CN201664921U - Crawler type panoramic visual intelligence moving robot platform - Google Patents
Crawler type panoramic visual intelligence moving robot platform Download PDFInfo
- Publication number
- CN201664921U CN201664921U CN2010201527796U CN201020152779U CN201664921U CN 201664921 U CN201664921 U CN 201664921U CN 2010201527796 U CN2010201527796 U CN 2010201527796U CN 201020152779 U CN201020152779 U CN 201020152779U CN 201664921 U CN201664921 U CN 201664921U
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- crawler belt
- chassis
- crawler
- arm
- driven pulley
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Abstract
The utility model, belonging to robot technical field, relates to a crawler type panoramic visual intelligence moving robot platform comprising a chassis, two motors fixed in the chassis and their respective change-speed gearing set, fish-eye lens and fixed frame, a crawler belt on each sides of the chassis, and driven wheels, driving wheels and crawler belt pressing wheels matching with each crawler belt, wherein the driving wheels driven by the motor through the change-speed gearing set drive the driven wheels through the crawler belts and the crawler belt pressing wheels, on the outer sides of the driven wheels are provided a reversal arms with a large and a small planetary gears and arm crawler belts, the large and small planetary gears are coaxial and connected to each other through crawler belts, the fixed frame is provided on the central front side of the chassis, and the fish-eye lens is connected to the fixed frame through a lens rack. The moving robot platform provided in the utility model is small in size, excellent in maneuverability and flexible in turning.
Description
Technical field
The utility model belongs to the Robotics field, relates to a kind of mobile robot platform.
Background technology
Along with the development of China's Petrochemical, the leak detection of all kinds of chemical reaction containers and conveyance conduit has become the key technology that accident is avoided in petrochemical industry with repairing, in leakage accident, relates to 24 kinds of dangerous substances altogether.Because the chemicals that leaks has inflammable and explosive and poisonous characteristic, unsuitable artificial treatment, therefore, be necessary to study the mobile robot who is applicable to dangerous situation, in time detect visible abnormal conditions, and report to the police, avoid serious consequence that causes because of visible unusual leakage and the injury that poisonous dangerous material cause the person when leak detection.
The utility model content
The purpose of this utility model provides a kind of dangerous situation that is applicable to, and it is little to have a volume, and mobility is good, turns to flexible mobile robot platform.For this reason, the utility model adopts following technical scheme.
This crawler type panoramic vision intelligent mobile robot platform, mainly comprise the chassis, be fixed on two motors and corresponding change-speed gearing group, fish eye lens and fixed mount in the chassis, described both sides on the chassis respectively are equipped with a crawler belt respectively, and be provided with driven pulley, driving wheel, the crawler belt contact roller that matches with each crawler belt, described motor drives the driving wheel that is positioned at the same side by the change-speed gearing group, and described driving wheel drives the driven pulley motion by crawler belt, crawler belt contact roller; The driven pulley outside is equipped with flip-arm, and described flip-arm comprises large and small two planetary gears and arm crawler belt, and described mafor planet gear is coaxial with driven pulley, and two planetary gears link to each other by the arm crawler belt; Middle the place ahead on described chassis is equipped with fixed mount, and described fish eye lens links to each other with fixed mount by lens bracket.
The crawler type panoramic vision intelligent mobile robot platform that the utility model provides, it is little to have a volume, and mobility is good, characteristics such as turns to flexibly, can control the behavior of robot by remote control operation.The crawler type mobile chassis of band flip-arm is very outstanding aspect the landform adaptive capacity, and higher obstacle climbing ability and good environmental suitability are arranged under precipitous landform, complex environment, has higher flexibility, adaptivity.The track structure of band flip-arm guaranteed mobile robot platform can be under the various environment such as concrete floor, highway, meadow, sand ground, rubble ground, snowfield the operation of safety and precise.Fish eye lens can be finished the collection to machine mobile platform external environment information, the panorama in 360 degree azimuths and the whole hemisphere of 180 degree zenith angles territory can absorb by the FE185C057HA-1 fish eye lens in the Fuji that the utility model is selected for use, the big field that no dead angle and efficient are high monitors, the equidistant projection image-forming principle is satisfied in strictness, and structure relative compact, volume are little, satisfy the robot demand of information to external world simultaneously.
Description of drawings
Fig. 1 robot motion's platform structure of the present utility model schematic diagram.
