CN203306130U - Tracked robot mobile platform - Google Patents
Tracked robot mobile platform Download PDFInfo
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- CN203306130U CN203306130U CN2013202835957U CN201320283595U CN203306130U CN 203306130 U CN203306130 U CN 203306130U CN 2013202835957 U CN2013202835957 U CN 2013202835957U CN 201320283595 U CN201320283595 U CN 201320283595U CN 203306130 U CN203306130 U CN 203306130U
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- caterpillar robot
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Abstract
The utility model discloses a tracked robot mobile platform. According to data signals of a monitoring module, a driving wheel train and a driven wheel train are controlled by a control module to drive a vehicle body to move, remote transmission can be conducted and the tracked mobile platform has a certain remote control function. A power source managing module is used for providing electric drive for motion of the vehicle body; due to the arrangement of an externally-arranged connector circuit board, a plurality of commonly-used sensors can be directly plugged on the circuit board and be used, an external-expansion sensor is achieved, and data are easy to obtain. The tracked robot mobile platform is simple in structure, compact, strong in adaptability, stable in operation, and suitable for operation in the severe environment; the layered modularized installation structure is adopted, so that assembly and disassembly are convenient; the actual teaching use is facilitated, a student can completely know the operation principle of the tracked robot mobile platform and the performance of each component of the tracked robot mobile platform, so that the capacity in the aspect of operation and use of the tracked robot mobile platform of the student is improved; in addition, due to the arrangement of nylon carrier rollers bearing a caterpillar band, damage to the caterpillar band when the caterpillar band is used is reduced and the use cost is reduced.
Description
Technical field
The utility model belongs to the technologies of intelligent mobile field, is specifically related to a kind of caterpillar robot mobile platform.
Background technology
Caterpillar robot belongs to intelligent mobile robot, multidisciplinary across computing machine, control automatically, mechanical engineering, electronic information etc., that a kind of to integrate environment sensing, data fusion, mission planning, behavior execution etc. multi-functional, can realize the synthesization intellectualizing system of flexible motion, be one of focus of current Research on Intelligent Robots.
The caterpillar robot application constantly enlarges, from the security monitoring civil area, anti-terrorism, explosive, fire-fighting, search and rescue, to cave, building exploration, clearance, barrier-breaking, biochemical war agent detection etc. in military field, the mankind are more and more higher for the application demand of caterpillar robot.And current domestic mobile robot technology teaching also is in stage of popularization not, understand not for mobile robot's performance and occupation mode.
Domestic research for caterpillar robot is more late, be applied at present the mobile robot's structure adopted in civil area and military field comparatively complicated, dismounting inconvenience, cost is higher, be unfavorable for using in teaching, can't make the student grasp accurately principle of work and the concrete structure of caterpillar robot.
And traditional caterpillar robot is in the process of using, the regular movement of crawler belt, climbing etc. are fragile, and maintenance and replacement cost are all higher.
Therefore, in view of above problem, be necessary to propose a kind of simple in structure, easy accessibility, be convenient to the caterpillar robot that field research is used, make the student understand fully the principle of work of caterpillar robot and the performance of each mechanism components, to improve the ability of student in caterpillar robot operation use, damage while reducing the crawler belt use, reduce use cost.
The utility model content
In view of this, it is a kind of simple in structure that the utility model provides, easy installation and removal, be convenient to the caterpillar robot mobile platform that field research is used, to reach, make the student understand fully the principle of work of caterpillar robot and the performance of each mechanism components, improve the ability of student in caterpillar robot operation use, the damage while reducing the crawler belt use, the purpose of reduction use cost.
A kind of caterpillar robot mobile platform according to the purpose of this utility model proposition, comprise car body, drive active train and driven train that described car body moves, control the control module that described car body moves, with described control module, be electrically connected to for collecting the monitoring modular of signal, and the power management module that electric power is provided for described car body operation; On described car body, also be provided with the external tapping module, described external tapping module is electrically connected to described control module;
Described active train and described flower wheel are fastened and are provided with crawler belt; Between the crawler belt of described active train and described driven train, nylon carrying roller is installed, described nylon carrying roller is fixed in described vehicle body side with the carrying crawler belt.
