CN216070253U - Arc-shaped leg type all-terrain robot - Google Patents
Arc-shaped leg type all-terrain robot Download PDFInfo
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- CN216070253U CN216070253U CN202120919052.4U CN202120919052U CN216070253U CN 216070253 U CN216070253 U CN 216070253U CN 202120919052 U CN202120919052 U CN 202120919052U CN 216070253 U CN216070253 U CN 216070253U
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- groove
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- 230000007246 mechanism Effects 0.000 claims abstract description 82
- 238000009434 installation Methods 0.000 claims description 18
- 230000007306 turnover Effects 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 12
- 230000004297 night vision Effects 0.000 claims description 11
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 4
- 241001465754 Metazoa Species 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 241000238631 Hexapoda Species 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000001260 vocal cord Anatomy 0.000 description 2
- 230000001755 vocal effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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Abstract
The utility model relates to the technical field of robots, in particular to an arc-shaped leg type all-terrain robot; be provided with slewing mechanism in the standing groove, slewing mechanism's output is provided with the rolling disc, be provided with installing frame and tilting mechanism on the rolling disc, the activity is provided with the axis of rotation on the mount pad, the mount pad is connected with the axis of rotation block, tilting mechanism's output is corresponding with the axis of rotation, the situation through the motion route of first camera group real-time observation robot, it rotates to drive the rolling disc through slewing mechanism, thereby make the mount pad on the rolling disc be the horizontal direction and rotate, it rotates to drive the axis of rotation through tilting mechanism, thereby it overturns along vertical direction to drive the mount pad in the axis of rotation, make picture information and voiceprint information around the more comprehensive collection robot of second camera group and voiceprint observation mechanism on the mount pad.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to an arc-shaped leg type all-terrain robot.
Background
At present, the wild animals are protected by mainly adopting an automatic camera detection technology in China, and the technology has the following defects that firstly, the laying time is limited, the endurance time is limited, and the wild animals need to be recovered in time; secondly, the layout position is limited and needs to be inspected; thirdly, the layout quantity is required, and as the technology is the fixed-point layout, a large quantity of layouts are needed for fully collecting information; fourth, recovery is difficult and requires sufficient maintenance personnel; and fifthly, gender and individual identification is mainly realized, the efficiency is low, and the intelligent requirement on protection of endangered animals cannot be met.
Therefore, the all-terrain robot with the information acquisition device partially mounted on the market is available, so that the wild animals can be better protected by automatically collecting the information of the animals through the robot, but most of the existing information acquisition devices of the all-terrain robot are fixedly arranged on the robot, the acquisition range is small, and the acquisition effect is poor.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide an arc-shaped leg type all-terrain robot, and solves the problems that most of information acquisition devices of the existing all-terrain robot in the prior art are fixedly arranged on the robot, the acquisition range is small, and the acquisition effect is poor.
In order to achieve the purpose, the utility model provides an arc-shaped leg type all-terrain robot which comprises a shell, a moving mechanism, a main control board, a visual observation mechanism and a voiceprint observation mechanism, wherein the main control board is arranged in the shell, the moving mechanism is arranged on each of two sides of the shell, a groove is further formed in one end above the shell, an adjustable observation frame is arranged in the groove, the visual observation mechanism comprises a first camera set and a second camera set, the first camera set is further arranged on the shell and is positioned at one end, away from the adjustable observation frame, of the shell, and the second camera set and the voiceprint observation mechanism are arranged on the adjustable observation frame;
the adjustable observation frame comprises a support column, a rotating mechanism, a rotating disc, an installation frame, a turnover mechanism and an installation seat, wherein the support column is detachably connected with the shell and is located inside the groove, one end of the groove is far away from the support column, the placing groove is formed in the placing groove, the rotating mechanism is arranged in the placing groove, the output end of the rotating mechanism is provided with the rotating disc, the installation frame and the turnover mechanism are arranged on the rotating disc, a rotating shaft is movably arranged on the installation seat, the installation seat is connected with the rotating shaft in a clamping mode, the output end of the turnover mechanism corresponds to the rotating shaft, and the second camera set and the voiceprint observation mechanism are arranged on the installation seat.
