CN111228698A

CN111228698A - Wheeled robot

Info

Publication number: CN111228698A
Application number: CN202010033963.7A
Authority: CN
Inventors: 高峻峣; 张春雷; 张磊; 张东芳; 黄吉彬; 李晓龙
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2020-01-13
Filing date: 2020-01-13
Publication date: 2020-06-05

Abstract

The invention discloses a wheeled robot, which comprises a vehicle body; at least two wheel sets are respectively arranged on two sides of the vehicle body; the upper and lower grounding points of the wheels of the wheel set respectively protrude out of the upper and lower surfaces of the vehicle body; the steering engine assembly is characterized in that a containing groove penetrating through the upper surface and the lower surface of the vehicle body in the vertical direction is formed in the vehicle body, a mechanical rocker arm is arranged in the containing groove, one end of the mechanical rocker arm is arranged in the containing groove in a manner of being connected with the vehicle body in a rotating mode, and the mechanical rocker arm is driven to swing towards the upper side or the lower side of the vehicle body to erect by utilizing the steering engine assembly arranged in the vehicle body and corresponding to one end. The wheeled robot can drive to run on two sides, and is high in practicability.

Description

Wheeled robot

Technical Field

The invention relates to the technical field of robots, in particular to a wheel type robot.

Background

The fire-fighting robot is one of special robots and plays a role in fighting fire and rescuing more and more. The fire-fighting robot can replace fire-fighting rescue personnel to enter dangerous disaster accident sites with flammability, explosiveness, toxicity, oxygen deficiency, dense smoke and the like for data acquisition, processing and feedback, and the application of the fire-fighting robot can improve the actual combat capability of fire-fighting rescue of fire departments and play an important role in reducing national property loss and casualties of fire-fighting rescue personnel.

In the face of complex rescue environments, a throwing type miniature intelligent detection robot is sometimes needed, and rapid deployment is realized to actively detect the fire scene situation when rescuers cannot approach or are not suitable for entering the accident scene. In the process of the head throwing of the robot, the front landing of the robot is difficult to ensure, so that the robot cannot normally operate.

Disclosure of Invention

In view of the above-mentioned drawbacks and deficiencies of the prior art, it is desirable to provide a wheeled robot that can travel with double-sided driving and has higher practicability.

The invention provides a wheeled robot, which comprises a vehicle body, a wheel, a driving device and a control device, wherein the vehicle body is provided with an upper surface and a lower surface; at least two wheel sets are respectively arranged on two sides of the vehicle body; upper and lower grounding points of wheels of the wheel set respectively protrude out of the upper and lower surfaces of the vehicle body;

the automobile body is provided with a holding tank which runs through the upper surface and the lower surface of the automobile body along the vertical direction, a mechanical rocker arm is arranged in the holding tank, one end of the mechanical rocker arm is arranged in the holding tank in a manner of being connected with the automobile body in a rotating manner, and the mechanical rocker arm is driven to swing towards the upper side or the lower side of the automobile body by utilizing a steering engine assembly arranged in the automobile body corresponding to one end of the mechanical rocker arm.

Preferably, three wheel sets which are arranged at equal intervals are respectively arranged along two sides of the vehicle body, a driving mechanism is respectively arranged on each wheel set on each side, and the wheels of the wheel sets on the same side are in transmission connection through a belt.

Preferably, the driving mechanisms 3 on both sides of the vehicle body 1 are respectively connected with wheel shafts of two wheel sets 2 which are located in central symmetry in the wheel sets 2 on both sides.

Preferably, the driving mechanisms on two sides of the vehicle body are respectively connected with wheel shafts of the front side wheel set in the wheel set on one side and the rear side wheel set in the wheel set on the other side.

Preferably, the driving mechanism comprises a driving motor, an output shaft of the driving motor is in transmission connection with wheel shafts of the wheel sets through elastic couplings, the wheel shafts of the wheel sets are fixedly sleeved with belt wheels, and adjacent belt wheels positioned on the same side of the vehicle body are in transmission connection through belts.

