CN110154049A - A kind of wheeled workshop patrol robot - Google Patents
A kind of wheeled workshop patrol robot Download PDFInfo
- Publication number
- CN110154049A CN110154049A CN201910438636.7A CN201910438636A CN110154049A CN 110154049 A CN110154049 A CN 110154049A CN 201910438636 A CN201910438636 A CN 201910438636A CN 110154049 A CN110154049 A CN 110154049A
- Authority
- CN
- China
- Prior art keywords
- rocker arm
- module
- main control
- driving mechanism
- 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.)
- Pending
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Abstract
The invention discloses a kind of wheeled workshop patrol robot, including robot body, the robot body includes fixed integrated box, driving mechanism, and fixed integrated cassette bottom end is connect with driving mechanism；Main control module, detection module, power module, alarm module are provided in the fixed integrated box；Detection module, power module, alarm module, driving mechanism with main control module connection, the driving mechanism include rocker arm control motor, six wheel rocker arm frame bodies, driving wheel; rocker arm control motor by six wheel rocker arm frame bodies and driving wheel be sequentially connected, rocker arm control motor, driving wheel with main control module connection；The detection module includes camera, outer thermal imaging system, smoke sensor device；Camera, outer thermal imaging system, smoke sensor device with main control module connection.
Description
Technical field
The present invention relates to robot field more particularly to a kind of wheeled workshop patrol robots.
Background technique
Currently, robot, which will cross landform as step, can take the structure of a variety of walkings.It common are " crawler belt
Formula " " wheeled " " leg formula ".Directly it is known as caterpillar type robot using the robot that crawler belt rotation reaches traveling or purpose of climbing,
Ground is adaptable, stability is high, mechanism is simple, but energy loss is high, and level land running efficiency is lower；Imitate the mankind or other dynamic
The robot of object leg exercise is known as legged mobile robot, and ground is adaptable, and stability is high, but structure and control are extremely multiple
It is miscellaneous, the speed of service is low；Directly it is known as wheeled robot using the robot that wheel or the rotation of class wheel reach traveling or purpose of climbing,
Under the premise of meeting certain terrain adaptability, the advantages that mobile robot is mobile flexibly, control is simple can be given full play to, but over the ground
The adaptability size of shape is directly proportional to the quantity of wheel, as the increase of wheel quantity brings bulky, weight again etc. again
Disadvantage, and it will appear wheel during obstacle detouring and is detached from the case where ground or wheel-slip can not get over top bar；And workshop
Because space is larger, also there is the step of different height, above-mentioned machine is unable to reach the patrol purpose of workshop per capita, therefore, needs
Wanting a kind of can not only move flexibly, but also have the robot well across barrier ability to meet the patrol demand of workshop.
Summary of the invention
Object of the present invention is in view of the above-mentioned problems, providing a kind of can cross step and mobile flexible wheeled workshop patrols
Patrol robot.
To achieve the goals above, the technical scheme is that
A kind of wheeled workshop patrol robot, including robot body, the robot body include fixed integrated box, drive
Motivation structure, fixed integrated cassette bottom end are connect with driving mechanism；Be provided in the fixed integrated box main control module, detection module,
Power module, alarm module；Detection module, power module, alarm module, driving mechanism with main control module connection, institute
State driving mechanism include rocker arm control motor, six wheel rocker arm frame bodies, driving wheel, rocker arm control motor by six wheel rocker arm frame bodies with
Driving wheel transmission connection, rocker arm control motor, driving wheel with main control module connection；The detection module includes camera shooting
Head, outer thermal imaging system, smoke sensor device；Camera, outer thermal imaging system, smoke sensor device with main control module connection.
Further, the fixed integrated box upper end is fixedly connected with extinguishing device, and the extinguishing device is provided with control and opens
It closes, control switch and main control module connection.
Further, the alarm module includes GPRS communicator, GPS locator, and GPRS communicator, GPS locator are equal
With main control module connection.