1 chassis, 2 left crawler belt 3 right-hand track chiains 4 left flip-arm 5 right flip-arms
6 driving wheels 7 add bearing up pulley 8 driven pulleys 9 small planetary gears 10 fixed mounts
11 fish eye lenses, 12 lens brackets, 13 mafor planet gears, 14 arm crawler belts
The specific embodiment
Below in conjunction with drawings and Examples the utility model is further described.
Robot motion's platform of the present utility model comprises chassis 1, left crawler belt 2, right-hand track chiain 3, left flip-arm 4, right flip-arm 5, fish eye lens 11 etc.This motion platform adopts front wheel driving, two motors are installed in the inside on chassis, control the rotating speed that turns to of driving wheel 6 respectively by the change-speed gearing group, turning to of each motor, rotating speed, start-stop is by finishing that corresponding servo controller is controlled, its main part is the variable crawler belts of two strips, it is left crawler belt 2, right-hand track chiain 3, each crawler belt links together by planetary gear 9 and motion platform, and design has hold down gag, each crawler belt design has two crawler belt contact rollers 7, by the effect of 7 pairs of crawler belts of contact roller, make the better adaptability of crawler belt road pavement, reduce crawler belt and skid; Flip-arm comprises arm crawler belt 14, mafor planet gear 13, small planetary gear 9, and mafor planet gear 13 is coaxial with driven pulley 8, and flip-arm is connected with follower shaft by mafor planet gear 9, and two planetary gears link to each other by arm crawler belt 14.When two track speed identical, the rectilinear motion of implementation platform; When two track speed not simultaneously, the divertical motion of implementation platform.Fish eye lens 11 is installed on the fixed mount 10 by lens bracket 12, and fixed mount 10 is installed in the middle front end on chassis 1, helps showing the long Deep Canvas of photo.
Claims (1)
1. crawler type panoramic vision intelligent mobile robot platform, comprise the chassis, be fixed on two motors and corresponding separately change-speed gearing group, fish eye lens and fixed mount in the chassis, it is characterized in that, be separately installed with a crawler belt in the both sides on chassis, and be provided with driven pulley, driving wheel, the crawler belt contact roller that matches with each crawler belt, described motor drives the driving wheel that is positioned at the same side by the change-speed gearing group, and described driving wheel drives the driven pulley motion by crawler belt, crawler belt contact roller; The driven pulley outside is equipped with flip-arm, and described flip-arm comprises large and small two planetary gears and arm crawler belt, and described mafor planet gear is coaxial with driven pulley, and two planetary gears link to each other by the arm crawler belt; Middle the place ahead on described chassis is equipped with fixed mount, and described fish eye lens links to each other with fixed mount by lens bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201527796U CN201664921U (en) | 2010-04-08 | 2010-04-08 | Crawler type panoramic visual intelligence moving robot platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201527796U CN201664921U (en) | 2010-04-08 | 2010-04-08 | Crawler type panoramic visual intelligence moving robot platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201664921U true CN201664921U (en) | 2010-12-08 |
Family
ID=43265873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201527796U Expired - Fee Related CN201664921U (en) | 2010-04-08 | 2010-04-08 | Crawler type panoramic visual intelligence moving robot platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201664921U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104690733A (en) * | 2015-02-17 | 2015-06-10 | 公安部上海消防研究所 | Explosion-proof fire-fighting detection robot |
| CN108860340A (en) * | 2017-05-10 | 2018-11-23 | 中国石油大学(北京) | Wheel-track combined omni-directional mobile robots |
| CN110239639A (en) * | 2019-07-01 | 2019-09-17 | 上海钧工机器人有限公司 | A kind of crawler type motion platform of variable topological structure |
| CN110450869A (en) * | 2019-08-02 | 2019-11-15 | 北京交通大学 | A kind of adaptive drive lacking caterpillar robot |
-
2010
- 2010-04-08 CN CN2010201527796U patent/CN201664921U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104690733A (en) * | 2015-02-17 | 2015-06-10 | 公安部上海消防研究所 | Explosion-proof fire-fighting detection robot |
| CN108860340A (en) * | 2017-05-10 | 2018-11-23 | 中国石油大学(北京) | Wheel-track combined omni-directional mobile robots |
| CN110239639A (en) * | 2019-07-01 | 2019-09-17 | 上海钧工机器人有限公司 | A kind of crawler type motion platform of variable topological structure |
| CN110450869A (en) * | 2019-08-02 | 2019-11-15 | 北京交通大学 | A kind of adaptive drive lacking caterpillar robot |
| CN110450869B (en) * | 2019-08-02 | 2024-05-24 | 北京交通大学 | Self-adaptive underactuated tracked robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101208 Termination date: 20110408 |