottom
Complete machine movement is driven, crossbeam 2 is arranged in 1 top of driving wheel, and connecting bracket 3 is arranged on crossbeam 2, at left and right sides of mobile platform
Connecting bracket 3 has the function of connection, disconnects, and intermediate barrier is avoided by control 3 on-off of connecting bracket, while also real
The two-part separation of mobile platform or so and combination are showed, equipment support frame 4 is realized not for installing various equipments
Same operating mode, control system 5 control action of each part, and power plant module 6 provides energy for complete machine movement.It should be understood that
Under normal circumstances, at least one connecting bracket 3 links together split type robot moving platform or so two parts, but
Under extreme case, split type robot moving platform or so two parts can be kept completely separate, and be moved alone, after situation permission,
Left and right two parts pass through connecting bracket 3 again and link together, this kind of structure arrangement supports the realization of this function.
As shown in Fig. 2, driving wheel 1 includes wheel carrier 101, turns to revolution 102, power wheel 103, turns to revolution 102 and be placed in wheel
Between frame 101 and power wheel 103, power wheel 103 can be driven to rotate relative to wheel carrier 101, and then it is whole to increase mobile platform
The flexibility of movement.Power wheel 103 can rotate, and provide power for complete machine movement.
As shown in figure 3, crossbeam 2 is equipped with guide rail 201, connecting bracket 3 is moved freely along guide rail 201.Connecting bracket 3 includes
Bracket support base 301, bracket turn round 302, connecting rod of support 303, fixing lock 304, and bracket revolution 302 is placed in bracket support base
Between 301 and connecting rod of support 303, the two can be driven to be freely rotated, connecting rod of support 303 can stretch, and fixing lock 304 is set
In on connecting rod of support 303, the connecting rod of support 303 of the left and right sides fixes it by fixing lock 304 when docking.Fixing lock 304
Two parts of docking are equipped with guiding flaring 304a, and guiding flaring 304a is taper, and the big internal orifice of collar extension is small, can be to a certain extent
Requirement when connecting rod of support 303 docks to control precision is reduced, docking speed is improved, and then improves mobile platform division effect
Rate.Bracket support base 301 is set as telescope support, can be drivingly connected the lifting of bracket 3, when encountering not high barrier, leads to
3 avoiding obstacles of lifting connecting bracket are crossed, the number of the disconnection of connecting bracket 3 can be effectively reduced, improve mobile platform avoidance
Flexibility and efficiency.Connecting bracket 3 preferred 2-3, specific number can select as the case may be.
As shown in figure 4, equipment support frame 4 includes support base 401, center steering 402, luffing revolution 403, working arm
Both 404, equipment mounting base 405, center steering 402 are placed between support base 401 and luffing revolution 403, can drive
It is freely rotated, the setting of working arm 404 is in luffing revolution 403, and luffing revolution 403 can drive working arm 404 to swing up and down, work
Making arm 404 can stretch, and equipment mounting base 405 is placed on working arm 404, and equipment mounting base 405 installs various works
Make device.Support base 401 is set as telescope support, and equipment support frame 4 can be driven to go up and down, can expand equipment
Working range.
Control system 5 is equipped with obstacle identification module, obstacle identification module preferred image identifying system, image identification system
Barrier can be monitored, the case where control system 5 is according to barrier is monitored, the movement for automatically determining each executive item is kept away automatically
Open barrier.It is understood that the barrier that centre needs to avoid is less in the case where operating condition is less complicated, entirely keep away
The method for allowing process that can use manual operation avoidance.
In conjunction with above all figures, a kind of split type robot moving platform and working method include:
Including driving wheel 1, crossbeam 2, connecting bracket 3, equipment support frame 4, control system 5, power plant module 6, driving wheel 1 is driven
Dynamic complete machine movement, crossbeam 2 are arranged in 1 top of driving wheel, and the company on crossbeam 2, at left and right sides of mobile platform is arranged in connecting bracket 3
Connecing bracket 3 and can connect can also disconnect together, intermediate barrier be avoided by control 3 on-off of connecting bracket, simultaneously
The two-part separation of mobile platform or so and combination are also achieved, equipment support frame 4 is real for installing various equipments
Existing different working modes, control system 5 control action of each part, and power plant module 6 provides energy for complete machine movement.
Through the above technical solutions, the present invention realize robot moving platform can seperated this function of avoidance.
It is described the prefered embodiments of the present invention in detail above in conjunction with attached drawing, still, the present invention is not limited to above-mentioned realities
The detail in mode is applied, within the scope of the technical concept of the present invention, a variety of letters can be carried out to technical solution of the present invention
Monotropic type, and be combined with the partial function structure in my company issued patents scheme, these simple variants, combination are equal
It belongs to the scope of protection of the present invention.
Claims (10)
1. a kind of split type robot moving platform, which is characterized in that the invention includes driving wheel (1), crossbeam (2), connection branch
Frame (3), equipment support frame (4), control system (5), power plant module (6), driving wheel (1) are placed in robot moving platform bottom
Portion can drive complete machine to move, and crossbeam (2) is arranged in above driving wheel (1), and connecting bracket (3) is arranged on crossbeam (2), move
Connecting bracket (3) at left and right sides of moving platform has the function of connection, disconnects, and is avoided by control connecting bracket (3) on-off
Intermediate barrier, while also achieving mobile platform or so two-part separation and combination, equipment support frame (4) are used for
Various equipments are installed and realize different working modes, control system (5) controls action of each part, and power plant module (6) is complete machine
Movement provides energy.
