CN219325240U - Rail robot - Google Patents

Abstract

The utility model relates to a track robot, which comprises a running track and a chassis, wherein the chassis is sleeved on the running track, the chassis comprises a bottom plate, the left end and the right end of the bottom plate are respectively provided with a side plate, the front end and the rear end of the top of each side plate are respectively connected through an upper supporting plate, and the two ends of each upper supporting plate are respectively fixed on the side plate at the left end and the side plate at the right end through bolts; a power assembly for driving the chassis to run on the running track is arranged in the chassis, a cradle head is arranged at the bottom of the chassis, and a monitoring attack assembly is arranged in the cradle head; the utility model has high practicability and low operation difficulty, and can carry monitoring instruments and attack equipment to enter and exit areas where the human and unmanned aerial vehicles are difficult to pass or cannot pass.

Description

Rail robot

Technical Field

The utility model relates to the technical field of robots, in particular to a track robot.

Background

After the 21 st century, along with the development of the general and system integration technology of the automatic ordnance, the improvement of the comprehensive fire control technology, the maturation of key technologies such as the sensor technology, the accurate positioning navigation technology and the network technology, and the like, the reconnaissance striking integrated unmanned aerial vehicle aiming at finding and destroying well solves the problem of long time between reconnaissance and striking, and starts to log on a history stage. However, at the same time, the unmanned aerial vehicle has some places which are not easy to spread, such as a dense jungle environment, a underground survey environment, a house collapse environment and the like, and the unmanned aerial vehicle cannot meet the use environments.

Disclosure of Invention

In order to solve the problems, the utility model aims to provide a track robot which can carry monitoring instruments and attack equipment to and from areas where people and unmanned aerial vehicles are difficult to pass or cannot pass.

The embodiment of the utility model is realized by adopting the following scheme: the track robot comprises a running track and a chassis, wherein the chassis is sleeved on the running track, the chassis comprises a bottom plate, side plates are arranged at the left end and the right end of the bottom plate, the front end and the rear end of the top of each side plate are connected through an upper supporting plate, and the two ends of each upper supporting plate are respectively fixed on the side plate at the left end and the side plate at the right end through bolts; the power assembly comprises two first motors, the two first motors are arranged on the outer sides of the side plates at the left end side by side, the output ends of the first motors penetrate through the side plates at the left end, friction wheels used for driving the chassis to move forward are arranged at the output ends of the first motors, and two rubber wheels matched with the friction wheels are arranged on the inner sides of the side plates at the right end; two universal balls with rods are arranged in the middle of the inner sides of the two side plates; the bottom of chassis is provided with the cloud platform, be provided with in the cloud platform and monitor attack subassembly.

In one embodiment of the utility model, a light bar is arranged at the top of the side plate at the right end, and a UWB positioning module is fixed on the light bar; photoelectric sensors are arranged at the front and rear parts of the upper surface of the bottom plate.

In an embodiment of the present utility model, a power supply is disposed at a front portion of a bottom surface of the bottom plate, a main control module and a power management module are disposed at a rear portion of the bottom surface of the bottom plate, the main control module is located on a right side of the power management module, and armor plates for protecting the main control module, the power supply and the power management module are disposed on two sides of the bottom surface of the bottom plate.

In an embodiment of the utility model, the cradle head comprises a cradle head fixing plate, the cradle head fixing plate is connected with the bottom plate through four aluminum pipes, a slip ring for driving the monitoring attack assembly to horizontally rotate is arranged at the bottom of the cradle head fixing plate, the slip ring is driven by a second motor, a cradle head upper plate is fixed at the bottom of the slip ring, cradle head side plates with Y-shaped cross sections are symmetrically arranged at the front end and the rear end of the lower surface of the cradle head upper plate, magazine side plates are symmetrically arranged at the left end and the right end of the lower surface of the cradle head upper plate, a magazine is formed by connecting the middle parts of the two cradle head side plates with the bottoms of the two magazine side plates through the magazine fixing plate, a bullet poking groove is symmetrically arranged at the front end and the rear end of the magazine fixing plate, a bullet poking disc is arranged in the bullet poking groove, a first rotating shaft penetrates out of the magazine fixing plate at the bottom of the first rotating shaft, a third motor is connected to the bottom of the first rotating shaft, a bullet poking motor is arranged at the bottom of the first rotating shaft, a bullet poking hole is arranged at the bottom of the monitoring attack assembly, and a bullet hole is arranged between the monitoring device and the bullet hole.

