CN111924021A - Full-automatic inspection robot chassis - Google Patents

Full-automatic inspection robot chassis Download PDF

Info

Publication number
CN111924021A
CN111924021A CN202010733695.XA CN202010733695A CN111924021A CN 111924021 A CN111924021 A CN 111924021A CN 202010733695 A CN202010733695 A CN 202010733695A CN 111924021 A CN111924021 A CN 111924021A
Authority
CN
China
Prior art keywords
chassis
battery
plate
fixed
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010733695.XA
Other languages
Chinese (zh)
Inventor
李振
徐飞
代青平
蒙达生
杜晶晶
秦俊鑫
陆志
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yantai University
Original Assignee
Guangzhou Shaoma Intelligent Equipment Technology Co ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Guangzhou Shaoma Intelligent Equipment Technology Co ltd filed Critical Guangzhou Shaoma Intelligent Equipment Technology Co ltd
Priority to CN202010733695.XA priority Critical patent/CN111924021A/en
Publication of CN111924021A publication Critical patent/CN111924021A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • 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
    • B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
    • B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • 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
    • G05D1/0005—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with arrangements to save energy
    • 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
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • 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
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • 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
    • 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
    • G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Electromagnetism (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Power Engineering (AREA)
  • Acoustics & Sound (AREA)
  • Optics & Photonics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a motion chassis device of a full-automatic inspection robot, in particular to a chassis device of a mobile robot which can provide accurate positioning, autonomous navigation and high reliability, has the functions of falling prevention, collision prevention, automatic navigation and autonomous charging, and can be used for all-weather inspection robots of IDC machine room equipment and environment monitoring. The invention provides a chassis device for full-automatic obstacle avoidance and navigation of an inspection robot, which can solve the accidents that the inspection robot collides a cabinet and falls off and breaks equipment when encountering steps during autonomous inspection, can also solve the problem that the robot is difficult to charge automatically, and can realize automatic navigation of the robot by adopting a common coupler for the inspection robot driven by Mecanum to cause Mecanum wheels to fall off when advancing, traversing or turning and other movements.

