CN114313059A - Wheeled robot that patrols and examines of many topography - Google Patents
Wheeled robot that patrols and examines of many topography Download PDFInfo
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- CN114313059A CN114313059A CN202111589738.2A CN202111589738A CN114313059A CN 114313059 A CN114313059 A CN 114313059A CN 202111589738 A CN202111589738 A CN 202111589738A CN 114313059 A CN114313059 A CN 114313059A
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- 238000012876 topography Methods 0.000 title description 2
- 238000007689 inspection Methods 0.000 claims abstract description 16
- 238000004891 communication Methods 0.000 claims description 11
- 229910000838 Al alloy Inorganic materials 0.000 claims description 4
- 230000009194 climbing Effects 0.000 claims description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 230000002093 peripheral effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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Abstract
The invention discloses a multi-terrain wheel type inspection robot which comprises a box body, an upper rocker and a control center, wherein the left side and the right side of the box body are symmetrically provided and are respectively provided with a hub motor A, a motor bracket A, a steering engine bracket A, a rocker arm bogie structure, a hub motor B, a motor bracket B, a hub motor C, a motor bracket C, a steering engine C and a steering engine bracket C; the control center comprises a single chip microcomputer, a storage battery, a hub motor driver and an upper computer. The invention has the characteristics of excellent obstacle crossing performance, small volume and light weight. The robot can walk on different roads without being limited to urban roads, and in addition, the peripheral environment of the robot can be subjected to online video monitoring through a camera, a sensor and the like, so that the purpose of environment inspection is achieved.
Description
Technical Field
The invention relates to a multi-terrain wheel type inspection robot.
Background
The robot is patrolled and examined to traditional wheeled adoption is mostly three-wheel structure and four-wheel structure, and this type of structure is simple structure, and stability is good under the operational environment who sets for, but they are difficult to deal with complicated operational environment, mostly all work in the better place of road surface environment. Such as large shopping malls, pedestrian streets and hospitals. And the inspection robot which can adapt to various terrains is mostly a leg type mobile robot, a crawler type mobile robot or a wheel-track type mobile robot. And they have a problem of complicated control system compared to the wheeled robot.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention is directed to a multi-terrain wheeled inspection robot having a six-wheel structure, which can perform inspection tasks on various terrains.
The invention adopts the specific technical scheme that:
a multi-terrain wheel type inspection robot comprises a box body, an upper rocker and a control center, wherein the left side and the right side of the box body are symmetrically provided and are respectively provided with a wheel hub motor A, a motor support A, a steering engine support A, a rocker arm bogie structure, a wheel hub motor B, a motor support B, a wheel hub motor C, a motor support C, a steering engine C and a steering engine support C; the hub motor A is arranged on the motor support A, the motor support A is connected with an output shaft of the steering engine A, and the steering engine A is arranged on the steering engine support; the rocker arm bogie structure comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a side rocker and a fifth connecting rod, wherein one end of the fourth connecting rod is connected with the steering engine support A, the other end of the fourth connecting rod is connected with the third connecting rod through a first connecting piece, the second connecting rod is connected with the first connecting rod through a second connecting piece, the other end of the second connecting rod is connected with a third connecting piece, the first connecting piece is connected with the third connecting piece through a pin shaft and a bearing, and the first connecting piece and the third connecting piece can rotate relatively; the second connecting piece is connected with the side rocker and the box body through a pin shaft and a bearing, the bearing is installed on the box body, and the second connecting piece and the side rocker can rotate relative to the box body; the side rocker is connected with one end of a connecting rod V and the upper rocker, and the other end of the connecting rod V is connected with the box body through a Y-shaped joint; the other end of the third connecting rod is connected with the motor bracket B, and the motor bracket B is connected with the hub motor B; the other end of the first connecting rod is connected with a steering engine support C, the steering engine support C is used for mounting a steering engine C, an output shaft of the steering engine C is connected with a motor support C, and the motor support C is used for mounting the hub motor C; the control center comprises a single chip microcomputer, a storage battery, a hub motor driver and an upper computer, wherein the single chip microcomputer, the storage battery and the hub motor driver are installed on a box body, the storage battery is used for supplying power, the single chip microcomputer is in communication connection with the upper computer through WiFi, and the single chip microcomputer is electrically connected with the hub motor driver and controls the operation of a hub motor A, a hub motor B and a hub motor C; the single chip microcomputer is electrically connected with the steering engine A and the steering engine C to control the operation of the steering engine A and the steering engine C.
Furthermore, the storage battery is connected with an electric quantity display, and the electric quantity of the storage battery is displayed by the electric quantity display.