Preferably, an electric control assembly is arranged in the vehicle body, and the driving mechanism and the steering engine assembly are electrically connected with the electric control assembly.

Preferably, the electric control assembly comprises a mounting frame fixedly arranged in the vehicle body, an electric control plate is fixedly mounted on the mounting frame, a battery module is fixedly mounted on one side of the electric control plate on the mounting frame, and the battery module is electrically connected with the electric control plate.

Preferably, two groups of distance sensor assemblies are arranged at two ends of the vehicle body along the traveling direction, a gas sensor assembly is arranged at one end of the vehicle body along the traveling direction, and the distance sensor assembly and the gas sensor assembly are electrically connected with the electric control assembly.

Preferably, a layer of fireproof heat-insulating paint is uniformly sprayed on the outer wall surface of the vehicle body.

Compared with the prior art, the invention has the beneficial effects that:

the wheel sets are respectively arranged on the two sides of the vehicle body of the wheel type robot, and the upper and lower grounding points of the wheels of the wheel sets respectively protrude out of the upper and lower surfaces of the vehicle body, so that the robot can normally run and move no matter which side is upward after being thrown, and the practicability of the robot is effectively improved;

be provided with penetrating holding tank on the automobile body, be provided with the mechanical rocking arm in the holding tank. When the robot is thrown, the mechanical rocker arm is received in the holding tank, and after the robot falls to the ground, whichever face upwards, all accessible steering wheel subassembly drive mechanical rocker arm rotates and erects. So that the equipment or the device arranged on the mechanical rocker arm can work normally, such as a camera assembly or a transmission antenna and the like.

It should be understood that the statements herein reciting aspects are not intended to limit the critical or essential features of any embodiment of the invention, nor are they intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:

fig. 1 is a schematic structural diagram of a wheeled robot according to an embodiment of the present invention;

fig. 2 is a schematic view of the internal structure of the wheeled robot;

FIG. 3 is a schematic structural view of a driving mechanism;

fig. 4 is a schematic structural diagram of the electronic control assembly.

Reference numbers in the figures: 1. a vehicle body; 2. a wheel set; 3. a drive mechanism; 4. accommodating grooves; 5. a mechanical rocker arm; 6. a steering engine component; 7. an electronic control assembly; 8. a distance sensor assembly; 9. a gas sensor assembly;

31. a drive motor; 32. an elastic coupling; 33. a pulley; 34. a belt;

71. a mounting frame; 72. an electric control board; 73. a battery module is provided.

It should be noted that, for convenience of description of the embodiment, fig. 2a, 2b, 2c, 2d, 2e, 2f are wheel sets disposed at different positions on both sides of the vehicle body.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Referring to fig. 1 to 2, an embodiment of the present invention provides a wheeled robot including a vehicle body 1 having an upper surface and a lower surface; two sides of the vehicle body 1 are respectively provided with at least two wheel sets 2; upper and lower grounding points of wheels of the wheel set 2 respectively protrude out of the upper and lower surfaces of the vehicle body 1;

the automobile body 1 is provided with an accommodating groove 4 which penetrates through the upper surface and the lower surface of the automobile body 1 in the vertical direction, a mechanical rocker arm 5 is arranged in the accommodating groove 4, one end of the mechanical rocker arm 5 is arranged in the accommodating groove 4 in a manner of being rotatably connected with the automobile body 1, and the mechanical rocker arm 5 is driven to swing and erect towards the upper side or the lower side of the automobile body 1 by a steering engine assembly 6 which is arranged in the automobile body 1 and corresponds to one end of the mechanical rocker arm 5.

In the present embodiment, the wheel set 2 includes a wheel having a wheel axle provided on an axis thereof, and a support assembly for mounting the wheel to the vehicle body 1. The upper and lower grounding points of the wheels respectively protrude out of the upper and lower surfaces of the vehicle body 1, so that the front and back surfaces of the robot can run. Meanwhile, the mechanical rocker 5 can be turned up and down to adapt to the bidirectional driving of the front and the back of the robot. When any side surface (upper surface or lower surface) of the robot is upward after the robot is thrown, the mechanical swing arm 5 can be erected toward the upward surface side, and normal operation can be realized.

