CN111301561B - Omnidirectional vision intelligent vehicle convenient for secondary development - Google Patents

Omnidirectional vision intelligent vehicle convenient for secondary development Download PDF

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Publication number
CN111301561B
CN111301561B CN202010226447.6A CN202010226447A CN111301561B CN 111301561 B CN111301561 B CN 111301561B CN 202010226447 A CN202010226447 A CN 202010226447A CN 111301561 B CN111301561 B CN 111301561B
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Prior art keywords
rod
rotating
hinged
rotator
frame
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CN202010226447.6A
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Chinese (zh)
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CN111301561A (en
Inventor
刘艳
潘树文
李艳君
王雪洁
陈琢
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Zhejiang University City College ZUCC
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Zhejiang University City College ZUCC
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Publication of CN111301561A publication Critical patent/CN111301561A/en
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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
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
    • B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
    • B60R2011/008—Adjustable or movable supports
    • B60R2011/0085—Adjustable or movable supports with adjustment by rotation in their operational position

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
  • Handcart (AREA)

Abstract

The invention relates to the technical field of robots, and particularly discloses an omnidirectional vision intelligent trolley convenient for secondary development, which comprises a trolley body, wherein end frames are arranged at the front and the rear of the trolley body, a cross frame is arranged in the middle of the trolley body, and a chassis is arranged below the trolley body; the two ends of the end frame are provided with pin shafts, a vertical frame is hinged outside the pin shafts, and one rod of the vertical frame is provided with a wheel; a connecting rod is hinged to the other rod of the vertical frame, a T-shaped rod is hinged to the connecting rod, a fixing rod is arranged on the T-shaped rod, a stepped shaft is arranged on the end frame, the fixing rod is hinged to the stepped shaft, a transmission rod is hinged to the upper portion of the stepped shaft, and a rotating device is arranged at the other end of the transmission rod; the invention realizes that one motor controls the steering of the front wheel and the rear wheel by hinging a plurality of rods, receives external signals by arranging the vision sensor and is convenient for secondary development.