Preferably, described active train comprises DC servo motor, planetary reduction gear, adapter shaft and the main Athey wheel be in transmission connection successively; Described adapter shaft is equipped with bearing seat outward, and the described DC servo motor outside also is provided with electric machine support, and described electric machine support is fixed on the chassis of described car body.
Preferably, between described main Athey wheel and described adapter shaft, adopt the gear engagement.
Preferably, described driving wheel is 2 groups that are symmetrical set.
Preferably, described driven train comprise be positioned at described car body both sides from Athey wheel be connected the long axis of both sides from Athey wheel, described long axis and describedly be provided with jam nut from the Athey wheel junction, by jam nut will long axis with from Athey wheel, be locked, on described long axis, be arranged with bearing support, the chassis of described bearing support and described car body is fixed.
Preferably, described control module comprises upper computer and lower computer, and described upper computer adopts built-in industrial control machine.
Preferably, described power management module comprises lithium ion battery, DC-DC power module and electric quantity acquisition control desk.
Preferably, described external tapping module comprises power output interface circuit card, communication interface circuit plate and the peripheral interface circuit plate that is arranged at described car body top.
Preferably, described monitoring modular comprises vision sensor module, laser sensor module, sonac module, banking inclinometer module, infrared sensor module, wireless audio-video transmission module and wireless data transmission module; Described monitoring modular is electrically connected to described control module by described external tapping module, realizes data communication, and described monitoring modular is distributed in the forward and backward and upper end of described car body.
Compared with prior art, the advantage of the disclosed caterpillar robot mobile platform of the utility model is: can control initiatively train and the operation of flower wheel frenulum motor vehicles bodies according to the data-signal of monitoring modular by control module is set, and can carry out remote transmission, have certain long-range remote control function, power management module is used to the movement of car body that driven by power is provided; By the peripheral interface circuit plate is set, many common sensors are directly plugged and can be used, and more easily independently load the external sensor module, and data acquisition is simple.The utility model is simple in structure, compact, conformability is strong, active and intelligent, operates steadily, and is applicable to operation in harsh environment; Adopt simultaneously the delamination modularization mounting structure, easy installation and removal; And being convenient to field research uses, make the student understand fully the principle of work of caterpillar robot mobile platform and the performance of each mechanism components, improve the ability of student in caterpillar robot mobile platform operation use, in addition, by the nylon carrying roller of carrying crawler belt is set, reduce the damage when crawler belt is used, reduced use cost.
The accompanying drawing explanation
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, below will the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the block diagram of the disclosed a kind of caterpillar robot mobile platform of the utility model.
Fig. 2 is the front view of the disclosed a kind of caterpillar robot mobile platform of the utility model.
Fig. 3 is the semisectional view of looking up of the disclosed a kind of caterpillar robot mobile platform of the utility model.
Fig. 4 is the right elevation of the disclosed a kind of caterpillar robot mobile platform of the utility model.
Fig. 5 is the structural representation of active train in the disclosed a kind of caterpillar robot mobile platform of the utility model.
Fig. 6 is driven train semisectional view in the disclosed a kind of caterpillar robot mobile platform of the utility model.
The title of the numeral in figure or the corresponding component of alphabetical representative:
1, car body 2, active train 3, driven train 4, control module 5, monitoring modular 6, power management module 7, external tapping module 8, nylon carrying roller 9, DC servo motor 10, planetary reduction gear 11, electric machine support 12, chassis 13, adapter shaft 14, bearing seat 15, main Athey wheel 16, long axis 17, from Athey wheel 18, jam nut 19, bearing support 20, vision sensor module 21, laser sensor module 22, sonac module 23, banking inclinometer module 24, infrared sensor module 25, wireless audio-video transmission module 26, wireless data transmission module
The specific embodiment
The mobile robot's structure adopted at present is comparatively complicated, dismounting inconvenience, and cost is higher, is unfavorable for using in teaching, can't make the student grasp accurately the selecting of principles and structure parts of caterpillar robot.And traditional caterpillar robot is in the process of using, the regular movement of crawler belt, climbing etc. are fragile, and maintenance and replacement cost are all higher.
The utility model is for deficiency of the prior art, proposed a kind of simple in structure, easy accessibility, be convenient to the caterpillar robot mobile platform that field research is used, to reach, make the student understand fully the principle of work of caterpillar robot and the performance of each mechanism components, improve the ability of student in caterpillar robot operation use, the damage while reducing the crawler belt use, reduce use cost.
