CN208117832U - A kind of robot body chassis - Google Patents
A kind of robot body chassis Download PDFInfo
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- CN208117832U CN208117832U CN201820525257.2U CN201820525257U CN208117832U CN 208117832 U CN208117832 U CN 208117832U CN 201820525257 U CN201820525257 U CN 201820525257U CN 208117832 U CN208117832 U CN 208117832U
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- wheel hub
- active wheel
- hub mechanism
- collecting tank
- robot body
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Abstract
The utility model provides a kind of robot body chassis, including scrap collecting tank, binocular camera, mechanical arm assembly, universal camera, driving unit, scrap collecting tank is arranged on driving unit top, the front end of scrap collecting tank is arranged in binocular camera, mechanical arm assembly, and the rear end of scrap collecting tank is arranged in universal camera；The driving unit includes two steering motor groups and the active wheel hub mechanism one being successively linked in sequence, active wheel hub mechanism two, active wheel hub mechanism three, the tail end of the transverse axes connection active wheel hub mechanism one of one steering motor group and the front end of active wheel hub mechanism two, the tail end of the vertical axis rotation connection active wheel hub mechanism two of another steering motor group and the front end of active wheel hub mechanism three.Robot body chassis provided by the utility model, is automatically performed turn using small scale robot, climbing, crawl object are put into the movement of scrap collecting tank, increasingly automated, is smoothly cleaned convenient for the inside to pipeline.
Description
Technical field
The utility model relates to robotic technology fields, more particularly to a kind of robot body chassis.
Background technique
Currently, pipeline is in use for some time, due to the blocking of dirt or lump, the liquid in pipeline can be made
Body circulation has some setbacks, so that line clogging, and cannot achieve normal work.
And cleaning fouling product in pipeline is manually crawled into, and difficult to realize.
Accordingly, it is desirable to provide a kind of robot body chassis is to solve the above technical problems.
Utility model content
The utility model is mainly solving the technical problems that provide a kind of robot body chassis, certainly using small scale robot
It is dynamic to complete to turn round, climbing, grab the movement that object is put into scrap collecting tank, it is increasingly automated, it is carried out convenient for the inside to pipeline suitable
Smooth cleaning.
In order to solve the above technical problems, the technical solution that the utility model uses is to provide a kind of robot chassis machine
Structure, including scrap collecting tank 2, binocular camera 3, mechanical arm assembly 4, universal camera 5, driving unit 6, scrap collecting tank 2
On the top of driving unit 6, the front end of scrap collecting tank 2, universal camera is arranged in binocular camera 3, mechanical arm assembly 4 for setting
5 are arranged in the rear end of scrap collecting tank 2；
The driving unit 6 include two steering motor groups 64 and be successively linked in sequence active wheel hub mechanism 1,
Active wheel hub mechanism 2 62, active wheel hub mechanism 3 63, the tail end of active wheel hub mechanism 1 and active wheel hub mechanism 2 62
Front end is rotatably connected on the lateral shaft of a steering motor group 64, the tail end and active wheel hub mechanism of active wheel hub mechanism 2 62
3 63 front end is rotatably connected on the vertical axis of another steering motor group 64, and active wheel hub mechanism 1 is close to binocular camera
3, active wheel hub mechanism 3 63 is close to universal camera 5；
The binocular camera 3 and universal camera 5 have LED light.
It is preferred that the active wheel hub mechanism 1, active wheel hub mechanism 2 62, active wheel hub mechanism 3 63 include plate one
611,2 612, two traveling wheel groups 613 of plate, plate 1, plate 2 612 constitute cross supporting frame, described two traveling wheel groups
613 are symmetrically arranged on cross supporting frame about plate 1；
Traveling wheel group 613 include traveling wheel 6131, the live axle 6132 being connected on traveling wheel 6131, spring 6133,
Pin shaft 6134, the bottom end of tail end connecting spring 6133 in live axle 6132, the top of spring 6133 is connected to corresponding
On plate 2 612, pin shaft 6134 is set on plate 2 612 and is parallel to the extending direction of plate 1, the middle part of live axle 6132
It is rotatably connected on pin shaft 6134, the angle of the spring 6133 and vertical direction is remained less than 90 degree；
Traveling wheel included by the active wheel hub mechanism 1, active wheel hub mechanism 2 62 and active wheel hub mechanism 3 63
6131 are provided with its driving motor for walking around the rotation of wheel shaft 6132 of driving；
Under normality, live axle 6132 is parallel to the bottom surface of scrap collecting tank 1.