Description

Full-automatic inspection robot chassis
Technical Field
The invention relates to a motion chassis device of a full-automatic inspection robot, in particular to a chassis device of a mobile robot, which can provide accurate positioning, high reliability, and has the functions of drop prevention, collision prevention, automatic navigation and automatic charging, and belongs to the field of mobile inspection robots.
Background
With the rapid development of the internet industry, the application of operation and maintenance centers and operation and maintenance servers is more and more extensive. In order to ensure the normal operation of a server in a machine room and timely find equipment defects or hidden dangers, operation and maintenance personnel of the machine room are often required to check equipment in the machine room regularly or irregularly and manually copy instrument and meter equipment, the workload is high, and due to the influences of factors such as environment and personnel quality, the detection data is easy to be inaccurate, so that the inspection efficiency and quality cannot achieve the expected effect. Aiming at the problem of low efficiency and quality of manual inspection, the full-intelligent inspection robot is used for replacing manual inspection of machine room environment and equipment, so that not only is the task efficiently completed, but also the competitiveness of an operation and maintenance center can be improved.
The full-intelligent inspection robot is used for carrying out all-around, timing or non-timing inspection on a machine room environment for 24 hours, and the stable chassis is the key for ensuring the normal inspection of the robot. In order to ensure that the inspection robot inspects servers, power cabinets and the like in narrow machine room passageways, Mecanum with omni-directional driving and zero turning radius is generally adopted. In order to prevent the robot from colliding with a cabinet or falling from steps during automatic navigation, collision and falling prevention functions need to be designed to enhance the adaptability of the robot. Meanwhile, in order to realize long-time autonomous inspection of the robot, the automatic charging function is an indispensable link. Therefore, to realize all-weather routing inspection of IDC machine room equipment and the environment, a motion chassis device of the full-automatic routing inspection robot needs to be designed so as to meet the requirement of autonomous routing inspection of the routing inspection robot.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a full-automatic inspection robot chassis, which can solve the problems that an inspection robot collides a cabinet and falls off and breaks equipment when encountering steps during autonomous inspection, can also solve the problem that the robot is difficult to automatically charge, and can also realize automatic navigation of the robot when a Mecanum-driven inspection robot adopts a common coupler and Mecanum wheels fall off during advancing, traversing or turning motions.
The technical scheme adopted by the invention is as follows: a full-automatic inspection robot chassis comprises a driving wheel, a chassis shield, anti-collision strips, a chassis shell, a front guard plate, an infrared receiver, an ultrasonic radar, a battery rear cover, an upper mounting shell, a falling trigger, a traveling wheel guard shell, a falling control plate, a driving plate, a power battery, a laser radar, a driving motor mounting plate, a battery positioning seat, anti-collision strip driving plates, a temperature and humidity sensor and charging contacts, wherein the driving wheel is fixed at four corners of the driving motor mounting plate, the chassis shield is fixed on the driving motor mounting plate through fastening bolts, the anti-collision strips are circumferentially arranged on the chassis shield and used for sensing when a robot touches obstacles, the traveling wheel guard shell is fixed on the chassis shield through bolt locking, the falling triggers are respectively arranged in front of each driving wheel and on the outer side of each driving wheel, the falling triggers arranged in two directions of the driving wheels can effectively avoid the robot falling accidents when the, the chassis shell is arranged on the driving motor mounting plate through an internal mounting bracket, the front guard plate is fixed on the chassis shield from the bottom of the chassis shield through fixing screws, the infrared receiver is used for being matched with an infrared transmitter of a charging pile to finish accurate positioning during automatic charging, the ultrasonic radar is