In an embodiment of the present utility model, a second rotating shaft is disposed on front and rear surfaces of the monitoring attack component, the monitoring attack component is installed between bottoms of the holder side plates through the second rotating shaft, and a fourth motor for driving the second rotating shaft to rotate is disposed on an inner side of the holder side plate located on the front side.

In an embodiment of the utility model, the monitoring attack assembly comprises a transmitting mechanism, a camera and two barrels, wherein the camera is fixed in the middle of the right side of the transmitting mechanism through a fixed block, the barrels are symmetrically arranged on the right side of the transmitting mechanism, the camera is arranged between the two barrels, a cradle head lower plate is arranged at the bottom of the monitoring attack assembly, and a microcomputer and a stm32 development plate are arranged at the bottom of the cradle head lower plate.

In an embodiment of the present utility model, a bullet inlet is formed at the top of the launching mechanism, and the bottom of the bullet feeding link is communicated with the bullet inlet.

In an embodiment of the present utility model, an electric regulator is disposed on a lower surface of the bottom plate, and the electric regulator is electrically connected to the first motor.

The utility model has the beneficial effects that: the utility model provides a track robot, which can carry monitoring instruments and attack equipment to and from areas where people and unmanned aerial vehicles pass difficultly or cannot pass through by laying tracks in some special areas; the first motor, the rubber wheel and the friction wheel are added into the device, so that the chassis can be driven to move on the running track; the universal ball with the rod is added into the device, so that the stability of the chassis when moving on the running track can be improved; the second motor, the slip ring and the cradle head are added in the device, so that a monitoring instrument and attack equipment can be installed and carried and driven to rotate; the utility model has high practicability and low operation difficulty.

Drawings

Fig. 1 is a schematic structural view of a rail robot.

Fig. 2 is a perspective view of a preferred embodiment of an orbital robot.

Fig. 3 is a perspective view of the chassis.

Fig. 4 is a perspective view of a pan/tilt head.

Fig. 5 is a cross-sectional view at A-A of fig. 4.

Fig. 6 is a side view of fig. 5.

Fig. 7 is a front view of fig. 1.

Detailed Description

The utility model is further described below with reference to the accompanying drawings.

Referring to fig. 1 to 7, the present utility model provides a track robot, including a running track 1, and further including a chassis 2, wherein the chassis 2 is sleeved on the running track 1, the chassis 2 includes a bottom plate 21, two ends of the bottom plate 21 are respectively provided with a side plate 22, front and rear ends of top portions of the two side plates 22 are respectively connected through an upper supporting plate 23, and two ends of the upper supporting plate 23 are respectively fixed on the side plate 22 at the left end and the side plate 22 at the right end through bolts 24; the chassis 2 is internally provided with a power assembly 3 for driving the chassis 2 to run on the running track 1, the power assembly 3 comprises two first motors 31, the two first motors 31 are arranged on the outer side of the side plate 22 at the left end side by side, the output end of each first motor 31 penetrates through the side plate 22 at the left end, the output end of each first motor 31 is provided with a friction wheel 32 for driving the chassis 2 to move forward, and the inner side of the side plate 22 at the right end is provided with two rubber wheels 33 matched with the friction wheels 32; two universal balls 34 with rods are arranged in the middle of the inner sides of the two side plates 22, and the universal balls 34 with rods increase the stability of the chassis 2 during movement; a cradle head 4 is arranged at the bottom of the chassis 2, and a monitoring attack assembly 5 is arranged in the cradle head 4; the first motor 31 may be a 3508 brushless motor, and the friction wheel 32 is driven to rotate by the first motor 31 to drive the chassis 2 to move on the running track 1.

With continued reference to fig. 1, a light bar 25 is disposed on the top of the side plate 22 at the right end, and a UWB positioning module 26 is fixed on the light bar 25, where the UWB positioning module 26 may be a DWM1000, and positions are positioned by the UWB positioning module 26; the front and rear parts of the upper surface of the bottom plate 21 are both provided with photoelectric sensors 27, the type of each photoelectric sensor 27 can be PU05-TDNB-12, and obstacles are detected through the photoelectric sensors 27.

With continued reference to fig. 3, a power supply 61 is disposed at the front portion of the lower surface of the base plate 21, a main control module 62 and a power management module 63 are disposed at the rear portion of the lower surface of the base plate 21, the main control module 62 is located on the right side of the power management module 63, armor plates 64 for protecting the main control module 62, the power supply 61 and the power management module 63 are disposed on both sides of the lower surface of the base plate 21, and power is supplied to each component through the power supply 61 and the power management module 63, so as to control the operation and the running of each component through the main control module 62.

