CN110412991A - A kind of mechanical structure of independent navigation peddrail mobile robot - Google Patents
A kind of mechanical structure of independent navigation peddrail mobile robot Download PDFInfo
- Publication number
- CN110412991A CN110412991A CN201910802992.2A CN201910802992A CN110412991A CN 110412991 A CN110412991 A CN 110412991A CN 201910802992 A CN201910802992 A CN 201910802992A CN 110412991 A CN110412991 A CN 110412991A
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- China
- Prior art keywords
- installation position
- cabinet
- mobile robot
- laser sensor
- independent navigation
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- 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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- 238000009434 installation Methods 0.000 claims abstract description 107
- 238000013461 design Methods 0.000 claims abstract description 6
- 230000001681 protective effect Effects 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 3
- 230000003287 optical effect Effects 0.000 claims 1
- 238000011161 development Methods 0.000 abstract description 5
- 238000005314 correlation function Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 6
- 238000003466 welding Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 239000012491 analyte Substances 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mechanical Engineering (AREA)
- Acoustics & Sound (AREA)
- Robotics (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention discloses a kind of mechanical structures of independent navigation peddrail mobile robot, including cabinet, the cabinet is modularized design, the upper end of the cabinet is equipped with boss, the boss is equipped with laser sensor installation position and holder camera installation position, the upper surface of the cabinet is equipped with antenna installation position, the bottom of the cabinet is equipped with chassis installation position, the side of the cabinet is equipped with mutually independent video camera installation position, ultrasonic sensor installation position, loudspeaker installation position, sound pick-up installation position and bumper installation position, the cabinet is equipped with various installation positions, to realize different functions, installing corresponding accessory in corresponding installation position can be realized correlation function, so as to be assembled into the robot of various different function, greatly increase the versatility of cabinet, shorten the development cycle of cabinet and robot entirety, and Modular cabinet can greatly reduce the cost of cabinet and robot entirety.
Description
Technical field
The present invention relates to robotic technology fields, more specifically, it relates to a kind of independent navigation peddrail mobile robot
Mechanical structure.
Background technique
With the progress of computer technology, intellectual technology and control technology, robot technology is continued to develop, and has penetrated into people
Live in every field, carry out various work instead of the mankind, human labour power is significantly liberated.
The Design of Mechanical Structure of the cabinet of robot possessed by now comes in every shape, although shape is different, he
Design principle and purpose be all it is identical, be provided to sensor needed for realizing mobile robot autonomous navigation function and consolidate
Dingan County's dress.But the shape and specific structure due to cabinet are different, so that its versatility is not all right, this will cause the energy
Waste, development cycle extend, and increase cost.
Summary of the invention
The object of the present invention is to provide a kind of mechanical structures of independent navigation peddrail mobile robot, and it is logical to solve existing cabinet
Not all right with property, the development cycle is long, problem at high cost.
Above-mentioned technical purpose of the invention has the technical scheme that a kind of independent navigation crawler belt is mobile
The mechanical structure of robot, including cabinet, the cabinet are modularized design, and the upper end of the cabinet is equipped with boss, described convex
Platform is equipped with laser sensor installation position and holder camera installation position, and the upper surface of the cabinet is equipped with antenna installation position, described
The bottom of cabinet is equipped with chassis installation position, and the side of the cabinet is equipped with mutually independent video camera installation position, supersonic sensing
Device installation position, loudspeaker installation position, sound pick-up installation position and bumper installation position.
As what is advanced optimized, including laser sensor support, the laser sensor support are mounted on the laser
At sensor installation position, laser sensor is mounted on the laser sensor support when installing.
As what is advanced optimized, including laser sensor protective cover, the laser sensor protective cover are mounted on described
At laser sensor installation position, for covering on the top of laser sensor.
As what is advanced optimized, the video camera installation position at least there are four, be separately positioned on the front end of the cabinet
Panel, rear end panel, Left-Hand Panel and right panel.
As what is advanced optimized, the ultrasonic sensor installation position at least eight, in the front end face of the cabinet
Plate, rear end panel, Left-Hand Panel and right panel are respectively equipped with two ultrasonic sensor installation positions.
