CN212966771U

CN212966771U - Novel crawler-type intelligent trolley

Info

Publication number: CN212966771U
Application number: CN202022323011.7U
Authority: CN
Inventors: 黄星; 刘辉; 杨雷涛; 倪先明
Original assignee: Fujian Zhenhang Robot Equipment Manufacturing Co ltd
Current assignee: Fujian Zhenhang Robot Equipment Manufacturing Co ltd
Priority date: 2020-10-16
Filing date: 2020-10-16
Publication date: 2021-04-13
Anticipated expiration: 2030-10-16

Abstract

The utility model provides a novel crawler-type intelligent trolley, which comprises a main body structure, a loading wheel, two tracks, a control platform, a camera component, an mechanical arm and a plurality of sensing components; the control platform comprises a base provided with a plurality of interfaces and openings, a mainboard and a power panel, wherein the mainboard and the power panel are arranged in the base, the mainboard is used for bearing one or more of Raspberry Pi, Arduino Uno and STAM32 chips, and the power panel is provided with at least three interfaces for connecting with the mainboard; the camera shooting assembly comprises a left-right rotating movable platform and an angle adjusting platform which are installed at the upper end of the base, the camera is installed on the angle adjusting platform, and the angle adjusting platform is used for adjusting the angle between the camera and the horizontal plane. The requirements of users and students on learning of knowledge of various electrical appliances can be met, and the users and the students have better learning experience.

Description

Novel crawler-type intelligent trolley

Technical Field

The utility model relates to a teaching aid field especially relates to a novel crawler-type intelligent vehicle.

Background

In the intelligent vehicle equipment of current teaching usefulness, traditional intelligent vehicle structure is scattered, and the mainboard power strip exposes, and is low to crawler chassis space utilization, and does not have the safeguard measure to electronic component such as mainboard power strip. Moreover, most intelligent trolleys have the problems of single function and small quantity of electrical components, so that the overhauling and debugging experience of the intelligent trolleys cannot be provided for learners, and inconvenience is brought to teaching.

The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information constitutes prior art already known to a person skilled in the art.

SUMMERY OF THE UTILITY MODEL

In order to meet the requirements, the utility model aims to provide a novel crawler-type intelligent trolley.

The utility model provides a novel crawler-type intelligent trolley, which comprises a main body structure, loading wheels arranged at two sides of the main body structure, two tracks sleeved on the loading wheels at two sides of the main body structure, a control platform arranged at the main body structure, a camera assembly arranged at the control platform, an mechanical arm arranged at the main body structure, and a plurality of sensing assemblies;

the sensing assembly comprises an infrared sensor connected with a main body structure, the main body structure is provided with an arc-shaped sliding groove, the infrared sensor is installed on a supporting piece, the bottom of the supporting piece is provided with an installation hole and an adjusting hole, the installation hole is used for fixing one end of the supporting piece, the adjusting hole is located above the sliding groove and is used for adjusting the direction of the infrared sensor, and an adjusting piece penetrating through the sliding groove is installed on the adjusting hole;

the control platform comprises a base provided with a plurality of interfaces and openings, a mainboard and a power panel, wherein the mainboard and the power panel are arranged in the base; the power panel is provided with at least three interfaces for connecting with the mainboard; the camera shooting assembly comprises a left rotating movable platform and a right rotating movable platform which are installed at the upper end of the base, and an angle adjusting platform connected with the left rotating movable platform and the right rotating movable platform, a camera is installed on the angle adjusting platform, and the angle adjusting platform is used for adjusting the angle between the camera and the horizontal plane.

In one possible embodiment, the number of the bogie wheels on both sides of the main body structure is 3, and the driving tooth groups for driving the crawler belt to rotate are arranged on both sides of the main body structure, and the crawler belt is in an inverted trapezoidal shape.

In one possible embodiment, a driving motor is arranged inside the main body structure, and the driving motor is in transmission connection with the driving gear set through a coupler.

In one possible implementation manner, the main body structure is provided with an antenna electrically connected with the main board, and the antenna is used for transmitting a WIFI signal.

In one possible embodiment, the upper end of the base is provided with a PS2 handle receiver for receiving a handle signal so as to control the travel of the crawler, and the PS2 handle receiver is electrically connected with the main board.

In one possible embodiment, a display screen electrically connected with the main board is installed at the upper end of the base.

In one possible embodiment, the base is provided with a power display bar, and the power display bar is connected with a power panel.

In one possible embodiment, the left and right rotating movable platform is provided with an ultrasonic sensor, and the ultrasonic sensor is electrically connected with the main board.

In one possible embodiment, the main body structure is provided with a line patrol sensor for sensing a black line on the ground, and the line patrol sensor is electrically connected with the main board.

In one possible embodiment, the front end of the main structure is provided with an array type headlight.