Compared with prior art, the advantages and positive effects of the present invention are:
The design that the present invention is sequentially connected by using six wheel rocker arm frame bodies and driving wheel, when encountering step, Ke Yitong
Control rocker arm is crossed to promote driving wheel, allow robot body quickly it is up the steps, and its use six individually
The design of driving wheel, when going on patrol to workshop, mobile flexibly speed is quick, simple, small in size, light-weight with structure,
The characteristics of step can continuously be crossed, can replace artificial progress completely and monitor for 24 hours, reduces human cost；On the other hand,
It can be alarmed by GPRS communicator to operator on duty when detecting generation fire in workshop, and using fire extinguishing dress
It sets and puts out a fire, reduce the intensity of a fire and continue a possibility that increasing, to increase the safety of workshop.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is structure schematic diagram of the invention；
Fig. 2 is force analysis figure of the present invention when front-wheel is appeared on the stage；
Fig. 3 is work flow diagram of the invention.
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, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
As shown in Figure 1, a kind of wheeled workshop patrol robot, including robot body, the robot body include solid
Determine integrated box 1, driving mechanism, fixed 1 bottom end of integrated box is connect with driving mechanism；Master control is provided in the fixed integrated box 1
Module, detection module, power module, alarm module；Detection module, power module, alarm module, driving mechanism with master control mould
Block connection, the driving mechanism include rocker arm control motor, six wheel rocker arm frame bodies 2, driving wheel 3, and it is logical that rocker arm controls motor
It crosses six wheel rocker arm frame bodies 2 and driving wheel 3 is sequentially connected, six wheel rocker arm frame bodies 2 are already present structure in the prior art, rocker arm control
Motor processed, driving wheel 3 with main control module connection；The detection module includes camera, outer thermal imaging system, smog sensing
Device；Camera, outer thermal imaging system, smoke sensor device with main control module connection.The alarm module include GPRS communicator,
GPS locator, GPRS communicator, GPS locator with main control module connection.1 upper end of fixed integrated box is fixed to be connected
Extinguishing device is connect, extinguishing device on the market can be used now, such as dry powder extinguishing installation etc., the extinguishing device setting
There are control switch, control switch and main control module connection.
There are 6 independent driving wheels in robot, and each wheel is operated alone, and respectively there are one group of Rocker-bogie knot in car body two sides
Structure (i.e. Rocker-bogie system), facilitates stable across obstacle.Front-seat driving wheel is become by the active of Rocker-bogie system
Shape gets over top bar barrier, and intermediate driving wheel gets over top bar by controlling the wheel velocity coordinated movement of various economic factors, and heel row driving wheel passes through six
Wheel rocker structure Passive deformation guided robot gets over top bar,
Fig. 2 is force analysis figure when robot body front-wheel is appeared on the stage, this robot of description which can will be apparent that
The relationship of geometric dimension, and can be calculated by theory deduction, then the specific value of various parameters is done and is optimized, finally may be used
To obtain the combination of the susceptibility of each parameter and the optimal solution of geometric dimension.
Fig. 3 is workflow of the invention, and travel route is that basis thinks that given program is run, can be according to factory
The size in room adjusts program operation.Generally inspection trips can be carried out to this route daily to the route determined.Infrared heat
It as instrument and smoke sensor device check fire behavior, such as detects fire, can put out a fire to small-sized fire, and send logical
It crosses GPRS communicator and sends alarm signal and present position, avoid losing as far as possible.
Claims (3)
1. a kind of wheeled workshop patrol robot, including robot body, it is characterised in that: the robot body includes fixing
Integrated box, driving mechanism, fixed integrated cassette bottom end are connect with driving mechanism；Be provided in the fixed integrated box main control module,
Detection module, power module, alarm module；Detection module, power module, alarm module, driving mechanism with main control module line
Road connection, the driving mechanism include rocker arm control motor, six wheel rocker arm frame bodies, driving wheel, and rocker arm controls motor and passes through six wheels
Rocker arm frame body and driving wheel are sequentially connected, rocker arm control motor, driving wheel with main control module connection；The detection module
Including camera, outer thermal imaging system, smoke sensor device；Camera, outer thermal imaging system, smoke sensor device connect with main control module route
It connects.