As what is advanced optimized, the front console of the cabinet is equipped with headlamp installation position.
As what is advanced optimized, the bumper installation position altogether there are two, respectively in the front and back panel of the cabinet.
As what is advanced optimized, the rear end panel of the cabinet is equipped with warning lamp installation position.
As what is advanced optimized, the upper surface of the cabinet is equipped with airplane parking area installation position.
As what is advanced optimized, the laser sensor including being mounted on the laser sensor installation position；And/or packet
Include the holder camera for being mounted on holder camera installation position；And/or it is mounted on the antenna of the antenna installation position；And/or
It is mounted on the video camera that the video camera installs；And/or it is mounted on the supersonic sensing of the ultrasonic sensor installation position
Device；And/or it is mounted on the loudspeaker of the loudspeaker installation position；And/or it is mounted on the sound pick-up of the sound pick-up installation position；
And/or it is mounted on the bumper of the bumper installation position.
In conclusion the invention has the following advantages: the cabinet is equipped with various installation positions, to realize not
Same function, installing corresponding accessory in corresponding installation position can be realized correlation function, so as to be assembled into various differences
The robot of function greatly increases the versatility of cabinet, shortens the development cycle of cabinet and robot entirety, and module
The cabinet of change can greatly reduce the cost of cabinet and robot entirety.
Detailed description of the invention
Fig. 1 is the structural representation at a visual angle of the mechanical structure of the independent navigation peddrail mobile robot in embodiment
Figure；
Fig. 2 is the structural representation at another visual angle of the mechanical structure of the independent navigation peddrail mobile robot in embodiment
Figure.
In figure: 1, cabinet；11, boss；12, laser sensor installation position；13, holder camera installation position；14, antenna is installed
Position；15, chassis installation position；16-A, 16-B, 16-C, 16-D, video camera installation position；17-A,17-B,17-C,17-D,17-E,
17-F, 17-G, 17-H, ultrasonic sensor installation position；18, loudspeaker installation position；19, sound pick-up installation position；110-A,110-
B, bumper installation position；120, airplane parking area installation position；130, headlamp installation position；140, warning lamp installation position；2, crawler body；
3, holder camera；4, airplane parking area plate；5, antenna；6, laser sensor support；7, laser sensor protective cover；8, laser sensing
Device；9-A, 9-B, 9-C, 9-D, video camera；100-A, 100-B, 100-C, 100-D, 100-E, 100-F, 100-G, 100-H, surpass
Sonic sensor；200, headlamp；300-A, 300-B, bumper；400, loudspeaker；500, sound pick-up；600, warning lamp.
Specific embodiment
In order to be clearer and more clear technical problems, technical solutions and advantages to be solved, tie below
Drawings and examples are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
As shown in Figure 1, a kind of mechanical structure of independent navigation peddrail mobile robot includes cabinet 1, which is module
Change design, the robot of various models and various different function can be common to, it is including but not limited to autonomous in the present embodiment
Navigate peddrail mobile robot.The front end of the upper surface of cabinet 1 is equipped with boss 11, and boss 11 is equipped with laser sensor installation position
12 and holder camera installation position 13.The upper surface of cabinet 1 is equipped with antenna installation position 14, and the bottom of cabinet 1 is equipped with chassis installation position
15.As shown in connection with fig. 2, the side of cabinet 1 is equipped with mutually independent: video camera installation position 16-A, 16-B, 16-C, 16-D；Ultrasound
Wave sensor installation position 17-A, 17-B, 17-C, 17-D, 17-E, 17-F, 17-G, 17-H；Loudspeaker installation position 18；Sound pick-up peace
Fill position 19 and bumper installation position 110-A, 110-B.The cabinet 1 is equipped with various installation positions, to realize different function
Can, installing corresponding accessory in corresponding installation position can be realized correlation function, so as to be assembled into various different function
Robot greatly increases the versatility of cabinet 1, shortens the development cycle of cabinet 1 and robot entirety, and modular
Cabinet 1 can greatly reduce the cost of cabinet 1 and robot entirety.