Compared with the prior art, the beneficial effects of the utility model reside in that: the utility model provides a novel crawler-type intelligent vehicle function is abundant and the space utilization is reasonable, be different from traditional intelligent crawler's structure scattered, the mainboard power strip is exposed, crawler chassis space utilization is low and to the problem of electronic component non-protective measure such as mainboard power strip, the intelligent vehicle that this application provided places electronic component such as mainboard power strip inside the base and protects, the trompil of interface and button that control platform need be used is reserved to the base, crawler's efficiency in maintenance and debugging process has been improved. On the other hand, the intelligent vehicle that this application provided uses STM32 mainboard to carry on STM32 power strip, and the power strip can compatible raspberry group, STM32, UNO mainboard and can use respectively, has stronger expansibility. The requirements of users and students on the knowledge learning of various electrical appliances can be met. The flexible design solves the problem of complex and complicated pain points of users and students during overhauling and debugging, and enables the users and the students to have better learning experience.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural view of a specific embodiment of a novel crawler-type intelligent trolley provided by the utility model;

fig. 2 is an axial view schematic diagram of another angle of a specific embodiment structure (hidden mechanical arm) of the novel crawler-type intelligent trolley provided by the utility model;

fig. 3 is the utility model provides a schematic view from above of a specific embodiment structure of novel crawler-type intelligent vehicle.

Reference numerals

100 main body structure 101 loading wheel

102 track 103 control platform

104 camera shooting assembly 1041 left-right rotating movable platform

1042 angle adjusting platform 1043 camera

105 robot arm 106 infrared sensor

107 chute 108 support

109 mounting hole 110 adjusting hole

111 regulating part 112 main board

113 active teeth set 114 antenna

115 PS2 handle acceptor 116 display screen

117 electric quantity display bar 118 ultrasonic sensor

119 array type headlamp of line patrol sensor 120

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "secured" are to be construed broadly and can, for example, be connected or detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean 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 invention. In this specification, the schematic representations of the terms used above should not be understood to 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. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.

Referring to fig. 1-3, fig. 1 is the utility model provides a concrete embodiment structure schematic diagram of a novel crawler-type intelligent trolley, fig. 2 is the utility model provides a novel crawler-type intelligent trolley's concrete embodiment structure (hiding the arm) is looked at the axis of another angle schematic diagram, fig. 3 is the utility model provides a novel crawler-type intelligent trolley's concrete embodiment structure is looked at the top schematic diagram. The novel crawler-type intelligent trolley comprises a main body structure 100, loading wheels 101 arranged on two sides of the main body structure 100, two tracks 102 sleeved on the loading wheels 101 on two sides of the main body structure 100, a control platform 103 arranged on the main body structure 100, a camera assembly 104 arranged on the control platform 103, a mechanical arm 105 arranged on the main body structure 100 and a plurality of sensing assemblies; the mechanical arm 105 is a four-degree-of-freedom mechanical arm driven by a steering engine, and a base of the mechanical arm 105 is fixed on a structural cover plate at the front part of the main body structure 100 through screws and can finish clamping and other actions.

The sensing assembly comprises an infrared sensor 106 connected with the main body structure 100, and the infrared sensor 106 can sense the distance between the tracked trolley and an obstacle, so that the obstacle avoidance and collision prevention functions are realized. The main body structure 100 is provided with an arc-shaped sliding groove 107, the infrared sensor 106 is mounted on a support member 108, a mounting hole 109 and an adjusting hole 110 are formed in the bottom of the support member 108, the mounting hole 109 is used for fixing one end of the support member 108, the adjusting hole 110 is located above the sliding groove 107, the adjusting hole 110 is used for adjusting the direction of the infrared sensor 106, and an adjusting piece 111 penetrating through the sliding groove 107 is mounted on the adjusting hole 110; wherein, the adjusting member 111 can adopt a bolt structure, and the diameter of the bottom of the adjusting member 111 is larger than the width of the sliding chute 107, so as to ensure that the supporting member 108 does not fall off. Specifically, the mounting hole 109 can be fixed by a bolt, and when the orientation of the infrared sensor 106 needs to be adjusted, the bolt and the adjusting member 111 are loosened to achieve the angle adjustment.

The control platform 103 comprises a base provided with a plurality of interfaces and open holes, a mainboard 112 and a power panel (which can be integrated with the mainboard) installed in the base, wherein the mainboard 112 carries a combination of one or more of Raspberry Pi, Arduino Uno and STAM32 chips, the power panel is provided with at least three interfaces for connecting with the mainboard 112, wherein the control platform 103 can be compatible with various control systems, such as STM32, Arduino Uno and Raspberry Pi, because of the functional diversity of the mainboard 112, the compatibility of the power panel needs to be maintained, and therefore, a plurality of interfaces arranged on the power panel can be used for supplying working power to the mainboard 112 of various control systems, so that better cooperation of carrying is realized. The base reserves the trompil of interface and button that control platform 103 needs used, has improved the efficiency of tracked vehicle in maintenance and debugging process.

The camera module 104 includes a left and right rotation movable platform 1041 installed on the upper end of the base, and an angle adjusting platform 1042 connected to the left and right rotation movable platform 1041, the angle adjusting platform 1042 is provided with a camera 1043, the angle adjusting platform 1042 is used for adjusting the angle between the camera 1043 and the horizontal plane, wherein the angle adjusting platform 1042 can be connected to the left and right rotation movable platform 1041 in a hinged manner. Specifically, the left-right rotating movable platform 1041 and the angle adjusting platform 1042 are driven by small steering engines, the left-right rotating movable platform 1041 can drive the high-definition camera to rotate left and right, the angle adjusting platform 1042 realizes the up-down pitching motion, and the coverage range of the high-definition camera shooting picture can be enlarged. The left and right rotary movable platform 1041 is fixed on the base by screws and located at a higher position of the main structure 100, so that the visual field of the camera can be increased.

