CN111673763A - Patrol robot suitable for rugged topography - Google Patents
Patrol robot suitable for rugged topography Download PDFInfo
- Publication number
- CN111673763A CN111673763A CN202010556973.9A CN202010556973A CN111673763A CN 111673763 A CN111673763 A CN 111673763A CN 202010556973 A CN202010556973 A CN 202010556973A CN 111673763 A CN111673763 A CN 111673763A
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- China
- Prior art keywords
- bottom plate
- wheel system
- laser radar
- patrol robot
- gear mechanism
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- 238000012876 topography Methods 0.000 title claims description 3
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 238000013016 damping Methods 0.000 claims abstract description 26
- 230000035939 shock Effects 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000010521 absorption reaction Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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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
- 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
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the invention discloses a patrol robot suitable for rugged terrains, which comprises a front wheel system, a rear wheel system, a bottom plate structure, a vehicle body structure and a laser radar device, wherein the front wheel system and the rear wheel system are respectively arranged at the front end and the rear end of the bottom plate structure; the front wheel system comprises a first gear mechanism, a motor, a first damping device and two front wheels, the first damping device is arranged between the two front wheels, the rear wheel system comprises a second gear mechanism, a second damping device and two rear wheels, and the second damping device is arranged between the two rear wheels. The embodiment of the invention provides a patrol robot suitable for rugged terrains, and aims to solve the problem that the robot cannot stably move when moving under an uneven road surface in the prior art.
Description
Technical Field
The embodiment of the invention relates to the technical field of security patrol, in particular to a patrol robot suitable for rugged terrains.
Background
With the development of society, robotics is widely used in various aspects. In fields such as life rescue and military reconnaissance, various types of complex and unstructured working environments exist, and meanwhile, the environments are unknown, and a robot is required to be patrolled and surveyed, so that the robot is required to be provided with a laser radar device and can stably move on rugged terrain.
Disclosure of Invention
Therefore, the embodiment of the invention provides a patrol robot suitable for rugged terrains, and aims to solve the problem that the robot cannot stably move due to the fact that the robot moves under an uneven road surface in the prior art.
In order to achieve the above object, the embodiments of the present invention provide the following technical solutions:
the patrol robot suitable for the rugged terrain comprises a front wheel system, a rear wheel system, a bottom plate structure, a vehicle body structure and a laser radar device, wherein the front wheel system and the rear wheel system are respectively arranged at the front end and the rear end of the bottom plate structure; the front wheel system comprises a first gear mechanism, a motor, a first damping device and two front wheels, the first gear mechanism drives the two front wheels to rotate under the driving of the motor, the first damping device is arranged between the two front wheels, the rear wheel system comprises a second gear mechanism, a second damping device and two rear wheels, the second gear mechanism drives the two rear wheels to rotate under the action of the first gear mechanism and the motor, and the second damping device is arranged between the two rear wheels; the vehicle body structure is arranged at one end, far away from the ground, of the bottom plate structure, and a laser radar device is arranged at one end, far away from the bottom plate structure, of the vehicle body structure.
Further, the bottom plate structure comprises a front bottom plate and a rear bottom plate, a motor support, a first transmission shaft support and a first shell are arranged on the front bottom plate, and the first gear mechanism is contained in the first shell; the rear bottom plate is provided with a second transmission shaft support and a second shell, and the second gear mechanism is contained in the second shell.
Further, the first gear mechanism comprises a first straight gear assembly and a first bevel gear assembly, and the motor drives the front wheel to rotate through the first straight gear assembly and the first bevel gear assembly.
Furthermore, the second gear mechanism comprises a second bevel gear assembly, a transmission shaft linked with the first bevel gear assembly is arranged between the second bevel gear assembly and the first bevel gear assembly, and the motor drives the rear wheel to rotate through the first bevel gear assembly, the transmission shaft and the second bevel gear assembly.
Further, the first shock absorbing device comprises a first support frame and a first shock absorbing spring, the first support frame is used for supporting the front wheel system, and the first shock absorbing spring is installed on the first support frame.
Furthermore, the number of the first shock absorption springs is two, and the two first shock absorption springs are respectively installed on two sides of the first support frame.