As shown in Figure 1, the independent navigation peddrail mobile robot in the present embodiment includes being mounted on chassis installation position 15
Crawler body 2, crawler body 2 are fixed by threaded screw fasteners and welding manner installation.Cabinet 1 is set at holder camera installation position 13
There is screw mounting hole, in the present embodiment includes being mounted at holder camera installation position 13 from independent navigation peddrail mobile robot
Holder camera 3, holder camera 3 is fixedly connected with cabinet 1 by bolt and nut, realize 3 horizontal 360-degree of holder camera rotation
Real time panoramic monitoring camera is realized with ± 90 degree of rotations are overlooked.The rear end of the upper surface of cabinet 1 is equipped with airplane parking area installation position 120,
Independent navigation peddrail mobile robot in the present embodiment includes the airplane parking area plate 4 for being mounted on airplane parking area installation position 120, airplane parking area
Plate 4 is mounted on cabinet 1 by bolt, and unmanned plane can the free landing on airplane parking area plate 4, realization and the work that cooperates of unmanned plane
Make.Independent navigation peddrail mobile robot in the present embodiment includes the antenna 5 for being mounted on antenna installation position 14, makes system information
Wireless transmission.
As shown in Figure 1, the independent navigation peddrail mobile robot in the present embodiment includes laser sensor support 6 and laser
Sensor protective cover 7, laser sensor support 6 and laser sensor protective cover 7 are mounted at laser sensor installation position 12, are led to
Bolt and nut is crossed to be fixedly connected with cabinet 2.Independent navigation peddrail mobile robot in the present embodiment includes laser sensor 8,
Laser sensor 8 is mounted on laser sensor support 6, and laser sensor protective cover 7 covers on the top of laser sensor 8, is risen
Protect the effect of laser sensor 8.
Referring to figs. 1 and 2, there are four video camera installation position 16-A, 16-B, 16-C, 16-D in the present embodiment are total to,
It is separately positioned in front console, rear end panel, Left-Hand Panel and the right panel of cabinet 1.Independent navigation in the present embodiment
Peddrail mobile robot includes four video camera 9- for being separately mounted to four video camera installation positions 16-A, 16-B, 16-C, 16-D
A, 9-B, 9-C, 9-D realize that 360 degree of static state are taken pictures around cabinet 1, and compensating for 3 real time rotation of holder camera can only be to a side
To taking pictures, and the shortcomings that other angles can not take pictures.
Referring to figs. 1 and 2, ultrasonic sensor installation position 17-A, 17-B in the present embodiment, 17-C, 17-D,
17-E, 17-F, 17-G, 17-H share eight, distinguish in the front console of cabinet, rear end panel, Left-Hand Panel and right panel
There are two if.Independent navigation peddrail mobile robot in the present embodiment includes being respectively embedded into formula to be fixedly mounted on eight ultrasonic waves
Eight ultrasonic sensor 100-A of sensor installation position 17-A, 17-B, 17-C, 17-D, 17-E, 17-F, 17-G, 17-H,
100-B, 100-C, 100-D, 100-E, 100-F, 100-G, 100-H realize that cabinet surrounding obstacles analyte detection carries out barrier avoiding function,
Play the function of anticollision.
As shown in Figure 1, the front panel of cabinet 1 is equipped with headlamp installation position 130, the independent navigation crawler belt in the present embodiment
Mobile robot includes the headlamp 200 for being mounted on headlamp installation position 130, realizes mobile robot insufficient light environmental work
Under illumination functions.
Referring to figs. 1 and 2, there are two bumper installation position 110-A, 110-B are total in the present embodiment, it is respectively provided at case
The rear end panel of the front console of body 1.Independent navigation peddrail mobile robot in the present embodiment includes being separately mounted to two
Two bumpers 300-A, 300-B of bumper installation position 110-A, 110-B, bumper 300-A, 300-B can by welding or
Installation is fixed in bolt and nut, realizes the protective effect to the front and back panel of cabinet 1.