circumferentially distributed on the periphery of the chassis shell and used for detecting obstacles around a robot, the rear cover of the battery is arranged at the rear side of the chassis shell and is fixed on the chassis shell through a buckle, manual charging or power battery replacement of a power battery can be finished through opening and closing of the rear cover of the battery, the upper mounting shell is fixed on the chassis shell through locking screws, the falling control plate is arranged inside the chassis shield, the driving plate is fixed on the driving motor mounting plate through a mounting copper column, the laser radar is fixed on the driving motor mounting plate through a laser radar mounting seat, and the power battery is fixed through a battery positioning seat fixed at the rear end of the driving motor mounting plate, the anti-collision strip driving plate is fixed on the chassis shell, the temperature and humidity sensor is arranged in the middle of the chassis shield and used for detecting the temperature and humidity environment quality in the IDC machine room, and the charging contact is arranged in the middle of the rear side of the chassis shield and can be matched with the contact of the charging pile to realize automatic charging of the power battery.
Further, the drive wheel, including driving motor, reduction gear, shaft coupling, bearing mount pad, connection flange dish, mecanum wheel and drive wheel connecting axle, its characterized in that: the driving motor is connected with the reducer, the reducer is fixed on the driving motor mounting plate through the reducer mounting seat by fastening screws, the coupler is used for connecting an output shaft and a driving wheel connecting shaft of the reducer, the motor motion is transmitted to the Mecanum wheel, the bearing mounting seat is arranged on one side of the coupler and used for supporting the driving wheel connecting shaft, the connecting flange plate is arranged between the driving wheel connecting shaft and the Mecanum wheel, the driving wheel connecting shaft is fixed on the inner hole surface of the connecting flange plate through the fastening screws, and the Mecanum wheel is fixed on the outer end surface of the connecting flange plate through bolts.
Furthermore, a reducer output shaft key head and a reducer output shaft key groove are arranged above the output shaft of the reducer, the width of the reducer output shaft key head is selected within the range of 5-10mm, and the height of the reducer output shaft key head is 5 mm.
Furthermore, a motor end clamping groove, a connecting shaft clamping groove and a coupling trapezoidal table are arranged above the coupling, a certain gap is reserved between the reducer output shaft key head and the motor end clamping groove to prevent the reducer from being locked, the gap between the reducer output shaft key head and the motor end clamping groove is larger than the gap between the coupling and the driving wheel connecting shaft, and the coupling trapezoidal table is arranged at the left end and the right end of the coupling to prevent the rotating surface from colliding with the static surface.
Furthermore, the coupler is divided into an upper coupler and a lower coupler which are locked and fixed by fastening screws.
Furthermore, a connecting shaft key groove and a connecting shaft key head are arranged above the driving wheel connecting shaft, the width of the connecting shaft key head is selected within the range of 5-10mm, and the height of the connecting shaft key groove is 5 mm.
Furthermore, a certain gap is reserved between the front guard plate and the chassis shell for outputting laser radar signals.
Furthermore, 4 crash bars are arranged and are circumferentially arranged on the chassis protective cover, and when the robot collides with an obstacle and the crash bars are triggered, the robot can move only in the opposite direction, so that the movement in the collision direction can be released.
Further, the battery rear cover comprises a battery outer cover plate, a locking buckle, a battery inner cover plate and a battery positioning pin, the battery inner cover plate is fixed on the battery outer cover plate through screws, the locking buckle is installed on the battery outer cover plate, the battery positioning pin is arranged on the battery inner cover plate, and the locking buckle and the battery positioning pin are mutually matched to enable the battery rear cover to be fixed on the chassis shell.
Furthermore, the rear end of the battery rear cover is provided with an ultrasonic radar, and a manual charging interface of a power battery is arranged below the ultrasonic radar.
