CN207360445U - A kind of automatic exploring robot of crawler type - Google Patents
A kind of automatic exploring robot of crawler type Download PDFInfo
- Publication number
- CN207360445U CN207360445U CN201720944091.3U CN201720944091U CN207360445U CN 207360445 U CN207360445 U CN 207360445U CN 201720944091 U CN201720944091 U CN 201720944091U CN 207360445 U CN207360445 U CN 207360445U
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- CN
- China
- Prior art keywords
- crawler belt
- automatic
- unmanned plane
- driving
- mechanical arm
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Abstract
The utility model discloses a kind of automatic exploring robot of crawler type, including crawler belt chassis, automatic lifting unmanned plane, sixdegree-of-freedom simulation, the crawler belt chassis includes main body hull, is arranged on the driving crawler belt of main body hull both sides；The sixdegree-of-freedom simulation is placed in crawler belt chassis and goes forward to hold, including mechanical arm, the gripper, the camera installed in gripper rear end that are arranged on mechanical arm tail end, the joint steering engine for driving each joint motions of tool arm is additionally provided with each joint of mechanical arm；The automatic lifting unmanned plane is arranged on one dedicated platform of upper rear end of crawler belt chassis, including fuselage, the unmanned plane camera that is arranged on fuselage and extensible quadrotor.The utility model can automatically by the route of setting carry out it is unmanned explore, and crossing, clearing up, the collection of article for obstacle can be realized by mechanical arm and unmanned plane, the transmission of signal, the work such as transfer, the collection of features of terrain, safe ready, small, the free degree is high.
Description
Technical field
It the utility model is related to a kind of automatic exploring robot, more particularly to the automation machine of a kind of geographical and military exploration
Device people.
Background technology
With continually developing for earth resource, the exploration to circumstances not known is always difficult and dangerous work.At these
In geography exploration, the exploration of complicated dangerous unknown landform is always the huge challenge of geographer.It is then desired to design one kind
Realize the remote-operated more landform exploration instruments of nobody or someone.Again because the complexity of landform, causes to depend a visual angle alone
It can not meet requirement of the complicated landform to exploring robot, thus need to install with it portable, automatic lifting stick and can carry
For the 3rd visual angle to robot and the unmanned plane of operator.
Utility model content
The utility model provides a kind of automatic exploring robot of crawler type, this equipment is suitable for more landform, facilitate it is easy to operate,
It is safe, it can be achieved that it is unattended it is lower it is automatic explore, its unmanned plane carried can provide the 3rd visual angle aid in more landform cross with
Prospecting.
The utility model adopts the following technical solution to achieve these goals：
A kind of automatic exploring robot of crawler type, including crawler belt chassis, automatic lifting unmanned plane, six degree of freedom machinery
Arm,
The crawler belt chassis includes main body hull, is arranged on the driving crawler belt of main body hull both sides；
The sixdegree-of-freedom simulation is placed in crawler belt chassis and goes forward to hold, including mechanical arm, be arranged on mechanical arm end
The gripper at end, the camera installed in gripper rear end, are additionally provided with each joint of mechanical arm for driving each joint of tool arm
The joint steering engine of movement；
The automatic lifting unmanned plane is arranged on one dedicated platform of upper rear end of crawler belt chassis, including fuselage, is set
Put the unmanned plane camera on fuselage and extensible quadrotor.
Further, the driving crawler belt is 4 wheel drive crawler belts.
Further, the main body hull includes carbody shell and pre-driver motor, before the 4 wheel drive crawler belt includes
Totally 4 driving wheels and two survey each 8 jockey pulleys afterwards.
Further, the sixdegree-of-freedom simulation is fixed on crawler belt chassis by removable mechanical arm base
On.
Further, grabbing device of the gripper as mechanical arm, including main body, the driving that is arranged in main body
Motor, driving gear, two driven gears and Liang Ge claws mechanism, the driving gear are connected with gripper driving motor,
The driving gear is meshed with two driven gears successively, and Liang Ge claws mechanism is drivingly connected with each driven gear realizes respectively
Folding gripping objects.
Further, the claw mechanism is parallelogram mechanism, including rocking arm, clamping limb, connecting rod, and described shakes
One end of arm is fixedly connected with driven gear, and the other end is hinged with clamping limb rear end；The connecting rod is parallel to each other with rocking arm, its
One end is hinged on the body front end, and the other end is hinged on the middle part of clamping limb.