Referring to figs. 1 and 2, the independent navigation peddrail mobile robot in the present embodiment includes being mounted on loudspeaker peace
The loudspeaker 400 of position 18 is filled, loudspeaker 400 is fixedly mounted by screw, the casting sounding of voice is realized, to movable row around
People carries out alerting.Independent navigation peddrail mobile robot in the present embodiment includes the pickup for installing sound pick-up installation position 19
Device 500, sound pick-up 500 step up 1 panel of cabinet using the bolt and nut of itself and installation are fixed, and realization monitors week to cabinet 1
Enclose the pickup of sound.The rear end panel of cabinet 1 is equipped with warning lamp installation position 140, and the independent navigation crawler belt in the present embodiment is mobile
Robot includes the warning lamp 600 for being mounted on warning lamp installation position 140, and the flashing of warning lamp 600 realizes that alerting and deterrence are made
With.
The assemble method of the independent navigation peddrail mobile robot is as follows: fixing first with bolt and nut and welding manner
The connection of cabinet 1 and crawler body 2 makes the present apparatus become the mechanical mechanism device of mobile robot chassis upper sub-module；
Then, by holder camera 3, laser sensor 8, laser sensor support 6, laser sensor protective cover 7, video camera 9-A, 9-B,
9-C, 9-D, headlamp 200, ultrasonic sensor 100-A, 100-B, 100-C, 100-D, 100-E, 100-F, 100-G, 100-
H, loudspeaker 400, sound pick-up 500, warning lamp 600, bumper 300-A, 300-B, airplane parking area plate 4 and antenna 5 phase on cabinet 1
It answers position that installation is fixed one by one, realizes respective function, one navigation robot system of organic composition completes mobile machine
The independent navigation of people.
Embodiments above is only explanation of the invention, is not limitation of the present invention, art technology
Personnel can according to need the modification that above embodiments are made with not creative contribution after reading this specification, but as long as
All by the protection of Patent Law in scope of the presently claimed invention.
Claims (10)
1. a kind of mechanical structure of independent navigation peddrail mobile robot, including cabinet, it is characterised in that: the cabinet is module
Change design, the upper end of the cabinet is equipped with boss, and the boss is equipped with laser sensor installation position and holder camera installation position,
The upper surface of the cabinet is equipped with antenna installation position, and the bottom of the cabinet is equipped with chassis installation position, and the side of the cabinet is set
There are mutually independent video camera installation position, ultrasonic sensor installation position, loudspeaker installation position, sound pick-up installation position and bumper
Installation position.
2. a kind of mechanical structure of independent navigation peddrail mobile robot according to claim 1, it is characterised in that: including
Laser sensor support, the laser sensor support are mounted at the laser sensor installation position, laser sensor installation
When be mounted on the laser sensor support.
3. a kind of mechanical structure of independent navigation peddrail mobile robot according to claim 2, it is characterised in that: including
Laser sensor protective cover, the laser sensor protective cover is mounted at the laser sensor installation position, sharp for covering on
The top of optical sensor.
4. a kind of mechanical structure of independent navigation peddrail mobile robot according to claim 1, it is characterised in that: described
Video camera installation position at least there are four, be separately positioned on front console, rear end panel, Left-Hand Panel and the right side of the cabinet
Plate.
5. a kind of mechanical structure of independent navigation peddrail mobile robot according to claim 1, it is characterised in that: described
Ultrasonic sensor installation position at least eight, in the front console of the cabinet, rear end panel, Left-Hand Panel and right panel
It is respectively equipped with two ultrasonic sensor installation positions.
6. a kind of mechanical structure of independent navigation peddrail mobile robot according to claim 1, it is characterised in that: described
The front console of cabinet is equipped with headlamp installation position.
7. a kind of mechanical structure of independent navigation peddrail mobile robot according to claim 1, it is characterised in that: described
There are two bumper installation position is total, respectively in the front and back panel of the cabinet.
8. a kind of mechanical structure of independent navigation peddrail mobile robot according to claim 1, it is characterised in that: described
The rear end panel of cabinet is equipped with warning lamp installation position.
