CN209551723U - A kind of automatic crusing robot - Google Patents

Abstract

A kind of automatic crusing robot, including chassis assembly, housing unit and control assembly, the chassis assembly includes chassis overhang, the two wheel body components for being respectively arranged on chassis overhang two sides of the bottom, and the battery modules being electrically connected on chassis overhang and with control assembly, housing unit includes covering at the shell above chassis overhang and the information collecting device on shell, and information collecting device and control assembly are electrically connected.In the utility model, chassis assembly, housing unit and control assembly are subjected to modularized design convenient for installation, disassembly and the maintenance between three modules；Simultaneously, in this three big module, battery modules and information collecting device and control assembly are electrically connected, and information collecting device is for acquiring various external environmental informations and feeding back to control assembly, so that control assembly can control robot motion direction speed, the intellectually and automatically of inspection is realized.

Description

A kind of automatic crusing robot

Technical field

The utility model relates to robotic technology fields, especially provide a kind of automatic crusing robot.

Background technique

Now, robot inspection becomes a kind of future developing trend.Especially it is high-risk, severe, repeat operation environment at Have many advantages, such as that movement velocity is fast, running noises are small and easy to maintain to substitute the primary selection crusing robot of manual inspection. But there is the disadvantages of maintenance inconvenience, not smart enough in the design of most of existing inspection cars, cause using limited.

Utility model content

The purpose of this utility model is to provide a kind of automatic crusing robots, it is intended to solve existing inspection in the prior art There is maintenance inconvenience, technical problem not smart enough in the design of vehicle.

A kind of in order to achieve the above purposes, the technical solution adopted by the utility model is: automatic crusing robot, including chassis Component, housing unit and control assembly, the chassis assembly include chassis overhang, are respectively arranged on the chassis overhang bottom two Two wheel body components of side, and the battery modules being electrically connected on the chassis overhang and with the control assembly, it is described Housing unit includes covering at the shell above the chassis overhang and the information collecting device on the shell, described Information collecting device and the control assembly are electrically connected.

Further, each wheel body component includes front-wheel and rear-wheel, and two rear-wheels are driving wheel, and two front-wheels are The suspension for vibration damping is equipped with for the universal wheel of steering, between each rear-wheel and the chassis overhang.

Further, the battery modules be set to the chassis overhang bottom, and be located at two front-wheels and two it is described after Between wheel.

Further, the control assembly includes control cabinet and the first controller and second controller, first control Device processed is isolated in the different zones for being placed in the control cabinet with the second controller, first controller and the information Acquisition device is electrically connected, and the second controller and the battery modules are electrically connected.

Further, the control cabinet is horizontally placed at the top of the chassis overhang, and the side of the control cabinet is additionally provided with Control cabinet, the control cabinet are equipped with the first control being electrically connected respectively with first controller and the second controller Switch and the second control switch.

Further, the information collecting device includes holder, stretches out a cloud in the shell and by the case top Platform bracket, the holder are set on the holder bracket.

Further, the shell includes the face-piece covered on the chassis overhang and is convexly equipped at the top of the face-piece Overhead guard, articulated structure is equipped between the front end of the face-piece and the chassis overhang, is additionally provided with and can prop up on the chassis overhang The face-piece is supportted along the support cylinder of the linkwork rotating opening.

Further, the information collecting device further includes radar installations, photographic device, pickup on the shell Device, GPS positioning device, the radar installations, photographic device, sound pick-up, GPS positioning device electrically connect with the control assembly It connects.

Further, the radar installations includes set on the case top and positioned at the laser radar in front, Yi Jifen Not She Yu on the left of the shell, multiple ultrasonic radars of right side and rear side.

Further, the photographic device includes depth of field camera on front side of the shell and is set to the shell Multiple monitoring cameras in left side, right side and rear side.