Further, the front end of the clamping limb is provided with some serrate projections.
Further, the extensible quadrotor includes four Collapsible racks being movably articulated on fuselage, sets
Extensible propeller in each Collapsible rack front end.
Further, the extensible propeller includes propeller driving motor, blade connecting rod, in the blade connecting rod
Portion is connected with the propeller driving motor output shaft, and the both ends of the blade connecting rod have been respectively articulated with blade, described spiral
Two telescopic magnetic control fixed links are symmetrically arranged with paddle driving motor output shaft, the tail end of the blade is provided with
The little groove to match with the magnetic control fixed link, the magnetic control fixed link is provided at both ends with permanent magnet, described
The inside of propeller driving motor output shaft and the tail end of blade are both provided with the electromagnet of variable magnetic.
Further, the unmanned plane camera is rotatably arranged on the fuselage.
Compared to existing exploring robot, the utility model can realize unattended lower automatic exploration, be suitable for more landform,
Facilitate easy to operate, safety；Unmanned exploration can be carried out by the route of setting, and can realize obstacle by mechanical arm and unmanned plane
Cross, clear up, the collection of article, the transmission of signal, transfer, the work such as the collection of features of terrain, it is small, the free degree is high.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the utility model embodiment.
Fig. 2 is the utility model embodiment sixdegree-of-freedom simulation structure diagram.
Fig. 3 is the utility model embodiment gripper structure diagram.
Fig. 4 is the utility model embodiment automatic lifting stick unmanned plane（Parked state）Structure diagram.
Fig. 5 is the utility model embodiment automatic lifting stick unmanned plane（Extended configuration）Structure diagram.
Fig. 6 is the propeller shaft structure diagram of the utility model embodiment automatic lifting stick unmanned plane.
Fig. 7 is that automatic lifting stick unmanned plane propeller of the embodiment of the present invention stretches principle schematic automatically.
The label declaration of parts in schematic diagram：
Shown in figure：1- crawler belt chassis, 2- sixdegree-of-freedom simulations, 3- automatic lifting stick unmanned planes, 4- grippers, 5- machines
Tool arm base, 6- joints steering engine, 7- cameras, 8- grippers driving motor, 9- drive gears, 10- driven gears, 11- can stretch
Open up propeller, 12- unmanned plane cameras, 13- fuselages, the electromagnet of 14- variable magnetics, 15- magnetic control fixed links, 16- spiral shells
Revolve paddle driving motor；17- rocking arms；18- clamping limbs；19- connecting rods；20- blade connecting rods.
Embodiment
The purpose of this utility model is described in further detail below by specific embodiment, embodiment cannot be herein
Repeat one by one, but therefore the embodiment of the utility model is not defined in following embodiments.
As depicted in figs. 1 and 2, the automatic exploring robot of a kind of crawler type, including crawler belt chassis 1, automatic lifting nobody
Machine 3, sixdegree-of-freedom simulation 2,
The crawler belt chassis includes main body hull, is arranged on the driving crawler belt of main body hull both sides；
The sixdegree-of-freedom simulation 2 is fixed on front end on crawler belt chassis 1 by removable mechanical arm base 5,
Including mechanical arm, the gripper 4, the camera 7 installed in 4 rear end of gripper that are arranged on mechanical arm tail end, the camera 7
First visual angle of robot is provided, is captured for collecting operational data with auxiliary machine machinery claw；Mechanical arm is additionally provided with each joint
For driving the joint steering engine of each joint motions of tool arm；
The automatic lifting unmanned plane is arranged on one dedicated platform of upper rear end of crawler belt chassis, including fuselage 13,
The unmanned plane camera 12 being arranged on fuselage 13 and extensible quadrotor, the unmanned plane camera 12 provide the 3rd and regard
Angle, carries out the operation such as take photo by plane.
Wherein, the driving crawler belt is 4 wheel drive crawler belts, and the main body hull includes carbody shell and pre-driver horse
Reach, the 4 wheel drive crawler belt includes front and rear totally 4 driving wheels and two each eight jockey pulleys of survey, can in most of landform free walker
Walk.