The camera set is used for observing the motion path of the robot in real time, the rotating mechanism is used for driving the rotating disc to rotate, so that the mounting seat on the rotating disc rotates in the horizontal direction, the rotating mechanism drives the rotating shaft to rotate, the rotating shaft is driven to rotate, the mounting seat on the rotating shaft overturns in the vertical direction, the second camera set on the mounting seat and the voiceprint observation mechanism are used for collecting picture information and voiceprint information around the robot more comprehensively, and the collected information is conveyed to the main control panel.
The support column comprises a column body, an electric push rod and a push plate, wherein the placing groove is formed in one end, far away from the groove, of the column body, the electric push rod is arranged in the placing groove, the push end of the electric push rod is provided with the push plate, and the rotating mechanism is arranged on the push plate.
The electric push rod drives the push plate to slide up and down in the placing groove, so that the rotating disc can lift up and down along the vertical direction, and the observation ranges of the second camera set and the voiceprint observation mechanism on the mounting seat are further enlarged.
The rotating mechanism comprises a first motor and an output shaft, the first motor is detachably connected with the pushing plate and is located at one end, far away from the electric push rod, of the pushing plate, the output end of the first motor is provided with the output shaft, one end, far away from the first motor, of the output shaft is provided with a first clamping block, a first clamping groove is formed in the rotating disc, and the first clamping block is matched with the first clamping groove.
The output shaft is driven to rotate by the first motor, and the rotating disc is clamped on the first clamping block through the first clamping groove, so that the output shaft drives the rotating disc to rotate along the horizontal direction.
The turnover mechanism comprises a second motor, a gear reduction box and a transmission shaft, the second motor is detachably connected with the rotating disc, the gear reduction box is arranged at the output end of the second motor, the transmission shaft is arranged at the output end of the gear reduction box, a second clamping block is arranged on the transmission shaft, a second clamping groove is arranged on the rotating shaft, and the second clamping block is matched with the second clamping groove.
The transmission shaft is driven to rotate by the second motor, and the rotation shaft is clamped on the second clamping block through the first clamping groove, so that the transmission shaft drives the rotation shaft to rotate, and the mounting seat is overturned along the vertical direction.
The first camera set and the second camera set respectively comprise a CCD camera and a night vision camera, the CCD camera and the night vision camera are electrically connected with the main control board, and the information output ends of the CCD camera, the night vision camera and the voiceprint observation mechanism are connected with the information input end of the main control board.
The surrounding environment of the robot is observed in real time when the light is sufficient through the CCD camera, and the surrounding environment of the robot is observed in real time when the light is insufficient through the night vision camera.
Each moving mechanism comprises a first moving leg, a second moving leg and a third moving leg, the first moving leg and the second moving leg are respectively located at two ends of the shell, and the third moving leg is located in the middle of the shell.
Each moving mechanism is composed of the first moving leg, the second moving leg and the third moving leg, so that hexapod insects can be imitated to move, and at least three legs are used for supporting when the robot moves, so that the robot is more stable in moving.
Wherein, every first removal leg the second remove the leg with the third removes the leg and all includes servo motor, pivot, installation piece and arc leg, servo motor is located the inside of shell, servo motor's output is provided with the pivot, every the outside of pivot all is provided with the installation piece, every all be provided with on the installation piece the arc leg.
The main control board is arranged on each of the first movable leg, the second movable leg and the third movable leg to independently control the servo motors, so that the moving gait of the robot is more diversified, and the robot can adapt to different environments.
The third moving leg further comprises an extension seat, the extension seat is fixedly connected with the shell and corresponds to the servo motor of the third moving leg, and the rotating shaft on the third moving leg penetrates through the shell and the extension seat in sequence.
The third moving leg is provided with the lengthening seat, so that the third moving leg is not in the same plane with the first moving leg and the second moving leg, and the moving legs of the robot cannot interfere with each other in the moving process.