2. a kind of split type robot moving platform according to claim 1, which is characterized in that driving wheel (1) packet
It includes wheel carrier (101), turn to revolution (102), power wheel (103), turn to revolution (102) and be placed in wheel carrier (101) and power wheel (103)
Between, power wheel (103) can be driven to rotate relative to wheel carrier (101), and then increase the flexibility of mobile platform mass motion.
3. a kind of split type robot moving platform according to claim 1, which is characterized in that set on the crossbeam (2)
Have guide rail (201), connecting bracket (3) is moved freely along guide rail (201).
4. a kind of split type robot moving platform according to claim 1, which is characterized in that the connecting bracket (3)
(302), connecting rod of support (303), fixing lock (304) are turned round including bracket support base (301), bracket, bracket revolution (302) is set
Between bracket support base (301) and connecting rod of support (303), the two can be driven to be freely rotated, connecting rod of support (303) can
With flexible, fixing lock (304) is placed on connecting rod of support (303), by fixing when the connecting rod of support (303) of the left and right sides docks
Lock (304) fixes it.
5. a kind of split type robot moving platform according to claim 4, which is characterized in that the fixing lock (304)
Two parts of docking are equipped with guiding flaring (304a), and guiding flaring (304a) is taper, and the big internal orifice of collar extension is small.
6. a kind of split type robot moving platform according to claim 4, which is characterized in that the bracket support base
(301) it is set as telescope support, bracket (3) lifting can be drivingly connected.
7. a kind of split type robot moving platform according to claim 1, which is characterized in that the equipment support
Frame (4) includes support base (401), center steering (402), luffing revolution (403), working arm (404), equipment mounting base
(405), center steering (402) is placed between support base (401) and luffing revolution (403), and the two can be driven to be freely rotated, and is worked
Arm (404) setting is in luffing revolution (403), and luffing revolution (403) can drive working arm (404) to swing up and down, working arm
(404) it can stretch, equipment mounting base (405) is placed on working arm (404), and equipment mounting base (405) is for pacifying
Fill various equipments.
8. a kind of split type robot moving platform according to claim 7, which is characterized in that the support base (401)
It is set as telescope support, equipment support frame (4) can be driven to go up and down.
9. a kind of split type robot moving platform according to claim 1, which is characterized in that the control system (5)
It is equipped with obstacle identification module, obstacle identification module preferred image identifying system, image identification system can monitor barrier, control
For system (5) processed according to the case where monitoring barrier, the movement for automatically determining each executive item carrys out automatic avoiding obstacles.
10. a kind of split type robot moving platform and working method, which is characterized in that the split type robot moving platform
And working method includes:
Including driving wheel (1), crossbeam (2), connecting bracket (3), equipment support frame (4), control system (5), power plant module
(6), the movement of driving wheel (1) driving complete machine, crossbeam (2) are arranged in above driving wheel (1), and connecting bracket (3) is arranged in crossbeam (2)
On, the connecting bracket (3) at left and right sides of mobile platform have the function of connection, disconnect, by control connecting bracket (3) on-off come
Intermediate barrier is avoided, while also achieving mobile platform or so two-part separation and combination, equipment support frame (4)
Different working modes are realized for installing various equipments, and control system (5) controls action of each part, and power plant module (6) is
Complete machine movement provides energy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811651396.0A CN109625093A (en) | 2018-12-31 | 2018-12-31 | A kind of split type robot moving platform and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811651396.0A CN109625093A (en) | 2018-12-31 | 2018-12-31 | A kind of split type robot moving platform and working method |
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| Publication Number | Publication Date |
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| CN109625093A true CN109625093A (en) | 2019-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811651396.0A Pending CN109625093A (en) | 2018-12-31 | 2018-12-31 | A kind of split type robot moving platform and working method |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112034847A (en) * | 2020-08-13 | 2020-12-04 | 广州仿真机器人有限公司 | Obstacle avoidance method and device of split type simulation robot with double walking modes |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2225933A1 (en) * | 2009-02-18 | 2010-09-08 | Coup'Eco | On-board cutting device |
| CN201813688U (en) * | 2010-06-08 | 2011-05-04 | 江西赣粤高速公路股份有限公司 | Gantry pruning device for highway central greenbelt |
| CN202389968U (en) * | 2011-07-20 | 2012-08-22 | 江文渊 | Transfer robot capable of being wirelessly and remotely controlled through voice |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112034847A (en) * | 2020-08-13 | 2020-12-04 | 广州仿真机器人有限公司 | Obstacle avoidance method and device of split type simulation robot with double walking modes |
| CN112034847B (en) * | 2020-08-13 | 2021-04-13 | 广州仿真机器人有限公司 | Obstacle avoidance method and device of split type simulation robot with double walking modes |
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Application publication date: 20190416 |