CN208647012U - A kind of indoor and outdoor independent navigation robot car - Google Patents
A kind of indoor and outdoor independent navigation robot car Download PDFInfo
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- CN208647012U CN208647012U CN201821231130.6U CN201821231130U CN208647012U CN 208647012 U CN208647012 U CN 208647012U CN 201821231130 U CN201821231130 U CN 201821231130U CN 208647012 U CN208647012 U CN 208647012U
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- frame
- trolley
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- connecting plate
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- 239000006096 absorbing agent Substances 0.000 claims description 13
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- 230000033001 locomotion Effects 0.000 claims description 7
- 230000007613 environmental effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000009467 reduction Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
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- 238000007906 compression Methods 0.000 description 1
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Abstract
The utility model discloses a kind of indoor and outdoor independent navigation robot cars, including vehicle frame, front vehicle wheel, rear wheel, driving motor and electric cabinet；Wherein, connecting plate, the one end and vehicle frame mutually vertical rotation connection, the other end and the vertical elastic connection of vehicle frame of connecting plate of connecting plate close to trolley direction of advance are fixedly connected on driving motor；Front vehicle wheel is mutually fixedly connected with the output shaft of driving motor, and front vehicle wheel is located at one end of trolley direction of advance；Rear wheel is universal wheel, and the bracket of rear wheel mutually horizontally rotates with vehicle frame to be connect；Electric cabinet is fixedly connected on the position of centre of gravity of vehicle frame, and vehicle frame is that frame structure and being mutually permanently connected by plurality of rods part is constituted；Battery, control circuit board and sensor are fixedly connected in electric cabinet；It is electrically connected to each other between battery and control circuit board and sensor；The utility model has the advantage of trolley overall weight is light, runs smoothly, and hardware cost is low.
Description
Technical Field
The utility model relates to the technical field of robot, concretely relates to indoor outer autonomous navigation robot dolly.
Background
The robot car is a car integrated with functions of vision, navigation and the like, and is generally used for surveying a target site environment, acquiring environmental information or performing special tasks such as military, police and the like.
In the aspect of a 'lightweight' robot trolley, for example, for environments such as a campus and a community, a common robot trolley is not suitable for surveying the environment of the campus, the community or an urban road due to factors such as high hardware cost, large weight (causing slow movement, and being not sensitive and stable enough in operation).
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an indoor outer autonomous navigation robot dolly for improve the current dolly and move problem not steady enough.
In order to achieve the above purpose, the technical scheme of the utility model is that:
an indoor and outdoor autonomous navigation robot trolley comprises a frame, front wheels, rear wheels, a driving motor and an electric cabinet;
wherein, the driving motor is fixedly connected with a connecting plate, one end of the connecting plate close to the advancing direction of the trolley is vertically and rotatably connected with the frame, and the other end of the connecting plate is vertically and elastically connected with the frame;
the front wheel is fixedly connected with an output shaft of the driving motor and is positioned at one end of the advancing direction of the trolley;
the rear wheels are universal wheels, and the brackets of the rear wheels are horizontally and rotatably connected with the frame;
the electric cabinet is fixedly connected with the frame.
The utility model discloses further set up to: the front wheels are provided with a pair, and the driving motor is provided with a pair and is respectively connected with the two front wheels.
The utility model discloses further set up to: the trolley further comprises a spring shock absorber, and the connecting plate is elastically connected with the trolley frame through the spring shock absorber.
The utility model discloses further set up to: one end of the spring shock absorber is vertically and rotatably connected with the connecting plate, and the other end of the spring shock absorber is vertically and rotatably connected with the frame.
The utility model discloses further set up to: the trolley further comprises a flat-open hinge, two hinges of the flat-open hinge are respectively and fixedly connected with the connecting plate and the frame, and a central rotating shaft of the flat-open hinge is horizontal.
The utility model discloses further set up to: a battery, a control circuit board and a sensor are fixedly connected in the electric cabinet; the battery is electrically connected with the control circuit board and the sensor.
The utility model discloses further set up to: the sensor comprises a camera and an inertial sensor, the camera and the inertial sensor are respectively and electrically connected with the control circuit board, the camera is used for collecting environmental image information, and the inertial sensor is used for collecting the motion state and mileage information of the trolley.