Below will to the technical solution of the utility model, be clearly and completely described by the specific embodiment.Obviously, described embodiment is only the utility model part embodiment, rather than whole embodiment.Based on the embodiment in the utility model, those of ordinary skills are not making under the creative work prerequisite the every other embodiment obtained, and all belong to the scope of the utility model protection.
Please in the lump referring to Fig. 1 to Fig. 6, Fig. 1 is the block diagram of the disclosed a kind of caterpillar robot mobile platform of the utility model.Fig. 2 is the front view of the disclosed a kind of caterpillar robot mobile platform of the utility model.Fig. 3 is the semisectional view of looking up of the disclosed a kind of caterpillar robot mobile platform of the utility model.Fig. 4 is the right elevation of the disclosed a kind of caterpillar robot mobile platform of the utility model.Fig. 5 is the structural representation of active train in the disclosed a kind of caterpillar robot mobile platform of the utility model.Fig. 6 is driven train semisectional view in the disclosed a kind of caterpillar robot mobile platform of the utility model.As shown in the figure, a kind of caterpillar robot mobile platform, comprise car body 1, drive active train 2 and driven train 3 that car body 1 moves, control the control module 4 that car body 1 moves, on car body 1, also be provided with and with control module 4, be electrically connected to the monitoring modular 5 be used to collecting signal, and the power management module 6 that electric power is provided for car body 1 operation; Initiatively on train 2 and driven train 3, be provided with crawler belt, by crawler belt initiatively train 2 with driven train 3, be in transmission connection, initiatively to driven train 3, the synchronized operation band motor vehicles bodies by active train and driven train advances, retreats by transmission of power in train 2 runnings.
Initiatively between the crawler belt of train 2 and driven train 3, nylon carrying roller 8 is installed, nylon carrying roller 8 is fixed in car body 1 side, be used to carrying crawler belt, to increase the service life of crawler belt, avoids the crawler belt occurred to damage, and reduces use cost.
Initiatively train 2 comprises DC servo motor 9, planetary reduction gear 10, the adapter shaft 13 and main Athey wheel 15 be in transmission connection successively; The outer bearing seat 14 that is equipped with of adapter shaft 13,13 of main Athey wheel 15 and adapter shafts adopt the gear engagement; DC servo motor 9 outsides also are provided with electric machine support 11, and electric machine support 11 is fixed on the chassis 12 of car body 1.Initiatively train 2 supports and is fixed on chassis 12 by electric machine support 11.
Initiatively train 2 is 2 groups that are symmetrical set, and synchronously the main Athey wheel of car body both sides is driven.DC servo motor 9 starts, planetary reduction gear 10 slows down the output speed of DC servo motor 9 by adapter shaft 13, the moment of torsion of motor to be exported, to be suitable for car body speed of advance needs, wherein adopt planetary reduction gear need to carry out the speed change adjustment according to concrete gait of march, variable range is wider.
Control module comprises upper computer (not shown) and lower computer (lower computer), and upper computer adopts built-in industrial control machine, and processing capacity is with the notebook mainboard, more a little bit smaller on size; Upper computer is for obtaining and the data of processing monitoring modular 5; Lower computer is electrically connected to upper computer, and the signal data obtained according to upper computer is to control the operation of car body 1.Upper computer is because will process multiple sensors data and trajectory path planning, and especially view data, higher for the requirement of treater, and the General Requirements processing speed is more than GHz; And lower computer, general main responsible motion control (sending motion control signal for the movable motor actuator) or simple path planning, it is not very high that processing speed requires, as DSP, the chips such as FPGA, processing speed is tens, and hundreds of MHz can meet the demands.
Power management module comprises lithium ion battery, DC-DC power module and electric quantity acquisition control desk.Wherein lithium ion battery is mainly the 24V battery, and power management module is mainly whole caterpillar robot mobile platform power is provided, and can show in real time electric weight, and to short circuit, overcharge, cross to put etc. protection is provided.
