CN108216400A - Crawler type specialized robot and its system - Google Patents
Crawler type specialized robot and its system Download PDFInfo
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- CN108216400A CN108216400A CN201611189516.0A CN201611189516A CN108216400A CN 108216400 A CN108216400 A CN 108216400A CN 201611189516 A CN201611189516 A CN 201611189516A CN 108216400 A CN108216400 A CN 108216400A
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- swing arm
- wheel component
- crawler type
- specialized robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
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Abstract
The present invention is suitable for robotic technology field, provides a kind of crawler type specialized robot and includes power driving module, crawler belt mobile mechanism, control assembly, arrangement for detecting and rack, wherein, crawler belt mobile mechanism includes walking component and swing arm unit；Each walking component includes active wheel component, driven wheel component and the first track components；Each swing arm unit includes front swing arm wheel component, the small wheel component of front swing arm, the second track components.The crawler type specialized robot is by the way that power driving module, control assembly and arrangement for detecting are arranged between two pairs of walking components and swing arm unit, so that crawler type specialized robot is compact-sized, volume is substantially reduced；In addition, by setting the first track components in component of walking, and combine the first track components and the second track components are set, it can cause walking of the crawler type specialized robot in different road conditions with reference to above-mentioned first track components and the second track components, obstacle climbing ability is strong.
Description
Technical field
The invention belongs to specialized robot technical field more particularly to a kind of crawler type specialized robot and crawler type are special
Kind robot system.
Background technology
The application of robot is more and more extensive at present, almost penetrates into all spectra.To Small Ground Mobile Robot
Research, relates to a variety of subjects and theory.In the course of the research, it is proposed in many technical fields many new or challenge
Theoretical and engineering technology subject, causes the concern of more and more experts and scholars and engineers and technicians, more since it is speedily carrying out rescue work
The disaster relief, celestial body detecting, military surveillance, the clearance dangerous material with adverse circumstances and in civilian such as get rid of the danger are carried with wide
Application prospect so as to its research in countries in the world by universal concern.
Wheeled, crawler type, Tui Shi mobile mechanisms are that people's most study is also current applies in mobile machine the most
Extensive three kinds of mobile mechanisms.Wheeled mobile robot has the features such as simple in structure, movement speed is fast and manipulates, but it is only suitable for
Going up or down stairway and Crossing ditch are unable in flat ground handling.The characteristics of peddrail mobile robot is that stability is good, it can be
It walks on broken terrain, and object can be crossed and ascend larger slope or ladder, but crawler-type mobile mechanism kinematic direction
Manipulation speed difference carried out by left and right controlled, therefore, when steering, will appear larger slip, resistance, turning radius and center
Spend the problems such as poor.Leg type mobile robot refers to employ similar people, animal or insect is taken a step to move robot with foot, have two foots,
The mobile robot of the forms such as four-footed, six foots and polypody, their common spy only need discrete touchdown point, just can on level land and
Walk on broken terrain, can stride across a trench, etc. obstacles and upper and lower ladder, have higher mobility.However leg formula is moved
The control of motivation structure is not also overripened compared with multiple correlation technology, and involves great expense.
In recent years, many scholars have carried out the research of the mobile robot based on composite structure, wheeled, leg formula or crawler belt
Formula, leg formula structure composite are together.But it is poor that existing robot remains obstacle climbing ability, easily broken when browsing barrier
The problems such as stone, flange are blocked carries out obstacle detouring simply by swing arm and does not obtain good effect.Moreover, existing special type
The general volume of robot, weight are all huger, it is difficult to which the particular surroundings for adapting to small space performs special duty.Small
Robot stabilization is very poor, wireless transmission capability it is also weaker be easily disturbed, cruising ability is relatively low, obstacle climbing ability is weaker.
Invention content
The purpose of the present invention is to provide a kind of crawler type specialized robots, it is intended to solve existing moving machine in the prior art
Device people is bulky and the technical issues of obstacle climbing ability is poor.
The invention is realized in this way a kind of crawler type specialized robot, turns including being used to provide driving power and have
The power driving module of moving axis, the crawler belt mobile mechanism driven by the power driving module believe with the power driving module
The control assembly of number connection, for the arrangement for detecting of detecting external ambient conditions and for the power transmission group to be fixedly mounted
The rack of part, the control assembly and the arrangement for detecting, wherein：
The crawler belt mobile mechanism includes being symmetrically disposed on the walking component of the power driving module both sides and symmetrical
The swing arm unit being set on the outside of each walking component, the rack are located between the two walking components；
Each walking component include being fixedly installed in active wheel component in the rotation axis, by connecting plate with it is described
The driven wheel component of active wheel component connection and the first crawler belt engaged with the active wheel component and the driven wheel component
Component；
Each swing arm unit includes being fixedly installed in the rotation axis and before the driving wheel member outside
Swing arm wheel component, the small wheel component of front swing arm being connect with the front swing arm wheel component by swing arm plate, with the front swing arm wheel portion
Part and the second track components of the small wheel component engagement of the front swing arm.
Further, the power driving module is included with the first output shaft and for crawler belt movement to the left
Mechanism provides the left movable motor of power, has the second output shaft and the swing arm electricity for providing power to two swing arm units
Machine has third output shaft and provides the right movable motor of power for the crawler belt mobile mechanism to the right, is connected to institute
State the first transmission parts between the first output shaft and the rotation axis, be connected to second output shaft and the rotation axis it
Between the second transmission parts and the third transmission parts that are connected between the third output shaft and the rotation axis, described
One output shaft, second output shaft and the third output shaft are arranged in parallel and are each perpendicular to the rotation axis.
Further, the left movable motor, the swing arm motor and the right movable motor are arranged side by side successively in institute
It states in rack.
Further, first transmission parts include be fixed on first output shaft first driving steamboat and
The the first driving bull wheel for being fixed in the rotation axis and being engaged with the described first driving steamboat；
Second transmission parts include the be fixed on second output shaft second driving steamboat and are fixed on institute
The the second driving bull wheel stated in rotation axis and engaged with the described second driving steamboat；
The third transmission parts include the third being fixed on third output shaft driving steamboat and are fixed on institute
The third stated in rotation axis and engaged with third driving steamboat drives bull wheel.