The other end of the mechanical rocker arm 5 can be provided with a camera assembly, and after the robot lands on the ground in a throwing mode, the mechanical rocker arm 5 is lifted, so that the video acquisition range of the camera assembly is enlarged, more comprehensive fire scene information can be obtained, and assistance is provided for rescue. The camera component comprises a visible light camera and an infrared camera which are arranged at the other end of the mechanical rocker arm and used for collecting on-site video information, a loudspeaker and a pickup can be further arranged on the mechanical rocker arm 5, on-site audio information is collected through the pickup, the audio information is played to the site through the loudspeaker, communication with trapped people in the fire scene is achieved, and the success rate of rescue is increased.

The vehicle body 1 adopts a frameless structure spliced by jointed boards, and comprises an upper jointed board, a lower jointed board, a left jointed board, a right jointed board, a front jointed board and a rear jointed board which are independent mutually, wherein each jointed board is fixedly connected with a bearing seat through a bolt. When the robot is thrown to bear impact force, the vehicle body 1 can obtain larger deformation, the action time of the stress is prolonged, the destructive force of the stress is reduced, and the excellent impact-resistant shock absorption effect is achieved.

Rubber shock-absorbing strips are installed at the splicing positions of the jointed boards, the jointed boards are made of carbon fiber materials, and the carbon fiber materials are used for forming the shock-resistant foundation of the whole vehicle. The impact resistance of the robot throwing is improved.

The carbon fiber is a novel fiber material of high-strength and high-modulus fiber with the carbon content of more than 95 percent. Carbon fiber is lighter than metal aluminum in weight, but higher in strength than steel, and has the characteristics of high hardness, high strength, light weight, high chemical resistance and high temperature resistance. Carbon fibers have the intrinsic properties of carbon materials and also have the soft processability of textile fibers. Is suitable for the requirements of the vehicle body 1 on light weight, high strength and elasticity.

The steering engine component 6 is a position (angle) servo driver, and the steering engine comprises a shell, a circuit board, a driving motor, a speed reducer and a position detection element. The working principle is that the receiver sends a signal to the steering engine, the IC on the circuit board drives the coreless motor to start rotating, the power is transmitted to the swing arm through the reduction gear, and meanwhile, the position detector sends back the signal to judge whether the positioning is achieved.

In order to enhance the performance of the robot crossing obstacles, the wheels of the wheel sets 2 positioned at the front side and the rear side of the vehicle body 1 are all arranged to protrude out of the front side end and the rear side end of the vehicle body 1, when the robot meets the obstacles, the wheel sets 2 are firstly contacted with the obstacles, and therefore the robot can cross or climb over the obstacles integrally.

In a preferred embodiment, as shown in fig. 2, 3 wheel sets 2 are respectively arranged along two sides of the vehicle body 1 at equal intervals, only one driving mechanism 3 is respectively arranged for each of the 3 wheel sets 2 on each side, and the 3 wheel sets 2 on the same side are in transmission connection with driving wheels through a belt 34.

In the embodiment, the wheels on the same side are in transmission connection through the transmission belt 34, so that the all-wheel drive of the robot is realized, the ground gripping force of the robot wheel set 2 is improved, and the robot has excellent running performance in a complicated fire scene.

In a preferred embodiment, as shown in fig. 2, the driving mechanisms 3 on both sides of the vehicle body 1 are respectively connected with wheel shafts of two wheel sets 2 which are located at the center symmetry in the wheel sets 2 on both sides.

As described above, the drive mechanisms 3 on both sides of the vehicle body 1 are connected to the wheel shafts of the two

wheel sets

2a and 2d positioned at the center symmetry among the wheel sets 2 on both sides, respectively. This can maximally balance the problem of the uneven balance weight caused by the weight of the two built-in drive mechanisms 3.