As shown in figure 3, grabbing device of the gripper 4 as mechanical arm, including main body, the drive that is arranged in main body
Dynamic motor 8,9, two driven gears 10 of driving gear and Liang Ge claws mechanism, the driving gear 9 and gripper driving motor 8
Be connected, the driving gear 9 is meshed with two driven gears 10 successively, Liang Ge claws mechanism respectively with each driven gear 10
Drive connection realizes folding gripping objects.The claw mechanism is parallelogram mechanism, including rocking arm 17, clamping limb 18,
Connecting rod 19, one end of the rocking arm 17 are fixedly connected with driven gear 10, and the other end is hinged with 18 rear end of clamping limb；It is described
Connecting rod 19 is parallel to each other with rocking arm 17, and its one end is hinged on the body front end, and the other end is hinged on the middle part of clamping limb 18, when
When gripper driving motor 8 drives the rotation of driving gear 9, the direction of rotation of two driven gears 10 is on the contrary, so as to drive claw
Mechanism synchronous clamping or release.
In addition, the front end of the clamping limb 18 is provided with some serrate projections, be conducive to increase claw mechanism and object
Frictional force, improve the stability and firmness of clamping.
The extensible quadrotor includes four Collapsible racks being movably articulated on fuselage 13, is arranged on and can respectively roll over
The extensible propeller of folded stent front end, when automatic lifting unmanned plane 3 is located on crawler belt chassis 1, the Collapsible rack
Folded state (see Fig. 4) is in extensible propeller, it is described foldable when automatic lifting unmanned plane 3 is in job state
Stent and extensible propeller are in extended configuration (see Fig. 5).
As shown in Figure 6 and Figure 7, the extensible propeller 11 includes propeller driving motor 16, blade connecting rod 20, institute
State the middle part of blade connecting rod 20 with propeller driving 16 output shaft of motor to be connected, the both ends of the blade connecting rod 20 are cut with scissors respectively
Blade is connected to, two telescopic magnetic control fixed links are symmetrically arranged with propeller driving 16 output shaft of motor
15, the tail end of the blade is provided with the little groove to match with the magnetic control fixed link 15, and the magnetic control is consolidated
Fixed pole 15 is provided at both ends with permanent magnet, and the inside of propeller driving 16 output shaft of motor and the tail end of blade are both provided with can
The electromagnet 14 of metamagnetism, can control magnetism, using the attracting principle of homopolar-repulsion heteropole, is achieved in magnetic control fixed link
15 it is flexible, when magnetic control fixed link 15 is stretched out and is caught in the little groove of the tail end of the blade, it can be achieved that extended configuration
Under blade fixation；When magnetic control fixed link 15 retracts and exits from the little groove of the tail end of the blade, two panels blade
It can be folded.
The unmanned plane camera 12 is rotatably arranged on the fuselage 13, favorably improves coverage.
The process for using of the present embodiment is as follows：
Partly do not power by internal battery, the rotation of crawler belt can be controlled by automatic or manual remote operation, so as to push away
Into the advance and steering of trolley；The crawl of mechanical arm is realized in the running of 6 joint steering engines in control sixdegree-of-freedom simulation 2；Control
The lifting of automatic lifting stick unmanned plane 3 processed is gathered with video recording, specific to control process and method same as the prior art, this area skill
Art personnel can carry out rational select and set as needed completely, and without creative work, details are not described herein.
Above-described embodiment of the utility model is only intended to clearly illustrate the utility model example, and is not
Restriction to the embodiment of the utility model.For those of ordinary skill in the field, on the basis of described above
On can also make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.
All any modification, equivalent and improvement made where within the spirit and principles of the present invention etc., should be included in this reality
Within new scope of the claims.
Claims (10)
- A kind of 1. automatic exploring robot of crawler type, it is characterised in that：Including crawler belt chassis (1), automatic lifting unmanned plane (3), sixdegree-of-freedom simulation (2),The crawler belt chassis includes main body hull, is arranged on the driving crawler belt of main body hull both sides；The sixdegree-of-freedom simulation (2) is placed in crawler belt chassis and goes forward to hold, including mechanical arm, is arranged on mechanical arm tail end Gripper (4), the camera (7) installed in gripper (4) rear end, be additionally provided with each joint of mechanical arm for driving tool arm The joint steering engine of each joint motions；The automatic lifting unmanned plane is arranged on one dedicated platform of upper rear end of crawler belt chassis, including fuselage (13), is set Put unmanned plane camera (12) and extensible quadrotor on fuselage (13).