Further, each first track components
Including traveling crawler main body, it is multiple along the traveling crawler main body towards the active wheel component side protrusion and
Every the first driving cog of arrangement and positioned at the traveling crawler main body both sides and the anticreep external tooth that is intervally arranged.
Further, each first track components, which further include, is set to the active wheel component and the corresponding driven wheel
Car body damping between component and for strutting first track components.
Further, the car body damping includes a pair of respectively with first driving cog cooperation and positioned at described in two
Roller set between anticreep external tooth, for connect the gusset piece of each roller set and be fixedly installed in two gusset pieces it
Between supporting block.
Further, each first track components, which further include, is connected to the active wheel component and the driven wheel component
Between connecting plate and be installed on the connecting plate wide to adjust between the active wheel component and the driven wheel component
The traveling crawler of degree pre-tightens component.
Further, the driven wheel component includes the walking passive gear for being driven tooth engagement with described first and is installed on
It is fixedly connected on the connecting plate and with the walking passive gear so that the walking passive gear is rotated relative to the connecting plate
Rear fixing axle, the connecting plate be equipped with it is described after fixing axle cooperation shaft-jointed hole, the shaft-jointed hole for strip hole and its
Length direction is to extend along the walking slave unit towards the active wheel component side；
The traveling crawler pre-tightens component and includes installing side plate and the rotation of the rear fixing axle jointly with the connecting plate
The side plate is connected to adjust the preload screw of side plate position on the connecting plate, the side plate is equipped with and the axis
Connect the consistent adjustment hole in hole length direction.
Further, each second track components include swing arm track body, multiple along the swing arm track body court
To front swing arm wheel component side protrusion and the second driving cog being intervally arranged.
Further, each second track components, which further include, is connected to the front swing arm wheel component and the front swing arm is small
It swing arm plate between wheel component and is installed on the swing arm plate small to adjust the front swing arm wheel component and the front swing arm
The swing arm crawler belt of width pre-tightens component between wheel component.
Further, the small wheel component of the front swing arm include with described second transmission tooth engagement front swing arm driven wheel and
It is installed on the swing arm plate and is fixedly connected with the front swing arm driven wheel so that the small wheel component of the front swing arm is relative to institute
The forward swing arm axle of swing arm plate rotation is stated, the swing arm crawler belt pre-tightens component and is installed on the swing arm plate.
Further, the swing arm crawler belt pre-tightens component and includes one end for installing the small wheel component of the front swing arm and another
End is installed on the fender bracket of the swing arm plate, is fixedly installed on the swing arm plate and is held in the pre- of the fender bracket one end
Tight block and the preload block is rotatably connected in adjust the adjusting screw of fender bracket position on the swing arm plate, the protection
Frame is equipped with and the axial parallel and elongated pre- tieholen of the adjusting screw.
Further, the control assembly includes the circuit board being installed in the rack, is electrically connected at the circuit
On plate and external signal is received to control the controller of the crawler belt mobile mechanism.
Further, the control assembly further includes the letter for being electrically connected at the circuit board and being installed in the rack
Number reception antenna and control to send from external signal to the controller is connect with the signal receiving antenna wireless telecommunications
Terminal.
Further, the control terminal is to be built-in with the mobile terminal of control program.
Further, the arrangement for detecting includes being set in front of the rack to obtain the crawler type specialized robot
The information detection element of front traffic information；And/or the arrangement for detecting is further included to be fixedly installed in the rack and is used in combination
In the head assembly for perceiving surrounding objects.
Further, described information detection element includes being fixedly installed in the rack and is equipped with the peace of multiple mounting holes
Dress seat is installed on the mounting base and for acquiring the camera parts of image information and being installed in the mounting base simultaneously position
Light source part in the camera parts both sides.
Further, the camera parts include acquiring the camera of image information, being installed on the mounting hole
Camera lens that is interior and being set in front of the camera；And/or the light source part includes LED light, the installation for providing light
In in the mounting hole and being set to the lens of the LED light light emission side.
Further, the head assembly includes the high definition for capturing high definition visible oBject and being applied in visible environmental
Camera and the infrared camera for identifying surrounding objects and being applied in invisible environment.
Further, the head assembly further includes pedestal and is fixedly installed on the pedestal and is used to install described
The pedestal of high-definition camera and the infrared camera, the pedestal can rotate relative to the rack.
Further, the head assembly further includes the protection for being fixedly installed on the pedestal and being surrounded on around pedestal
Frame.
Further, the head assembly, which further includes, is electrically connected at the high-definition camera and the infrared camera simultaneously
The rapid abutting joint head that the control assembly is plugged in be electrically connected with the control assembly.
Further, the arrangement for detecting includes being set in the rack and for perceiving ambient gas concentration and ingredient
The gas controlling device of information.
Further, the gas controlling device includes being fixedly installed in the rack and is equipped in its side wall multiple
The protecting box of stomata at least one is set in the protecting box and through air hole detection ambient gas concentration and ingredient
The gas sensor of information and the electric connecting part for being electrically connected at the gas sensor and the control assembly.
Further, the electric connecting part includes being fixedly installed in the protecting box and being electrically connected at the gas
The printed circuit board of body sensor and one end are electrically connected at the printed circuit board and the other end is plugged in the control group
Fast insert-pull head on part.
The present invention has the technical effect that relative to the prior art：Crawler type specialized robot in the rack by installing
The power driving module, the control assembly and the arrangement for detecting and it is symmetrical arranged the walking in the rack both sides
Component and the swing arm unit, in this way, the power driving module, the control assembly and the arrangement for detecting are arranged at two
Between the walking component and the swing arm unit, so that the crawler type specialized robot is compact-sized, volume obtains
It is substantially reduced；In addition, it is engaged simultaneously with the active wheel component and the driven wheel component by being set in the walking component
It realizes first track components that crawler type is newly walked, and is set with reference to first track components by being located at the driving wheel
Member outside and second track components engaged with the front swing arm wheel component and the small wheel component of the front swing arm, with reference to upper
Walking of the crawler type specialized robot in different road conditions can be caused by stating the first track components and second track components,
Obstacle climbing ability is strong.