Further, a cloud platform is arranged above the box body, a camera and an infrared sensor are mounted on the cloud platform, and the camera and the infrared sensor are in communication connection with an upper computer.
Furthermore, obstacle avoidance radars are arranged in the front and at the back of the box body and are in communication connection with the single chip microcomputer.
Further, the box top still is provided with the alarm lamp, the alarm lamp with singlechip electric connection.
Further, in-wheel motor B is located in the middle of in-wheel motor A and in-wheel motor C, and when the moving platform is located the horizontal plane, the plane of looking down of in-wheel motor A, in-wheel motor B, in-wheel motor C tricycle is parallel with the bottom surface of the box.
Furthermore, the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the side rocking rod, the fifth connecting rod and the upper rocking rod are all provided with grooves.
Furthermore, the box body is constructed in a mode that an aluminum profile is adopted to build a framework, and an aluminum alloy plate is wrapped outside the framework.
Furthermore, an aerial plug and a USB interface are arranged above the box body, and can be used for developing a subsequent control system to add the function of the robot control system.
The invention has the beneficial effects that: the invention has the characteristics of excellent obstacle crossing performance, small volume and light weight. The robot can walk on different roads without being limited to urban roads, and in addition, the peripheral environment of the robot can be subjected to online video monitoring through a camera, a sensor and the like, so that the purpose of environment inspection is achieved. In the aspect of structure, the invention adopts the rocker arm bogie structure as a support part of the robot to replace the function of a suspension, so that the two sides of the robot cannot be interfered when one side of the robot gets over the obstacle, and the obstacle crossing capability is greatly improved. The invention adopts six hub motors for driving, and can realize complex obstacle crossing functions such as climbing stairs and the like by matching with a rocker arm bogie structure while providing power. The four steering engines are adopted for steering, so that the robot is more flexible, and pivot steering and differential steering can be realized. The box body is constructed in a mode that the framework is wrapped by the aluminum alloy plate, so that the quality of the robot is reduced. According to the invention, the length of the rod piece of the rocker arm bogie structure is designed (the requirement that the hub motor B is positioned between the hub motor A and the hub motor C is met, and when the robot is positioned on the horizontal plane, the overlooking planes of three wheels of the hub motor A, the hub motor B and the hub motor C are parallel to the bottom surface of the box body) so as to ensure that the distances from the rotation centers of the front wheel and the rear wheel to the rotation center of the middle wheel are equal, and the abrasion of the wheels and the axial force borne by the rod piece are reduced. The invention has the advantages that the grooves are formed on the rod piece, the quality of the robot is reduced to a certain degree, and meanwhile, the lines of the hub motor and the steering engine can be protected and hidden.
Drawings
FIG. 1 is a schematic view of the robot of the present invention;
FIG. 2 is a top view of the robot of the present invention;
FIG. 3 is a side view of the robot of the present invention;
FIG. 4 is a schematic view of the assembly of the first and third robot connectors of the present invention;
FIG. 5 is a schematic view of the assembly of the second robot connector and the box body;
FIG. 6 is a schematic structural diagram of a first connecting member;
FIG. 7 is a schematic structural view of a second connecting member;
fig. 8 is a block diagram of the control center structure.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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.
