CN211995920U - Wheel type robot shocks resistance - Google Patents
Wheel type robot shocks resistance Download PDFInfo
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- CN211995920U CN211995920U CN202020064256.XU CN202020064256U CN211995920U CN 211995920 U CN211995920 U CN 211995920U CN 202020064256 U CN202020064256 U CN 202020064256U CN 211995920 U CN211995920 U CN 211995920U
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Abstract
The utility model discloses an impact-resistant wheel type robot, which comprises a vehicle body; wheel sets are arranged on two sides of the vehicle body, and each wheel set comprises a wheel and a support assembly, wherein a wheel bearing is arranged in the center of the support assembly; the car body comprises a bottom jointed board and a top jointed board, wherein side jointed boards are arranged on two sides of the bottom jointed board and the top jointed board in a separated mode, end jointed boards are arranged on two sides of the bottom jointed board and the top jointed board in a separated mode, each jointed board is fixedly connected with the supporting component through bolts, and adjacent sides of the jointed boards are connected through rubber shock absorption strips. The utility model discloses a wheeled robot shocks resistance's shock resistance is effectual, long service life.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a wheeled robot shocks resistance.
Background
The throwing type miniature intelligent detection robot can be used for realizing rapid deployment in a throwing mode in an accident scene where rescue workers cannot approach or are not suitable for entering, and actively detecting the condition of a fire scene. On one hand, the fire-fighting personnel can be replaced to enter the accident scene which is not suitable for the entry of human beings, and the personal safety is ensured; on the other hand, rapid deployment of the cast also increases disaster response speed.
The existing robot generally adopts a structure with a framework (a rigid frame), the shock resistance is mainly realized by tires, but the deformation of the tires is greatly limited, and the shock can be still transmitted to a vehicle body through a wheel set. The body of the rigid frame can ensure enough mechanical strength to prevent the robot from being disassembled by impact, but the problem is that the impact transmitted by the wheels can be transmitted to internal mechanical and electronic components by the rigid frame to cause early damage of the internal components.
SUMMERY OF THE UTILITY MODEL
In view of the above-mentioned drawbacks and deficiencies of the prior art, it is desirable to provide an impact-resistant wheeled robot having a multiple impact-resistant structure, a good impact-resistant effect, and a long service life.
The utility model provides an impact-resistant wheel type robot, which comprises a vehicle body; wheel sets are symmetrically arranged on two sides of the vehicle body along the driving direction, and each wheel set comprises a wheel and a support assembly, wherein a wheel bearing is arranged in the center of the support assembly; the support assembly includes: the rubber anti-collision block is provided with a bearing seat and a rubber anti-collision block, wherein the bearing seat is provided with a contact surface which is respectively contacted with each jointed board, and the rubber anti-collision block is opposite to the contact surface of the bearing seat and clamps and fixes each jointed board;
the automobile body is a plurality of the makeup concatenation forms, and is a plurality of the makeup includes end makeup, top makeup, side makeup and end makeup, end makeup with be provided with along the both sides separation of direction of travel between the makeup of top the side makeup, end makeup with be provided with along the both ends separation of direction of travel between the makeup of top the end makeup, each the makeup all through the bolt with supporting component fixed connection, each adjacent limit is connected through rubber shock strip between the makeup each other.
Preferably, the material of each jointed board is carbon fiber.
Preferably, the top and bottom of the wheel protrude from the top and bottom panels of the vehicle body in the height direction, respectively.
Preferably, the wheel set is provided with a driving mechanism capable of driving the wheel set to rotate in two directions, an electric control assembly is arranged in the vehicle body, and the driving mechanism is electrically connected with the electric control assembly.
Preferably, a transmission shaft sleeved with the wheel bearing is arranged on the axle center of the wheel; the driving mechanism comprises a driving motor, and an output shaft of the driving motor is in transmission connection with the transmission shaft through an elastic coupling.
Preferably, automatically controlled subassembly including fixed set up in mounting bracket in the automobile body, fixed mounting has automatically controlled board on the mounting bracket, lie in on the mounting bracket one side fixed mounting of automatically controlled board has the battery module, the internal fixed communication module that is provided with of automobile, the battery module reaches the communication module all with automatically controlled board electricity is connected.
Preferably, a camera assembly is arranged on the vehicle body and electrically connected with the electronic control assembly.
