CN207059672U - A kind of mobile robot for installing suspended shock absorbing mechanism additional - Google Patents
A kind of mobile robot for installing suspended shock absorbing mechanism additional Download PDFInfo
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- CN207059672U CN207059672U CN201721024428.5U CN201721024428U CN207059672U CN 207059672 U CN207059672 U CN 207059672U CN 201721024428 U CN201721024428 U CN 201721024428U CN 207059672 U CN207059672 U CN 207059672U
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- shock absorbing
- absorbing mechanism
- spring
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Abstract
A kind of mobile robot for installing suspended shock absorbing mechanism additional is the utility model is related to.A kind of mobile robot for installing suspended shock absorbing mechanism additional, including chassis, multilayer bracket；Equipped with mobile system hardware, infrared distance sensor, ultrasonic sensor, laser radar on chassis；Multilayer bracket is provided with industrial computer and vision sensor；Mobile system hardware includes base plate cut, welding body, motor, suspension holdfast, driving wheel, spring base, spring, bearing and bearing block；Driving wheel and motor are made up of spring with machine human organism to be movably connected.A kind of mobile robot for installing suspended shock absorbing mechanism additional of the present utility model, mobile robot can be travelled steadily on hogwallow, and can steadily it be cleared the jumps using itself mechanism, real-time monitoring robot location information, explore simultaneously path planning, global map is obtained, and can realize that recognition of face and intelligence follow；It is simple in construction, it is easy to operate, smooth ride safety, there is very strong convenience and practicality.
Description
Technical field
Mobile robot field is the utility model is related to, more particularly to a kind of mobile machine for installing suspended shock absorbing mechanism additional
People.
Background technology
Currently, indoor mobile robot is the direction that people make great efforts, and people need a kind of intellectuality, and can cross room
The mobile robot on inside points out-of-flatness ground, to help the mankind to complete some repetitions, heavy work.Indoor moving machine
People independently can be explored and be positioned, have create map, path planning, intelligence follow, the function such as automatic obstacle-avoiding, be research
Most commonly used mobile robot.At present, substantial amounts of research and design have been carried out to such robot both at home and abroad.But such machine
Device people only travels and just can guarantee that its smooth-ride at more smooth ground, when travelling on the ground of hollow, or to get over
It when crossing relatively low barrier, will drastically rock, or even overturn, have a strong impact on that it uses function.At present, one kind can steadily exist
Travelled on hogwallow, and the indoor mobile robot that itself mechanism can be utilized smoothly to clear the jumps also is individual blind
Area.People need a kind of mobile robot that can adapt to indoor any state ground, to be engaged in robot industry and artificial intelligence
The research staff in the fields such as energy provides good research/development platform.
Utility model content
In order to solve the above technical problems, the utility model provides a kind of mobile robot for installing suspended shock absorbing mechanism additional,
It can smoothly travel in hogwallow, clear the jumps safely.
Technical scheme is used by the utility model solves its technical problem：A kind of movement for installing suspended shock absorbing mechanism additional
Robot, it includes chassis, the multilayer bracket being arranged on chassis；The chassis is built with mobile system hardware；The chassis
Front be provided with infrared distance sensor and ultrasonic sensor；The position that the top surface on the chassis is forward is provided with laser thunder
Reach；Industrial computer is provided with the multilayer bracket；Vision sensor is provided with the top of the multilayer bracket；The mobile system
Hardware, infrared distance sensor, ultrasonic sensor, laser radar and vision sensor are connected with industrial computer data respectively；Institute
State base plate cut, welding body, motor, suspension holdfast, driving wheel, spring that mobile system hardware includes being arranged on chassis base plate
Seat, spring, bearing and bearing block；The motor is fixed in welding body, and is suspended in base plate cut；The axle of the welding body
Installed with bearing fit, the bearing coordinates with bearing block to be installed, and bearing block is fixed on the bottom plate on chassis；The driving wheel with
The output shaft of motor is connected, and the suspension holdfast is arranged on the top of welding body, and its both ends is fixed on chassis；The spring base
It is divided into two up and down, is separately fixed in welding body and suspension holdfast；The spring is arranged between two spring bases.
The multilayer bracket includes middle plate, top plate and top plate；The middle plate is fixed by multiple bottom pillars
On chassis；The top plate is fixed on middle plate by multiple upper level columns；The top layer support passes through multiple upper strata branch
Post is fixed on top plate；The industrial computer is arranged on middle plate；The vision sensor is arranged on top plate.
The chassis face rearward position is provided with power switch and scram button.
On the bottom plate on the chassis auxiliary driven pulley is provided at both ends with two driving wheel vertical direction.