Further, the second shock absorbing device comprises a second support frame and a second shock absorbing spring, the second support frame is used for supporting the rear wheel system, and the second shock absorbing spring is mounted on the second support frame.
Further, the number of the second shock-absorbing springs is two, and the two second shock-absorbing springs are respectively installed on two sides of the second support frame.
Further, the automobile body structure includes third casing and laser radar support, the third casing install in the one end that ground was kept away from to the bottom plate structure, the laser radar support mounting in the third casing is kept away from the one end of bottom plate structure, placed the laser radar device on the laser radar support.
Further, the laser radar device adopts a 3D laser radar.
The embodiment of the invention has the following advantages:
1. the front wheel system and the rear wheel system of the patrol robot suitable for the rugged terrain are both provided with the damping devices, so that the energy generated by the vibration of a vehicle body can be absorbed through the damping devices, and the robot can be ensured to move stably under the rugged road;
2. the front wheel system and the rear wheel system are single-degree-of-freedom systems, so that the control is simple and the operation is convenient;
3. the radar laser device can detect objects beyond a long distance, and enhances the detection range.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It should be apparent that the drawings in the following description are merely exemplary, and that other embodiments can be derived from the drawings provided by those of ordinary skill in the art without inventive effort.
The structures, ratios, sizes, and the like shown in the present specification are only used for matching with the contents disclosed in the specification, so that those skilled in the art can understand and read the present invention, and do not limit the conditions for implementing the present invention, so that the present invention has no technical significance, and any structural modifications, changes in the ratio relationship, or adjustments of the sizes, without affecting the functions and purposes of the present invention, should still fall within the scope of the present invention.
FIG. 1 is a schematic diagram of an overall structure of a patrol robot suitable for use in rough terrain according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a bottom plate structure according to an embodiment of the present invention;
FIG. 3 is a schematic view of a vehicle body structure according to an embodiment of the present invention;
FIG. 4 is a schematic view of a front wheel system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a first gear train of the present invention;
FIG. 6 is a schematic view of a first damping device according to an embodiment of the present invention;
FIG. 7 is a schematic view of a rear wheel system according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a second gear train in accordance with an embodiment of the present invention.
In the figure: 1. a rear wheel system; 2. a floor structure; 3. a front wheel system; 4. a vehicle body structure; 5. a laser radar device; 6. a front chassis; 7. a rear floor; 8. a motor bracket; 9. a first drive shaft support; 10. a second drive shaft support; 11. a first housing; 12. a second housing; 13. a third housing; 14. a laser radar mount; 15. a first gear mechanism; 16. a first damping device; 17. a front wheel; 18. a motor; 19. a first spur gear assembly; 20. a first bevel gear assembly; 21. a first support frame; 22. a first shock absorbing spring; 23. a second gear mechanism; 24. a second damping device; 25. a rear wheel; 26. a second bevel gear assembly.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-8, the invention discloses a patrol robot suitable for rough terrain, which comprises a front wheel system 3, a rear wheel system 1, a bottom plate structure 2, a vehicle body structure 4 and a laser radar device 5, wherein the front wheel system 3 and the rear wheel system 1 are respectively arranged at the front end and the rear end of the bottom plate structure 2. The front wheel system 3 and the rear wheel system 1 are both single-degree-of-freedom systems, the front wheel system 3 comprises a first gear mechanism 15, a motor 18, a first damping device 16 and two front wheels 17, the first gear mechanism 15 drives the two front wheels 17 to rotate under the driving of the motor 18, the first damping device 16 is arranged between the two front wheels 17, the rear wheel system 1 comprises a second gear mechanism 23, a second damping device 24 and two rear wheels 25, the second gear mechanism 23 drives the two rear wheels 25 to rotate under the action of the first gear mechanism 15 and the motor 18, and the second damping device 24 is arranged between the two rear wheels 25. The vehicle body structure 4 is installed at one end, far away from the ground, of the bottom plate structure 2, and a laser radar device 5 is arranged at one end, far away from the bottom plate structure 2, of the vehicle body structure 4. The front wheel system 3 and the rear wheel system 1 of the patrol robot suitable for the rugged terrain are both provided with the damping devices, so that the energy generated by the vibration of a vehicle body can be absorbed through the damping devices, and the robot can be ensured to move stably on the rugged road.