Preferably, two end jointed boards are provided with two groups of distance sensor assemblies, a gas sensor assembly is arranged on any end jointed board, and the distance sensor assemblies and the gas sensor assemblies are electrically connected with the electric control assembly.
Preferably, a layer of fireproof heat-insulating paint is uniformly sprayed on the outer wall surface of the vehicle body.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model discloses a wheeled robot shocks resistance is provided with two-stage shock-absorbing structure, and the first order shock-absorbing structure comprises wheel and rubber anticollision piece, and when the robot throws the moment of landing, the wheel can directly contact with ground, absorbs the impact force that produces in the collision process, and all wheels can compress in the collision moment, can absorb a part of impact force in the bounce process, play the first order shock-absorbing effect that shocks resistance;
the second-stage damping structure is formed by connecting the jointed plates by utilizing a support component (bearing seat) of the wheel set to form a vehicle body, so that the vehicle body forms a frameless (rigid frame) structure. Impact transmitted from the wheels is transmitted to the jointed boards forming the vehicle body through the supporting components, so that each jointed board can obtain larger deformation and prolong the action time of the allergic force, the impact transmitted to the vehicle body (each jointed board) is absorbed by the deformation of the vehicle body (each jointed board) to a great extent, the impact transmitted to the internal components is obviously reduced, and the second-stage impact-resistant and shock-absorbing effect is effectively achieved. Meanwhile, the rubber shock absorption strips are arranged at the joints of the plates, so that the shock resistance effect of the vehicle body is further improved. Therefore, compared with the prior robot vehicle body with a framework (rigid frame), the robot of the invention can effectively disperse the impact received during the driving, ensure the long-term stable operation of the internal components and has good impact resistance.
It should be understood that what is described in this summary section is not intended to limit key or critical features of embodiments of the invention, nor is it intended to limit the scope of the invention. Other features of the present invention will become apparent from the following description.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
fig. 1 is a schematic structural diagram of an impact-resistant wheeled robot according to an embodiment of the present invention;
fig. 2 is a schematic view of the internal structure of the impact-resistant wheeled robot;
FIG. 3 is a schematic structural diagram of a wheel set;
FIG. 4 is a schematic view of the mounting structure of the support assembly to the vehicle body;
FIG. 5 is a schematic view of the driving mechanism;
fig. 6 is a schematic structural diagram of the electronic control assembly.
Reference numbers in the figures: 1. a vehicle body; 2. a wheel set; 3. a drive mechanism; 4. an electronic control assembly; 5. a camera assembly; 6. a distance sensor assembly; 7. a gas sensor assembly.
11. A bottom jointed board; 12. a top jointed board; 13. side jointed boards; 14. end splicing plates; 15. a rubber shock-absorbing strip;
21. a wheel; 22. a wheel bearing; 23. a support assembly; 24. a drive shaft; 31. a drive motor; 32. an elastic coupling; 33. a pulley; 34. a transmission belt;
41. a mounting frame; 42. an electric control board; 43. a battery module; 44. a communication module;
231. a bearing seat; 232. a rubber anti-collision block.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Referring to fig. 1 to 4, an embodiment of the present invention provides an impact-resistant wheeled robot, including a vehicle body 1; wheel sets 2 are symmetrically arranged on two sides of the vehicle body 1 along the running direction, and each wheel set 2 comprises a wheel 21 and a support assembly 23 with a wheel bearing 22 in the center; the support assembly 23 includes: a bearing seat 231 with contact surfaces respectively contacted with the jointed boards and a rubber anti-collision block 232 which is opposite to the contact surface of the bearing seat 231 and clamps and fixes the jointed boards;
the automobile body 1 is formed by splicing a plurality of jointed boards, the jointed boards comprise a bottom jointed board 11, a top jointed board 12, side jointed boards 13 and end jointed boards 14, the side jointed boards 13 are arranged between the bottom jointed board 11 and the top jointed board 12 along the separation of two sides of the traveling direction, the end jointed boards 14 are arranged between the bottom jointed board 11 and the top jointed board 12 along the separation of two ends of the traveling direction, each jointed board is fixedly connected with a supporting component 23 through a bolt, and the adjacent edges of the jointed boards are connected through rubber shock-absorbing strips 15.
In the present embodiment, the traveling direction of the vehicle body 1 refers to a direction in which the robot travels straight forward or backward. Each panel is referred to as a bottom panel 11, a top panel 12, a side panel 13, and an end panel 14.