The beneficial effects of the utility model：A kind of mobile robot for installing suspended shock absorbing mechanism additional of the present utility model, drives
Driving wheel and motor are made up of spring with machine human organism to be movably connected, rather than is rigidly connected, and mobile robot can be stable
Travel, and can smoothly be cleared the jumps using itself mechanism on hogwallow, substantially increase mobile robot row
The stability and the reliability of its function sailed；Using multiple sensors, the location information of robot is obtained in real time, explores and plans
Path, global map is obtained, and can realize that recognition of face and intelligence follow；To be engaged in robot industry and artificial intelligence etc.
The research staff in field provides good research/development platform, and simple in construction, easy to operate, smooth ride safety, has very strong
Convenience and practicality.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram of the mobile robot of installation suspended shock absorbing mechanism of embodiment；
Fig. 2 is a kind of schematic diagram of the mobile system hardware of the mobile robot of installation suspended shock absorbing mechanism of embodiment；
Fig. 3 is a kind of another angle of the mobile system hardware of the mobile robot of installation suspended shock absorbing mechanism of embodiment
Schematic diagram.
Embodiment
In order to deepen to understanding of the present utility model, the utility model is done further below in conjunction with drawings and examples
It is described in detail, the embodiment is only used for explaining the utility model, and the scope of protection of the utility model is not formed and limited.
Embodiment
As shown in Figure 1 to Figure 3, a kind of mobile robot for installing suspended shock absorbing mechanism additional is present embodiments provided, it includes
Chassis 1, middle plate 6, top plate 13 and top plate 8；The middle plate 6 is fixed on chassis 1 by multiple bottom pillars 9；Institute
Top plate 13 is stated to be fixed on middle plate 6 by multiple upper level columns 12；The top layer support 8 is solid by multiple upper level columns 7
It is scheduled on top plate 13；The chassis 1 is built with mobile system hardware；The front on the chassis 1 is provided with infrared distance measurement sensing
Device 2 and ultrasonic sensor 3；The top surface rearward position of chassis 1 is provided with power switch 5 and scram button 4；The chassis
The forward position of 1 top surface is provided with laser radar 10；Industrial computer 11 is provided with the middle plate 6；Set on the top plate 8
It is equipped with vision sensor 14；The mobile system hardware, infrared distance sensor 2, ultrasonic sensor 3, the and of laser radar 10
Vision sensor 14 is connected with the data of industrial computer 11 respectively；The mobile system hardware includes the bottom being arranged on the bottom plate of chassis 1
Plate otch 23, welding body 15, motor 16, suspension holdfast 17, driving wheel 18, spring base 19, spring 20, bearing 21 and bearing block
22；The motor 16 is fixed in welding body 15, and is suspended in base plate cut 23；The axle of the welding body 15 is matched somebody with somebody with bearing 21
Installation is closed, the bearing 21 coordinates with bearing block 22 to be installed, and bearing block 22 is fixed on the bottom plate on chassis 1；The driving wheel 18
It is connected with the output shaft of motor 16, the suspension holdfast 17 is arranged on the top of welding body 15, and its both ends is fixed on chassis 1；
The spring base 19 is divided to for upper and lower two, is separately fixed in welding body 15 and suspension holdfast 17；The spring 20 is arranged on two
Between individual spring base 19；On the bottom plate on the chassis 1 auxiliary driven pulley is provided at both ends with two vertical direction of driving wheel 18
24。
A kind of mobile robot of installation suspended shock absorbing mechanism of the present embodiment, passes through Ros navigation stack
(Navigation) the specific framework of navigation system is realized, by setting TF system for coordinate transformation, Costmap with occupying grid
Figure completes the basic configuration of navigation stack, obtains cartographic information by laser radar and with vision sensor carries out image information
Processing matching, industrial computer is to robotary acquisition and the two-dimensional map information obtained to laser radar and feels what sensor obtained
Image information is monitored in real time；Positioning is synchronized to robot using the Hector storehouses in Ros and builds figure, then machine is set
The Dijkstra path planning algorithms of device people；Independently travelled by industrial computer control machine people progress, intelligence follows, keeps in obscurity automatically
Acted etc. some complete row.
A kind of mobile robot of installation suspended shock absorbing mechanism of the present embodiment, driving wheel, motor, welding body and spring
Seat is rigidly connected can install spring with bearing fit among bearing rotary, upper and lower two spring bases, even if suspension holdfast and bottom
Plate of trying to get to the heart of a matter is to be rigidly connected, because effect driving wheel, motor, the rigid body of welding body and the chassis base plate of spring are movably to connect
Connect.The body of whole mobile robot as shown in Figure 1 is connected with chassis base plate, during natural placement machine people, due to gravity
Effect, robot compacting spring, robot four wheels land simultaneously.During traveling, when running into hogwallow or barrier, by
It is movably to connect between driving wheel and chassis base plate, passes through the mutual cooperation of the right and left spring, driving wheel up and down motion meeting
Compare acutely, and whole robot is without there is the too big effect rocked, can be good at realizing damping so that robot energy
Enough safety and stability pass through hogwallow or barrier.