The bottom plate structure 2 comprises a front bottom plate 6 and a rear bottom plate 7, a motor support 8, a first transmission shaft support 9 and a first shell 11 are arranged on the front bottom plate 6, and a first gear mechanism 15 is contained in the first shell 11. The rear floor 7 is provided with a second transmission shaft support 10 and a second housing 12, and the second gear mechanism 23 is contained in the second housing 12.
The first gear mechanism 15 comprises a first straight gear assembly 19 and a first bevel gear assembly 20, and the motor 18 drives the front wheel 17 to rotate through the first straight gear assembly 19 and the first bevel gear assembly 20. The second gear mechanism 23 includes a second bevel gear assembly 26, a transmission shaft is disposed between the second bevel gear assembly 26 and the first linear gear assembly 19, and the motor 18 drives the rear wheel 25 to rotate through the first linear gear assembly 19, the transmission shaft and the second bevel gear assembly 26.
The first shock absorbing device 16 includes a first support frame 21 and a first shock absorbing spring 22, the first support frame 21 is used for supporting the front wheel system 3, and the first shock absorbing spring 22 is mounted on the first support frame 21. The number of the first shock absorbing springs 22 is two, and the two first shock absorbing springs 22 are respectively installed at both sides of the first support frame 21. The second shock absorbing device 24 includes a second support frame for supporting the rear wheel system 1 and a second shock absorbing spring mounted on the second support frame. The number of the second shock-absorbing springs is two, and the two second shock-absorbing springs are respectively arranged on two sides of the second supporting frame. The first damping device 16 and the second damping device 24 are respectively distributed on the front side and the rear side of the vehicle body to absorb energy generated by vibration of the vehicle body, so that the robot can stably move on a rugged road.
The working principle is as follows:
when the patrol robot suitable for the rugged terrain works, the motor 18 is controlled to be started, the motor 18 drives the first straight gear assembly 19 to rotate, and further drives the first bevel gear assembly 20, and the two front wheels 17 are rotated by the rotation of the first bevel gear assembly 20; at the same time, the first spur gear assembly 19 drives the second bevel gear assembly 26 to rotate through the transmission shaft, and then drives the two rear wheels 25 to rotate. When the robot moves on a rugged road, the four wheels of the robot generate height difference due to rugged terrain, at the moment, the vehicle body acts on the first shock-absorbing spring 22 and the second shock-absorbing spring respectively through the first supporting frame 21 in the front wheel system 3 and the second supporting frame in the rear wheel system 1 due to the self weight, so that the first shock-absorbing spring 22 and the second shock-absorbing spring absorb the energy generated by the vibration of the vehicle body through compression or extension, and the robot can stably move on the rugged road.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. A patrol robot suitable for rugged topography which characterized in that: the laser radar device comprises a front wheel system, a rear wheel system, a bottom plate structure, a vehicle body structure and a laser radar device, wherein the front wheel system and the rear wheel system are respectively arranged at the front end and the rear end of the bottom plate structure; the front wheel system comprises a first gear mechanism, a motor, a first damping device and two front wheels, the first gear mechanism drives the two front wheels to rotate under the driving of the motor, the first damping device is arranged between the two front wheels, the rear wheel system comprises a second gear mechanism, a second damping device and two rear wheels, the second gear mechanism drives the two rear wheels to rotate under the action of the first gear mechanism and the motor, and the second damping device is arranged between the two rear wheels; the vehicle body structure is arranged at one end, far away from the ground, of the bottom plate structure, and a laser radar device is arranged at one end, far away from the bottom plate structure, of the vehicle body structure.
2. A patrol robot adapted for use over rough terrain as claimed in claim 1, wherein: the bottom plate structure comprises a front bottom plate and a rear bottom plate, a motor support, a first transmission shaft support and a first shell are arranged on the front bottom plate, and the first gear mechanism is contained in the first shell; the rear bottom plate is provided with a second transmission shaft support and a second shell, and the second gear mechanism is contained in the second shell.
3. A patrol robot adapted for use over rough terrain as claimed in claim 1, wherein: the first gear mechanism comprises a first straight gear assembly and a first bevel gear assembly, and the motor drives the front wheel to rotate through the first straight gear assembly and the first bevel gear assembly.