In a preferred embodiment, as shown in fig. 2, the driving mechanisms 3 on both sides of the vehicle body 1 are respectively connected to the wheel shafts of the front wheel set 2 of the wheel sets 2 on one side and the rear wheel set 2 of the wheel sets 2 on the other side.

In this embodiment, the driving mechanisms 3 on both sides of the vehicle body 1 are respectively connected to the wheel shafts of the front wheel group 2a of the wheel group 2 on one side and the rear wheel group 2d of the wheel group 2 on the other side, so that the problem of uneven weight distribution in both directions of the vehicle body 1 due to the driving mechanisms 3 can be solved, and the problem of uneven weight distribution in the front-rear direction of the vehicle body 1 can be further balanced.

In a preferred embodiment, as shown in fig. 3, the driving mechanism 3 includes a driving motor 31, an output shaft of the driving motor 31 is in transmission connection with wheel shafts of the wheel sets 2 through an elastic coupling 32, the wheel shafts of the wheel sets 2 are fixedly sleeved with belt wheels 33, and adjacent belt wheels 33 on the same side of the vehicle body 1 are in transmission connection through a belt 34.

In this embodiment, the driving motor 31 may be a servo motor, and the servo motor is an engine that controls the operation of mechanical elements in a servo system, and is an auxiliary motor indirect speed change device. The speed and position accuracy can be controlled very accurately, and the voltage signal can be converted into torque and rotating speed to drive a controlled object. The rotor speed is controlled by the input signal, and can quickly respond, and can be used as an actuating element in an automatic control system, and has the advantages of small electromechanical time constant and high linearity.

The elastic coupling 32 is usually formed by cutting a metal round bar, and the common materials include aluminum alloy, stainless steel and engineering plastics. The resilient coupling 32 utilizes a parallel or helical grooving system to accommodate various tolerances and accurately transmit torque. The integral design provides the advantage of zero-backlash torque transmission and maintenance-free operation of the resilient coupling 32.

In a preferred embodiment, an electric control assembly 7 is arranged in the vehicle body 1, and the driving mechanism 3 and the steering engine assembly 6 are electrically connected with the electric control assembly 7. The electric control assembly 7 comprises a mounting frame 71 fixedly arranged in the vehicle body 1, an electric control board 72 is fixedly mounted on the mounting frame 71, a battery module 73 is fixedly mounted on one side of the electric control board 72 on the mounting frame 71, and the battery module 73 is electrically connected with the electric control board 72.

In the embodiment, the control of the robot is realized by connecting various parts of the robot through the electric control board 72. The electronic control board 72 is a core element of a computer controller, generally composed of hardware and software, for automated control of devices and systems.

The electric control board can also be connected with a communication module for transmitting test sound and audio information. The communication module comprises a radio communication module and a WIFI module. The radio communication module is provided with a 580MHz antenna and a 2.4GHz antenna for information transmission, and the two antennas are separated by a carbon fiber plate in order to prevent mutual interference of two frequency bands; the WIFI module is provided with a WIFI antenna and used for information transmission. The mode of combining radio station communication and network communication is adopted, wireless communication ensures that the communication distance of a single machine meets the requirement, and meanwhile, the attenuation compensation of signals after wall penetration and obstacle crossing and the transmission requirement of a longer distance are ensured in a relay mode.

In a preferred embodiment, as shown in fig. 1, two sets of distance sensor assemblies 8 are arranged on the vehicle body 1 at two ends along the traveling direction, a gas sensor assembly 9 is arranged on the vehicle body 1 at one end along the traveling direction, and the distance sensor assemblies 8 and the gas sensor assembly 9 are electrically connected with the electronic control assembly 7.

In the present embodiment, the traveling direction of the vehicle body 1 refers to a direction in which the robot travels straight forward or backward. The distance sensor assemblies 8 at the two ends are respectively used for detecting obstacles on the ground in front of and behind the vehicle body 1, transmitting detected signals to the electric control assembly 7, and controlling the action of the robot by the electric control assembly 7.