On car body 1, also be provided with external tapping module 7, external tapping module 7 is electrically connected to control module 4.Monitoring modular carries out communication and transmission by external tapping module and control module; External tapping module 7 comprises power output interface circuit card, communication interface circuit plate and the peripheral interface circuit plate that is arranged at car body 1 top, by 7 effects of external tapping module, facilitate the debugging of platform, by the peripheral interface circuit plate is set, many common sensors are directly plugged and can be used, more easily independently load the external sensor module, data acquisition is simple.
Monitoring modular comprises vision sensor module 20, laser sensor module 21, sonac module 22, banking inclinometer module 23, infrared sensor module 24, wireless audio-video transmission module 25 and wireless data transmission module 26 etc.; Monitoring modular is electrically connected to control module 4 by external tapping module 7, realizes data communication, and monitoring modular is distributed in the forward and backward and upper end of car body.The vision sensor module, for observed object, is the direct sources of whole NI Vision Builder for Automated Inspection information.The laser sensor module is for carrying out long distance measurement.The penetrable sunlight of sonac module is opaque fixedly to be detected, and super sonic runs into impurity or dividing range can produce reflection, runs into Live Animals and knows from experience the generation Doppler effect.The banking inclinometer module is for detection of the object levelness.Infrared sensor module can be measured according to the infrared signature of target to be measured.The wireless audio-video transmission module is for radio communication.Wireless data transmission module is realized the Wireless Data Transmission to detection signal, has certain long-range remote control function.
The caterpillar robot mobile platform relate to the mobile robot architecture, communication, synergistic mechanism, locate and build figure, the target aspects such as tracking, communication, task distribution and path planning, correlation machine study, environment cognition, multiple target tracking that cooperate, by the R and D of caterpillar robot mobile platform, for the technical merit that improves mobile-robot system, promote the development of correlation technique, have important scientific meaning.
The characteristics of caterpillar robot mobile platform are as follows:
1, mobile active and intelligent, can with higher speed, walk at urban pavement and road surface, part field, turn to flexibly.
2, stronger obstacle detouring, obstacle and span ability are arranged, can pass through general obstacle, can climb gully and the ramp of a given data.
3, compact conformation, the robot center of gravity is low, and conformability is stronger, and motion steadily, can operation in comparing harsh environment.
4, by the external tapping module is set, have the long-range remote control function of certain distance, can realize the data of remote transmission audio frequency and video and other vehicle-mounted monitoring modulars.
5, adopt extensible architecture, modular design concept, support secondary development, and the open type software development environment is convenient to integrated and installs.
The utility model discloses a kind of caterpillar robot mobile platform, by being set, control module can control initiatively train and the operation of flower wheel frenulum motor vehicles bodies according to the data-signal of monitoring modular, and can carry out remote transmission, have certain long-range remote control function, power management module is used to the movement of car body that driven by power is provided; By the peripheral interface circuit plate is set, many common sensors are directly plugged and can be used, and more easily independently load the external sensor module, and data acquisition is simple.The utility model is simple in structure, compact, conformability is strong, active and intelligent, operates steadily, and is applicable to operation in harsh environment; Adopt simultaneously the delamination modularization mounting structure, easy installation and removal; And being convenient to field research uses, make the student understand fully the principle of work of caterpillar robot mobile platform and the performance of each mechanism components, improve the ability of student in caterpillar robot mobile platform operation use, in addition, by the nylon carrying roller of carrying crawler belt is set, reduce the damage when crawler belt is used, reduced use cost.
To the above-mentioned explanation of the disclosed embodiments, make professional and technical personnel in the field can realize or use the utility model.Multiple modification to these embodiment will be apparent for those skilled in the art, and General Principle as defined herein can be in the situation that do not break away from spirit or scope of the present utility model, realization in other embodiments.Therefore, the utility model will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (9)
1. caterpillar robot mobile platform, it is characterized in that, comprise car body, drive active train and driven train that described car body moves, control the control module that described car body moves, with described control module, be electrically connected to for collecting the monitoring modular of signal, and the power management module that electric power is provided for described car body operation; On described car body, also be provided with the external tapping module, described external tapping module is electrically connected to described control module;
Described active train and described flower wheel are fastened and are provided with crawler belt; Between the crawler belt of described active train and described driven train, nylon carrying roller is installed, described nylon carrying roller is fixed in described vehicle body side with the carrying crawler belt.