2. wheeled workshop patrol robot as described in claim 1, it is characterised in that: the fixed integrated box upper end is fixed to be connected
Extinguishing device is connect, the extinguishing device is provided with control switch, control switch and main control module connection.
3. wheeled workshop patrol robot as described in claim 1, it is characterised in that: the alarm module includes GPRS communication
Device, GPS locator, GPRS communicator, GPS locator with main control module connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910438636.7A CN110154049A (en) | 2019-05-24 | 2019-05-24 | A kind of wheeled workshop patrol robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910438636.7A CN110154049A (en) | 2019-05-24 | 2019-05-24 | A kind of wheeled workshop patrol robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110154049A true CN110154049A (en) | 2019-08-23 |
Family
ID=67632610
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910438636.7A Pending CN110154049A (en) | 2019-05-24 | 2019-05-24 | A kind of wheeled workshop patrol robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110154049A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509291A (en) * | 2019-08-30 | 2019-11-29 | 江西省天眼科技有限公司 | A kind of automatic patrol roll-call robot |
| CN112286208A (en) * | 2020-11-18 | 2021-01-29 | 华东师范大学 | Wheeled cross-country robot |
| CN113089794A (en) * | 2021-04-07 | 2021-07-09 | 周勇 | Hydraulic engineering drainage system based on water conservancy pipeline |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890986A (en) * | 2010-06-13 | 2010-11-24 | 上海中为智能机器人有限公司 | Deformable all-terrain adaptable robot walking mechanism |
| CN204832956U (en) * | 2015-07-11 | 2015-12-02 | 郑州森林苑园林绿化工程有限公司 | A machine people goes on patrol for gardens fire prevention based on thing networking |
| CN204856812U (en) * | 2015-08-03 | 2015-12-09 | 高世恒 | Automatic warning robot patroles |
| US10065690B2 (en) * | 2015-04-03 | 2018-09-04 | Harris Corporation | Conformal suspension for unmanned ground vehicle |
| CN109018055A (en) * | 2018-07-16 | 2018-12-18 | 安徽工程大学 | Six wheel legged type robots |
| KR20190019374A (en) * | 2017-08-17 | 2019-02-27 | 숭실대학교산학협력단 | Passive Revolving Joint and Rough Terrain Driving Mobile Robot thereof |
-
2019
- 2019-05-24 CN CN201910438636.7A patent/CN110154049A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890986A (en) * | 2010-06-13 | 2010-11-24 | 上海中为智能机器人有限公司 | Deformable all-terrain adaptable robot walking mechanism |
| US10065690B2 (en) * | 2015-04-03 | 2018-09-04 | Harris Corporation | Conformal suspension for unmanned ground vehicle |
| CN204832956U (en) * | 2015-07-11 | 2015-12-02 | 郑州森林苑园林绿化工程有限公司 | A machine people goes on patrol for gardens fire prevention based on thing networking |
| CN204856812U (en) * | 2015-08-03 | 2015-12-09 | 高世恒 | Automatic warning robot patroles |
| KR20190019374A (en) * | 2017-08-17 | 2019-02-27 | 숭실대학교산학협력단 | Passive Revolving Joint and Rough Terrain Driving Mobile Robot thereof |
| CN109018055A (en) * | 2018-07-16 | 2018-12-18 | 安徽工程大学 | Six wheel legged type robots |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110509291A (en) * | 2019-08-30 | 2019-11-29 | 江西省天眼科技有限公司 | A kind of automatic patrol roll-call robot |
| CN112286208A (en) * | 2020-11-18 | 2021-01-29 | 华东师范大学 | Wheeled cross-country robot |
| CN113089794A (en) * | 2021-04-07 | 2021-07-09 | 周勇 | Hydraulic engineering drainage system based on water conservancy pipeline |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190823 |
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| RJ01 | Rejection of invention patent application after publication |