The utility model discloses further set up to: the frame is of a frame structure and comprises a front frame, a rear frame and a beam rod, wherein the front frame and the rear frame are respectively and fixedly connected with the beam rod; the beam rod is positioned at the bottom of the frame and arranged along the advancing direction of the trolley; the front wheels are connected with the front frame, and the rear wheels are connected with the rear frame.
The utility model discloses further set up to: and a middle frame is formed between the front frame and the rear frame, and the electric cabinet is fixedly connected to the inner side of the middle frame.
The utility model discloses further set up to: the electric cabinet is positioned at the gravity center of the frame.
The utility model has the advantages of as follows:
1. the electric control phase is fixedly arranged at the gravity center position of the frame, so that the trolley is more stable in the running process;
2. the whole frame is of a frame structure, so that the whole weight of the trolley can be reduced, the flexibility of the trolley is improved, the actions of turning, braking, reversing, advancing, accelerating, decelerating and the like of the trolley are facilitated, and the response is quicker;
3. the elastic connection between the front wheel and the frame can absorb the vibration energy generated in the driving process, reduce the transmission of the vibration to the frame, reduce the influence of the vibration on the sensor and improve the detection accuracy of the sensor;
4. the rear wheels adopt universal wheels, so that the resistance between the rear wheels and the ground in the driving process can be reduced, and the turning is more flexible;
5. two driving motors drive two front wheels respectively, and turning can be realized through differential speed.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
fig. 2 is a schematic view showing a connection structure between the spring damper and the front frame in embodiment 1;
FIG. 3 is a schematic view showing a connection structure between a connection plate and a vehicle frame in embodiment 1;
fig. 4 is a schematic view showing a connection structure between a rear wheel and a frame in embodiment 1;
FIG. 5 is a schematic view showing a structure of a vehicle body frame in embodiment 1;
FIG. 6 is a schematic view showing the connection relationship of the internal components of the electric cabinet in embodiment 1;
fig. 7 is a schematic diagram showing the connection relationship of components integrated on the control circuit board in embodiment 2.
Wherein,
1. a frame; 11. a front frame; 12. a rear frame; 13. a beam; 14. a middle frame;
2. a front wheel;
3. a rear wheel;
4. a drive motor;
5. a connecting plate;
6. an electric cabinet; 61. a battery; 62. a sensor; 621. a ZED binocular stereo camera; 622. an IMU inertial measurement unit; 63. a control circuit board; 631. an ultrasonic module; 632. a GPS module; 633. a CPU/GPU; 634. a laser radar module; 635. an STM32F407 controller; 636. a driver; 637. 2500 line photoelectric encoder;
7. a flat-open hinge;
8. a spring damper;
9. a reduction gearbox.
Detailed Description
The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
Example 1
An indoor and outdoor autonomous navigation robot trolley is shown in a general graph 1 and a general graph 2 and comprises a trolley frame 1, front wheels 2, rear wheels 3, a driving motor 4 and an electric cabinet 6; wherein, the driving motor 4 is fixedly connected with a connecting plate 5, one end of the connecting plate 5 close to the advancing direction of the trolley is vertically and rotatably connected with the frame 1, and the other end of the connecting plate 5 is vertically and elastically connected with the frame 1; the trolley further comprises a flat-open hinge 7, two hinges of the flat-open hinge 7 are respectively and fixedly connected with the connecting plate 5 and the frame 1, a central rotating shaft of the flat-open hinge 7 is horizontal, and the connecting plate 5 is vertically and rotatably connected with the frame 1 through the flat-open hinge 7. Referring to fig. 3, the trolley further comprises a spring damper 8, and the connecting plate 5 is elastically connected with the frame 1 through the spring damper 8. One end of the spring shock absorber 8 is vertically and rotatably connected with the connecting plate 5, and the other end of the spring shock absorber is vertically and rotatably connected with the frame 1.
After the front wheel 2 produces vibrations when rolling along ground, front wheel 2 can drive connecting plate 5 around the vertical rotation of the central pivot of flat-open hinge 7 and compression or extension spring bumper shock absorber 8, and the extension simultaneously or shorten with connecting plate 5 and the vertical relative rotation of frame 1 respectively in spring bumper shock absorber 8 both ends, and spring bumper shock absorber 8 can absorb the vibrations that produce in the 2 motion processes of front wheel, reduces vibrations to the vibrations of electric cabinet 6 transmissions, and the dolly is gone more steadily.