The arc-leg type all-terrain robot is characterized in that the rotating mechanism is arranged in the placing groove, the output end of the rotating mechanism is provided with the rotating disc, the mounting frame and the turnover mechanism are arranged on the rotating disc, a rotating shaft is movably arranged on the mounting seat, the mounting seat is connected with the rotating shaft in a clamping way, the output end of the turnover mechanism corresponds to the rotating shaft, the state of the motion path of the robot is observed in real time through the first camera group, the rotating disc is driven to rotate through the rotating mechanism, thereby enabling the mounting seat on the rotating disc to rotate in the horizontal direction, driving the rotating shaft to rotate through the turnover mechanism, the mounting seat on the rotating shaft is driven to turn over along the vertical direction, so that the second camera set and the voiceprint observation mechanism on the mounting seat can collect the picture information and the voiceprint information around the robot more comprehensively.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an arc-shaped leg type holomorphic robot provided by the utility model.
Fig. 2 is a schematic structural diagram of an adjustable observation stand provided by the present invention.
Fig. 3 is an enlarged view of a portion of the structure of fig. 2 a according to the present invention.
Fig. 4 is a side view of an adjustable stand provided by the present invention.
Fig. 5 is a sectional view of the inner structure of fig. 4 taken along line B-B according to the present invention.
Fig. 6 is a schematic structural diagram of a third movable leg provided by the present invention.
1-shell, 2-moving mechanism, 21-first moving leg, 22-second moving leg, 23-third moving leg, 24-servo motor, 25-rotating shaft, 26-mounting block, 27-arc leg, 28-lengthening seat, 3-voiceprint observation mechanism, 4-groove, 5-adjustable observation frame, 51-supporting column, 511-placing groove, 512-column, 513-electric push rod, 514-push plate, 52-rotating mechanism, 521-first motor, 522-output shaft, 523-first fixture block, 53-rotating disk, 54-mounting frame, 55-turnover mechanism, 551-second motor, 552-gear reduction box, 553-transmission shaft, 554-second fixture block, 56-mounting seat, 57-rotating shaft, 6-first camera group, 61-second camera group, 62-CCD camera and 63-night vision camera.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 6, the present invention provides an arc-shaped leg type holomorphic robot, which comprises a housing 1, a moving mechanism 2, a main control board, a visual observation mechanism and a voiceprint observation mechanism 3, the main control board is arranged in the shell 1, the moving mechanisms 2 are arranged on both sides of the shell 1, a groove 4 is further arranged at one end above the shell 1, an adjustable observation frame 5 is arranged in the groove 4, the visual observation mechanism comprises a first camera set 6 and a second camera set 61, the first camera set 6 is also arranged on the shell 1, the first camera group 6 is located at one end of the housing 1 away from the adjustable observation frame 5, the second camera set 61 and the voiceprint observation mechanism 3 are arranged on the adjustable observation frame 5;
In this embodiment, the first camera group 6 observes the state of the movement path of the robot in real time, and transmits the observed path information to the main control board, and the main control board realizes path planning incrementally on the basis of D × Lite algorithm assuming that the unknown areas are all free spaces, finds the shortest distance from the target point to each node by minimizing the value of rhs, and if an obstacle is found in the forward process, sets the position of the environment map corresponding to the obstacle as the obstacle space, and replans the path by using the "path field" information with the position as the starting point. At the moment, updating node data of the planned path, and updating nodes traversed by the agent, so that the most effective task close to the target point is performed in an unknown environment according to a very small amount of surrounding map information acquired by the sensor;
the rotating disc 53 is driven to rotate by the rotating mechanism 52, so that the mounting seat 56 on the rotating disc 53 rotates in the horizontal direction, the rotating shaft 57 is driven to rotate by the turnover mechanism 55, thereby driving the mounting seat 56 on the rotating shaft 57 to turn over along the vertical direction, so that the second camera set 61 and the voiceprint observation mechanism 3 on the mounting seat 56 can more comprehensively collect the image information and the voiceprint information around the robot, and transmit the collected information to the main control board, the main control board realizes the classification and identification of the image based on the depth residual error network, the acquired voiceprint information is based on a DNN-iVector-PLDA algorithm through the main control board, the specific condition of the observed animal is judged by the frequency of vocal cord vibration, the different individual vocal cord vibration frequencies and secondly the size of the vocal cavity.