As shown in fig. 1-3, the embodiment provides a mobile robot mobile platform capable of climbing stairs, which includes a box body 1, an upper rocker 2 and a control center, wherein the left and right sides of the box body 1 are symmetrically arranged, and are respectively provided with a hub motor a101, a motor support a102, a steering engine a103, a steering engine support a104, a space link mechanism 105, a hub motor B106, a motor support B107, a hub motor C108, a motor support C109, a steering engine C110 and a steering engine support C111; the hub motor A101 is mounted on the motor support A102, the motor support A102 is connected with an output shaft of the steering engine A103, and the steering engine A103 is mounted on the steering engine support A104; the spatial link mechanism 105 comprises a first link 1051, a second link 1052, a third link 1053, a fourth link 1054, a side rocker 1055 and a fifth link 1056, one end of the fourth link 1054 is connected with the steering engine bracket a104, the other end of the fourth link 1054 is connected with the third link 1053 through a first connecting piece 112 (fig. 6), the second link 1052 is connected with the first link 1051 through a second connecting piece 113 (fig. 7), the other end of the second link 1052 is connected with a third connecting piece 114, the first connecting piece 112 is connected with the third connecting piece 114 through a pin shaft and a bearing, the first connecting piece 112 and the third connecting piece 114 can rotate relatively, the first connecting piece 112 and the third connecting piece 114 are specifically connected as shown in fig. 4, and are connected through four bearings a1121 and a pin shaft a1122, a gasket 1123 is arranged at the connection position, and the pin shaft a1122 is fixed by a snap spring; two bearings A1121 are respectively arranged in the first connecting piece 112 and the third connecting piece 114, the fourth connecting rod 1054 and the third connecting rod 1053 are both connected with the first connecting piece 112 in a mode of threads and bolts, internal threads are arranged in the first connecting piece 112, external threads are arranged at the connecting positions of the fourth connecting rod 1054 and the third connecting rod 1053, the internal threads and the external threads are matched and connected, bolts are tapped on the side faces for fixation, and the connection of the second connecting rod 1052 and the third connecting piece 114 is also in the same mode; the second connecting piece 113 and the side rocker 1055 are connected with the box body 1 through a pin B1132 and a bearing B1131, the bearing B1131 is installed on the box body 1, the second connecting piece 113 and the side rocker 1055 can rotate relative to the box body 1, as shown in FIG. 4, the second connecting rod 1052 and the first connecting rod 1051 are connected together through the second connecting piece 113 and have no degree of freedom, the bearing B1131 is installed on the box body 1, and after the installation is completed, the second connecting rod 1052, the first connecting rod 1051 and the side rocker 1055 can rotate relative to the box body 1; the side rocker 1055 is connected with one end of a connecting rod five 1056 and the upper rocker 2, and the other end of the connecting rod five 1056 is connected with the box body 1 through a Y-shaped joint 115, so that the connecting rod five 1056 and the upper rocker have freedom degrees relative to the box body 1 to form a revolute pair; the other end of the connecting rod III 1053 is connected with the motor bracket B107, and the motor bracket B107 is connected with the hub motor B106; the other end of the first connecting rod 1051 is connected with a steering engine support C111, the steering engine support C111 is used for installing a steering engine C110, an output shaft of the steering engine C110 is connected with a motor support C109, and the motor support C109 is used for installing a hub motor C108. The in-wheel motor B106 is located between the in-wheel motor A101 and the in-wheel motor C108, and when the moving platform is located on the horizontal plane, the plane of depression of the three wheels of the in-wheel motor A101, the in-wheel motor B106 and the in-wheel motor C108 is parallel to the bottom surface of the box body 1. The control center is installed on the box body and comprises a single chip microcomputer (STM32F405), an upper computer (PC) storage battery, a hub motor driver, an ultrasonic radar 38, a transmitter, an electric quantity display 33, an alarm lamp 37, a camera and an infrared temperature sensor, as shown in FIG. 8, wherein the storage battery is used for supplying power to electric elements of the control center, and all the electric elements are connected in series to form a loop; the storage battery is connected with an electric quantity display, and the electric quantity of the storage battery is displayed by the electric quantity display; a cloud deck 31 is arranged above the box body, a camera and an infrared temperature sensor are mounted on the cloud deck, the camera is used for acquiring and monitoring the surrounding environment of the robot, and the infrared sensor is used for acquiring the temperature information of the periphery of the robot and can be used for monitoring fire, heating crowd identification and the like; the single chip microcomputer controls the steering engine A and the steering engine C to operate in a CAN communication mode, and communicates with the hub motor driver in an RS485 communication mode, so that the hub motor is controlled to operate, and the position of the robot is controlled; the camera and the infrared sensor are arranged on the holder and can be directly communicated with an upper computer, and the upper computer is in communication connection with the single chip microcomputer through WiFi; the ultrasonic radar is connected with the single chip microcomputer through the transmitter, and the ultrasonic radar is installed in the front and at the back of the box body and used for avoiding obstacles. An air plug 35 and a USB interface 36 are further arranged above the box body, and can be used for developing a subsequent control system to add the function of the robot control system. The control center also comprises a start-stop switch 32 and an emergency stop switch 34, which are used for daily switching or emergency stop.
In a preferred embodiment of the present invention, the first link 1051, the second link 1052, the third link 1053, the fourth link 1054, the side rocker 1055, the fifth link 1056, and the upper rocker 2 are all provided with grooves.
As a preferred scheme of the embodiment, the box body 1 is constructed in a manner that a framework is built by adopting aluminum profiles, and aluminum alloy plates are wrapped outside the framework.