With continued reference to fig. 1 to 6, the pan-tilt 4 includes a pan-tilt fixing plate 41, the pan-tilt fixing plate 41 is connected with the base plate 21 through four aluminum tubes 7, a slip ring 42 driving the monitoring attack assembly 5 to horizontally rotate is provided at the bottom of the pan-tilt fixing plate 41, the slip ring 42 is driven by a second motor (not shown), the second motor (not shown) may be a 6020 brushless motor, the slip ring 42 is driven by the second motor (not shown) to rotate, so as to realize rotation of the pan-tilt 4, a pan-tilt upper plate 44 is fixed at the bottom of the slip ring 42, pan-tilt side plates 4522 with Y-shaped cross sections are symmetrically provided at front and rear ends of the lower surface of the pan-tilt upper plate 44, magazine side plates 4622 are symmetrically provided at the left and right ends of the lower surface of the pan-tilt upper plate 44, the middle parts of the two cradle head side plates 4522 and the bottoms of the two cradle head side plates 4622 are connected through a cradle head fixing plate 47 to form a cradle head 8, the front end and the rear end of the upper surface of the cradle head fixing plate 47 are symmetrically provided with a bullet poking groove 81, a bullet poking disc 82 is arranged in the bullet poking groove 81, six convex parts of the bullet poking disc 82 are respectively sleeved with three bearings, the bottom of the bullet poking disc 82 is provided with a first rotating shaft (not shown), the bottom of the first rotating shaft (not shown) penetrates out of the cradle head fixing plate 47, the bottom of the first rotating shaft (not shown) is connected with a third motor 84, the third motor 84 can be a 2006 brushless motor, the first rotating shaft (not shown) is driven by the third motor 84, the bottom of the bullet poking groove 81 is provided with a bullet outlet 85, the monitoring attack assembly 5 is arranged below the bullet outlet 85, a bullet feed link 86 is disposed between the attack monitoring component 5 and the bullet outlet 85.

With continued reference to fig. 6, the monitoring attack assembly 5 is provided with a second rotating shaft 91 on the front and rear surfaces thereof, the monitoring attack assembly 5 is mounted between the bottoms of the holder side plates 45 through the second rotating shaft 91, a fourth motor 92 for driving the second rotating shaft 91 to rotate is disposed on the inner side of the holder side plate 45 on the front side, and the fourth motor 92 may be a 6020 motor, and can drive the second rotating shaft 91 to rotate to realize up-and-down swinging of the monitoring attack assembly 5.

With continued reference to fig. 1 to 6, the monitoring and attacking assembly 5 includes a launching mechanism 51, a camera 52 and two barrels 53, the camera 52 is fixed in the middle of the right side of the launching mechanism 51 by a fixing block 54, the barrels 53 are symmetrically arranged on the right side of the launching mechanism 51, the camera 52 is arranged between the two barrels 53, a cradle head lower plate 48 is arranged at the bottom of the monitoring and attacking assembly 5, a microcomputer 55 and a stm32 development plate (not shown) are arranged at the bottom of the cradle head lower plate 48, and a second motor (not shown) and a fourth motor 92 are operated to realize the rotation in the horizontal direction and the swing in the vertical direction of the monitoring and attacking assembly 5.

With continued reference to fig. 1-6, a bullet inlet (not shown) is formed at the top of the launching mechanism 51, and the bottom of the bullet-feeding link 86 is in communication with the bullet inlet (not shown).

With continued reference to fig. 3, an electric regulator 65 is disposed on the lower surface of the bottom plate 21, and the electric regulator 65 is electrically connected to the first motor 31, and the electric regulator 65 may be a C620 electric regulator 65 or some other electric regulator 65, and the rotation speed of the first motor 31 is regulated by the electric regulator 65.

The utility model has the following working principle: the friction wheel 32 is driven to rotate through the first motor 31, the chassis 2 is driven to move on the running track 1, meanwhile, the two rubber wheels 33 serve as auxiliary wheels to play roles in guiding and reducing friction, the photoelectric sensor 27 senses obstacles on a running path in real time, meanwhile, the sliding ring 42 is driven to rotate through the second motor (not shown), the cradle head 4 is driven to rotate, 360-degree rotation of the gun barrel 53 and the camera 52 in the horizontal direction is achieved, the second rotating shaft 91 is driven to rotate through the fourth motor 92, and up-and-down swinging of the gun barrel 53 and the camera 52 is achieved.