The impact resistance of the robot is completed in two stages, the first stage is completed by the wheels 21, when the robot is thrown to the ground, the wheels 21 are in direct contact with the ground to absorb impact force generated in the collision process, all the wheels 21 are compressed at the collision moment and absorb a part of the impact force in the bounce process, and the rest most of the impact force is transmitted to the vehicle body 1 through the supporting component 23.
The second-stage impact-resistant vehicle body 1 adopts a skeleton-free structure spliced by all jointed boards, and comprises an upper jointed board, a lower jointed board, a left jointed board, a right jointed board, a front jointed board and a rear jointed board which are independent mutually, and all the jointed boards are fixedly connected with the supporting component 23 through bolts respectively. When the robot is thrown to bear impact force, the vehicle body 1 can obtain larger deformation, the action time of the stress is prolonged, the destructive force of the stress is reduced, and the excellent impact-resistant shock absorption effect is achieved. And the rubber shock-absorbing strips 15 are arranged at the splicing positions of the splicing plates of the vehicle body 1, so that a good buffering effect can be achieved, and the impact resistance of the robot throwing is further improved.
Each makeup passes through bolt and bearing frame 231 fixed connection, has realized the concatenation between each makeup, and when the robot bore the impact force, wheel 21 is through on bearing frame 231 transmits the automobile body 1 with the impact force, and the impact force is separated through the deformation of each makeup, sound construction, reasonable in design, buffering effect is good.
In a preferred embodiment, the material of each jointed board is carbon fiber.
In this embodiment, the material of each jointed board is carbon fiber, and the elastic characteristics of the carbon fiber are utilized to form the basis for the impact resistance of the whole vehicle, so that the vehicle body 1 has excellent impact resistance.
The carbon fiber is a novel fiber material of high-strength and high-modulus fiber with the carbon content of more than 95 percent. Carbon fiber is lighter than metal aluminum in weight, but higher in strength than steel, and has the characteristics of high hardness, high strength, light weight, high chemical resistance and high temperature resistance. Carbon fibers have the intrinsic properties of carbon materials and also have the soft processability of textile fibers. Is suitable for the requirements of the vehicle body 1 on light weight, high strength and elasticity.
In a preferred embodiment, as shown in FIG. 1, the top and bottom of wheel 21 protrude in the height direction from top panel 12 and bottom panel 11, respectively, of body 1.
In this embodiment, the environment of the fire scene is complicated, it is difficult to control which side of the robot faces upward after the robot lands on the ground, and the top and bottom surfaces of the wheels 21 protrude from the vehicle body 1, so that the robot can be driven normally no matter which side of the vehicle body 1 faces upward. In order to enhance the performance of the robot crossing obstacles, the front end and the rear end of the wheel set 2 can be arranged to protrude out of the vehicle body 1, and when an obstacle is met, the wheels 21 are firstly contacted with the obstacle and cross the obstacle. The running performance of the robot is improved.
In a preferred embodiment, as shown in fig. 2, the wheel set 2 is provided with a driving mechanism 3 capable of driving the wheel set to rotate in two directions, an electric control assembly 4 is arranged in the vehicle body, and the driving mechanism 3 is electrically connected with the electric control assembly 4.
In a preferred embodiment, as shown in fig. 3 and 5, a transmission shaft 24 sleeved with the wheel bearing 22 is arranged on the axle center of the wheel 21; the driving mechanism 3 comprises a driving motor 31, and an output shaft of the driving motor 31 is in transmission connection with the transmission shaft 24 through an elastic coupling 32.
In the embodiment, the wheels 21 are in transmission connection through the transmission belt 34, so that multi-wheel driving of the robot is realized, the ground gripping force of the robot wheel set 2 is improved, and the robot has excellent running performance in a complicated fire scene.
The elastic coupling 32 is usually formed by cutting a metal round bar, and the common materials include aluminum alloy, stainless steel and engineering plastics. The resilient coupling 32 utilizes a parallel or helical grooving system to accommodate various tolerances and accurately transmit torque. The integral design provides the advantage of zero-backlash torque transmission and maintenance-free operation of the resilient coupling 32.