It is preferred that each cross supporting frame is each provided with two about the symmetrical electromagnet 614 of plate 1.
It is preferred that one steering motor group 64 drives active wheel hub mechanism 1, active wheel hub mechanism 2 62 around correspondence
Lateral shaft synchronous backward rotation, and the angle of each autorotation be less than or equal to 30 degree；
Another steering motor group 64 driving active wheel hub mechanism 2 62, active wheel hub mechanism 3 63 are around corresponding perpendicular
It is rotated to axis synchronous backward, and respectively rotational angle is less than or equal to 30 degree.
It is preferred that live axle 6132 and waste material are received during the live axle 6132 is rotated relative to pin shaft 6134
The maximum angle of the bottom surface of header 1 is 20 degree.
It is preferred that the length of the robot body chassis is less than or equal to 600mm, about symmetrical a pair of of the walking of plate 1
When taking turns 6131 outer rims distance maximum, the robot body chassis is along the circumference where the profile edge of two direction cutting of plate
Diameter is 300mm.
It is preferred that the mechanical arm assembly 4 includes the manipulator 41 that 2 front end of scrap collecting tank is arranged in, is connected to manipulator
The gripper 42 and sucker 43 of 41 tail ends, the sucker 43 are surrounded by gripper 42.
It is preferred that the gripper 42 is pneumatic pawl, the air pump and gas tank of the pneumatic pawl are arranged on scrap collecting tank 2.
The utility model has the beneficial effects that：A kind of robot body chassis provided by the utility model, utilizes minicomputer
Device people is automatically performed turn, climbing, grabs the movement that object is put into scrap collecting tank, increasingly automated, convenient for the inside to pipeline
Smoothly cleaned；The setting of further electromagnet provides adsorption capacity for the cleaning for adapting to steeper pipeline, guarantees
Robot body chassis stablizes climbing；Further, the setting of sucker, so that gripper is grabbing larger heavier waste material
When, it can firmly catch waste material；The pipeline (pipeline is metal material) that this body chassis can be used for having vertical right angle, or
The pipeline for needing wide-angle to climb.
Detailed description of the invention
Fig. 1 is a kind of positive structure diagram of the first preferred embodiment of robot body chassis of the utility model；
Fig. 2 is the overlooking structure diagram of the robot body chassis in Fig. 1；
Fig. 3 is a kind of structure of the first preferred embodiment of the driving unit 6 of robot body chassis of the utility model
Schematic diagram；
Fig. 4 is the structural schematic diagram that driving unit 6 obtained is looked over along the direction of the arrow in Fig. 3.
It is as follows that number in Figure of description identifies corresponding component names difference：
1- cable；2- scrap collecting tank；3- binocular camera；4- mechanical arm assembly；41- manipulator；42- gripper；
43- sucker；The universal camera of 5-；6- driving unit；61- active wheel hub mechanism one；611- plate one；612- plate two；613- walking
Wheel group；6131- traveling wheel；6132- live axle；6133- spring；6134- pin shaft；614- electromagnet；62- active wheel hub machine
Structure two；63- active wheel hub mechanism three；64- steering motor group.
Specific embodiment
The technical solution of the utility model is described in detail below with reference to diagram.