Drawings
FIG. 1 is an overall assembly diagram of the present invention.
Fig. 2 is an exploded view of the present invention.
Fig. 3 is a schematic view of the internal structure of the present invention.
Fig. 4 is a schematic bottom structure of the present invention.
Fig. 5 is a schematic view of the chassis drive mounting of the present invention.
Fig. 6 is a cross-sectional view of a drive portion of the chassis of the present invention.
Fig. 7 is a partially enlarged view of fig. 6A.
Shown in the figure, 1 is the drive wheel, 2 is the chassis guard shield, 3 is the anticollision strip, 4 is the chassis shell, 5 is the apron plate, 6 is infrared receiver, 7 is ultrasonic radar, 8 is lid behind the battery, 9 is the installation shell, 10 is for falling the trigger, 11 is the walking wheel guard shield, 12 is for falling the control panel, 13 is the drive plate, 14 is power battery, 15 is laser radar, 16 is the driving motor mounting panel, 17 is the battery positioning seat, 18 is the anticollision strip drive plate, 19 is temperature and humidity sensor, 20 is the contact that charges.
Wherein, drive wheel 1 includes: 1-1 is a driving motor, 1-2 is a speed reducer, 1-2-1 is a speed reducer output shaft key head, 1-2-2 is a speed reducer output shaft key groove, 1-3 is a coupler, 1-3-1 is a motor end clamping groove, 1-3-2 is a connecting shaft clamping groove, 1-3-3 is a coupler trapezoidal table, 1-4 is a bearing mounting seat, 1-5 is a connecting flange plate, 1-6 is a Mecanum wheel, 1-7 is a driving wheel connecting shaft, 1-7-1 is a connecting shaft key groove, and 1-7-2 is a connecting shaft key head.
Wherein, lid 8 includes behind the battery: 8-1 is a battery outer cover plate, 8-2 is a locking buckle, 8-3 is a battery inner cover plate, and 8-4 is a battery positioning pin.
Detailed Description
Example 1
Referring to the attached drawings 1 to 7, the full-automatic inspection robot chassis comprises a driving wheel 1, a chassis shield 2, an anti-collision strip 3, a chassis shell 4, a front guard plate 5, an infrared receiver 6, an ultrasonic radar 7, a battery rear cover 8, an upper mounting shell 9, a falling trigger 10, a traveling wheel shield 11, a falling control plate 12, a driving plate 13, a power battery 14, a laser radar 15, a driving motor mounting plate 16, a battery positioning seat 17, an anti-collision strip driving plate 18, a temperature and humidity sensor 19 and a charging contact 20, wherein the driving wheel 1 is fixed at four corners of the driving motor mounting plate 16, the chassis shield 2 is fixed on the driving motor mounting plate 16 through fastening bolts, the anti-collision strips 3 are circumferentially arranged on the chassis shield 2 and used for sensing that a robot touches an obstacle, the traveling wheel shield 11 is fixed on the chassis shield 2 through locking bolts, the falling trigger 10 is respectively arranged in front of each driving wheel 1 and on, the falling trigger 10 arranged in two directions of the driving wheel 1 can effectively avoid the falling accident of the robot when the robot meets steps, the chassis shell 4 is arranged on the driving motor mounting plate 16 through an internal mounting bracket, the front guard plate 5 is fixed on the chassis shield 2 from the bottom of the chassis shield 2 through fixing screws, the infrared receiver 6 is used for matching with an infrared transmitter of a charging pile to finish the accurate positioning during automatic charging, the ultrasonic radars 7 are circumferentially distributed on the four peripheries of the chassis shell 4 and used for detecting obstacles around the robot, the battery rear cover 8 is arranged at the rear side of the chassis shell 4 and fixed on the chassis shell 4 through a buckle, the manual charging or the replacement of the power battery 14 can be finished through the opening and closing of the battery rear cover 8, the upper mounting shell 9 is fixed on the chassis shell 4 through screw locking, the falling control plate 12 is arranged inside the chassis shield 2, drive plate 13 is fixed on driving motor mounting panel 16 through the installation copper post, laser radar 15 fixes on driving motor mounting panel 16 through the laser radar mount pad, power battery 14 fixes through fixing the battery positioning seat 17 at driving motor mounting panel 16 rear end, crashproof strip drive plate 18 is fixed on chassis shell 4, temperature and humidity sensor 19 sets up the intermediate position at chassis guard shield 2, a detection for temperature and humidity environment quality in the IDC computer lab, charging contact 20 sets up the rear side intermediate position department at chassis guard shield 2, can cooperate with the contact that fills electric pile, realize power battery 14's automatic charging.