During operation, the single chip microcomputer controls the Y14 servo motor/steering engine as a communication mode through the CAN, and controls the hub motor as a communication mode through the RS485, so that the position of the robot is controlled, the servo motor is connected with the steering engine support and the hub motor support through bolts, the hub motor support is connected with the hub motor, and the servo motor CAN control the hub motor support to rotate, so that the hub motor is driven to rotate. The rocker bogie structure and the box body form three revolute pairs, so that the climbing function can be realized in the obstacle crossing process, and the mutual noninterference of two sides can be ensured when a single side is over the obstacle. When the single side is over the obstacle, the rocker arm can rotate, so that the wheel on the other side is in good contact with the ground. The invention installs obstacle avoidance radars on the front plate and the back plate of the box body, two on the front and back. The obstacle avoidance radar is utilized to enable the robot to recognize obstacles in advance, and the effect of obstacle avoidance is achieved. When the robot needs to cross the unilateral barrier, the unilateral hub motor A is lifted, the unilateral connecting rod four and the connecting rod three rotate clockwise, the rotation center of the unilateral connecting rod four and the connecting rod three is lifted upwards along with the movement of the robot, and the unilateral connecting rod two and the connecting rod one are driven to rotate clockwise (around the center of a circle of the hub motor C). Along with the advance of the robot, the unilateral hub motor A moves downwards, and the robot restores the original motion state. And along with the continuous advance of the robot, the single-side hub motor B is lifted, the single-side connecting rod IV and the connecting rod III rotate anticlockwise, the rotating center of the single-side connecting rod IV and the rotating center of the connecting rod III are lifted upwards along with the movement of the robot, and then the movement states of other structures and the obstacle crossing of the hub motor A are the same as the same. When the single-side hub motor C passes through the obstacle, the single-side connecting rod II and the connecting rod I rotate anticlockwise (around a revolute pair formed by connecting the connecting rod II and the connecting rod III), the side rocker rotates anticlockwise, the connecting rod V moves forwards, and the upper rocker moves clockwise (overlooking); when the two sides of the robot cross the obstacle, the hub motors A on the two sides are lifted, the connecting rods on the two sides and the connecting rods on the two sides rotate clockwise, the rotating centers of the connecting rods on the two sides and the connecting rods on the three sides lift upwards along with the movement of the robot, the connecting rods on the two sides and the connecting rods on the one sides rotate clockwise (around the circle center of the hub motor C), the hub motors A on the two sides move downwards along with the advance of the robot, and the robot returns to the original moving state. The two-side hub motor B is lifted up along with the continuous advance of the robot, the four-side connecting rod and the three-side connecting rod rotate anticlockwise, the rotating center of the four-side connecting rod and the three-side connecting rod lift up along with the movement of the robot, then the moving state of other structures is the same as that when the two-side hub motor A gets over obstacles, the two-side connecting rod and the one-side connecting rod rotate anticlockwise (around a rotating pair formed by connecting the two-side connecting rod and the three-side connecting rod) when the two-side hub motor C passes through the obstacles, and the robot tilts forwards.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (9)
1. A multi-terrain wheel type inspection robot is characterized by comprising a box body, an upper rocker and a control center, wherein the left side and the right side of the box body are symmetrically provided and are respectively provided with a hub motor A, a motor support A, a steering engine support A, a rocker arm bogie structure, a hub motor B, a motor support B, a hub motor C, a motor support C, a steering engine C and a steering engine support C; the hub motor A is arranged on the motor support A, the motor support A is connected with an output shaft of the steering engine A, and the steering engine A is arranged on the steering engine support; the rocker arm bogie structure comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a side rocker and a fifth connecting rod, wherein one end of the fourth connecting rod is connected with the steering engine support A, the other end of the fourth connecting rod is connected with the third connecting rod through a first connecting piece, the second connecting rod is connected with the first connecting rod through a second connecting piece, the other end of the second connecting rod is connected with a third connecting piece, the first connecting piece is connected with the third connecting piece through a pin shaft and a bearing, and the first connecting piece and the third connecting piece can rotate relatively; the second connecting piece is connected with the side rocker and the box body through a pin shaft and a bearing, the bearing is installed on the box body, and the second connecting piece and the side rocker can rotate relative to the box body; the side rocker is connected with one end of a connecting rod V and the upper rocker, and the other end of the connecting rod V is connected with the box body through a Y-shaped joint; the other end of the third connecting rod is connected with the motor bracket B, and the motor bracket B is connected with the hub motor B; the other end of the first connecting rod is connected with a steering engine support C, the steering engine support C is used for mounting a steering engine C, an output shaft of the steering engine C is connected with a motor support C, and the motor support C is used for mounting the hub motor C; the control center comprises a single chip microcomputer, a storage battery, a hub motor driver and an upper computer, wherein the single chip microcomputer, the storage battery and the hub motor driver are installed on a box body, the storage battery is used for supplying power, the single chip microcomputer is in communication connection with the upper computer through WiFi, and the single chip microcomputer is electrically connected with the hub motor driver and controls the operation of a hub motor A, a hub motor B and a hub motor C; the single chip microcomputer is electrically connected with the steering engine A and the steering engine C to control the operation of the steering engine A and the steering engine C.