With reference to fig. 1 and 2, the front wheel 2 is fixedly connected with an output shaft of a driving motor 4, and the front wheel 2 is positioned at one end of the trolley in the advancing direction; the front wheels 2 are provided with a pair, and the driving motor 4 is provided with a pair and is respectively connected with the two front wheels 2; the two driving motors 4 can respectively control the rotating speeds of the two front wheels 2 through differential speed so as to control the turning of the trolley.
As shown in fig. 4, the rear wheel 3 is a universal wheel, and the bracket of the rear wheel 3 is horizontally and rotatably connected with the frame 1; when the trolley turns, the central rotating shaft of the universal wheel can rotate relative to the frame 1 along the horizontal direction, so that the resistance applied in the driving process can be reduced, and the flexibility of the trolley is improved.
With reference to fig. 5, the frame 1 is a frame structure, and the frame is formed by welding and fixing a plurality of rod members, so that the overall weight of the trolley can be reduced, the resistance of the trolley in the running process can be reduced, the physical inertia of the trolley can be reduced, and the flexibility of the trolley can be improved. The frame 1 comprises a front frame 11, a rear frame 12 and a beam rod 13, wherein the front frame 11 and the rear frame 12 are respectively fixedly connected with the beam rod 13; the beam rod 13 is positioned at the bottom of the frame 1 and arranged along the advancing direction of the trolley; the front wheels 2 are connected to the front frame 11, and the rear wheels 3 are connected to the rear frame 12.
An intermediate frame 14 is formed between the front frame 11 and the rear frame 12, the electric cabinet 6 is fixedly connected to the inner side of the intermediate frame 14, and the electric cabinet 6 is positioned at the gravity center position of the frame 1. The vibration of the electric control box 6 when the trolley jolts can be reduced, the physical inertia acting force of the two sides, the front end, the rear end, the upper part and the lower part of the trolley in the motion process is relatively more balanced, and the running process is more stable.
As shown in fig. 6, a battery 61, a control circuit board 63 and a sensor 62 are fixedly connected in the electric cabinet 6; the battery 61 and the control circuit board 63 and the sensor 62 are electrically connected to each other. The sensor 62 comprises a camera and an inertial sensor, the camera adopts a ZED binocular stereo camera 621, the inertial sensor adopts an IMU inertial measurement unit 622, the camera and the inertial sensor are respectively and electrically connected with the control circuit board 63, the camera is used for collecting environmental image information, and the inertial sensor is used for collecting the motion state and mileage information of the trolley.
Example 2
An indoor and outdoor autonomous navigation robot trolley is shown in fig. 7, and is different from embodiment 1 in that an ultrasonic module 631, a GPS module 632, a CPU/GPU633, a lidar module 634, an STM32F407 controller 635, a driver 636, and a 2500-line photoelectric encoder 637 are integrated on a control circuit board 63, and the trolley further includes a reduction gearbox 9, wherein the ultrasonic module 631, the ZED binocular stereo camera 621, the GPS module 632, the IMU inertial measurement unit 622, the lidar module 634, and the STM32F407 controller 635 are respectively in communication connection with the CPU/GPU633, the driver 636 is in communication connection with the STM32F407 controller 635, the driver 636 is in communication connection with the 2500-line photoelectric encoder 637, the driver 636 is electrically connected with the reduction gearbox 9, and the reduction gearbox 9 is in transmission connection with a driving motor 4.
The ultrasonic module 631 is used for acoustically detecting obstacles in the environment to ensure that the vehicle can normally observe the surrounding environment in a dark environment. The GPS module 632 is used to position and navigate the car, thereby improving the navigation accuracy. The optical radar is used for detecting the movement speed of an object in the surrounding environment of the trolley relative to the trolley and measuring the relative distance between the trolley and the object in the surrounding environment.