Example 2
The difference between the embodiment and the embodiment 1 is that the driving wheel 1 comprises a driving motor 1-1, a speed reducer 1-2, a coupling 1-3, a bearing mounting seat 1-4, a connecting flange 1-5, a mecanum wheel 1-6 and a driving wheel connecting shaft 1-7, and is characterized in that: the driving motor 1-1 is connected with the speed reducer 1-2, the speed reducer 1-2 is fixed on the driving motor mounting plate 16 through a speed reducer mounting seat by fastening screws, the coupling 1-3 is used for connecting an output shaft of the speed reducer 1-2 with a driving wheel connecting shaft 1-7 and transmitting the motor motion to the Mecanum wheel 1-6, the bearing mounting seat 1-4 is arranged at one side of the coupling 1-3, for supporting the driving wheel connecting shafts 1-7, the connecting flange plates 1-5 are arranged between the driving wheel connecting shafts 1-7 and the mecanum wheels 1-6, wherein, the driving wheel connecting shafts 1-7 are fixed on the inner hole surfaces of the connecting flange plates 1-5 through fastening screws, and the Mecanum wheels 1-6 are fixed on the outer end surfaces of the connecting flange plates 1-5 through bolts.
Example 3
The difference between the embodiment and the embodiment 2 is that a reducer output shaft key head 1-2-1 and a reducer output shaft key groove 1-2-2 are arranged above an output shaft of a reducer 1-2, the width of the reducer output shaft key head 1-2-1 is selected within the range of 5-10mm, and the height of the reducer output shaft key head 1-2-1 is 5 mm.
Example 4
The difference between the embodiment and the embodiment 2 is that a motor end clamping groove 1-3-1, a connecting shaft clamping groove 1-3-2 and a coupling trapezoid table 1-3-3 are arranged above the coupling 1-3, a certain gap is reserved between the reducer output shaft key head 1-2-1 and the motor end clamping groove 1-3-1 to prevent the reducer 1-2 from being locked, the gap between the reducer output shaft key head 1-2-1 and the motor end clamping groove 1-3-1 is larger than the gap between the coupling 1-3 and the driving wheel connecting shaft 1-7, and the coupling trapezoid table 1-3-3 is arranged at the left end and the right end of the coupling 1-3 to prevent a rotating surface from colliding with a static surface.
Example 5
The difference between the embodiment and the embodiment 2 is that the shaft coupling 1-3 is divided into an upper shaft coupling and a lower shaft coupling, and is locked and fixed by fastening screws.
Example 6
The difference between the embodiment and the embodiment 2 is that a connecting shaft key groove 1-7-1 and a connecting shaft key head 1-7-2 are arranged above a driving wheel connecting shaft 1-7, the width of the connecting shaft key head 1-7-2 is selected within the range of 5-10mm, and the height of the connecting shaft key groove 1-7-1 is 5 mm.
Example 7
The present embodiment is different from embodiment 1 in that a certain gap is left between the front guard plate 5 and the chassis housing 4 for outputting the laser radar 15 signal.
Example 8
The present embodiment is different from embodiment 1 in that 4 bumper strips 3 are provided and circumferentially mounted on the chassis hood 2, and when the robot collides with an obstacle and the bumper strips 3 are triggered, the robot can move only in the opposite direction, and the movement in the collision direction can be released.
Example 9
The difference between the embodiment and the embodiment 1 is that the battery rear cover 8 comprises a battery outer cover plate 8-1, a locking buckle 8-2, a battery inner cover plate 8-3 and a battery positioning pin 8-4, the battery inner cover plate 8-3 is fixed on the battery outer cover plate 8-1 through a screw, the locking buckle 8-2 is installed on the battery outer cover plate 8-1, the battery positioning pin 8-4 is arranged on the battery inner cover plate 8-3, and the locking buckle 8-2 is matched with the battery positioning pin 8-4 to fix the battery rear cover 8 on the chassis shell 4.
Example 10
The difference between the embodiment and embodiment 1 is that the rear end of the battery rear cover 8 is provided with an ultrasonic radar 7, and a manual charging interface of a power battery 14 is arranged below the ultrasonic radar 7.
The above-described embodiments are merely exemplary and not restrictive of the present invention, and it should be understood that various changes and modifications may be made therein by those skilled in the art based on the above description without departing from the spirit and scope of the present invention.