Further, the supporting column 51 includes a column 512, an electric push rod 513 and a pushing plate 514, the placing groove 511 is disposed at one end of the column 512 far away from the groove 4, the electric push rod 513 is disposed in the placing groove 511, the pushing plate 514 is disposed at a pushing end of the electric push rod 513, the rotating mechanism 52 is disposed on the pushing plate 514, the rotating mechanism 52 includes a first motor 521 and an output shaft 522, the first motor 521 is detachably connected to the pushing plate 514 and is located at one end of the pushing plate 514 far away from the electric push rod 513, the output end of the first motor 521 is provided with the output shaft 522, one end of the output shaft 522 far away from the first motor 521 is provided with a first clamping block 523, the rotating disc 53 is provided with a first clamping groove, the first clamping block 523 is adapted to the first clamping groove, the turnover mechanism 55 includes a second motor 551, a second clamping groove 522, and a third clamping groove 522, The second motor 551 is detachably connected with the rotating disc 53, the output end of the second motor 551 is provided with the gear reduction box 552, the output end of the gear reduction box 552 is provided with the transmission shaft 553, the transmission shaft 553 is provided with a second clamping block 554, the rotating shaft 57 is provided with a second clamping groove, and the second clamping block 554 is matched with the second clamping groove.
In the embodiment, the electric push rod 513 drives the push plate 514 to slide up and down in the placing groove 511, thereby, the rotating disc 53 is lifted and lowered in the vertical direction, the output shaft 522 is driven to rotate by the first motor 521, since the rotating disc 53 is engaged with the first engaging block 523 via the first engaging groove, so that the output shaft 522 drives the rotating disc 53 to rotate in the horizontal direction, the transmission shaft 553 is driven to rotate by the second motor 551, because the rotating shaft 57 is clamped on the second clamping block 554 through the first clamping groove, so that the transmission shaft 553 drives the rotating shaft 57 to rotate, and then the mounting seat 56 is turned over in the vertical direction, so that the observation ranges of the second camera group 61 and the voiceprint observation mechanism 3 on the mounting seat 56 are further enlarged.
Further, the first camera set 6 and the second camera set 61 both include a CCD camera 62 and a night vision camera 63, the CCD camera 62 and the night vision camera 63 are both electrically connected to the main control board, and the information output ends of the CCD camera 62, the night vision camera 63 and the voiceprint observation mechanism 3 are all connected to the information input end of the main control board.
In the present embodiment, the CCD camera 62 observes the surroundings of the robot in real time when the light is sufficient, and the night vision camera 63 observes the surroundings of the robot in real time when the light is insufficient.
Further, each moving mechanism 2 includes a first moving leg 21, a second moving leg 22 and a third moving leg 23, the first moving leg 21 and the second moving leg 22 are respectively located at two ends of the housing 1, the third moving leg 23 is located in the middle of the housing 1, each first moving leg 21, the second moving leg 22 and the third moving leg 23 includes a servo motor 24, a rotating shaft 25, a mounting block 26 and an arc-shaped leg 27, the servo motor 24 is located inside the housing 1, the output end of the servo motor 24 is provided with the rotating shaft 25, the mounting block 26 is arranged outside each rotating shaft 25, each mounting block 26 is provided with the arc-shaped leg 27, the third moving leg 23 further includes an extension seat 28, the extension seat 28 is fixedly connected with the housing 1 and corresponds to the servo motor 24 of the third moving leg 23, the rotating shaft 25 of the third moving leg 23 sequentially penetrates through the housing 1 and the extension seat 28.
In this embodiment, each of the moving mechanisms 2 is composed of the first moving leg 21, the second moving leg 22 and the third moving leg 23, so as to simulate hexapod insects to move, at least three legs support the robot when the robot moves, so that the robot is more stable when moving, the main control board of each of the first moving leg 21, the second moving leg 22 and the third moving leg 23 controls the servo motor 24 independently, so that the moving gait of the robot is more diversified and can adapt to different environments, the extension seat 28 is arranged on the third moving leg 23, so that the third moving leg 23 is not on the same plane as the first moving leg 21 and the second moving leg 22, and the moving legs do not interfere with each other during the movement of the robot.
While the utility model has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the utility model.