Description

Omnidirectional vision intelligent vehicle convenient for secondary development
Technical Field
The invention relates to the technical field of robots, in particular to an omnidirectional visual intelligent trolley convenient for secondary development.
Background
The intelligent vehicle is a new modern invention, is a later development direction, can automatically operate in an environment according to a preset mode, does not need artificial management, and can be applied to scientific exploration and the like. The intelligent trolley can display time, speed and mileage in real time, has the functions of automatically finding tracks, finding light and avoiding barriers, can control the running speed in a program mode, accurately position and park, remotely transmit images and the like, and a steering mechanism of the traditional intelligent trolley usually needs the cooperation of a plurality of motors, so that the burden of a CPU is heavier while the cost is increased.
Disclosure of Invention
The invention aims to provide an omnidirectional vision intelligent trolley convenient for secondary development, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an omnidirectional vision intelligent trolley convenient for secondary development comprises a trolley body, wherein end frames are arranged at the front and the rear of the trolley body, a cross frame is arranged in the middle of the trolley body, and a chassis is arranged below the trolley body; the two ends of the end frame are provided with pin shafts, a vertical frame is hinged outside the pin shafts, a steering engine is arranged on one rod of the vertical frame, and wheels are arranged outside the steering engine; a connecting rod is hinged to the other rod of the vertical frame, a T-shaped rod is hinged to the connecting rod, a fixing rod is arranged on the T-shaped rod, a stepped shaft is arranged on the end frame, the fixing rod is hinged to the stepped shaft, a transmission rod is hinged to the upper portion of the stepped shaft, and a rotating device is arranged at the other end of the transmission rod;
the rotating device comprises a rotating seat, the rotating seat is fixedly connected to the cross frame, a rotator is arranged above the rotating seat, a rotating cover is arranged above the rotator, a pin shaft is arranged between the rotator and the rotating cover, and a transmission rod is hinged to the pin shaft;
the motor is arranged in the center of the end frame at the rear part, the vision sensor is arranged in the center of the end frame at the front part, and the controller and the power supply are arranged on the chassis.
As a further scheme of the invention: the angles of the two rods of the vertical frame are fixed; the angle between the T-shaped rod and the fixed rod is fixed.
As a further scheme of the invention: the rotary device comprises a rotary base, a rotator and two sets of rotating devices, wherein the two sets of rotating devices are provided with a rotary connecting rod between, the rotary connecting rod penetrates through the rotary base and the rotator, and a pin ring is arranged outside the rotator; a key is arranged between the rotating connecting rod and the rotator.
As a further scheme of the invention: the rotary cover is detachably connected with the rotator through a fixing bolt, and a nut is matched below the fixing bolt.
As a further scheme of the invention: the whole trolley is of a central symmetrical structure, and the number of the wheels is four.
As a further scheme of the invention: an omnidirectional rotating head is arranged above the transverse frame, and a vision sensor is detachably connected to the omnidirectional rotating head.
Compared with the prior art, the invention has the beneficial effects that: the motor drives the rear T-shaped rod to rotate, the rear T-shaped rod and the rear connecting rod can rotate relatively, the rear connecting rod and the rear vertical frame can rotate relatively, the rotation of the rear T-shaped rod can be transmitted to the rear vertical frames on two sides through the rear connecting rod, and the rear vertical frame can drive the two rear wheels to rotate on the same side; the rear T-shaped rod drives the rear fixing rod to rotate, the rear fixing rod can push the rear rotator to rotate around the rear rotating seat through the rear stepped shaft, and then the front fixing rod is rotated through the front transmission rod, and the whole trolley is of a centrosymmetric structure, so that the steering directions of the two front wheels and the two rear wheels are opposite;
the omnidirectional rotary head can rotate 360 degrees, and the omnidirectional rotary head can drive the visual sensor above to rotate, so that omnidirectional information is collected.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention.
Fig. 1 is a schematic top view structure diagram of an omnidirectional vision intelligent trolley convenient for secondary development.
Fig. 2 is a front enlarged structural schematic diagram of a B in the omnidirectional vision intelligent trolley for facilitating secondary development.
Fig. 3 is a front enlarged structural schematic diagram of a in the omnidirectional vision intelligent trolley for facilitating secondary development.
Fig. 4 is a schematic structural diagram of a swivel base in the omnidirectional vision intelligent trolley convenient for secondary development.
Fig. 5 is a schematic structural diagram of a rotary cover in the omnidirectional vision intelligent trolley for facilitating secondary development.
In the figure: 1-vehicle body, 2-end frame, 3-cross frame, 4-pin shaft, 5-vertical frame, 6-wheel, 7-chassis, 8-connecting rod, 9-T-shaped rod, 10-fixing rod, 11-transmission rod, 12-rotating device, 13-stepped shaft, 14-rotating seat, 15-rotator, 16-pin ring, 17-rotating cover, 18-fixing bolt, 19-nut, 20-rotating connecting rod, 21-omnidirectional head, 22-visual sensor, 23-key and 24-motor.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
Referring to fig. 1-5, in the embodiment of the invention, an omnidirectional vision intelligent trolley convenient for secondary development comprises a trolley body 1, end frames 2 are arranged at the front and the rear of the trolley body 1, a cross frame 3 is arranged in the middle of the trolley body 1, and a chassis 7 is arranged below the trolley body 1; two ends of the end frame 2 are provided with pin shafts 4, vertical frames 5 are hinged outside the pin shafts 4, and the angles of two rods of the vertical frames 5 are fixed; a steering engine is arranged on one rod of the vertical frame 5, and wheels 6 are arranged outside the steering engine; a connecting rod 8 is hinged to the other rod of the vertical frame 5, the connecting rod 8 is hinged to a T-shaped rod 9, a fixed rod 10 is arranged on the T-shaped rod 9, and an angle between the T-shaped rod 9 and the fixed rod 10 is fixed; a stepped shaft 13 is arranged on the end frame 2, the fixed rod 10 is hinged on the stepped shaft 13, a transmission rod 11 is hinged above the stepped shaft 13, and a rotating device 12 is arranged at the other end of the transmission rod 11;
furthermore, the number of the rotating devices 12 is two, each rotating device 12 comprises a rotating base 14, each rotating base 14 is fixedly connected to the corresponding transverse frame 3, a rotator 15 is arranged above each rotating base 14, a rotating cover 17 is arranged above each rotator 15, each rotating cover 17 is detachably connected with each rotator 15 through a fixing bolt 18, and a nut 19 is matched below each fixing bolt 18; a pin shaft is arranged between the rotator 15 and the rotating cover 17, and a transmission rod 11 is hinged on the pin shaft; a rotating connecting rod 20 is arranged between the two sets of rotating devices 12, the rotating connecting rod 20 penetrates through the rotating seat 14 and the rotator 15, and the relative movement between the rotating seat 14 and the rotator 15 is limited through a pin ring 16; the rotating connecting rod 20 and the rotator 15 transmit torque through a key 23;
specifically, the whole trolley is of a centrosymmetric structure, and the number of the wheels 6 is four; the center of the rear end frame 2 is provided with a motor 24 for driving the whole trolley; a vision sensor 22 is arranged in the center of the front end frame 2 and used for receiving information; the chassis 7 is provided with a controller and a power supply.
The working principle of the embodiment of the invention is as follows: the motor 24 drives the rear T-shaped rod 9 to rotate, the rear T-shaped rod 9 and the rear connecting rod 8 can rotate relatively, the rear connecting rod 8 and the rear vertical frame 5 can rotate relatively, the rotation of the rear T-shaped rod 9 can be transmitted to the rear vertical frames 5 on two sides through the rear connecting rod 8, and the rear vertical frame 5 can drive the two rear wheels 6 to rotate on the same side; the rear T-shaped rod 9 drives the rear fixing rod 10 to rotate, the rear fixing rod 10 can push the rear rotator 15 to rotate around the rear rotating seat 14 through the rear stepped shaft 13, and then the front fixing rod 10 is rotated through the front transmission rod 11, and the whole trolley is of a central symmetry structure, so that the steering directions of the two front wheels 6 and the two rear wheels 6 are opposite.
Example 2
Referring to fig. 1, different from embodiment 1, in the embodiment of the present invention, an omnidirectional head 21 is disposed above the transverse frame 3, and a vision sensor 22 is detachably connected to the omnidirectional head 21.
The working principle of the embodiment of the invention is as follows: the omni-directional rotary head 21 can rotate 360 degrees, and the omni-directional rotary head 21 can drive the visual sensor 22 above to rotate, so that omni-directional information can be collected.
The electrical components presented in the document are all electrically connected with an external master controller and 220V mains, and the master controller can be a conventional known device controlled by a computer or the like.
In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims (1)