9. a kind of mechanical structure of independent navigation peddrail mobile robot according to claim 1, it is characterised in that: described
The upper surface of cabinet is equipped with airplane parking area installation position.
10. a kind of mechanical structure of independent navigation peddrail mobile robot described in -9 any one according to claim 1, special
Sign is: the laser sensor including being mounted on the laser sensor installation position；And/or including it is mounted on the holder phase
The holder camera of machine installation position；And/or it is mounted on the antenna of the antenna installation position；And/or it is mounted on the video camera peace
The video camera installed；And/or it is mounted on the ultrasonic sensor of the ultrasonic sensor installation position；And/or it is mounted on institute
State the loudspeaker of loudspeaker installation position；And/or it is mounted on the sound pick-up of the sound pick-up installation position；And/or it is mounted on described
The bumper of bumper installation position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910802992.2A CN110412991A (en) | 2019-08-28 | 2019-08-28 | A kind of mechanical structure of independent navigation peddrail mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910802992.2A CN110412991A (en) | 2019-08-28 | 2019-08-28 | A kind of mechanical structure of independent navigation peddrail mobile robot |
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| Publication Number | Publication Date |
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| CN110412991A true CN110412991A (en) | 2019-11-05 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910802992.2A Withdrawn CN110412991A (en) | 2019-08-28 | 2019-08-28 | A kind of mechanical structure of independent navigation peddrail mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894786A (en) * | 2021-02-03 | 2021-06-04 | 天津智融创新科技发展有限公司 | Self-starting method and device of modular robot |
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| CN108444469A (en) * | 2018-02-11 | 2018-08-24 | 南京晓庄学院 | A kind of mobile robot of independent navigation |
| CN109079740A (en) * | 2018-09-04 | 2018-12-25 | 南京理工大学 | A kind of Intelligent Mobile Robot |
| CN109623839A (en) * | 2018-12-24 | 2019-04-16 | 西南交通大学 | Power distribution station indoor equipment air-ground coordination inspection device and its method for inspecting |
| CN208827975U (en) * | 2018-07-19 | 2019-05-07 | 济南科亚电子科技有限公司 | A kind of alternative self-navigation robot manually gone on patrol |
| CN210136429U (en) * | 2019-08-28 | 2020-03-10 | 深圳科卫机器人服务有限公司 | Mechanical structure of self-navigation crawler mobile robot |
-
2019
- 2019-08-28 CN CN201910802992.2A patent/CN110412991A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108444469A (en) * | 2018-02-11 | 2018-08-24 | 南京晓庄学院 | A kind of mobile robot of independent navigation |
| CN208827975U (en) * | 2018-07-19 | 2019-05-07 | 济南科亚电子科技有限公司 | A kind of alternative self-navigation robot manually gone on patrol |
| CN109079740A (en) * | 2018-09-04 | 2018-12-25 | 南京理工大学 | A kind of Intelligent Mobile Robot |
| CN109623839A (en) * | 2018-12-24 | 2019-04-16 | 西南交通大学 | Power distribution station indoor equipment air-ground coordination inspection device and its method for inspecting |
| CN210136429U (en) * | 2019-08-28 | 2020-03-10 | 深圳科卫机器人服务有限公司 | Mechanical structure of self-navigation crawler mobile robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894786A (en) * | 2021-02-03 | 2021-06-04 | 天津智融创新科技发展有限公司 | Self-starting method and device of modular robot |
| CN112894786B (en) * | 2021-02-03 | 2022-07-15 | 乐视致新信息技术(武汉)有限公司 | Self-starting method and device of modular robot |
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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 | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 518000, No. 4068 Qiaoxiang Road, Shahe Street, Nanshan District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Kewei Robot Technology Co.,Ltd. Address before: 518000, No. 4068 Qiaoxiang Road, Shahe Street, Nanshan District, Shenzhen City, Guangdong Province Applicant before: SHENZHEN KEWEI ROBOT SERVICE Co.,Ltd. |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20191105 |