Description of the drawings
It in order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to the embodiment of the present invention or the prior art
Attached drawing is briefly described needed in description, it should be apparent that, drawings described below is only the present invention's
Some embodiments, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 is the structure chart of crawler belt specialized robot provided in an embodiment of the present invention；
Fig. 2 is the exploded view of crawler type feature robot in Fig. 1；
Fig. 3 is the bottom view of caterpillar type robot in Fig. 1, and illustrates the structure feature of power driving module；
Fig. 4 is the partial sectional view of power driving module and walking component in Fig. 3；
Fig. 5 is the structure chart of walking component provided in an embodiment of the present invention；
Fig. 6 is the structure chart that walking component removes driven wheel component in Fig. 5；
Fig. 7 is the structure chart of car body damping in Fig. 6；
Fig. 8 is the structure chart that swing arm crawler belt pre-tightens component in Fig. 5；
Fig. 9 is the local structural graph of power driving module in Fig. 1；
Figure 10 is the sectional view of information detection element provided in an embodiment of the present invention；
Figure 11 is the structure chart of head assembly provided in an embodiment of the present invention；
Figure 12 is the structure chart of gas controlling device provided in an embodiment of the present invention.
Reference sign：
Specific embodiment
The embodiment of the present invention is described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that term " length ", " width ", " on ", " under ", "front", "rear",
The orientation or position relationship of the instructions such as "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer " is based on attached drawing institutes
The orientation or position relationship shown is for only for ease of the description present invention and simplifies description rather than instruction or imply signified dress
It puts or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that limit of the invention
System.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the present invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；Can be that machinery connects
It connects or is electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be two elements
Internal connection or the interaction relationship of two elements.It for the ordinary skill in the art, can be according to specific
Situation understands the concrete meaning of above-mentioned term in the present invention.
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.
Fig. 1 to Figure 12 is please referred to, crawler type specialized robot provided in an embodiment of the present invention includes dynamic for providing driving
Power and power driving module 01 with rotation axis 10, the crawler belt mobile mechanism 02 driven by the power driving module 01, with
The control assembly 40 of 01 signal of power driving module connection, for detecting the arrangement for detecting 05 of external ambient conditions and use
In the rack 60 that the power driving module 01, the control assembly 40 and the arrangement for detecting 05 is fixedly mounted, wherein,
The crawler belt mobile mechanism 02 include be symmetrically disposed on the walking component 20 of 01 both sides of power driving module with
And be symmetrically disposed on the swing arm unit 30 in each walking component 20 outside, the rack 60 be located at the two walking components 20 it
Between；
Each walking component 20 includes the active wheel component 22 being fixedly installed in the rotation axis 10, passes through connecting plate
The 27 driven wheel components 24 being connect with the active wheel component 22 and with the active wheel component 22 and the driven wheel component
First track components 25 of 24 engagements；
Each swing arm unit 30 includes being fixedly installed in the rotation axis 10 and outside the active wheel component 22
The front swing arm wheel component 32 of side, the small wheel component 34 of front swing arm being connect with the front swing arm wheel component 32 by swing arm plate 354, with
The second track components 35 that the front swing arm wheel component 32 and the small wheel component 34 of the front swing arm engage.
Crawler type specialized robot provided in an embodiment of the present invention in the rack 60 by installing the power transmission
Component 01, the control assembly 40 and the arrangement for detecting 05 and it is symmetrical arranged the walking component in 60 both sides of rack
20 and the swing arm unit 30, in this way, the power driving module 01, the control assembly 40 and the arrangement for detecting 05 are all provided with
It puts between two pairs of walking components 20 and the swing arm unit 30, so that the structure of the crawler type specialized robot is tight
It gathers, volume is substantially reduced；In addition, by it is described walking component 20 in setting with the active wheel component 22 and it is described from
Wheel member 24 engages and realizes first track components 25 that crawler type is newly walked, and with reference to first track components 25
Setting is by being located at 22 outside of active wheel component and being nibbled with the front swing arm wheel component 32 and the small wheel component 34 of the front swing arm
Second track components 35 closed, with reference to described in can causing above-mentioned first track components 25 and second track components 35
For crawler type specialized robot in the walking of different road conditions, obstacle climbing ability is strong.
In this embodiment, the front swing arm wheel component 32 and the active wheel component 22 are set to the rotation axis 10 together
On, in the process of running, second track components 35 pendulum of different angle can occur relative to first track components 25
It is dynamic, so that the crawler type specialized robot is suitble to varying environment, there is stronger obstacle climbing ability.
Fig. 1 to Fig. 4 is please referred to, further, the power driving module 01 includes with the first output shaft 130 and is used for
The crawler belt mobile mechanism 02 to the left provides the left movable motor 13 of power, has the second output shaft 120 and be used for two
The swing arm unit 30 provides the swing arm motor 12 of power, has third output shaft 110 and moved for the crawler belt to the right
Motivation structure 02 provides the right movable motor 11 of power, be connected between first output shaft 130 and the rotation axis 10 the
One transmission parts 14, the second transmission parts 15 being connected between second output shaft 120 and the rotation axis 10 and company
The third transmission parts 16 being connected between the third output shaft 110 and the rotation axis 10, first output shaft 130, institute
It states the second output shaft 120 and the third output shaft 110 is arranged in parallel and is each perpendicular to the rotation axis 10.Utilize the left lateral
It walks motor 13 and generates power and to be sent power in first transmission parts 14 by first output shaft 130, and to institute
It states rotation axis 10 and exports power to send power to the crawler belt mobile mechanism 02 in left side, similarly, utilize the right lateral
It walks motor 11 and generates power and to be sent power in the third transmission parts 16 by the third output shaft 110, and to institute
It states rotation axis 10 and exports power to send power to the crawler belt mobile mechanism 02 on right side；So as to fulfill crawler type special type machine
The walking of device people.Meanwhile it generates power using the swing arm motor 12 and institute is sent power to by second output shaft 120
It states in the second transmission parts 15, and power is exported to send power to the swing arm unit 30 to the rotation axis 10, so as to
Power is provided for actions such as climbing and obstacle detourings.