The utility model has the beneficial effects that

In the utility model, it is big that automatic crusing robot is divided into chassis assembly, housing unit and control assembly three Module, wherein chassis assembly is located at housing bottom, plays a supporting role, and control assembly is placed in housing unit, housing unit pair It plays protective action, and this modularized design divides more rationally in structure, convenient for the installation and removal between three modules, and And it is also convenient for carrying out independent maintenance to each module；Meanwhile in this three big module, battery modules and information collecting device and control Component is electrically connected, and information collecting device is for acquiring various external environmental informations and feeding back to control assembly, so that control group Part can control two front wheels and two rear-wheels carry out direction and movement adjusts, and realize the intellectually and automatically of inspection.

Detailed description of the invention

It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new Some embodiments of type for those of ordinary skill in the art without any creative labor, can be with It obtains other drawings based on these drawings.

Fig. 1 is the structural schematic diagram of automatic crusing robot provided by the embodiment of the utility model；

Fig. 2 is the decomposition diagram of automatic crusing robot provided by the embodiment of the utility model；

Fig. 3 is another decomposition diagram of automatic crusing robot provided by the embodiment of the utility model；

Fig. 4 is that the structure of chassis assembly and control assembly is shown in automatic crusing robot provided by the embodiment of the utility model It is intended to；

Fig. 5 is knot when face-piece is opened with respect to chassis overhang in automatic crusing robot provided by the embodiment of the utility model Structure schematic diagram；

Fig. 6 is the structural schematic diagram of face-piece component in automatic crusing robot provided by the embodiment of the utility model；

Fig. 7 is the decomposition diagram of face-piece component in automatic crusing robot provided by the embodiment of the utility model；

Wherein, each appended drawing reference in figure:

100- chassis assembly；110- chassis overhang；120- front-wheel；130- rear-wheel；140- battery modules；150- suspension system System；The first fixed frame of 160-；200- housing unit；210- shell；211- face-piece；212- overhead guard；220- holder；230- holder branch Frame；The second fixed frame of 231-；232- braced frame；240- articulated structure；250- supports cylinder；261- laser radar；262- is super Sound radar；271- depth of field camera；272- monitoring camera；280- sound pick-up；290-GPS positioning device；291- loudspeaker dress It sets；292- noise disperser；293-LED lamp group；295- antenna；300- control assembly；310- control cabinet；320- control cabinet； The first control switch of 330-；The second control switch of 340-.

Specific embodiment

The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and should not be understood as to the utility model Limitation.

In the description of the present invention, it should be understood that term " length ", " width ", "upper", "lower", " preceding ", The orientation or positional relationship of the instructions such as " rear ", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached Orientation or positional relationship shown in figure, is merely for convenience of describing the present invention and simplifying the description, rather than indication or suggestion Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this The limitation of utility model.

In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or Implicitly include one or more of the features.The meaning of " plurality " is two or two in the description of the present invention, More than, unless otherwise specifically defined.

In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary The interaction relationship of connection or two elements inside element.It for the ordinary skill in the art, can basis Concrete condition understands the concrete meaning of above-mentioned term in the present invention.

Please refer to Fig. 1, Fig. 2, a kind of automatic crusing robot provided by the embodiment of the utility model, including chassis assembly 100, housing unit 200 and control assembly 300.Wherein, chassis assembly 100 includes chassis overhang 110, is respectively arranged on chassis overhang Two wheel body components of 110 two sides of the bottom, and the battery mould being electrically connected on chassis overhang 110 and with control assembly 300 Group 140, housing unit 200 include that the shell 210 for covering at 110 top of chassis overhang and the information on shell 210 are adopted Acquisition means, information collecting device and control assembly 300 are electrically connected.

In the present embodiment, automatic crusing robot is divided into chassis assembly 100, housing unit 200 and control assembly 300 3 big modules, wherein chassis assembly 100 is located at 210 bottom of shell, plays a supporting role, and control assembly 300 is placed in shell In component 200, housing unit 200 plays protective action to it, and it is more reasonable that this modularized design makes to divide, convenient for three modules it Between installation and removal, moreover, be also convenient for each module carry out independent maintenance；Meanwhile in this three big module, battery modules 140 And information collecting device and control assembly 300 are electrically connected, information collecting device is for acquiring various external environmental informations and anti- Control assembly of feeding 300 realizes inspection so that control assembly 300 can control two wheel body components and carry out direction and movement adjustment Intellectually and automatically.