Claims (8)
1. An arc-shaped leg type all-terrain robot is characterized in that,
the arc-shaped leg type all-terrain robot comprises a shell, a moving mechanism, a main control board, a visual observation mechanism and a voiceprint observation mechanism, wherein the main control board is arranged in the shell, the moving mechanism is arranged on two sides of the shell, a groove is also formed in one end above the shell, an adjustable observation frame is arranged in the groove, the visual observation mechanism comprises a first camera set and a second camera set, the first camera set is also arranged on the shell and is positioned at one end, away from the adjustable observation frame, of the shell, and the second camera set and the voiceprint observation mechanism are arranged on the adjustable observation frame;
the adjustable observation frame comprises a support column, a rotating mechanism, a rotating disc, an installation frame, a turnover mechanism and an installation seat, wherein the support column is detachably connected with the shell and is located inside the groove, one end of the groove is far away from the support column, the placing groove is formed in the placing groove, the rotating mechanism is arranged in the placing groove, the output end of the rotating mechanism is provided with the rotating disc, the installation frame and the turnover mechanism are arranged on the rotating disc, a rotating shaft is movably arranged on the installation seat, the installation seat is connected with the rotating shaft in a clamping mode, the output end of the turnover mechanism corresponds to the rotating shaft, and the second camera set and the voiceprint observation mechanism are arranged on the installation seat.
2. The arc-shaped leg-type hologenorobot of claim 1,
the support column comprises a column body, an electric push rod and a push plate, wherein the placing groove is formed in one end, far away from the groove, of the column body, the electric push rod is arranged in the placing groove, the push end of the electric push rod is provided with the push plate, and the rotating mechanism is arranged on the push plate.
3. The arc-shaped leg-type hologenorobot of claim 2,
the rotating mechanism comprises a first motor and an output shaft, the first motor is detachably connected with the pushing plate and is located at one end, away from the electric push rod, of the pushing plate, the output end of the first motor is provided with the output shaft, one end, away from the first motor, of the output shaft is provided with a first clamping block, a first clamping groove is formed in the rotating disc, and the first clamping block is matched with the first clamping groove.
4. The arc-shaped leg-type hologenorobot of claim 1,
the turnover mechanism comprises a second motor, a gear reduction box and a transmission shaft, the second motor is detachably connected with the rotating disc, the gear reduction box is arranged at the output end of the second motor, the transmission shaft is arranged at the output end of the gear reduction box, a second clamping block is arranged on the transmission shaft, a second clamping groove is formed in the rotating shaft, and the second clamping block is matched with the second clamping groove.
5. The arc-shaped leg-type hologenorobot of claim 1,
the first camera set and the second camera set respectively comprise a CCD camera and a night vision camera, the CCD camera and the night vision camera are electrically connected with the main control board, and the information output ends of the CCD camera, the night vision camera and the voiceprint observation mechanism are connected with the information input end of the main control board.
6. The arc-shaped leg-type hologenorobot of claim 1,
each moving mechanism comprises a first moving leg, a second moving leg and a third moving leg, the first moving leg and the second moving leg are respectively located at two ends of the shell, and the third moving leg is located in the middle of the shell.
7. The arc-shaped leg-type hologenorobot of claim 6,
every first removal leg the second remove the leg with the third removes the leg and all includes servo motor, pivot, installation piece and arc leg, servo motor is located the inside of shell, servo motor's output is provided with the pivot, every the outside of pivot all is provided with the installation piece, every all be provided with on the installation piece the arc leg.
8. The arc-shaped leg-type hologenorobot of claim 7,
the third removes the leg still includes the extension seat, the extension seat with shell fixed connection, and with the third removes the leg servo motor corresponds, on the third removes the leg the pivot run through in proper order the shell with the extension seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120919052.4U CN216070253U (en) | 2021-04-29 | 2021-04-29 | Arc-shaped leg type all-terrain robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120919052.4U CN216070253U (en) | 2021-04-29 | 2021-04-29 | Arc-shaped leg type all-terrain robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216070253U true CN216070253U (en) | 2022-03-18 |
Family
ID=80635272
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120919052.4U Expired - Fee Related CN216070253U (en) | 2021-04-29 | 2021-04-29 | Arc-shaped leg type all-terrain robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216070253U (en) |
-
2021
- 2021-04-29 CN CN202120919052.4U patent/CN216070253U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20220318 |