Referring to Figure 1 and shown in Fig. 2, the robot body chassis of the present embodiment, including scrap collecting tank 2, binocular camera shooting
First 3, mechanical arm assembly 4, universal camera 5, driving unit 6, the setting of scrap collecting tank 2 is on the top of driving unit 6, binocular camera shooting
First 3, the front end of scrap collecting tank 2 is arranged in mechanical arm assembly 4, and the rear end of scrap collecting tank 2 is arranged in universal camera 5；
As shown in figure 3, the driving unit 6 includes two steering motor groups 64 and the active wheel hub being successively linked in sequence
The transverse axes of mechanism 1, active wheel hub mechanism 2 62, active wheel hub mechanism 3 63, a steering motor group 64 connect master
The tail end of runner hub mechanism 1 and the front end of active wheel hub mechanism 2 62, the vertical axis of another steering motor group 64, which rotates, to be connected
The tail end of active wheel hub mechanism 2 62 and the front end of active wheel hub mechanism 3 63 are connect, active wheel hub mechanism 1 is close to binocular camera shooting
First 3, active wheel hub mechanism 3 63 is close to universal camera 5；
The binocular camera 3 and universal camera 5 have LED light.
The robot body chassis of the present embodiment, when carrying out cleaning in pipeline, binocular camera 3 and universal camera shooting
First 5 keep work, by by the display equipment outside 1 connecting pipe of cable in Fig. 1 and Fig. 2, or can also use channel radio
The mode of letter sends the electric signal of robot body chassis in the display equipment outside pipeline, passes through camera intake to pipe
Contextual data in road, staff can observe the front and rear of pipeline inner machine people's body chassis outside pipeline
Environmental condition can stop the advance of robot body chassis, to manipulator in front of discovery when the waste material of collection in need
Component 4 issues instruction, and then mechanical arm assembly 4 grabs in target waste material to scrap collecting tank 2.
Moreover, the robot body chassis of the present embodiment when needing to turn round, passes through turning close to universal camera 5
Adjacent active wheel hub mechanism 2 62 and active wheel hub mechanism 3 63 is driven to rotate backward around vertical axis to motor group 64, Jin Ershi
Existing turning operation realizes the lateral turning of robot body chassis；And in upward slope or descending, by close to binocular camera shooting
First 3 steering motor group 64 drives adjacent hub mechanism 1 and active wheel hub mechanism 2 62 to rotate backward around lateral shaft, realizes
The vertical turn of robot body chassis.
The robot body chassis of the present embodiment, when moving, steering motor group and active wheel hub mechanism provide power, drive
Moving cell 6 is moved along pipeline.
The robot body chassis of the present embodiment can easily grab waste material object, and can easily realize turn behaviour
Make, it is very convenient and practical for the waste material in cleaning pipeline.
In a preferred embodiment of the utility model, as shown in Figure 3 and Figure 4, the active wheel hub mechanism 1, master
Runner hub mechanism 2 62, active wheel hub mechanism 3 63 include 2 612, two plate 1, plate traveling wheel groups 613, plate 1, plate
2 612 constitute cross supporting frame, and described two traveling wheel groups 613 are symmetrically arranged on cross supporting frame about plate 1；
Traveling wheel group 613 include traveling wheel 6131, the live axle 6132 being connected on traveling wheel 6131, spring 6133,
Pin shaft 6134, the bottom end of tail end connecting spring 6133 in live axle 6132, the top of spring 6133 is connected to corresponding
On plate 2 612, pin shaft 6134 is set on plate 2 612 and is parallel to the extending direction of plate 1, the middle part of live axle 6132
It is rotatably connected on pin shaft 6134, the angle of the spring 6133 and vertical direction is remained less than 90 degree；
Walking included by the active wheel hub mechanism 1, active wheel hub mechanism 2 62 and active wheel hub mechanism 3 63
Wheel 6131 is provided with its driving motor for walking around the rotation of wheel shaft 6132 of driving；
Under normality, live axle 6132 is parallel to the bottom surface of scrap collecting tank 2.
In the present embodiment, when driving unit 6 is walked in the plane, in the case where the elastic force of spring 6133 pulls, live axle
6132 are parallel to walked plane.And when driving unit is walked in pipeline, the live axle 6132 of traveling wheel 6131 is not
It is parallel to the bottom surface of scrap collecting tank 2 again, the top surface of live axle 6132 is tilted initially towards plate 1, but in spring
6133 elastic force pull it is lower can realization inclination slowly, the stability of driving unit 6 is effectively guaranteed in the cushion effect of spring,
This provides guarantee for robot body chassis stable operation.