Fig. 9 is please referred to, further, the left movable motor 13, the swing arm motor 12 and the right movable motor 11
It is arranged side by side successively in the rack 60.By the way that the left movable motor 13, the swing arm motor 12 and the right lateral are walked
Motor 11 is arranged side by side successively in the rack 60, so that the power driving module 01 is compact-sized, to be substantially reduced
The volume of crawler type specialized robot is stated, is conducive to lighting development.
Fig. 3 and Fig. 4 are please referred to, further, first transmission parts 14 include being fixed on first output shaft 130
On the first driving steamboat 140 and be fixed in the rotation axis 10 and engaged with the described first driving steamboat 140 first
Drive bull wheel 142；
Second transmission parts 15 include be fixed on second output shaft 120 second driving steamboat 150 and
The the second driving bull wheel 152 for being fixed in the rotation axis 10 and being engaged with the described second driving steamboat 150；
The third transmission parts 16 include be fixed on the third output shaft 110 third driving steamboat 160 and
The third for being fixed in the rotation axis 10 and being engaged with third driving steamboat 160 drives bull wheel 162.
It is to be appreciated that steamboat 140 is driven to engage with by the left side with described first using the described first driving bull wheel 142
The power that movable motor 13 generates is sent in the crawler belt mobile mechanism 02 in left side, utilizes the described second driving bull wheel 152
It engages with the described second driving steamboat 150 and is sent in the swing arm unit 30 with the power for generating the swing arm motor 12；
Bull wheel 162 is driven to engage with third driving steamboat 160 using the third to move with generate the right movable motor 11
Power is sent in the crawler belt mobile mechanism 02 on right side, and to meet transmission demand, reaching reduces transmission energy loss and increase
The big effective rate of utilization of battery.
In this embodiment, first output shaft 130, second output shaft 120 and the third output shaft 110 are
A part for motor cabinet.
In this embodiment, it is described first driving steamboat 140 and it is described first driving bull wheel 142 can be bevel gear or
First driving steamboat 140 described in person and the first driving bull wheel 142 can be turbine and worm screw；
The second driving steamboat 150 and the second driving bull wheel 152 can be bevel gear or second driving
Steamboat 150 and the second driving bull wheel 152 can be turbine and worm screw；
The third driving steamboat 160 and third driving bull wheel 162 can be bevel gear or third driving
Steamboat 160 and third driving bull wheel 162 can be turbine and worm screw.
It is to be appreciated that the first driving steamboat 140 and the first driving bull wheel 142, the second driving steamboat
150 and described second drive bull wheel 152 and third driving steamboat 160 and third driving bull wheel 162 can be whole
All be bevel gear or turbine and worm combination or part for bevel gear and part be turbine and worm combination or
The kind of drive of other vertical transmission power, so that powerdriven direction changes, i.e. the complete steering in 90 ° of power transmission is to save
Structure space increases the effective rate of utilization of other module volumes.
Fig. 1 to Fig. 6 is please referred to, further, first track components 25 include traveling crawler main body 250, Duo Geyan
The traveling crawler main body 250 towards 22 side of active wheel component protrusion and the first driving cog 252 for being intervally arranged and
Positioned at 250 both sides of traveling crawler main body and the anticreep external tooth 254 that is intervally arranged.Utilize first driving cog 252 and institute
It states active wheel component 22 and the driven wheel component 24 is meshed so that the crawler type specialized robot is realized is moved forward and backward, and
The anticreep external tooth 254 is set in the both sides of first driving cog 252, to prevent first track components 25 and the master
Phenomenon is fallen off in transmission process between wheel member 22 and the driven wheel component 24.
In this embodiment, first driving cog 252 is equidistantly arranged along the inside of the traveling crawler main body 250,
To ensure the intermeshing degree of first track components 25 and the active wheel component 22 and the driven wheel component 24, keep away
Exempt from clamping phenomenon occur.
Described two at this, the anticreep external tooth 254 is set to the both sides of 250 width direction of traveling crawler main body,
And equidistantly arrangement, to prevent between first track components 25 and the active wheel component 22 and the driven wheel component 24
Phenomenon is fallen off in transmission process.
Fig. 5 and Fig. 6, Fig. 8 are please referred to, further, each first track components 25, which further include, is set to the active
Car body damping between wheel component 22 and the corresponding driven wheel component 24 and for strutting first track components 25
26.When breaking the barriers, first track components 25 are between the active wheel component 22 and the driven wheel component 24
Part will appear the problem of relaxation degree is inadequate, by setting the car body damping 26 to strut first track components
25 part between the active wheel component 22 and the driven wheel component 24, so that playing one when breaking the barriers
Fixed cushioning effect improves the obstacle climbing ability of the crawler type specialized robot.
Fig. 5 and Fig. 6, Fig. 8 are please referred to, further, the car body damping 26 includes a pair of respectively with described first
Driving cog 252 coordinates and the roller set 260 between the two anticreep external tooths 254, for connecting each roller set 260
Gusset piece 262 and the supporting block 264 being fixedly installed between two gusset pieces 262.It is attached at using the roller set 260
First driving cog 252 and between the active wheel component 22 and the driven wheel component 24, meanwhile, using described
Fishplate bar 262 is connected in series each roller set 260, ensures each roller set 260 and the patch of first driving cog 252
It closes, it, can be by the opposite of first track components 25 additionally by the supporting block 264 is set between two connecting portions
Both sides strut, and ensure that cushioning effect can be played when breaking the barriers, and improve the obstacle detouring of the crawler type specialized robot
Ability.
In this embodiment, the supporting block 264 may be also used in setting LOGO or the lay down location as battery,
It can be used for other modules or parts are installed.
Fig. 5 and Fig. 6 are please referred to, further, each first track components 25, which further include, is connected to the active wheel portion
It connecting plate 27 between part 22 and the driven wheel component 24 and is installed on the connecting plate 27 to adjust the driving wheel
The traveling crawler of width pre-tightens component 28 between component 22 and the driven wheel component 24.By the way that the traveling crawler is set to pre-tighten
Component 28 so that first track components 25 avoid the occurrence of first track components 25 and loosen always in tensioning state,
And can not ensure normal obstacle crossing function, the obstacle climbing ability of the crawler type specialized robot can be caused to get a promotion in this way.