In a preferred embodiment, as shown in fig. 2 and 6, the electronic control assembly 4 includes a mounting frame 41 fixedly disposed in the vehicle body 1, an electronic control board 42 is fixedly mounted on the mounting frame 41, a battery module 43 is fixedly mounted on one side of the electronic control board 42 on the mounting frame 41, a communication module 44 is fixedly disposed in the vehicle body 1, and both the battery module 43 and the communication module 44 are electrically connected to the electronic control board 42.
In the embodiment, the control of the robot is realized by connecting various parts of the robot through the electric control board 42. The electronic control board 42 is a core element of a computer controller, generally composed of hardware and software, for automatic control of devices and systems.
The communication module 44 is used for information transmission of the robot, and is provided with a radio communication module and a WIFI module. The radio communication module is provided with a 580MHz antenna and a 2.4GHz antenna for information transmission, and the two antennas are separated by a carbon fiber plate in order to prevent mutual interference of two frequency bands; the WIFI module is provided with a WIFI antenna and used for information transmission. The mode of combining radio station communication and network communication is adopted, wireless communication ensures that the communication distance of a single machine meets the requirement, and meanwhile, the attenuation compensation of signals after wall penetration and obstacle crossing and the transmission requirement of a longer distance are ensured in a relay mode.
In a preferred embodiment, as shown in fig. 2, a camera assembly 5 is arranged on the vehicle body 1 and used for acquiring information of a fire scene and providing powerful assistance for rescue deployment, and the camera assembly 5 is electrically connected with the electronic control assembly 4.
In the present embodiment, the camera assembly 5 includes a video assembly and an audio assembly. The video component comprises a visible light camera and an infrared camera and is used for acquiring on-site video information; the audio component comprises a loudspeaker and a sound pick-up, the audio information of a scene is collected through the sound pick-up, the audio information is played to the scene through the loudspeaker, communication with trapped people on a fire scene is achieved, and the success rate of rescue is increased.
In order to enhance the view angle of the video module of the camera module 5, a mechanical swing arm may be provided on the vehicle body 1, the video module may be mounted on the mechanical swing arm, and the video module may obtain a wider view angle by driving the mechanical swing arm to be raised.
After the robot is thrown, the upward direction is uncertain, so that an accommodating groove which penetrates through the vehicle body 1 in the vertical direction is formed in the vehicle body 1, one end of a mechanical rocker arm is rotatably connected with the accommodating groove through a shaft rod, and a steering engine assembly capable of driving the shaft rod to rotate in two directions is arranged in the vehicle body 1; the camera assembly 5 is arranged at one end of the mechanical rocker arm far away from the shaft rod. Before the robot throws, mechanical rocking arm accomodates in the holding tank, can play the effect of protection to camera subassembly 5. After the robot is thrown and lands, the steering engine component drives the mechanical rocker arm to rotate and lift towards the upward surface of the vehicle body 1, and the camera component 5 is lifted to a normal operation position.
The steering engine component is a position (angle) servo driver, and the steering engine comprises a shell, a circuit board, a driving motor, a speed reducer and a position detection element. The working principle is that the receiver sends a signal to the steering engine, the IC on the circuit board drives the coreless motor to start rotating, the power is transmitted to the swing arm through the reduction gear, and meanwhile, the position detector sends back the signal to judge whether the positioning is achieved.
In a preferred embodiment, as shown in FIG. 1, two sets of distance sensor elements 6 are provided on each of two end panels 14, and gas sensor elements 7 are provided on either end panel 14.
In this embodiment, the distance sensor assemblies 6 disposed on the two end panels 14 are respectively used for detecting obstacles on the ground in front of and behind the vehicle body 1, transmitting the detected signals to the electronic control assembly 4, and controlling the robot by the electronic control assembly 4.
The gas sensor assembly 7 is arranged on any one of the end splicing plates 14 at the front and the rear of the vehicle body 1 and is used for detecting gas in a fire scene. A gas sensor is a transducer that converts a certain gas volume fraction into a corresponding electrical signal. The probe conditions the gas sample through the gas sensor, typically including filtering out impurities and interfering gases, drying or refrigeration processing, and an instrument display. A gas sensor is a device that converts information such as the composition and concentration of a gas into information that can be used by a person, an instrument, a computer, or the like.
In a preferred embodiment, a layer of fireproof heat-insulating paint is uniformly sprayed on the outer wall surface of the vehicle body 1, so that the effects of flame retardance and heat insulation are achieved. All rubber parts used by the robot are doped with flame retardants, so that the flame retardant effect can be achieved.