- 2. the automatic exploring robot of crawler type according to claim 1, it is characterised in that：The driving crawler belt is 4 wheels Drive crawler belt.
- 3. the automatic exploring robot of crawler type according to claim 2, it is characterised in that：The main body hull includes car body Shell and pre-driver motor, the 4 wheel drive crawler belt include front and rear totally 4 driving wheels and two and survey each 8 jockey pulleys.
- 4. the automatic exploring robot of crawler type according to claim 1, it is characterised in that：The sixdegree-of-freedom simulation It is fixed on by removable mechanical arm base (5) on crawler belt chassis.
- 5. the automatic exploring robot of crawler type according to claim 1, it is characterised in that：Described gripper (4) conduct The grabbing device of mechanical arm, including main body, the driving motor (8) being arranged in main body, driving gear (9), two driven gears (10) be connected with Liang Ge claws mechanism, the driving gear (9) and gripper driving motor (8), the driving gear (9) according to Secondary to be meshed with two driven gears (10), Liang Ge claws mechanism is drivingly connected with each driven gear (10) realizes flange splint respectively Hold object.
- 6. the automatic exploring robot of crawler type according to claim 5, it is characterised in that：The claw mechanism is parallel Quadrangular mechanism, including rocking arm (17), clamping limb (18), connecting rod (19), one end of the rocking arm (17) and driven gear (10) it is fixedly connected, the other end is hinged with clamping limb (18) rear end；The connecting rod (19) is parallel to each other with rocking arm (17), one End is hinged on the body front end, and the other end is hinged on the middle part of clamping limb (18).
- 7. the automatic exploring robot of crawler type according to claim 6, it is characterised in that：Before the clamping limb (18) End is provided with some serrate projections.
- 8. the automatic exploring robot of crawler type according to claim 1, it is characterised in that：The extensible quadrotor bag Include four Collapsible racks being movably articulated on fuselage (13), be arranged on the extensible propeller of each Collapsible rack front end.
- 9. the automatic exploring robot of crawler type according to claim 8, it is characterised in that：The extensible propeller (11) include propeller driving motor (16), blade connecting rod (20), driven in the middle part of the blade connecting rod (20) with the propeller Motor (16) output shaft is connected, and the both ends of the blade connecting rod (20) have been respectively articulated with blade, and the propeller drives motor (16) be symmetrically arranged with two telescopic magnetic control fixed links (15) on output shaft, the tail end of the blade be provided with The little groove that the magnetic control fixed link (15) matches, the magnetic control fixed link (15) are provided at both ends with permanent magnetism Iron, the inside of described propeller driving motor (16) output shaft and the tail end of blade are both provided with the electromagnet of variable magnetic (14)。
- 10. the automatic exploring robot of crawler type according to claim 1, it is characterised in that：The unmanned plane camera (12) it is rotatably arranged on the fuselage (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720944091.3U CN207360445U (en) | 2017-07-31 | 2017-07-31 | A kind of automatic exploring robot of crawler type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720944091.3U CN207360445U (en) | 2017-07-31 | 2017-07-31 | A kind of automatic exploring robot of crawler type |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207360445U true CN207360445U (en) | 2018-05-15 |
Family
ID=62421878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720944091.3U Expired - Fee Related CN207360445U (en) | 2017-07-31 | 2017-07-31 | A kind of automatic exploring robot of crawler type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207360445U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107399378A (en) * | 2017-07-31 | 2017-11-28 | 华南理工大学 | A kind of automatic exploring robot of crawler type |
| CN109878749A (en) * | 2019-04-15 | 2019-06-14 | 安徽大学 | A kind of detection unmanned plane |
| WO2021196529A1 (en) * | 2020-04-02 | 2021-10-07 | 同济人工智能研究院(苏州)有限公司 | Air-ground cooperative intelligent inspection robot and inspection method |
-
2017
- 2017-07-31 CN CN201720944091.3U patent/CN207360445U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107399378A (en) * | 2017-07-31 | 2017-11-28 | 华南理工大学 | A kind of automatic exploring robot of crawler type |
| CN109878749A (en) * | 2019-04-15 | 2019-06-14 | 安徽大学 | A kind of detection unmanned plane |
| WO2021196529A1 (en) * | 2020-04-02 | 2021-10-07 | 同济人工智能研究院(苏州)有限公司 | Air-ground cooperative intelligent inspection robot and inspection method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180515 Termination date: 20190731 |