Although the invention has been described in detail with respect to the general description and the specific embodiments, it will be apparent to those skilled in the art that modifications and improvements can be made based on the invention. Therefore, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (10)
1. The utility model provides an indoor outer autonomous navigation robot dolly, characterized by: comprises a frame (1), a front wheel (2), a rear wheel (3), a driving motor (4) and an electric cabinet (6);
wherein, the driving motor (4) is fixedly connected with a connecting plate (5), one end of the connecting plate (5) close to the advancing direction of the trolley is vertically and rotatably connected with the trolley frame (1), and the other end of the connecting plate (5) is vertically and elastically connected with the trolley frame (1);
the front wheel (2) is fixedly connected with an output shaft of the driving motor (4), and the front wheel (2) is positioned at one end of the trolley in the advancing direction;
the rear wheels (3) are universal wheels, and the supports of the rear wheels (3) are horizontally and rotatably connected with the frame (1);
the electric cabinet (6) is fixedly connected with the frame (1).
2. The indoor and outdoor autonomous navigation robot trolley according to claim 1, characterized in that: the front wheels (2) are provided with a pair, and the driving motors (4) are provided with a pair and are respectively connected with the two front wheels (2).
3. The indoor and outdoor autonomous navigation robot trolley according to claim 1, characterized in that: the trolley further comprises a spring shock absorber (8), and the connecting plate (5) is elastically connected with the trolley frame (1) through the spring shock absorber (8).
4. The indoor and outdoor autonomous navigation robot trolley according to claim 3, characterized in that: one end of the spring shock absorber (8) is vertically and rotatably connected with the connecting plate (5), and the other end of the spring shock absorber is vertically and rotatably connected with the frame (1).
5. The indoor and outdoor autonomous navigation robot trolley according to claim 1, characterized in that: the trolley further comprises a flat-open hinge (7), two hinges of the flat-open hinge (7) are respectively and fixedly connected with the connecting plate (5) and the trolley frame (1), and a central rotating shaft of the flat-open hinge (7) is horizontal.
6. The indoor and outdoor autonomous navigation robot trolley according to claim 1, characterized in that: a battery (61), a control circuit board (63) and a sensor (62) are fixedly connected in the electric cabinet (6); the battery (61) is electrically connected with the control circuit board (63) and the sensor (62).
7. The indoor and outdoor autonomous navigation robot trolley according to claim 6, characterized in that: the sensor (62) comprises a camera and an inertia sensor, the camera and the inertia sensor are respectively and electrically connected with the control circuit board (63), the camera is used for collecting environmental image information, and the inertia sensor is used for collecting the motion state and mileage information of the trolley.
8. The indoor and outdoor autonomous navigation robot trolley according to claim 1, characterized in that: the frame (1) is of a frame structure, the frame (1) comprises a front frame (11), a rear frame (12) and a beam rod (13), and the front frame (11) and the rear frame (12) are respectively and fixedly connected with the beam rod (13); the beam rod (13) is positioned at the bottom of the frame (1) and arranged along the advancing direction of the trolley; the front wheels (2) are connected with a front frame (11), and the rear wheels (3) are connected with a rear frame (12).
9. The indoor and outdoor autonomous navigation robot trolley according to claim 8, characterized in that: an intermediate frame (14) is formed between the front frame (11) and the rear frame (12), and the electric cabinet (6) is fixedly connected to the inner side of the intermediate frame (14).
10. The indoor and outdoor autonomous navigation robot trolley according to claim 9, characterized in that: the electric control box (6) is positioned at the gravity center of the frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821231130.6U CN208647012U (en) | 2018-08-01 | 2018-08-01 | A kind of indoor and outdoor independent navigation robot car |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821231130.6U CN208647012U (en) | 2018-08-01 | 2018-08-01 | A kind of indoor and outdoor independent navigation robot car |
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| Publication Number | Publication Date |
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| CN208647012U true CN208647012U (en) | 2019-03-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821231130.6U Expired - Fee Related CN208647012U (en) | 2018-08-01 | 2018-08-01 | A kind of indoor and outdoor independent navigation robot car |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116215700A (en) * | 2023-03-28 | 2023-06-06 | 广州高新兴机器人有限公司 | Robot chassis and robot |
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2018
- 2018-08-01 CN CN201821231130.6U patent/CN208647012U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116215700A (en) * | 2023-03-28 | 2023-06-06 | 广州高新兴机器人有限公司 | Robot chassis and robot |
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| 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: 20190326 Termination date: 20210801 |