In the present embodiment, the design method of traveling wheel group 613 is to be able to adapt to the pipeline of different inner diameters, in difference
In the pipeline of internal diameter, the adaptive structure of traveling wheel group 613, so that robot body chassis is no longer limited to single bore pipeline
Clean needs have widened the range that robot body chassis adapts to various sizes of pipeline.
As shown in figure 3, each cross supporting frame is each provided with two passes in a preferred embodiment of the utility model
In the symmetrical electromagnet 614 of plate 1, when this makes robot body chassis walk in the pipeline of smoother, Neng Gouzeng
The frictional force for adding traveling wheel 6131 Yu inner wall of the pipe enables robot body chassis is stable to advance in pipeline.Especially
When the walking of robot body chassis is in acclive pipeline, for example when the gradient of pipeline is greater than 45, electromagnet is powered,
Suction-operated is generated in electromagnet and inner wall of the pipe, is creeped so that traveling wheel 6131 is stable along inner wall of the pipe；
In a preferred embodiment of the utility model, one steering motor group 64 drives active wheel hub mechanism one
61, active wheel hub mechanism 2 62 is rotated around corresponding lateral shaft synchronous backward, and the angle of each autorotation is less than or equal to 30 degree；Institute
State another steering motor group 64 driving active wheel hub mechanism 2 62, active wheel hub mechanism 3 63 synchronizes instead around corresponding vertical axis
To rotation, and respectively, rotational angle is less than or equal to 30 degree.Certainly, it in specific design, can according to need hub mechanism
Angle around the rotation of corresponding axis is restricted to less than 20 degree hereinafter, with no restriction to this.
In a preferred embodiment of the utility model, mistake that the live axle 6132 is rotated relative to pin shaft 6134
The maximum angle of the bottom surface of Cheng Zhong, live axle 6132 and scrap collecting tank 2 is 20 degree.
In the preferred embodiment of the utility model, the length of the robot body chassis is less than or equal to 600mm, about
When symmetrical a pair of of traveling wheel 6131 outer rim distance of plate 1 is maximum, the robot body chassis is along two direction cutting of plate
Profile edge where circumference diameter be 300mm, can thus adapt to diameter automatically in the pipeline of 200mm or more.When
The change of adaptability can be made for the specific size of robot body chassis so to adapt to the size of Target pipe.
Please referring further to shown in Fig. 1 and Fig. 2, it is preferable that the mechanical arm assembly 4 includes being arranged before scrap collecting tank 2
The manipulator 41 at end, the gripper 42 and sucker 43 for being connected to 41 tail end of manipulator, the sucker 43 are surrounded by gripper 42.
Further preferably, the gripper 42 is pneumatic pawl, and the air pump and gas tank of the pneumatic pawl are arranged on scrap collecting tank 2, this
The large-scale heavier waste material of kind Structure adaptation, is firmly caught waste material with biggish adsorption capacity.
The above description is only the embodiments of the present invention, and therefore it does not limit the scope of the patent of the utility model, all
Equivalent structure made based on the specification and figures of the utility model is applied directly or indirectly in other relevant technologies
Field is also included in the patent protection scope of the utility model.
Claims (8)
1. a kind of robot body chassis, it is characterised in that：Including scrap collecting tank (2), binocular camera (3), manipulator group
Part (4), universal camera (5), driving unit (6), scrap collecting tank (2) are arranged on driving unit (6) top, binocular camera
(3), mechanical arm assembly (4) setting is arranged in the front end of scrap collecting tank (2), universal camera (5) in scrap collecting tank (2)
Rear end；
The driving unit (6) includes two steering motor groups (64) and the active wheel hub mechanism one being successively linked in sequence
(61), active wheel hub mechanism two (62), active wheel hub mechanism three (63), the tail end and active wheel hub of active wheel hub mechanism one (61)
The front end of mechanism two (62) is rotatably connected on the lateral shaft of a steering motor group (64), the tail of active wheel hub mechanism two (62)
End and the front end of active wheel hub mechanism three (63) are rotatably connected on the vertical axis of another steering motor group (64), active wheel hub machine
Structure one (61) is close to binocular camera (3), and active wheel hub mechanism three (63) is close to universal camera (5)；
The binocular camera (3) and universal camera (5) have LED light.