In the description of the present specification, the terms "connect", "mount", "fix", and the like are to be understood in a broad sense, for example, "connect" may be a fixed connection, a detachable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In the description of the present application, the description of the terms "one embodiment," "some embodiments," etc. means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (9)
1. An impact-resistant wheeled robot, characterized by comprising a vehicle body (1); wheel sets (2) are symmetrically arranged on two sides of the vehicle body (1) along the driving direction, and each wheel set (2) comprises a wheel (21) and a support assembly (23) with a wheel bearing (22) in the center; the support assembly (23) comprises: a bearing seat (231) with a contact surface respectively contacted with each jointed board and a rubber anti-collision block (232) which is opposite to the contact surface of the bearing seat (231) and clamps and fixes each jointed board;
automobile body (1) is a plurality of the makeup concatenation forms, and is a plurality of the makeup includes end makeup (11), top makeup (12), side makeup (13) and end makeup (14), end makeup (11) with be provided with along the both sides separation of direction of traveling between the top makeup (12) side makeup (13), end makeup (11) with be provided with along the both ends separation of direction of traveling between top makeup (12) end makeup (14), each the makeup all through the bolt with supporting component (23) fixed connection, each adjacent limit is connected through rubber shock strip (15) each other.
2. The impact-resistant wheeled robot of claim 1, wherein each of the panels is made of carbon fiber.
3. Anti-impact wheeled robot according to claim 2, characterized in that the top and bottom of said wheels (21) protrude in height from the top (12) and bottom (11) panels of said body (1), respectively.
4. The robot in accordance with claim 3, characterized in that the wheel set (2) is provided with a driving mechanism (3) capable of driving the wheel set to rotate in two directions, an electric control component (4) is arranged in the vehicle body, and the driving mechanism (3) is electrically connected with the electric control component (4).
5. The robot in claim 4, wherein the axle center of the wheel (21) is provided with a transmission shaft (24) sleeved with the wheel bearing (22); the driving mechanism (3) comprises a driving motor (31), and an output shaft of the driving motor (31) is in transmission connection with the transmission shaft (24) through an elastic coupling (32).
6. The impact-resistant wheeled robot according to claim 5, wherein the electric control assembly (4) comprises a mounting frame (41) fixedly arranged in the vehicle body (1), an electric control board (42) is fixedly mounted on the mounting frame (41), a battery module (43) is fixedly mounted on one side of the electric control board (42) on the mounting frame (41), a communication module (44) is fixedly arranged in the vehicle body (1), and both the battery module (43) and the communication module (44) are electrically connected with the electric control board (42).
7. An impact-resistant wheeled robot according to claim 6, characterized in that a camera assembly (5) is arranged on said vehicle body (1), said camera assembly (5) being electrically connected to said electronic control assembly (4).
8. The robot as claimed in claim 7, wherein two sets of distance sensor assemblies (6) are disposed on each of the two end panels (14), a gas sensor assembly (7) is disposed on any one of the end panels (14), and the distance sensor assemblies (6) and the gas sensor assembly (7) are electrically connected to the electronic control assembly (4).
9. The impact-resistant wheeled robot as claimed in claim 8, wherein the outer wall surface of said vehicle body (1) is uniformly coated with a layer of fire-proof heat-insulating paint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020064256.XU CN211995920U (en) | 2020-01-13 | 2020-01-13 | Wheel type robot shocks resistance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020064256.XU CN211995920U (en) | 2020-01-13 | 2020-01-13 | Wheel type robot shocks resistance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211995920U true CN211995920U (en) | 2020-11-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020064256.XU Expired - Fee Related CN211995920U (en) | 2020-01-13 | 2020-01-13 | Wheel type robot shocks resistance |
Country Status (1)
| Country | Link |
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| CN (1) | CN211995920U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111232093A (en) * | 2020-01-13 | 2020-06-05 | 北京理工大学 | Wheel type robot shocks resistance |
-
2020
- 2020-01-13 CN CN202020064256.XU patent/CN211995920U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111232093A (en) * | 2020-01-13 | 2020-06-05 | 北京理工大学 | Wheel type robot shocks resistance |
| CN111232093B (en) * | 2020-01-13 | 2021-11-19 | 北京理工大学 | Wheel type robot shocks resistance |
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