CN208393509U - A kind of intelligence walking robot - Google Patents
A kind of intelligence walking robot Download PDFInfo
- Publication number
- CN208393509U CN208393509U CN201820936342.8U CN201820936342U CN208393509U CN 208393509 U CN208393509 U CN 208393509U CN 201820936342 U CN201820936342 U CN 201820936342U CN 208393509 U CN208393509 U CN 208393509U
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- CN
- China
- Prior art keywords
- car body
- governor circuit
- stem
- module
- balance
- Prior art date
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Abstract
The utility model discloses a kind of intelligent walking robots, belong to intelligent carriage technical field.Including car body；Camera, communication module；Walking module；Governor circuit；Locating module；Infrared sensor；Balance module, including electrolevel and balancing device, the balancing device include balance motor and balancing pole, and balancing pole includes flexible part and stem, and the horizontal plane angle between two balancing poles is 30 °；The stem is connect with balance motor, and the flexible part is arranged in stem far from balance motor one end；The stem is concordant with ground towards its end when rotation；When being balanced mode, the governor circuit control balance motor rotates so that flexible part contacts ground and lifts car body far from driving wheel one end, and the governor circuit lifts direction and height according to the adjusting of electrolevel data.The utility model provides a kind of autoparallel trolley of two-wheel, can realize self-balancing by physical structure, structure is simple, maintenance cost is low.
Description
Technical field
The utility model relates to intelligent carriage technical field, especially a kind of intelligent walking robot.
Background technique
With the development of social science and technology, the raising of living standards of the people, robot has entered me at leisure
Life, become hot topic, many fields such as industry, agricultural, military affairs, science and technology suffer from the extensive demand of comparison and
Using.World part developed country and developing country pay much attention to the development of Robot industry, by the research of robot technology
It is placed on strategic status, this, also will be to entire country not just merely because it will become the following huge industrial sector
The sustainable development of overall national strength and country generates huge and far-reaching influence.With the development technology of Internet of things of social science and technology,
Sensor technology, electric machines control technology, 3G technology reach its maturity, and will will receive the welcome of user based on the product of the relevant technologies
And support, and technology of Internet of things integrates application layer, network layer, sensing layer, as a kind of emerging technology to realize object
Information interconnection is target, this will be the developing direction of WeiLai Technology.
In urban pipe network repair and maintenance, ruins rescue, many pipelines or building are tortured, be not suitable for personnel into
Enter, but has and must be rapidly completed；Therefore this intelligent carriage is needed exist for, can satisfy small area of space detection and patrol mission.
Utility model content
The goal of the invention of the utility model is, in view of the above-mentioned problems, providing a kind of intelligent walking robot, to be specifically to provide
A kind of autoparallel trolley of two-wheel can realize self-balancing by physical structure, and structure is simple, maintenance cost is low.
In order to achieve the above objectives, the technical scheme adopted by the utility model is
A kind of intelligence walking robot, including
Car body；
Camera is mounted on car body front end by runing rest；
Communication module is arranged in body rear end；
Walking module, including two driving wheels, retarder, driving motor, the driving wheel are arranged in one speed reducer shell one
End, the speed reducer housing are fixed on car body two sides, and the retarder is arranged in speed reducer housing and connect with driving wheel, institute
Driving motor is stated the other end of speed reducer housing is arranged in and connect with retarder；
Governor circuit, setting on the car body, and are electrically connected with camera, communication module and driving motor electricity；
Locating module, locating module are installed on the car body, and are connect for GPS positioning module and with governor circuit；
Infrared sensor, setting are connect in car body surrounding, and with governor circuit；
Balance module, including electrolevel and balancing device, the electrolevel are arranged in car body rear and front end, institute
Stating balancing device includes balance motor and balancing pole, and the balancing device is symmetricly set on car body far from driving wheel one end, balance
Bar includes flexible part and stem, and the horizontal plane angle between two balancing poles is 30 °；The stem is connect with balance motor,
The flexible part is arranged in stem far from balance motor one end；The stem is concordant with ground towards its end when rotation,
The flexible part is offset flat shape, is 7mm wide, 100mm long, end is in angular shape；The electrolevel and balance motor
It is electrically connected respectively with governor circuit；
When being balanced mode, governor circuit control balance motor rotates so that flexible part contact ground and by vehicle
Body is lifted far from driving wheel one end, and the governor circuit lifts direction and height according to the adjusting of electrolevel data.