In one embodiment, the number of the bogie wheels 101 on both sides of the main body structure 100 is 3, and the driving teeth 113 for driving the crawler belt 102 are mounted on both sides of the main body structure 100, and the crawler belt 102 is formed in an inverted trapezoid shape. Specifically, a driving motor (not shown in the drawings, and a motor in the prior art may be used) is disposed inside the main body structure 100, and the driving motor is in transmission connection with the driving gear set 113 through a coupling (not shown in the drawings, and a coupling in the prior art may be used).

In an embodiment, main structure 100 installs the antenna 114 with mainboard 112 electric connection, antenna 114 is used for launching the WIFI signal, reaches the effect that realizes cell-phone APP control crawler. The upper end of the base is provided with a PS2 handle receiver 115 for receiving handle signals to control the crawler, the PS2 handle receiver 115 is electrically connected with the main board 112, and the upper end of the base is provided with a display screen 116 electrically connected with the main board 112. The base is provided with an electric quantity display bar 117 connected with the power panel, and electric quantity conditions can be demonstrated by different colors. The left-right rotating movable platform 1041 is provided with an ultrasonic sensor 118, the ultrasonic sensor 118 is electrically connected with the main board 112, and the ultrasonic sensor 118 is used for sensing objects around the crawler, so that the functions of obstacle avoidance and maze walking are realized. Major structure 100 is equipped with the line sensor 119 that patrols that is used for perception ground black lines, patrolling line sensor 119 and mainboard 112 electric connection, realizing that novel crawler-type intelligent vehicle can follow the lines and advance. Main part structure 100 front end is equipped with array headlight 120, can provide illuminating effect for novel crawler-type intelligent vehicle.

To sum up, the novel crawler-type intelligent vehicle that this application provided is abundant in function and space utilization is reasonable, be different from traditional intelligent crawler's structure scattered, the mainboard power strip exposes, crawler chassis space utilization is low and to the problem of electronic component non-protective measure such as mainboard power strip, the intelligent vehicle that this application provided places electronic component such as mainboard power strip inside the base and protects, the trompil of interface and button that base reservation control platform needs to use has improved the efficiency of crawler in maintenance and debugging process. On the other hand, the intelligent vehicle that this application provided uses STM32 mainboard to carry on STM32 power strip, and the power strip can compatible raspberry group, STM32, UNO mainboard and can use respectively, has stronger expansibility. The requirements of users and students on the knowledge learning of various electrical appliances can be met. The flexible design solves the problem of complex and complicated pain points of users and students during overhauling and debugging, and enables the users and the students to have better learning experience.

Various other modifications and changes can be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes should fall within the protection scope of the present invention.

Claims

1. A novel crawler-type intelligent trolley is characterized by comprising a main body structure, loading wheels arranged on two sides of the main body structure, two tracks sleeved on the loading wheels on the two sides of the main body structure, a control platform arranged on the main body structure, a camera assembly arranged on the control platform, a mechanical arm arranged on the main body structure and a plurality of sensing assemblies, wherein the two tracks are arranged on the two tracks;

2. The novel crawler-type intelligent trolley according to claim 1, wherein the number of the bogie wheels on two sides of the main structure is 3, driving tooth groups for driving the crawler to rotate are mounted on two sides of the main structure, and the crawler is in an inverted trapezoid shape.

3. The novel crawler-type intelligent trolley according to claim 2, wherein a driving motor is arranged inside the main body structure, and the driving motor is in transmission connection with the driving gear set through a coupler.

4. The novel crawler-type intelligent trolley according to claim 1, wherein the main body structure is provided with an antenna electrically connected with the main board, and the antenna is used for transmitting WIFI signals.

5. The novel crawler-type intelligent trolley according to claim 1, wherein a PS2 handle receiver for receiving handle signals to control the travelling of the crawler-type intelligent trolley is mounted at the upper end of the base, and the PS2 handle receiver is electrically connected with the main board.

6. The novel crawler-type intelligent trolley according to claim 1, wherein a display screen electrically connected with the main board is installed at the upper end of the base.

7. The novel crawler-type intelligent trolley according to claim 1, wherein the base is provided with an electric quantity display bar, and the electric quantity display bar is connected with a power panel.

8. The novel crawler-type intelligent trolley according to claim 1, wherein the left and right rotating movable platforms are provided with ultrasonic sensors, and the ultrasonic sensors are electrically connected with the main board.

9. The novel crawler-type intelligent trolley according to claim 1, wherein the main body structure is provided with a line patrol sensor for sensing black lines on the ground, and the line patrol sensor is electrically connected with the main board.

10. The novel crawler-type intelligent trolley according to claim 1, wherein an array-type headlamp is arranged at the front end of the main structure.