In this embodiment, by setting the connecting plate 27 so that the active wheel component 22 and the driven wheel component
The distance between 24 keep certain, and the traveling crawler are set to pre-tighten component 28 to adjust the active wheel component 22 and described
The distance between driven wheel component 24, in the long-term use since the influence of the factors such as vibration leads to the traveling crawler
Main body 250 has the appearance of elongated phenomenon, can cause the traveling crawler main body 250 always in tensioning state in this way, thus
It ensure that the obstacle climbing ability of the crawler type specialized robot.
In addition, component 28 is pre-tightened with reference to the car body damping 26 by the traveling crawler, to ensure described first
Track components 25 are in tensioning state always during obstacle detouring, so as to improve the obstacle detouring energy of the crawler type specialized robot
Power.
Fig. 5 and Fig. 6 are please referred to, further, the driven wheel component 24 includes what is engaged with first driving cog 252
It walking passive gear 240 and is installed on the connecting plate 27 and is fixedly connected with the walking passive gear 240 so that the row
The rear fixing axle 242 that driven wheel 240 is rotated relative to the connecting plate 27 is walked, the connecting plate 27 is equipped with to be fixed afterwards with described
The shaft-jointed hole 270 that axis 242 coordinates, the shaft-jointed hole 270 is strip hole and its length direction is along the walking slave unit court
Extend to 22 side of active wheel component；
The traveling crawler pre-tightens component 28 and includes the side plate for installing the rear fixing axle 242 jointly with the connecting plate 27
It 282 and is rotatably connected in the side plate 282 and (is not schemed with adjusting the side plate 282 preload screw of position on the connecting plate 27
Show), the side plate 282 is equipped with the adjustment hole 2820 consistent with 270 length direction of shaft-jointed hole.
By setting the shaft-jointed hole 270 moved for the rear fixing axle 242 on the connecting plate 27, so that in institute
It states under the action of pre-tightening screw, the distance between the walking passive gear 240 and the active wheel component 22 can be adjusted, so as to
So that the traveling crawler main body 250 is in tensioning state always.
In this embodiment, the side plate 282 is made with the rear fixing axle 242 by being integrally formed.
It is to be appreciated that the length direction of the shaft-jointed hole 270 is consistent with the length direction of the adjustment hole 2820, all it is
Along the rear fixing axle 242 of the walking passive gear 240 to the direction of line between the axle center of the active wheel component 22, to ensure
The adjusting direction for pre-tightening screw is consistent with the length direction of the shaft-jointed hole 270 and the adjustment hole 2820.
During adjusting, it is screwed on using the preload screw and side plate 282 described in pushing tow, the side plate 282 drives institute
Rear fixing axle 242 is stated to move along 270 length direction of shaft-jointed hole, it is to be moved to completely opening the traveling crawler main body 250
Until when tight.
Fig. 1 to Fig. 7 is please referred to, further, each second track components 35 include swing arm track body 350, multiple
Along the swing arm track body 350 towards 32 side of front swing arm wheel component protrusion and the second driving cog 352 for being intervally arranged.
By being engaged in second driving cog 352 with the front swing arm wheel component 32 and the small wheel component 34 of the front swing arm, so that institute
It states swing arm unit 30 to have both walking in relatively described walking 20 swing process of component and ascend function, so that the crawler belt
Formula specialized robot is suitble to use under different environment, is not limited solely to use on level land.
Fig. 5 to Fig. 7 is please referred to, further, each second track components 35, which further include, is connected to the front swing arm wheel
It swing arm plate 354 between component 32 and the small wheel component 34 of the front swing arm and is installed on the swing arm plate 354 to adjust
The swing arm crawler belt for stating width between front swing arm wheel component 32 and the small wheel component 34 of the front swing arm pre-tightens component 356.Pass through setting
The swing arm crawler belt pre-tightens component 356 so that second track components 35 are always in tensioning state, avoids the occurrence of described the
Two track components 35 loosen, and can not ensure normal obstacle crossing function, can cause getting over for the crawler type specialized robot in this way
Barrier ability gets a promotion.
In this embodiment, by setting the swing arm plate 354 so that the front swing arm wheel component 32 and the front swing arm
The distance between small wheel component 34 keeps certain, and the swing arm crawler belt is set to pre-tighten component 356 to adjust the front swing arm wheel
The distance between component 32 and the small wheel component 34 of the front swing arm, in the long-term use due to the influence of the factors such as vibration
Second track body is caused to have the appearance of elongated phenomenon, can cause second track body always in tensioning in this way
State, so as to ensure that the obstacle climbing ability of the crawler type specialized robot.
Fig. 5 to Fig. 7 is please referred to, further, the small wheel component 34 of front swing arm includes nibbling with second driving cog 352
The front swing arm driven wheel 340 of conjunction and be installed on the swing arm plate 354 and be fixedly connected with the front swing arm driven wheel 340 with
The forward swing arm axle 342 that the small wheel component 34 of the front swing arm is made to be rotated relative to the swing arm plate 354, the swing arm crawler belt preload portion
Part 356 is installed on the swing arm plate 354.It is to be appreciated that the swing arm plate 354 be connected to the front swing arm wheel component 32 with
Between the swing arm crawler belt pre-tightens component 356, adjust the swing arm crawler belt pre-tighten component 356 relative to the swing arm plate 354 it
Between position, so as to adjust the distance between the front swing arm wheel component 32 and the front swing arm driven wheel 340, so as to ensure that
The obstacle climbing ability of the crawler type specialized robot.
Please refer to Fig. 5 to Fig. 7, further, the swing arm crawler belt pre-tighten component 356 include one end for install it is described before
The small wheel component 34 of swing arm and the other end are installed on the fender bracket 3560 of the swing arm plate 354, are fixedly installed in the swing arm plate 354
It goes up and is held in the preload block 3564 of 3560 one end of fender bracket and is rotatably connected in the preload block 3564 with described in adjusting
The adjusting screw 3566 of the position on the swing arm plate 354 of fender bracket 3560, the fender bracket 3560 are equipped with and the adjusting
The axial parallel and elongated pre- tieholen 3562 of screw 3566.By on the swing arm plate 354 and the fender bracket 3560
Setting supplies the pre- tieholen 3562, so that under the action of the adjusting screw 3566, it is small can to adjust the front swing arm
The distance between wheel component 34 and the front swing arm wheel component 32 are opened so that the swing arm track body 350 is in always
Tight state.