A kind of mobile robot of installation suspended shock absorbing mechanism of the present embodiment, driving wheel and motor pass through spring and machine
Human organism forms movable connection, rather than is rigidly connected, and mobile robot can be travelled smoothly on hogwallow, and can
Smoothly cleared the jumps using itself mechanism, substantially increase mobile robot traveling stability and its function it is reliable
Property；Using multiple sensors, the location information of robot is obtained in real time, simultaneously path planning is explored, obtains global map, Er Qieneng
Enough realize that recognition of face and intelligence follow；Provided well to be engaged in the research staff in the fields such as robot industry and artificial intelligence
Research/development platform, it is and simple in construction, it is easy to operate, smooth ride safety, there is very strong convenience and practicality.
Above-described embodiment should not in any way limit the utility model, all by the way of equivalent substitution or equivalency transform
The technical scheme of acquisition is all fallen within the scope of protection of the utility model.
Claims (4)
- A kind of 1. mobile robot for installing suspended shock absorbing mechanism additional, it is characterised in that：It include chassis, be arranged on it is more on chassis Layer support；The chassis is built with mobile system hardware；The front on the chassis is provided with infrared distance sensor and ultrasonic wave Sensor；The position that the top surface on the chassis is forward is provided with laser radar；Industrial computer is provided with the multilayer bracket；It is described Vision sensor is provided with the top of multilayer bracket；The mobile system hardware, infrared distance sensor, ultrasonic sensor, Laser radar and vision sensor are connected with industrial computer data respectively；The mobile system hardware includes being arranged on chassis base plate Base plate cut, welding body, motor, suspension holdfast, driving wheel, spring base, spring, bearing and bearing block；The motor is fixed In welding body, and it is suspended in base plate cut；The axle of the welding body is installed with bearing fit, and the bearing is matched somebody with somebody with bearing block Installation is closed, bearing block is fixed on the bottom plate on chassis；The driving wheel is connected with the output shaft of motor, and the suspension holdfast is set In the top of welding body, its both ends is fixed on chassis；The spring base is divided into two up and down, is separately fixed at welding body and hangs On hanging bracket；The spring is arranged between two spring bases.
- A kind of 2. mobile robot for installing suspended shock absorbing mechanism additional according to claim 1, it is characterised in that：The multilayer Support includes middle plate, top plate and top plate；The middle plate is fixed on chassis by multiple bottom pillars；The upper strata Plate is fixed on middle plate by multiple upper level columns；The top plate is fixed on top plate by multiple upper level columns；Institute Industrial computer is stated to be arranged on middle plate；The vision sensor is arranged on top plate.
- A kind of 3. mobile robot for installing suspended shock absorbing mechanism additional according to claim 1, it is characterised in that：The chassis Top surface rearward position is provided with power switch and scram button.
- A kind of 4. mobile robot for installing suspended shock absorbing mechanism additional according to claim 1, it is characterised in that：The chassis Bottom plate on two driving wheel vertical direction be provided at both ends with auxiliary driven pulley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721024428.5U CN207059672U (en) | 2017-08-16 | 2017-08-16 | A kind of mobile robot for installing suspended shock absorbing mechanism additional |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721024428.5U CN207059672U (en) | 2017-08-16 | 2017-08-16 | A kind of mobile robot for installing suspended shock absorbing mechanism additional |
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| CN207059672U true CN207059672U (en) | 2018-03-02 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107323194A (en) * | 2017-08-16 | 2017-11-07 | 苏州索亚机器人技术有限公司 | A kind of mobile robot for installing suspended shock absorbing mechanism additional |
| CN111319697A (en) * | 2018-12-13 | 2020-06-23 | 沈阳新松机器人自动化股份有限公司 | Four-wheel damping chassis of mobile robot |
| CN112962488A (en) * | 2021-02-09 | 2021-06-15 | 龙合智能装备制造有限公司 | Interception wall and system |
-
2017
- 2017-08-16 CN CN201721024428.5U patent/CN207059672U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107323194A (en) * | 2017-08-16 | 2017-11-07 | 苏州索亚机器人技术有限公司 | A kind of mobile robot for installing suspended shock absorbing mechanism additional |
| CN111319697A (en) * | 2018-12-13 | 2020-06-23 | 沈阳新松机器人自动化股份有限公司 | Four-wheel damping chassis of mobile robot |
| CN112962488A (en) * | 2021-02-09 | 2021-06-15 | 龙合智能装备制造有限公司 | Interception wall and system |
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