1. The omnidirectional vision intelligent trolley convenient for secondary development is characterized by comprising a trolley body (1), wherein end frames (2) are arranged at the front and the rear of the trolley body (1), a cross frame (3) is arranged in the middle of the trolley body (1), and a chassis (7) is arranged below the trolley body (1); two ends of the end frame (2) are provided with pin shafts (4), a vertical frame (5) is hinged outside the pin shafts (4), a steering engine is arranged on one rod of the vertical frame (5), and wheels (6) are arranged outside the steering engine; a connecting rod (8) is hinged to the other rod of the vertical frame (5), a T-shaped rod (9) is hinged to the connecting rod (8), a fixing rod (10) is arranged on the T-shaped rod (9), a stepped shaft (13) is arranged on the end frame (2), the fixing rod (10) is hinged to the stepped shaft (13), a transmission rod (11) is hinged to the upper portion of the stepped shaft (13), and a rotating device (12) is arranged at the other end of the transmission rod (11);
the rotating device (12) comprises a rotating seat (14), the rotating seat (14) is fixedly connected to the cross frame (3), a rotator (15) is arranged above the rotating seat (14), a rotating cover (17) is arranged above the rotator (15), a pin shaft is arranged between the rotator (15) and the rotating cover (17), and a transmission rod (11) is hinged to the pin shaft;
a motor (24) is arranged in the center of the rear end frame (2), a vision sensor (22) is arranged in the center of the front end frame (2), and a controller and a power supply are arranged on the chassis (7); the angles of the two rods of the vertical frame (5) are fixed; the angle between the T-shaped rod (9) and the fixing rod (10) is fixed; the device comprises two sets of rotating devices (12), wherein a rotating connecting rod (20) is arranged between the two sets of rotating devices (12), the rotating connecting rod (20) penetrates through a rotating seat (14) and a rotator (15), and a pin ring is arranged outside the rotator (15); a key (23) is arranged between the rotating connecting rod (20) and the rotator (15); the rotary cover (17) is detachably connected with the rotator (15) through a fixed bolt (18), and a nut (19) is matched below the fixed bolt (18); the wheels (6) are four in total; an omnidirectional rotating head (21) is arranged above the transverse frame (3), and a visual sensor (22) is detachably connected to the omnidirectional rotating head (21).
CN202010226447.6A 2020-03-27 2020-03-27 Omnidirectional vision intelligent vehicle convenient for secondary development Active CN111301561B (en)

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CN202010226447.6A CN111301561B (en) 2020-03-27 2020-03-27 Omnidirectional vision intelligent vehicle convenient for secondary development

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Application Number Priority Date Filing Date Title
CN202010226447.6A CN111301561B (en) 2020-03-27 2020-03-27 Omnidirectional vision intelligent vehicle convenient for secondary development

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CN111301561B true CN111301561B (en) 2021-01-01

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114435435A (en) * 2021-12-30 2022-05-06 河南新开源石化管道有限公司 Four-wheel linkage type trolley with radius adjustable function

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4878681A (en) * 1988-03-24 1989-11-07 Exmark Manufacturing Company, Incorporated Steering sulky for towing vehicles
CN2105443U (en) * 1991-01-11 1992-05-27 李宪章 Ultramini-car
WO2000071408A1 (en) * 1999-05-24 2000-11-30 Viktor Mikhailovich Pisarevsky Hauling vehicle and variants
CN204364878U (en) * 2014-12-13 2015-06-03 李川涛 A kind of wheel steering driving mechanism
CN108664028A (en) * 2018-05-21 2018-10-16 南昌航空大学 Convenient for the omnidirectional vision intelligent carriage of secondary development

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4878681A (en) * 1988-03-24 1989-11-07 Exmark Manufacturing Company, Incorporated Steering sulky for towing vehicles
CN2105443U (en) * 1991-01-11 1992-05-27 李宪章 Ultramini-car
WO2000071408A1 (en) * 1999-05-24 2000-11-30 Viktor Mikhailovich Pisarevsky Hauling vehicle and variants
CN204364878U (en) * 2014-12-13 2015-06-03 李川涛 A kind of wheel steering driving mechanism
CN108664028A (en) * 2018-05-21 2018-10-16 南昌航空大学 Convenient for the omnidirectional vision intelligent carriage of secondary development

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Address after: 310015 No. 51, Huzhou street, Hangzhou, Zhejiang

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