It is to be appreciated that the length direction of the pre- tieholen 3562 and the forward swing arm axle along the small wheel component 34 of the front swing arm
342 to the direction of line between the axle center of the front swing arm wheel component 32, to ensure the adjusting direction of the adjusting screw 3566
It is consistent with the length direction of the pre- tieholen 3562.
During adjusting, it is screwed on described in simultaneously pushing tow using the adjusting screw 3566 and pre-tightens block 3564, the preload block
3564 drive the fender brackets 3560 to be moved along the length direction of the pre- tieholen 3562, to be moved to completely carrying out the swing arm
Until when band main body 350 is tensioned.
Fig. 1 to Fig. 7 is please referred to, further, the control assembly 40 includes the circuit board being installed in the rack 60
42nd, it is electrically connected on the circuit board 42 and receives external signal to control the controller of the crawler belt mobile mechanism 02 (not
Diagram).Preferably, the control assembly 40, which further includes, is electrically connected at the circuit board 42 and is installed in the rack 60
Signal receiving antenna 44 and connect with 44 wireless telecommunications of signal receiving antenna with to the controller send external signal
Control terminal (not shown).
The information that the crawler type specialized robot captures in task environment real-time display in the control terminal,
Operator can carry out discriminatory analysis, to control the crawler belt in real time by the real time information that the control terminal is controlled to feed back
Formula specialized robot performs corresponding task.Control program and data processor are equipped in the controller, it can be to described
The information that crawler type specialized robot captures is handled and is converted to emit to the control terminal, meanwhile, the control
The instruction of terminal can also be converted to each signal of the crawler type specialized robot into row information by the controller and be received
Module is sent.
In this embodiment, terminal is additionally provided between the control terminal and the crawler type specialized robot, utilized
The terminal can expand the effect of network transmission distance.
Further, the control terminal is to be built-in with the mobile terminal of control program.It is controlled using the mobile terminal
The crawler type specialized robot is to realize operation readiness.
Fig. 1 and Fig. 2 and Figure 10 are please referred to Figure 12, further, the arrangement for detecting 05 includes being set to the machine
The front of frame 60 is to obtain the information detection element 52 of traffic information in front of the crawler type specialized robot；And/or it described detects
It surveys device 05 and further includes the head assembly 54 being fixedly installed in the rack 60 and for perceiving surrounding objects.
Using described information arrangement for detecting 05 detect crawler type specialized robot walking front traffic information and/
Alternatively, the situation of the crawler type specialized robot surrounding objects is detected using the head assembly 54, so as to be the crawler belt
Formula specialized robot is walked and obstacle detouring provides road conditions reference.Control terminal is according to described information detection element 52 and/or institute
It states 54 feedack of head assembly and carries out control adjustment, so that the crawler type specialized robot is suitble to different use rings
Border.
In this embodiment, the head assembly 54 is rotated relative to the rack 60, extraordinary to detect the crawler type
The load conditions of different direction around robot.
Fig. 1, Fig. 2 and Figure 10 are please referred to, further, described information detection element 52 includes being fixedly installed in the rack
On 60 and it is equipped with the mounting base 522 of multiple mounting holes 5220, is installed on the mounting base 522 and for acquiring taking the photograph for image information
As head part 524 and it is installed in the mounting base 522 and positioned at the light source part 526 of 524 both sides of camera parts.
By setting the mounting base 522 so that described information detection element 52 is fixed in the rack 60, and utilize the camera shooting
Head part 524 carries out image collection so that the light source part 526 will be utilized to be supplied to the camera parts 524 in image collection
When light, ensure the quality of image collection.
Figure 10 is please referred to, further, the camera parts 524 include the camera for acquiring image information
5240th, it is installed in the mounting hole 5220 and is set to the camera lens 5242 in 5240 front of camera；Utilize the camera lens
5242 capture images are simultaneously transferred to the camera 5240, to complete Image Acquisition, and can be protected using the camera lens 5242
Protect the camera 5240.
And/or the light source part 526 includes providing the LED light 5260 of light, being installed on the mounting hole 5220
Lens 5262 that are interior and being set to 5260 light emission side of LED light.The LED light 5260 is sent out using the lens 5262
Light-ray condensing gets up, and the LED light 5260 is set to 5240 both sides of camera, so as to form the two strands of light sources in left and right to institute
It states camera 5240 and shooting light illumination is provided.
Fig. 1, Fig. 2 and Figure 13 are please referred to, further, the head assembly 54 includes capturing high definition visible oBject simultaneously
Applied to the high-definition camera 540 in visible environmental and for identifying surrounding objects and being applied to infrared in invisible environment
Camera 542.High definition visible oBject is captured using the high-definition camera 540, is worked in visible environmental；It is taken the photograph using infrared
Surrounding objects are identified in invisible environment or the particular surroundings such as can not turn on light as first 542.
In this embodiment, the high-definition camera 540 for the environment of visible environmental or light source abundance into row information
It captures, in addition, the head assembly 54 is equipped with secondary light source to carry out light supplement under the slightly dark environment of light source；In high-definition camera
First 540 low light environments that can not be used or light supplement after still None- identified when, using 542 environment-identification of infrared camera week
It encloses information or identifies the heat source image-forming information that can not capture of other visible rays using infrared camera 542.
Figure 13 is please referred to, further, the head assembly 54 further includes pedestal 543 and is fixedly installed in the pedestal
Pedestal 544 on 543 and for installing the high-definition camera 540 and the infrared camera 542, the pedestal 543 can
It rotates relative to the rack 60.The pedestal 543 can be relative to 60 rotary motion of rack and the pedestal
544 are fixed on the pedestal 543, the high-definition camera 540 and the infrared camera 542 to be driven to shoot the crawler belt
The object of different direction around formula specialized robot, expands the high-definition camera 540 and the infrared camera 542 is shot
Range.
It in other embodiments, can also be by the way that 543 surrounding of pedestal be fixed in the rack 60.