Specifically, referring to Fig. 3, Fig. 4, the frame structure of the substantially rectangular-shape of chassis overhang 110.Each wheel body component includes Front-wheel 120 and two rear-wheels 130, two front wheels 120 are respectively arranged on the two sides of 110 front of chassis overhang, and two rear-wheels 130 are respectively arranged on bottom The two sides at 110 rear portion of disc carrier.Wherein, front-wheel 120 is the universal wheel for steering, and rear-wheel 130 is driving crusing robot The driving wheel of movement.Specifically, two rear-wheels 130 can be driven by external driving device, rear-wheel 130 can also be designed as wheel hub Motor comes with closed loop speed control system in hub motor, and driving motor is integrated in wheel hub.Either built in driving motor Or external, driving motor is electrically connected with control assembly 300, the ring that control assembly 300 is fed back according to information collecting device Border information is issued to driving motor and is instructed, so that rear-wheel 130 can make the adjustment of direction and speed, is realized automatically, more intelligent Ground inspection.And in order to improve stationarity when rear-wheel 130 moves, it is equipped between each rear-wheel 130 and chassis overhang 110 for driving Rear-wheel 130 moves up the suspension 150 moved down with vibration damping.When robot is when smooth-riding surface is walked, chassis overhang 110 is equal to Common wheel chassis；And when encountering rough ground, drive rear-wheel 130 with slope by the elastic tonality effect of suspension 150 Face moves up or moves down with pit, and rear-wheel 130 is allowed to fit in ground always without vacantly skidding, and guarantees the steady of traveling Property.The structure of the suspension 150 is that can be applied to the common suspension 150 such as automobile, and details are not described herein again.Certainly, In other embodiments, the wheel body component may be crawler type wheel body.

In the present embodiment, below chassis overhang 110, and the first fixed frame is equipped between front-wheel 120 and rear-wheel 130 160, battery modules 140 are placed in the first clamped frame 160, are securely fixed in battery modules 140 using the first clamped frame 160 110 lower section of chassis overhang, is not take up chassis top structure, and will not cause to interfere to the movement of front-wheel 120 and rear-wheel 130.

Further, in this embodiment being additionally provided with heating device (not shown) in 110 bottom of chassis overhang.Heating Device can at low ambient temperatures can heat battery modules 140, to guarantee that battery modules 140 can make at low ambient temperatures With.Specifically, battery modules 140 are lithium battery.Lithium battery is easy to use, and convenient for charging.

Referring to Fig. 4, Fig. 5, control assembly 300 is placed on chassis overhang 110 and is located in shell 210.Control assembly 300 is wrapped Control cabinet 310 and the first controller and second controller (not shown) are included, the first controller is isolated with second controller It is placed in the different zones in control cabinet 310, wherein the first controller and information collecting device are electrically connected, the second control Device and battery modules 140 are electrically connected.In such a way that this classification and isolation are placed, not only facilitate to each region internal controller It is safeguarded, moreover, isolation structure is also convenient for carrying out protection design respectively to each region, such as designs waterproof sealing in each region Structure, moreover, this separated corresponding mode being electrically connected, the wiring being also convenient in control cabinet 310 keep internal structure tighter It gathers, more rationally.

In the present embodiment, control cabinet 310 is substantially in flat cubic, and control cabinet 310 is horizontally placed at chassis overhang 110 Top is additionally provided with control cabinet 320 in the side of control cabinet 310, and control cabinet 320 is equipped with to be controlled with the first controller and second respectively The first control switch 330 and the second control switch 340 that device processed is electrically connected.Specifically, the first controller is opened with the first control It closes between 330, be electrically connected between second controller and the second control switch 340 by connection or connector.First control Switch 330 and the quantity of the second control switch 340 are unlimited, can be designed according to each control function.