2. robot body chassis according to claim 1, it is characterised in that：The active wheel hub mechanism one (61), master
Runner hub mechanism two (62), active wheel hub mechanism three (63) include plate one (611), plate two (612), two traveling wheel groups (613),
Plate one (611), plate two (612) constitute cross supporting frame, and described two traveling wheel groups (613) symmetrically set about plate one (611)
It sets on cross supporting frame；
Traveling wheel group (613) includes traveling wheel (6131), the live axle (6132), the spring that are connected on traveling wheel (6131)
(6133), the top of pin shaft (6134), the bottom end of the interior tail end connecting spring (6133) of live axle (6132), spring (6133) connects
It connects on corresponding plate two (612), pin shaft (6134) is set on plate two (612) and is parallel to the extension of plate one (611)
Direction is rotatably connected on pin shaft (6134) in the middle part of live axle (6132), the folder of spring (6133) and vertical direction
Angle is remained less than 90 degree；
Walking included by the active wheel hub mechanism one (61), active wheel hub mechanism two (62) and active wheel hub mechanism three (63)
Wheel (6131) is provided with its driving motor for walking around wheel shaft (6132) rotation of driving；
Under normality, live axle (6132) is parallel to the bottom surface of scrap collecting tank (2).
3. robot body chassis according to claim 2, it is characterised in that：Each cross supporting frame is each provided with two
About the symmetrical electromagnet (614) of plate one (611).
4. robot body chassis according to claim 2, it is characterised in that：One steering motor group (64) driving
Active wheel hub mechanism one (61), active wheel hub mechanism two (62) are rotated around corresponding lateral shaft synchronous backward, and each autorotation
Angle is less than or equal to 30 degree；
Another steering motor group (64) driving active wheel hub mechanism two (62), active wheel hub mechanism three (63) are around corresponding
The rotation of vertical axis synchronous backward, and respectively rotational angle is less than or equal to 30 degree.
5. robot body chassis according to claim 2, it is characterised in that：The live axle (6132) is relative to pin
During axis (6134) rotates, the maximum angle of the bottom surface of live axle (6132) and scrap collecting tank (2) is 20 degree.
6. robot body chassis according to claim 5, it is characterised in that：The length of the robot body chassis is small
In equal to 600mm, when about symmetrical a pair of of traveling wheel (6131) outer rim of plate one (611) apart from maximum, the robot chassis
Mechanism is 300mm along the diameter of the circumference where the profile edge of plate two (612) direction cutting.
7. robot body chassis described in -6 any one according to claim 1, it is characterised in that：The mechanical arm assembly
(4) include setting scrap collecting tank (2) front end manipulator (41), be connected to the gripper (42) of manipulator (41) tail end with
And sucker (43), the sucker (43) are surrounded by gripper (42).
8. robot body chassis according to claim 7, it is characterised in that：The gripper (42) is pneumatic pawl, institute
The air pump and gas tank for stating pneumatic pawl are arranged on scrap collecting tank (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820525257.2U CN208117832U (en) | 2018-04-13 | 2018-04-13 | A kind of robot body chassis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820525257.2U CN208117832U (en) | 2018-04-13 | 2018-04-13 | A kind of robot body chassis |
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| Publication Number | Publication Date |
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| CN208117832U true CN208117832U (en) | 2018-11-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820525257.2U Active CN208117832U (en) | 2018-04-13 | 2018-04-13 | A kind of robot body chassis |
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| CN (1) | CN208117832U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111550105A (en) * | 2020-04-27 | 2020-08-18 | 同济大学 | Coaxial double-wheel automobile carrying robot capable of moving horizontally in all directions |
-
2018
- 2018-04-13 CN CN201820525257.2U patent/CN208117832U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111550105A (en) * | 2020-04-27 | 2020-08-18 | 同济大学 | Coaxial double-wheel automobile carrying robot capable of moving horizontally in all directions |
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