Figure 13 is please referred to, further, the head assembly 54, which further includes, to be fixedly installed on the pedestal 543 and surround
Protect-ing frame structure 546 around pedestal 544.By setting the protect-ing frame structure 546 to avoid the crawler type specialized robot
It is collided with and is damaged when occurring turning on one's side or be collided into particular surroundings by external object, played a protective role.
Fig. 1, Fig. 2 and Figure 13 are please referred to, further, the head assembly 54, which further includes, to be electrically connected at the high definition and take the photograph
As first 540 and the infrared camera 542 and be plugged in the control assembly 40 with the control assembly 40 be electrically connected
Rapid abutting joint head 548.It is carried out by the control assembly 40 for setting the rapid abutting joint head 548 and the crawler type specialized robot
Rapid abutting joint, to complete the replacement at any time during different function module.
Fig. 1, Fig. 2 and Figure 12 are please referred to, further, the arrangement for detecting 05 includes being set in the rack 60 being used in combination
In the gas controlling device 56 for perceiving ambient gas concentration and composition information.By setting the gas controlling device 56 to perceive
The crawler type specialized robot ambient gas concentration and composition information, and the gas information of perception is fed back into the control eventually
On end, to realize different control and adjusting.
Fig. 1, Fig. 2 and Figure 12 are please referred to, further, the gas controlling device 56 includes being fixedly installed in the rack
The protecting box 562 of multiple air holes 5620 is equipped on 60 and in its side wall, at least one is set in the protecting box 562 and thoroughly
The air hole 5620 is crossed to detect the gas sensor 564 of ambient gas concentration and composition information and be electrically connected at the gas
Body sensor 564 and the electric connecting part 566 of the control assembly 40.By setting the protecting box 562 to its inside
The gas sensor 564 plays certain protective effect, and passes through and set the air hole 5620 so that the gas sensing
Device 564 detects the gas information around the protecting box 562, using the electric connecting part 566 by the gas sensing
Device 564 is connected to the control assembly 40.
In this embodiment, the gas sensor 564 can be the sensor of multiple detection variety classes gases.
Fig. 1, Fig. 2 and Figure 12 are please referred to, further, the electric connecting part 566 includes being fixedly installed in the guarantor
In shield box 562 and be electrically connected at the printed circuit board 5660 of the gas sensor 564 and one end be electrically connected at it is described
Printed circuit board 5660 and the other end are plugged in the fast insert-pull head 5662 in the control assembly 40.It is described quick by setting
Connect-disconnect plug 5662 and the 40 quick grafting of control assembly, complete quick-replaceable during different demands.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (26)
1. a kind of crawler type specialized robot, which is characterized in that including being used to provide driving power and there is the power of rotation axis
Transmission component, the crawler belt mobile mechanism driven by the power driving module, the control being connect with the power driving module signal
Component processed, for the arrangement for detecting of detecting external ambient conditions and for the power driving module, the control to be fixedly mounted
The rack of component processed and the arrangement for detecting, wherein：
The crawler belt mobile mechanism includes being symmetrically disposed on the walking component of the power driving module both sides and be symmetrical arranged
Swing arm unit on the outside of each walking component, the rack are located between the two walking components；
Each walking component includes the active wheel component being fixedly installed in the rotation axis, by connecting plate and the active
The driven wheel component of wheel component connection and the first track components engaged with the active wheel component and the driven wheel component；
Each swing arm unit includes being fixedly installed in the rotation axis and positioned at the front swing arm of the driving wheel member outside
Wheel component, the small wheel component of front swing arm being connect with the front swing arm wheel component by swing arm plate, with the front swing arm wheel component and
Second track components of the small wheel component engagement of front swing arm.
2. crawler type specialized robot as described in claim 1, which is characterized in that the power driving module includes having the
One output shaft simultaneously provides the left movable motor of power for the crawler belt mobile mechanism to the left, there is the second output shaft to be used in combination
It is moved in the crawler belt that the swing arm motor of power is provided to two swing arm units, there is third output shaft and be used for the right
Mechanism provide power right movable motor, be connected between first output shaft and the rotation axis the first transmission parts,
The second transmission parts for being connected between second output shaft and the rotation axis and be connected to the third output shaft with
Third transmission parts between the rotation axis, first output shaft, second output shaft and the third output shaft are put down
Row sets and is each perpendicular to the rotation axis.
3. crawler type specialized robot as claimed in claim 2, which is characterized in that the left movable motor, swing arm electricity
Machine and the right movable motor are arranged side by side successively in the rack.
4. crawler type specialized robot as claimed in claim 2, which is characterized in that first transmission parts include being fixed on
First on first output shaft drives steamboat and is fixed in the rotation axis and is engaged with the described first driving steamboat
First driving bull wheel；
Second transmission parts include the be fixed on second output shaft second driving steamboat and are fixed on described turn
The the second driving bull wheel engaged on moving axis and with the described second driving steamboat；
The third transmission parts include the third being fixed on third output shaft driving steamboat and are fixed on described turn
The third engaged on moving axis and with third driving steamboat drives bull wheel.
5. crawler type specialized robot as claimed in claim 4, which is characterized in that each first track components include walking
Track body, it is multiple along the traveling crawler main body towards the active wheel component side protrusion and be intervally arranged first transmission
Tooth and positioned at the traveling crawler main body both sides and the anticreep external tooth that is intervally arranged.
6. crawler type specialized robot as claimed in claim 5, which is characterized in that each first track components, which further include, to be set
It is placed between the described and corresponding driven wheel component and is used to strut the car body damping of first track components.
7. crawler type specialized robot as claimed in claim 6, which is characterized in that the car body damping includes a pair of point
Do not coordinate with first driving cog and roller set between the two anticreep external tooths, for connecting each roller set
Gusset piece and the supporting block being fixedly installed between two gusset pieces.
8. crawler type specialized robot as claimed in claim 5, which is characterized in that each first track components further include company
It the connecting plate that is connected between the active wheel component and the driven wheel component and is installed on the connecting plate to adjust
The traveling crawler for stating width between active wheel component and the driven wheel component pre-tightens component.