2. caterpillar robot mobile platform as claimed in claim 1, is characterized in that, described active train comprises DC servo motor, planetary reduction gear, adapter shaft and the main Athey wheel be in transmission connection successively; Described adapter shaft is equipped with bearing seat outward, and the described DC servo motor outside also is provided with electric machine support, and described electric machine support is fixed on the chassis of described car body.
3. caterpillar robot mobile platform as claimed in claim 2, is characterized in that, between described main Athey wheel and described adapter shaft, adopts the gear engagement.
4. caterpillar robot mobile platform as claimed in claim 2, is characterized in that, described driving wheel is 2 groups that are symmetrical set.
5. caterpillar robot mobile platform as claimed in claim 1, it is characterized in that, described driven train comprise be positioned at described car body both sides from Athey wheel be connected the long axis of both sides from Athey wheel, described long axis and describedly be provided with jam nut from the Athey wheel junction, by jam nut will long axis with from Athey wheel, be locked, on described long axis, be arranged with bearing support, the chassis of described bearing support and described car body is fixed.
6. caterpillar robot mobile platform as claimed in claim 1, is characterized in that, described control module comprises upper computer and lower computer, and described upper computer adopts built-in industrial control machine.
7. caterpillar robot mobile platform as claimed in claim 1, is characterized in that, described power management module comprises lithium ion battery, DC-DC power module and electric quantity acquisition control desk.
8. caterpillar robot mobile platform as claimed in claim 1, is characterized in that, described external tapping module comprises power output interface circuit card, communication interface circuit plate and the peripheral interface circuit plate that is arranged at described car body top.
9. caterpillar robot mobile platform as claimed in claim 1, it is characterized in that, described monitoring modular comprises vision sensor module, laser sensor module, sonac module, banking inclinometer module, infrared sensor module, wireless audio-video transmission module and wireless data transmission module; Described monitoring modular is electrically connected to described control module by described external tapping module, realizes data communication, and described monitoring modular is distributed in the forward and backward and upper end of described car body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202835957U CN203306130U (en) | 2013-05-22 | 2013-05-22 | Tracked robot mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013202835957U CN203306130U (en) | 2013-05-22 | 2013-05-22 | Tracked robot mobile platform |
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| CN203306130U true CN203306130U (en) | 2013-11-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2013202835957U Expired - Fee Related CN203306130U (en) | 2013-05-22 | 2013-05-22 | Tracked robot mobile platform |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105041371A (en) * | 2015-06-10 | 2015-11-11 | 东北大学 | All terrain intelligent moving rescue robot |
| CN106275121A (en) * | 2016-08-25 | 2017-01-04 | 北京意美德自动化科技有限公司 | A kind of servo Athey wheel structure |
| CN107364502A (en) * | 2017-07-25 | 2017-11-21 | 上海坤电气工程有限公司 | Caterpillar mobile robot |
| US9988109B2 (en) | 2016-05-13 | 2018-06-05 | Caterpillar Inc. | Capless and unibeam track roller mounting systems |
-
2013
- 2013-05-22 CN CN2013202835957U patent/CN203306130U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105041371A (en) * | 2015-06-10 | 2015-11-11 | 东北大学 | All terrain intelligent moving rescue robot |
| US9988109B2 (en) | 2016-05-13 | 2018-06-05 | Caterpillar Inc. | Capless and unibeam track roller mounting systems |
| CN106275121A (en) * | 2016-08-25 | 2017-01-04 | 北京意美德自动化科技有限公司 | A kind of servo Athey wheel structure |
| CN106275121B (en) * | 2016-08-25 | 2018-07-24 | 北京意美德自动化科技有限公司 | A kind of servo crawler belt wheel construction |
| CN107364502A (en) * | 2017-07-25 | 2017-11-21 | 上海坤电气工程有限公司 | Caterpillar mobile robot |
| CN107364502B (en) * | 2017-07-25 | 2020-05-22 | 上海一坤电气工程有限公司 | Crawler-type mobile robot |
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| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20151028 Address after: 518055 Guangdong city in Shenzhen Province, Nanshan District City Xili, Shenzhen University North Park building H room 208 Patentee after: Shenzhen Graduate School of Peking University Address before: 215123 Suzhou Industrial Park, Jiangsu Road, No. 199 Patentee before: Soochow University |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20131127 Termination date: 20160522 |
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| CF01 | Termination of patent right due to non-payment of annual fee |