In the present embodiment, referring to Fig. 2, information collecting device includes holder 220, and shell 210 is interior and by stretching at the top of shell 210 A holder bracket 230 out, holder 220 are set on holder bracket 230.In the present embodiment, holder 220 is that visible light and thermal imaging are double Mesh holder.Visible light and thermal imaging binocular holder are not influenced and the severe rings such as smog sleet haze by conditions such as light, low-light (level)s The control in border, no matter daytime or night, can the clearly different object of resolved temperature, clearly video image is provided, can It realizes a wide range of, long range monitoring, crusing robot is made to can be applied to more fields, such as station, airport security, side ocean patrol are anti- Deng.

And holder bracket 230 includes the second fixed frame 231 being located on control cabinet 310 and is fixed on the second fixed frame Braced frame 232 on 231, holder 220 are set to 232 top of braced frame.

Referring to Fig. 5, Fig. 6, in the present embodiment, the generally car crust moulding of shell 210, shell 210 is steelwork.Using Steelwork improves explosion-proof destructiveness, can be used for patrolling for specific area while guaranteeing that shell 210 has certain rigidity, intensity Inspection.Specifically, shell 210 includes the face-piece 211 covered on chassis overhang 110 and the overhead guard for being convexly equipped in 211 top of face-piece 212, holder bracket 230 is stretched out by overhead guard 212, and articulated structure 240, bottom are equipped between the front end and chassis overhang 110 of face-piece 211 Sustainable face-piece 211 is additionally provided on disc carrier 110 along the support cylinder 250 of linkwork rotating opening.By the way that hinged knot is arranged The front end of structure 240, the front end for making face-piece 211 and chassis overhang 110 can be rotated around articulated structure 240, in this way, with articulated structure 240 be supporting point, can open face-piece 211 with respect to chassis overhang 110, convenient to safeguard to the device in shell 210.Together When, it is more labor-saving when in order to enable to open face-piece 211, and it is able to maintain opening state, sustainable face-piece is set on chassis overhang 110 211 support cylinder 250.When needing to open face-piece 211, the piston of cylinder is displaced outwardly inclination ejection face-piece 211 upwards, when When needing to be closed, then the piston rod of cylinder is withdrawn.

Referring to Fig. 7, information collecting device includes a variety of devices, is respectively arranged on 210 different location of shell, is used for different positions It sets, the acquisition of different information.Specifically, information collecting device further includes radar installations, photographic device 270, sound pick-up 280, GPS Positioning device 290, radar installations 260, photographic device, sound pick-up 280, GPS positioning device 290 are and in control assembly 300 First controller is electrically connected.

Further, radar installations includes the laser radar 261 set on 211 top of face-piece and positioned at 212 front of overhead guard, with And it is respectively arranged on multiple ultrasonic radars 262 of 211 left side of face-piece, right side and rear side.Laser radar 261 can launch outward laser Beam detects target, to obtain target for information about, such as distance, orientation, height, speed, posture, even shape. Due to front position be crusing robot most probable meet barrier direction, laser radar 261 setting front and position it is higher, To be detected from higher, wider array of visual angle to front region.And ultrasonic radar 262 to external emission ultrasonic wave by believing Number, ultrasonic wave is propagated in air, is encountered target back reflection and is returned and receive, since the aerial propagation of ultrasonic wave is by weather It is affected, therefore is relatively suitble to short distance detection, therefore the detection for crusing robot two sides and rear area target, detection accuracy It is required that it is relatively low, therefore can be completed by multiple ultrasonic radars 262.

Further, in this embodiment photographic device includes being set to the depth of field camera 271 of 211 front side of face-piece and setting In multiple monitoring cameras 272 of 211 left side of face-piece, right side and rear side.Needle is carried out by 271 pairs of front scenery of depth of field camera Property is identified, avoids touching barrier；And multiple monitoring cameras 272 then supervise crusing robot ambient enviroment in real time Control, so that the situation to happen suddenly around its reply in time.