The gas sensor unit 9 is provided at either front or rear end of the vehicle body 1, and detects gas at a fire scene. A gas sensor is a transducer that converts a certain gas volume fraction into a corresponding electrical signal. The probe conditions the gas sample through the gas sensor, typically including filtering out impurities and interfering gases, drying or refrigeration processing, and an instrument display. A gas sensor is a device that converts information such as the composition and concentration of a gas into information that can be used by personnel, instruments, computers, and the like.

In a preferred embodiment, a layer of fireproof heat-insulating paint is uniformly sprayed on the outer wall surface of the vehicle body 1, so that the effects of flame retardance and heat insulation are achieved. All rubber parts used by the robot are doped with flame retardants, so that the flame retardant effect can be achieved.

In the description of the present specification, the terms "connect", "mount", "fix", and the like are to be understood in a broad sense, for example, "connect" may be a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In the description of the present application, the description of the terms "one embodiment," "some embodiments," etc. means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A wheeled robot, characterized by comprising a vehicle body (1) having an upper surface and a lower surface; at least two wheel sets (2) are respectively arranged on two sides of the vehicle body (1); upper and lower grounding points of wheels of the wheel set (2) respectively protrude out of the upper and lower surfaces of the vehicle body (1);

be provided with on automobile body (1) and link up along vertical direction holding tank (4) of surface about automobile body (1), be provided with mechanical rocking arm (5) in holding tank (4), the one end of mechanical rocking arm (5) with automobile body (1) rotate the mode configuration of connecting and be in holding tank (4), utilize with the corresponding setting of one end of mechanical rocking arm (5) is in steering wheel subassembly (6) in automobile body (1), the drive mechanical rocking arm (5) to the upside or the downside swing of automobile body (1) are erect.

2. The wheeled robot as claimed in claim 1, characterised in that three said wheel sets (2) are provided at equal intervals along each side of said vehicle body (1), a drive mechanism (3) is provided for each said wheel set (2) on each side, and the wheels of said wheel sets (2) on the same side are in transmission connection by a belt (34).

3. The wheeled robot as claimed in claim 2, characterised in that said drive mechanisms (3) on both sides of said vehicle body (1) are connected to the wheel axles of two of said wheel sets (2) on both sides, said wheel sets (2) being located in central symmetry.

4. A wheeled robot according to claim 3, characterized in that said driving mechanisms (3) at both sides of said vehicle body (1) are connected to the wheel axles of the front one of said wheel sets (2) at one side and the rear one of said wheel sets (2) at the other side, respectively.

5. The wheeled robot as claimed in claim 4, characterized in that the driving mechanism (3) comprises a driving motor (31), an output shaft of the driving motor (31) is in transmission connection with the wheel shafts of the wheel sets (2) through an elastic coupling (32), the wheel shafts of the wheel sets (2) are respectively and fixedly sleeved with a belt wheel (33), and adjacent belt wheels (33) on the same side of the vehicle body (1) are in transmission connection through a belt (34).

6. The wheeled robot as claimed in claim 5, wherein an electric control assembly (7) is arranged in the vehicle body (1), and the driving mechanism (3) and the steering engine assembly (6) are electrically connected with the electric control assembly (7).

7. The wheeled robot as claimed in claim 6, wherein the electronic control assembly (7) comprises a mounting frame (71) fixedly arranged in the vehicle body (1), an electronic control board (72) is fixedly mounted on the mounting frame (71), a battery module (73) is fixedly mounted on the mounting frame (71) and positioned on one side of the electronic control board (72), and the battery module (73) is electrically connected with the electronic control board (72).

8. The wheeled robot as claimed in claim 7, characterized in that two sets of distance sensor assemblies (8) are provided on the vehicle body (1) at both ends in the direction of travel, a gas sensor assembly (9) is provided on the vehicle body (1) at one end in the direction of travel, and both the distance sensor assemblies (8) and the gas sensor assembly (9) are electrically connected to the electronic control assembly (7).

9. The wheeled robot as claimed in claim 8, characterised in that the outer wall surface of said car body (1) is evenly painted with a layer of fire-proof and heat-insulating paint.