The utility model is providing an intelligent carriage structure simultaneously, optimizes its own solution when encountering obstacle and does
Method, such as in the present solution, using setting balance module, balanced mode can make the better performance in driving wheel part, and its is excellent
Gesture；It can improved simultaneously by setting flexible part, not influence climbing barrier, or be more advantageous to climbing barrier.
Preferably, the car body is made of acrylic board.Meeting structural stability simultaneously, weight can be made lighter.
Preferably, the camera connects the rotating electric machine being mounted on runing rest.Facilitate multi-angle observation thing in this way
Object.
Preferably, described when being balanced mode, the governor circuit is according to the sensing data of electrolevel to choosing
Select traveling balance motor positive and negative rotation control and angle control.In complex environment, balance can not be reached in trolley itself, at this moment
Balance module is needed further to adjust, such as direction is fallen over there, at this moment balancing pole is under the drive of balance motor, towards this side
Movement.
Due to the adoption of the above technical scheme, the utility model has the following beneficial effects:
The utility model provides the ability that across obstacle can be improved in a kind of intelligent walking robot, meet its rescue,
The adaptability of patrol.The utility model uses setting balance module, and balanced mode can make driving wheel part better
Play its advantage；It can improved simultaneously by setting flexible part, not influence climbing barrier, or be more advantageous to climbing barrier.
Detailed description of the invention
Fig. 1 is the utility model illustrative view of functional configuration.
In attached drawing, 1- car body, 2- camera, 3- communication module, 4- walking module, 5- governor circuit, 6- locating module, 7-
Infrared sensor, 8- balance motor, 9- balancing pole, 10- stem, 11- flexible part.
Specific embodiment
The specific implementation of utility model is further illustrated below in conjunction with attached drawing.
As shown in Figure 1, the utility model intelligence walking robot includes car body 1, camera 2, communication module 3, walking mould
Block 4, governor circuit 5, locating module 6, infrared sensor 7, balance module；Make trolley can especially by balance module here
To have the ability of balance with stronger complex environment.Wherein, car body 1 is made of acrylic board；Meeting structural stability
Meanwhile weight can be made lighter.Camera 2 is mounted on 1 front end of car body by runing rest, and camera 2 can carry out 360 °
Rotation.Communication module 3 is that wireless communication module is arranged in 1 rear end of car body.
Walking module 4 includes two driving wheels, retarder, driving motor, and the driving wheel is arranged in one speed reducer shell one
End, the speed reducer housing are fixed on 1 two sides of car body, and the retarder is arranged in speed reducer housing and connect with driving wheel,
The driving motor is arranged in the other end of speed reducer housing and connect with retarder.Here driving motor is vertically arranged, to increase
Add balance quality.Retarder is integration reducer comprising shell and internal reduction gear, such shell can be solid with car body 1
It is fixed.
The setting of governor circuit 5 is electrically connected on car body 1, and with camera 2, communication module 3 and driving motor electricity, master control electricity
Road 5 is the control circuit based on STM32 chip；Wherein, locating module 6 is mounted on car body 1, and for GPS positioning module 6 and with
Governor circuit 5 connects.Infrared sensor 7, setting are connect in 1 surrounding of car body, and with governor circuit 5.
Balance module, including electrolevel and balancing device, the electrolevel are arranged in 1 rear and front end of car body,
Balancing device includes balance motor 8 and balancing pole 9, and balancing device is symmetricly set on car body 1 far from driving wheel one end, balancing pole 9
Including flexible part 11 and stem 10, the horizontal plane angle between two balancing poles 9 is 30 °.Stem 10 is connect with balance motor,
Flexible part 11 is arranged in stem 10 far from balance motor one end.Stem 10 is concordant with ground towards its end when rotation, institute
Stating flexible part 11 is offset flat shape, is 7mm wide, 100mm long, end is in angular shape；The electrolevel and balance motor
It is electrically connected respectively with governor circuit 5.