4. A patrol robot adapted for use over rough terrain according to claim 3, wherein: the second gear mechanism comprises a second bevel gear assembly, a transmission shaft which is linked is arranged between the second bevel gear assembly and the first linear gear assembly, and the motor drives the rear wheel to rotate through the first linear gear assembly, the transmission shaft and the second bevel gear assembly.
5. A patrol robot adapted for use over rough terrain as claimed in claim 1, wherein: the first shock absorption device comprises a first support frame and a first shock absorption spring, the first support frame is used for supporting the front wheel system, and the first shock absorption spring is installed on the first support frame.
6. A patrol robot adapted for use over rough terrain according to claim 5, wherein: the number of the first shock absorption springs is two, and the two first shock absorption springs are respectively arranged on two sides of the first support frame.
7. A patrol robot adapted for use over rough terrain as claimed in claim 1, wherein: the second damping device comprises a second support frame and a second shock-absorbing spring, the second support frame is used for supporting the rear wheel system, and the second shock-absorbing spring is installed on the second support frame.
8. A patrol robot adapted for use over rough terrain according to claim 7, wherein: the number of the second shock-absorbing springs is two, and the two second shock-absorbing springs are respectively arranged on two sides of the second supporting frame.
9. A patrol robot adapted for use over rough terrain as claimed in claim 1, wherein: the automobile body structure includes third casing and laser radar support, the third casing install in the bottom plate structure is kept away from the one end on ground, the laser radar support install in the third casing is kept away from the one end of bottom plate structure, placed the laser radar device on the laser radar support.
10. A patrol robot adapted for use over rough terrain as claimed in claim 1, wherein: the laser radar device adopts a 3D laser radar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010556973.9A CN111673763A (en) | 2020-06-18 | 2020-06-18 | Patrol robot suitable for rugged topography |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010556973.9A CN111673763A (en) | 2020-06-18 | 2020-06-18 | Patrol robot suitable for rugged topography |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111673763A true CN111673763A (en) | 2020-09-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010556973.9A Pending CN111673763A (en) | 2020-06-18 | 2020-06-18 | Patrol robot suitable for rugged topography |
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| Country | Link |
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| CN (1) | CN111673763A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112146199A (en) * | 2020-09-27 | 2020-12-29 | 包国盛 | Medical air sterilizer |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107933738A (en) * | 2017-12-14 | 2018-04-20 | 昆山市工研院智能制造技术有限公司 | A kind of outdoor patrol robot with damping device |
| CN108656074A (en) * | 2018-02-26 | 2018-10-16 | 北京克路德人工智能科技有限公司 | Security robot |
| CN109664311A (en) * | 2018-12-28 | 2019-04-23 | 深圳市优必选科技有限公司 | A kind of automatic crusing robot |
| CN208914089U (en) * | 2018-08-31 | 2019-05-31 | 兰州石化职业技术学院 | A kind of digitlization security protection Detecting Robot |
| CN110341793A (en) * | 2019-07-17 | 2019-10-18 | 宁波财经学院 | Mobile underpan |
| CN210370799U (en) * | 2019-08-28 | 2020-04-21 | 山东科技大学 | Inspection robot for excavation working surface |
-
2020
- 2020-06-18 CN CN202010556973.9A patent/CN111673763A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107933738A (en) * | 2017-12-14 | 2018-04-20 | 昆山市工研院智能制造技术有限公司 | A kind of outdoor patrol robot with damping device |
| CN108656074A (en) * | 2018-02-26 | 2018-10-16 | 北京克路德人工智能科技有限公司 | Security robot |
| CN208914089U (en) * | 2018-08-31 | 2019-05-31 | 兰州石化职业技术学院 | A kind of digitlization security protection Detecting Robot |
| CN109664311A (en) * | 2018-12-28 | 2019-04-23 | 深圳市优必选科技有限公司 | A kind of automatic crusing robot |
| CN110341793A (en) * | 2019-07-17 | 2019-10-18 | 宁波财经学院 | Mobile underpan |
| CN210370799U (en) * | 2019-08-28 | 2020-04-21 | 山东科技大学 | Inspection robot for excavation working surface |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112146199A (en) * | 2020-09-27 | 2020-12-29 | 包国盛 | Medical air sterilizer |
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Application publication date: 20200918 |