The third motor 84 drives the setting plate 82 to rotate, sets the bullet in the setting groove 81 into the discharge port 85, discharges the bullet from the discharge port 85 into the feed chain 86, enters the firing mechanism 51 through the feed port (not shown), and ejects the bullet from the barrel 53 through the firing mechanism 51.

The first motor, the second motor, the third motor, the fourth motor, the photoelectric sensor, the UWB positioning module, the power supply, the main control module, the power supply management module, the armor plate, the transmitting mechanism, the gun barrel, the camera, the microcomputer, the stm development board and the electric regulator are all of the prior art, and can be clearly understood by those skilled in the art, and are not described in detail herein.

The foregoing description of the preferred embodiments of the present utility model should not be construed as limiting the scope of the utility model, which is defined by the appended claims.

Claims (8)

1. A track robot comprising a running track, characterized in that: the chassis is sleeved on the running track, the chassis comprises a bottom plate, the left end and the right end of the bottom plate are respectively provided with a side plate, the front end and the rear end of the top of each side plate are connected through an upper supporting plate, and the two ends of each upper supporting plate are respectively fixed on the side plate at the left end and the side plate at the right end through bolts; the power assembly comprises two first motors, the two first motors are arranged on the outer sides of the side plates at the left end side by side, the output ends of the first motors penetrate through the side plates at the left end, friction wheels used for driving the chassis to move forward are arranged at the output ends of the first motors, and two rubber wheels matched with the friction wheels are arranged on the inner sides of the side plates at the right end; two universal balls with rods are arranged in the middle of the inner sides of the two side plates; the bottom of chassis is provided with the cloud platform, be provided with in the cloud platform and monitor attack subassembly.

2. An orbital robot according to claim 1, wherein: the top of the side plate at the right end is provided with a lamp strip, and a UWB positioning module is fixed on the lamp strip; photoelectric sensors are arranged at the front and rear parts of the upper surface of the bottom plate.

3. An orbital robot according to claim 1, wherein: the front portion of bottom plate lower surface is provided with the power, the rear portion of bottom plate lower surface is provided with main control module and power management module, just main control module is located power management module's right side, the both sides of bottom plate lower surface all are provided with the protection main control module the power with power management module's armor.

4. An orbital robot according to claim 1, wherein: the cloud platform includes the cloud platform fixed plate, the cloud platform fixed plate with connect through four aluminum pipes between the bottom plate, the bottom of cloud platform fixed plate is provided with the drive monitoring attack subassembly level pivoted sliding ring, the sliding ring is driven by the second motor, the bottom of sliding ring is fixed with the cloud platform upper plate, the front and back both ends symmetry of cloud platform upper plate lower surface is provided with the cloud platform curb plate that the cross-sectional shape is the Y type, the left and right sides both ends symmetry of cloud platform upper plate lower surface is provided with the magazine curb plate, two the middle part of cloud platform curb plate with two connect through the magazine fixed plate between the bottom of magazine curb plate and form the magazine, the front and back end symmetry of magazine fixed plate upper surface has seted up and has dialled the bullet groove, be provided with and dial the bullet dish in the bullet groove, the bottom of dialling the bullet dish is provided with first pivot, the bottom of first pivot is worn out the magazine fixed plate, the bottom of first pivot is connected with the third motor, first pivot by the third motor drives the bottom of bullet groove, the bullet mouth is provided with the monitoring link is in the bullet mouth sets up between the attack subassembly.

5. The orbital robot of claim 4 wherein: the front surface and the rear surface of the monitoring attack assembly are provided with second rotating shafts, the monitoring attack assembly is installed between the bottoms of the cradle head side plates through the second rotating shafts, and a fourth motor used for driving the second rotating shafts to rotate is arranged on the inner side of the cradle head side plates on the front side.

6. The orbital robot of claim 5 wherein: the monitoring attack assembly comprises a transmitting mechanism, a camera and two barrels, the camera is fixed in the middle of the right side of the transmitting mechanism through a fixed block, the barrels are symmetrically arranged on the right side of the transmitting mechanism, the camera is arranged between the two barrels, a cradle head lower plate is arranged at the bottom of the monitoring attack assembly, and a microcomputer and stm32 development plate are arranged at the bottom of the cradle head lower plate.

7. The orbital robot of claim 6 wherein: the top of the launching mechanism is provided with a bullet inlet, and the bottom of the bullet supply link is communicated with the bullet inlet.

8. An orbital robot according to claim 1, wherein: the lower surface of bottom plate is provided with electric regulator, electric regulator with first motor electric connection.

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