Claims (10)

1. The utility model provides a full-automatic robot chassis of patrolling and examining which characterized in that: comprises a driving wheel (1), a chassis shield (2), an anti-collision strip (3), a chassis shell (4), a front guard plate (5), an infrared receiver (6), an ultrasonic radar (7), a battery rear cover (8), an upper mounting shell (9), a falling trigger (10), a traveling wheel shield shell (11), a falling control plate (12), a driving plate (13), a power battery (14), a laser radar (15), a driving motor mounting plate (16), a battery positioning seat (17), an anti-collision strip driving plate (18), a temperature and humidity sensor (19) and a charging contact (20), wherein the driving wheel (1) is fixed on four corners of the driving motor mounting plate (16), the chassis shield (2) is fixed on the driving motor mounting plate (16) through fastening bolts, the anti-collision strip (3) is circumferentially arranged on the chassis shield (2) and used for sensing that a robot touches obstacles, the travelling wheel protective shell (11) is fixed on the chassis protective shell (2) through bolt locking, the falling trigger (10) is respectively installed on the front side and the outer side surface of each driving wheel (1), the falling trigger (10) installed in two directions of the driving wheels (1) can effectively avoid the falling accident of the robot when the robot meets steps, the chassis shell (4) is installed on a driving motor installation plate (16) through an internal installation support, the front protective plate (5) fixes the front protective plate (5) on the chassis protective shell (2) from the bottom of the chassis protective shell (2) through fixing screws, the infrared receiver (6) is used for matching with an infrared transmitter of a charging pile to finish accurate positioning during automatic charging, the ultrasonic radars (7) are circumferentially distributed on the four peripheries of the chassis shell (4) and are used for detecting obstacles around the robot, the battery rear cover (8) is arranged on the rear side of the chassis shell (4), the device is fixed on a chassis shell (4) through a buckle, manual charging or power battery (14) replacement of the power battery (14) can be completed through opening and closing of a battery rear cover (8), an upper mounting shell (9) is fixed on the chassis shell (4) through screw locking, a falling control plate (12) is arranged inside a chassis shield (2), a driving plate (13) is fixed on a driving motor mounting plate (16) through a mounting copper column, a laser radar (15) is fixed on the driving motor mounting plate (16) through a laser radar mounting seat, the power battery (14) is fixed through a battery positioning seat (17) fixed at the rear end of the driving motor mounting plate (16), an anti-collision strip driving plate (18) is fixed on the chassis shell (4), a temperature and humidity sensor (19) is arranged at the middle position of the chassis shield (2) and used for detecting the temperature and humidity environment quality in an IDC, a charging contact (20) is arranged at the middle position of the rear side of the chassis shield (2), can cooperate with the contact of filling electric pile, realize power battery's (14) automatic charging.
2. The full-automatic inspection robot chassis of claim 1, wherein: the driving wheel (1) comprises a driving motor (1-1), a speed reducer (1-2), a shaft coupling (1-3), a bearing mounting seat (1-4), a connecting flange plate (1-5), a Mecanum wheel (1-6) and a driving wheel connecting shaft (1-7), wherein the driving motor (1-1) is connected with the speed reducer (1-2), the speed reducer (1-2) is fixed on a driving motor mounting plate (16) through the speed reducer mounting seat by adopting a fastening screw, the shaft coupling (1-3) is used for connecting an output shaft of the speed reducer (1-2) with the driving wheel connecting shaft (1-7) and transmitting the motor motion to the Mecanum wheel (1-6), and the bearing mounting seat (1-4) is arranged on one side of the shaft coupling (1-3), the driving wheel connecting shaft support is used for supporting driving wheel connecting shafts (1-7), the connecting flange plates (1-5) are arranged between the driving wheel connecting shafts (1-7) and the Mecanum wheels (1-6), the driving wheel connecting shafts (1-7) are fixed on inner hole surfaces of the connecting flange plates (1-5) through fastening screws, and the Mecanum wheels (1-6) are fixed on outer end surfaces of the connecting flange plates (1-5) through bolts.
3. The full-automatic inspection robot chassis of claim 2, wherein: a reducer output shaft key head (1-2-1) and a reducer output shaft key groove (1-2-2) are arranged above an output shaft of the reducer (1-2), the width selection range of the reducer output shaft key head (1-2-1) is 5-10mm, and the height of the reducer output shaft key head (1-2-1) is 5 mm.
4. The full-automatic inspection robot chassis of claim 2, wherein: the clutch is characterized in that a motor end clamping groove (1-3-1), a connecting shaft clamping groove (1-3-2) and a clutch trapezoidal table (1-3-3) are arranged above the clutch (1-3), a certain gap is reserved between the reducer output shaft key head (1-2-1) and the motor end clamping groove (1-3-1) to prevent the reducer (1-2) from being locked, the gap between the reducer output shaft key head (1-2-1) and the motor end clamping groove (1-3-1) is larger than the gap between the clutch (1-3) and the driving wheel connecting shaft (1-7), and the clutch trapezoidal table (1-3-3) is arranged at the left end and the right end of the clutch (1-3) to prevent a rotating surface from colliding with a static surface.
5. The full-automatic inspection robot chassis of claim 2, wherein: the coupler (1-3) is divided into an upper coupler and a lower coupler, and is locked and fixed by fastening screws.
6. The full-automatic inspection robot chassis of claim 2, wherein: a connecting shaft key groove (1-7-1) and a connecting shaft key head (1-7-2) are arranged above the driving wheel connecting shaft (1-7), the width selection range of the connecting shaft key head (1-7-2) is 5-10mm, and the height of the connecting shaft key groove (1-7-1) is 5 mm.
7. The full-automatic inspection robot chassis of claim 1, wherein: and a certain gap is reserved between the front guard plate (5) and the chassis shell (4) and is used for outputting a laser radar (15) signal.
8. The full-automatic inspection robot chassis of claim 1, wherein: the anti-collision strip (3) is provided with 4 strips and is circumferentially arranged on the chassis shield (2), and when the robot collides with an obstacle and the anti-collision strip (3) is triggered, the robot can move in the opposite direction only and can release the movement in the collision direction.
9. The full-automatic inspection robot chassis of claim 1, wherein: the battery rear cover (8) comprises a battery outer cover plate (8-1), a locking buckle (8-2), a battery inner cover plate (8-3) and a battery positioning pin (8-4), the battery inner cover plate (8-3) is fixed on the battery outer cover plate (8-1) through a screw, the locking buckle (8-2) is installed on the battery outer cover plate (8-1), the battery positioning pin (8-4) is arranged on the battery inner cover plate (8-3), and the locking buckle (8-2) and the battery positioning pin (8-4) are matched with each other to enable the battery rear cover (8) to be fixed on the chassis shell (4).
10. The full-automatic inspection robot chassis of claim 1, wherein: the battery back cover (8) rear end be equipped with ultrasonic radar (7), be equipped with the manual interface that charges of a power battery (14) below ultrasonic radar (7).
CN202010733695.XA 2020-07-27 2020-07-27 Full-automatic inspection robot chassis Pending CN111924021A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010733695.XA CN111924021A (en) 2020-07-27 2020-07-27 Full-automatic inspection robot chassis