When being balanced mode, the governor circuit 5 controls balance motor and rotates so that flexible part 11 contacts ground simultaneously
Car body 1 is lifted far from driving wheel one end, the governor circuit 5 lifts direction and height according to the adjusting of electrolevel data.
When being balanced mode, the governor circuit 5 is positive and negative to selection traveling balance motor according to the sensing data of electrolevel
Turn control and angle control.In complex environment, balance can not be reached in trolley itself, at this moment needs balance module further
It adjusts, such as direction is fallen over there, at this moment balancing pole 9 acts under the drive of balance motor towards this side.
The utility model is providing an intelligent carriage structure simultaneously, optimizes its own solution when encountering obstacle and does
Method, such as in the present solution, using setting balance module, balanced mode can make the better performance in driving wheel part, and its is excellent
Gesture；It can improved simultaneously by setting flexible part 11, not influence climbing barrier, or be more advantageous to climbing barrier.
Above description is the detailed description for the preferable possible embodiments of the utility model, but embodiment is not limited to
The patent claim of the utility model, the same changes or modifications completed under technical spirit suggested by all the utility model
Change, should belong to the covered the scope of the patents of the utility model.
Claims (3)
1. a kind of intelligence walking robot, it is characterised in that: including
Car body；
Camera is mounted on car body front end by runing rest；
Communication module is arranged in body rear end；
Walking module, including two driving wheels, retarder, driving motor, the driving wheel are arranged in one speed reducer shell one end, institute
It states speed reducer housing and is fixed on car body two sides, the retarder is arranged in speed reducer housing and connect with driving wheel, the drive
Dynamic motor is arranged in the other end of speed reducer housing and connect with retarder；
Governor circuit, setting on the car body, and are electrically connected with camera, communication module and driving motor electricity；
Locating module, locating module are installed on the car body, and are connect for GPS positioning module and with governor circuit；
Infrared sensor, setting are connect in car body surrounding, and with governor circuit；
Balance module, including electrolevel and balancing device, electrolevel setting are described flat in car body rear and front end
The device that weighs includes balance motor and balancing pole, and the balancing device is symmetricly set on car body far from driving wheel one end, balancing pole packet
Flexible part and stem are included, the horizontal plane angle between two balancing poles is 30 °；The stem is connect with balance motor, described
Flexible part is arranged in stem far from balance motor one end；The stem is concordant with ground towards its end when rotation, described
Flexible part is offset flat shape, is 7mm wide, 100mm long, end is in angular shape；The electrolevel and balance motor difference
It is electrically connected with governor circuit；
When being balanced mode, governor circuit control balance motor rotates so that flexible part contact ground and car body is remote
It is lifted from driving wheel one end, the governor circuit lifts direction and height according to the adjusting of electrolevel data.
2. a kind of intelligent walking robot according to claim 1, it is characterised in that: the car body is by acrylic board system
At.
3. a kind of intelligent walking robot according to claim 1, it is characterised in that: the camera connection is mounted on rotation
Turn the rotating electric machine on bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820936342.8U CN208393509U (en) | 2018-06-15 | 2018-06-15 | A kind of intelligence walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820936342.8U CN208393509U (en) | 2018-06-15 | 2018-06-15 | A kind of intelligence walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208393509U true CN208393509U (en) | 2019-01-18 |
Family
ID=65132670
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820936342.8U Expired - Fee Related CN208393509U (en) | 2018-06-15 | 2018-06-15 | A kind of intelligence walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208393509U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108974171A (en) * | 2018-06-15 | 2018-12-11 | 河池学院 | A kind of intelligence walking robot |
| CN112179565A (en) * | 2020-08-28 | 2021-01-05 | 南京昱晟机器人科技有限公司 | Walking balance detection system and method for biped robot |
-
2018
- 2018-06-15 CN CN201820936342.8U patent/CN208393509U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108974171A (en) * | 2018-06-15 | 2018-12-11 | 河池学院 | A kind of intelligence walking robot |
| CN112179565A (en) * | 2020-08-28 | 2021-01-05 | 南京昱晟机器人科技有限公司 | Walking balance detection system and method for biped robot |
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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: 20190118 Termination date: 20210615 |