Further, loudspeaker device 291 is additionally provided on front side of face-piece 211, loudspeaker device 291 is electrically connected with the first controller, Meanwhile noise disperser 292 is additionally provided on front side of face-piece 211, noise disperser 292 is also electrically connected with the first controller.This implementation In example, the performers such as loudspeaker device 291, noise disperser 292 are set on face-piece 211, and the first controller is according to above-mentioned letter The information for ceasing acquisition device feedback, not only can control chassis assembly 100 and makes corresponding movement, while can also be held by above-mentioned Row device carries out early warning and preliminary execution to inspection emergency case, such as issues voice prompting sound by loudspeaker device 291 or leads to It crosses noise disperser 292 and issues noise etc..

Further, 211 front side of face-piece is also symmetrically arranged with two groups of LED light groups 293, two groups of LED light groups 293 and the first control Device electrical connection.By two groups of LED light groups 293, front environment is illuminated, to adapt to different application and different time Inspection demand.Above-mentioned loudspeaker device 291 is two groups, is respectively arranged on 211 front of face-piece, and two groups of LED light groups 293 are located at The top of two loudspeaker devices 291 position rearward.

Specifically, overhead guard 212 is equipped with cylinder 294, and GPS positioning device 290 is set in cylinder 294, also sets in cylinder 294 There is the mutiple antennas 295 being electrically connected with GPS positioning device 290, antenna 295 is connect with the first controller communication.GPS positioning device 290 receive signal by antenna, are accurately positioned in real time to realize.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model Protection scope within.

Claims (10)

1. a kind of automatic crusing robot, it is characterised in that: including chassis assembly, housing unit and control assembly, the bottom Disk component includes chassis overhang, the two wheel body components for being respectively arranged on the chassis overhang two sides of the bottom, and is set to the chassis The battery modules being electrically connected on bracket and with the control assembly, the housing unit include covering on the chassis overhang The shell and the information collecting device on the shell, the information collecting device of side electrically connect with the control assembly It connects.

2. automatic crusing robot as described in claim 1, it is characterised in that: each wheel body component include front-wheel and after Wheel, two rear-wheels are driving wheel, and two front-wheels are universal wheel for steering, each rear-wheel and the chassis overhang it Between be equipped with for vibration damping suspension.

3. automatic crusing robot as claimed in claim 2, it is characterised in that: the battery modules are set to the chassis overhang Bottom, and between two front-wheels and two rear-wheels.

4. automatic crusing robot as described in claim 1, it is characterised in that: the control assembly includes control cabinet and The difference for being placed in the control cabinet is isolated with the second controller for one controller and second controller, first controller In region, first controller and the information collecting device are electrically connected, the second controller and the battery modules It is electrically connected.

5. automatic crusing robot as claimed in claim 4, it is characterised in that: the control cabinet is horizontally placed at the chassis branch Top of the trellis, and the side of the control cabinet is additionally provided with control cabinet, the control cabinet be equipped with respectively with first controller and The first control switch and the second control switch that the second controller is electrically connected.

6. automatic crusing robot as claimed in claim 4, it is characterised in that: the information collecting device includes holder, institute It states in shell and a holder bracket is stretched out by the case top, the holder is set on the holder bracket.

7. automatic crusing robot as described in claim 1, it is characterised in that: the shell includes covering at the chassis branch Face-piece on frame and the overhead guard being convexly equipped at the top of the face-piece, are equipped with hinge between the front end of the face-piece and the chassis overhang Binding structure, being additionally provided on the chassis overhang can support the face-piece along the support cylinder of the linkwork rotating opening.

8. automatic crusing robot as described in claim 1, it is characterised in that: the information collecting device further includes being set to institute State radar installations, photographic device, the sound pick-up, GPS positioning device on shell, the radar installations, photographic device, sound pick-up, GPS positioning device is electrically connected with the control assembly.

9. automatic crusing robot as claimed in claim 8, it is characterised in that: the radar installations includes being set to the shell Top and the laser radar for being located at front, and it is respectively arranged on multiple ultrasonic radars of the shell left side, right side and rear side.

10. automatic crusing robot as claimed in claim 8, it is characterised in that: the photographic device includes being set to the shell Depth of field camera on front side of body and multiple monitoring cameras set on the shell left side, right side and rear side.