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010733695.XA CN111924021A (en) 2020-07-27 2020-07-27 Full-automatic inspection robot chassis

Publications (1)

Publication Number Publication Date
CN111924021A true CN111924021A (en) 2020-11-13

Family

ID=73315365

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010733695.XA Pending CN111924021A (en) 2020-07-27 2020-07-27 Full-automatic inspection robot chassis

Country Status (1)

Country Link
CN (1) CN111924021A (en)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101694091A (en) * 2009-10-16 2010-04-14 威海广泰空港设备股份有限公司 Snow-sweeping roller brush device of snow-sweeping truck
WO2013007105A1 (en) * 2011-07-08 2013-01-17 上海合时智能科技有限公司 Household mobile security robot based on target identification technology
CN109703652A (en) * 2019-02-26 2019-05-03 安徽理工大学 A kind of Omni-mobile platform of foundry robot
CN209111084U (en) * 2018-10-19 2019-07-16 浙江大华技术股份有限公司 A kind of robot
CN211001610U (en) * 2019-09-25 2020-07-14 北京康力优蓝机器人科技有限公司 Biped robot removes chassis
CN211022469U (en) * 2019-07-25 2020-07-17 福玛特机器人科技股份有限公司 Floor sweeping robot
CN212685778U (en) * 2020-07-27 2021-03-12 广州哨马智能装备科技有限公司 Full-automatic inspection robot chassis

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101694091A (en) * 2009-10-16 2010-04-14 威海广泰空港设备股份有限公司 Snow-sweeping roller brush device of snow-sweeping truck
WO2013007105A1 (en) * 2011-07-08 2013-01-17 上海合时智能科技有限公司 Household mobile security robot based on target identification technology
CN209111084U (en) * 2018-10-19 2019-07-16 浙江大华技术股份有限公司 A kind of robot
CN109703652A (en) * 2019-02-26 2019-05-03 安徽理工大学 A kind of Omni-mobile platform of foundry robot
CN211022469U (en) * 2019-07-25 2020-07-17 福玛特机器人科技股份有限公司 Floor sweeping robot
CN211001610U (en) * 2019-09-25 2020-07-14 北京康力优蓝机器人科技有限公司 Biped robot removes chassis
CN212685778U (en) * 2020-07-27 2021-03-12 广州哨马智能装备科技有限公司 Full-automatic inspection robot chassis

Similar Documents

Publication Publication Date Title
CN212685778U (en) Full-automatic inspection robot chassis
CN109923491B (en) Sensor arrangement for an autonomously operating commercial vehicle and method for looking around image sensing
CN110758438B (en) Rail running device
CN111924021A (en) Full-automatic inspection robot chassis
CN110304171A (en) A kind of submarine medium-wave infrared laser radar conveying delivery AGV vehicle
CN209479801U (en) A kind of towed single two-way AGV of drive
CN208172603U (en) A kind of intelligence homing guidance AGV trolley
CN212825366U (en) Inspection robot and inspection system for inspecting construction tunnel
CN111136663A (en) Robot for intelligent factory
CN112078690A (en) Inspection robot
CN213828948U (en) Inspection robot
CN109682498A (en) A kind of Hooke's joint temperature pre-warning sensor
CN211336002U (en) Anti-collision device for locomotive running
CN212459428U (en) Unusual detection device of train bottom part in storehouse
CN209486292U (en) A kind of automatic Pilot sound-ranging equipment
CN210136429U (en) Mechanical structure of self-navigation crawler mobile robot
CN210618307U (en) Electrically driven carrying platform
CN209764111U (en) Apparatus for determining position and attitude of autonomous device
CN213565640U (en) Novel anti-collision detection device for engineering vehicle
CN112027915A (en) Automatic overhead travelling crane
CN112455376A (en) Vehicle protection sensor based on internet
CN218594458U (en) Unmanned mobile platform structure
CN220904850U (en) Bracket assembly
CN213322701U (en) Outdoor patrol unmanned vehicle
CN219886635U (en) Car stopping system of railway curb lock

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right

Effective date of registration: 20240621

Address after: 264005, Qingquan Road, Laishan District, Shandong, Yantai, 30

Applicant after: Yantai University

Country or region after: China

Address before: Unit D406A, 207 Changfu Road, Tianhe District, Guangzhou, Guangdong 510640

Applicant before: Guangzhou shaoma Intelligent Equipment Technology Co.,Ltd.

Country or region before: China