2. The multi-terrain wheel-type inspection robot according to claim 1, wherein the storage battery is connected with a power display, and the power display displays the power of the storage battery.
3. The multi-terrain wheel type inspection robot according to claim 1, wherein a cradle head is arranged above the box body, a camera and an infrared sensor are mounted on the cradle head, and the camera and the infrared sensor are in communication connection with an upper computer.
4. The multi-terrain wheel type inspection robot according to claim 1, wherein obstacle avoidance radars are arranged at the front and the rear of the box body and are in communication connection with the single chip microcomputer.
5. The multi-terrain wheel type inspection robot according to claim 1, wherein an alarm lamp is further arranged above the box body, and the alarm lamp is electrically connected with the single chip microcomputer.
6. The multi-terrain wheel type inspection robot according to claim 1, wherein the in-wheel motor B is located between the in-wheel motor A and the in-wheel motor C, and when the moving platform is located on a horizontal plane, the overlooking planes of the three wheels of the in-wheel motor A, the in-wheel motor B and the in-wheel motor C are parallel to the bottom surface of the box body.
7. The multi-terrain wheel type inspection robot according to claim 1, wherein the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod, the side rocking rod, the fifth connecting rod and the upper rocking rod are provided with grooves.
8. The multi-terrain wheel type inspection robot according to claim 1, wherein the box body is constructed in a manner that a framework is built by adopting aluminum profiles, and aluminum alloy plates are wrapped outside the framework.
9. The mobile robot capable of climbing stairs of claim 1, wherein an air plug and a USB interface are further arranged above the box body, and can be used for developing a subsequent control system to add functions of the robot control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111589738.2A CN114313059A (en) | 2021-12-23 | 2021-12-23 | Wheeled robot that patrols and examines of many topography |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111589738.2A CN114313059A (en) | 2021-12-23 | 2021-12-23 | Wheeled robot that patrols and examines of many topography |
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| Publication Number | Publication Date |
|---|---|
| CN114313059A true CN114313059A (en) | 2022-04-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111589738.2A Pending CN114313059A (en) | 2021-12-23 | 2021-12-23 | Wheeled robot that patrols and examines of many topography |
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| Country | Link |
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| CN (1) | CN114313059A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104494721A (en) * | 2014-12-02 | 2015-04-08 | 中国矿业大学 | Mecanum wheel-based rocker omnidirectional mobile platform |
| CN104691644A (en) * | 2015-03-04 | 2015-06-10 | 南京理工大学 | Omni-directional mobile wheel module |
| CN112440647A (en) * | 2020-12-04 | 2021-03-05 | 应急管理部天津消防研究所 | Mobile robot chassis with suspension structure |
| CN112644601A (en) * | 2021-01-11 | 2021-04-13 | 安徽理工大学 | Intelligent cruise search and rescue robot under foot type coal mine |
| US20210157313A1 (en) * | 2017-05-12 | 2021-05-27 | Gary Graf | Obstacle climbing surveillance robot and energy-absorbing frame therefor |
| CN215149037U (en) * | 2021-04-22 | 2021-12-14 | 成都圭目机器人有限公司 | Airport boundary inspection robot |
-
2021
- 2021-12-23 CN CN202111589738.2A patent/CN114313059A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104494721A (en) * | 2014-12-02 | 2015-04-08 | 中国矿业大学 | Mecanum wheel-based rocker omnidirectional mobile platform |
| CN104691644A (en) * | 2015-03-04 | 2015-06-10 | 南京理工大学 | Omni-directional mobile wheel module |
| US20210157313A1 (en) * | 2017-05-12 | 2021-05-27 | Gary Graf | Obstacle climbing surveillance robot and energy-absorbing frame therefor |
| CN112440647A (en) * | 2020-12-04 | 2021-03-05 | 应急管理部天津消防研究所 | Mobile robot chassis with suspension structure |
| CN112644601A (en) * | 2021-01-11 | 2021-04-13 | 安徽理工大学 | Intelligent cruise search and rescue robot under foot type coal mine |
| CN215149037U (en) * | 2021-04-22 | 2021-12-14 | 成都圭目机器人有限公司 | Airport boundary inspection robot |
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Application publication date: 20220412 |
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