9. crawler type specialized robot as claimed in claim 8, which is characterized in that the driven wheel component includes and described the
The walking passive gear of one transmission tooth engagement and the rear fixing axle being installed on the connecting plate, the rear fixing axle and the row
Driven wheel is walked to be fixedly connected and the walking passive gear is made to rotate relative to the connecting plate, the connecting plate be equipped with it is described
The shaft-jointed hole of fixing axle cooperation afterwards, the shaft-jointed hole is strip hole and its length direction is along the walking slave unit towards institute
State the extension of active wheel component side；
The traveling crawler pre-tightens component and includes installing the side plate of the rear fixing axle jointly with the connecting plate and be rotatably connected in
To adjust the preload screw of side plate position on the connecting plate, the side plate is equipped with and the shaft-jointed hole side plate
The consistent adjustment hole of length direction.
10. crawler type specialized robot as claimed in claim 4, which is characterized in that each second track components include pendulum
Arm track body, it is multiple along the swing arm track body towards the front swing arm wheel component side protrusion and be intervally arranged second
Driving cog.
11. crawler type specialized robot as claimed in claim 10, which is characterized in that each second track components further include
It the swing arm plate that is connected between the front swing arm wheel component and the small wheel component of the front swing arm and is installed on the swing arm plate
Component is pre-tightened to adjust the swing arm crawler belt of width between the front swing arm wheel component and the small wheel component of the front swing arm.
12. crawler type specialized robot as claimed in claim 13, which is characterized in that the small wheel component of front swing arm include with
Described second is driven the front swing arm driven wheel of tooth engagement and is installed on the swing arm plate and consolidates with the front swing arm driven wheel
Fixed connection is so that the forward swing arm axle that the small wheel component of the front swing arm is rotated relative to the swing arm plate, the swing arm crawler belt preload portion
Part is installed on the swing arm plate.
13. crawler type specialized robot as claimed in claim 12, which is characterized in that the swing arm crawler belt pre-tightens component and includes
One end for the small wheel component of the front swing arm is installed and the other end be installed on the fender bracket of the swing arm plate, be fixedly installed in it is described
On swing arm plate and it is held in the preload block of the fender bracket one end and is rotatably connected in the preload block to adjust the fender bracket
The adjusting screw of position on the swing arm plate, the fender bracket are equipped with axially parallel and elongated with the adjusting screw
Pre- tieholen.
14. the crawler type specialized robot as described in claim 1 to 13 any one, which is characterized in that the control assembly
Including be installed in the rack circuit board, be electrically connected on the circuit board and receive external signal to control the shoe
Controller with mobile mechanism.
15. crawler type specialized robot as claimed in claim 14, which is characterized in that the control assembly, which further includes, electrically to be connected
The signal receiving antenna that is connected to the circuit board and is installed in the rack and with the signal receiving antenna wireless telecommunications
Connect the control terminal to send external signal to the controller.
16. crawler type specialized robot as claimed in claim 15, which is characterized in that the control terminal is to be built-in with control
The mobile terminal of program.
17. the crawler type specialized robot as described in claim 1 to 13 any one, which is characterized in that the arrangement for detecting
Including being set in front of the rack to obtain the information detection element of traffic information in front of the crawler type specialized robot；
And/or the arrangement for detecting further includes the head assembly being fixedly installed in the rack and for perceiving surrounding objects.
18. crawler type specialized robot as claimed in claim 17, which is characterized in that described information detection element includes fixing
It is installed in the rack and is equipped with the mounting base of multiple mounting holes, be installed on the mounting base and for acquiring image information
Camera parts and the light source part for being installed in the mounting base and being located at the camera parts both sides.
19. crawler type specialized robot as claimed in claim 18, which is characterized in that the camera parts include adopting
Collect the camera of image information, be installed on the camera lens in the mounting hole and being set in front of the camera；And/or institute
Light source part is stated to include the LED light of light is provided, be installed in the mounting hole and is set to the saturating of the LED light light emission side
Mirror.
20. crawler type specialized robot as claimed in claim 17, which is characterized in that the head assembly includes capturing
High definition visible oBject and applied to the high-definition camera in visible environmental and for identifying surrounding objects and applied to invisible
Infrared camera in environment.
21. crawler type specialized robot as claimed in claim 20, which is characterized in that the head assembly further include pedestal with
And it is fixedly installed in the pedestal on the pedestal and for installing the high-definition camera and the infrared camera, the pedestal
It can rotate relative to the rack.
22. crawler type specialized robot as claimed in claim 21, which is characterized in that the head assembly further includes fixed peace
Loaded on the pedestal and being surrounded on the protect-ing frame structure around pedestal.
23. crawler type specialized robot as claimed in claim 21, which is characterized in that the head assembly, which further includes, electrically to be connected
It is connected to the high-definition camera and the infrared camera and is plugged in the control assembly electrically to connect with the control assembly
The rapid abutting joint head connect.
24. the crawler type specialized robot as described in claim 1 to 13 any one, which is characterized in that the arrangement for detecting
Including being set to the gas controlling device in the rack and for perceiving ambient gas concentration and composition information.
25. crawler type specialized robot as claimed in claim 24, which is characterized in that the gas controlling device includes fixing
It is installed in the rack and is equipped with the protecting box of multiple air holes in its side wall, at least one is set in the protecting box simultaneously
The gas sensor of ambient gas concentration and composition information, which is detected, through the air hole and is electrically connected at the gas passes
Sensor and the electric connecting part of the control assembly.
26. crawler type specialized robot as claimed in claim 25, which is characterized in that the electric connecting part includes fixing
It is installed in the protecting box and is electrically connected at the printed circuit board of the gas sensor and one end is electrically connected at institute
It states printed circuit board and the other end is plugged in fast insert-pull head in the control assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611189516.0A CN108216400B (en) | 2016-12-21 | 2016-12-21 | Crawler type specialized robot and its system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611189516.0A CN108216400B (en) | 2016-12-21 | 2016-12-21 | Crawler type specialized robot and its system |
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| CN108216400A true CN108216400A (en) | 2018-06-29 |
| CN108216400B CN108216400B (en) | 2019-10-25 |
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| CN109263738A (en) * | 2018-10-12 | 2019-01-25 | 广州国机智能电力科技有限公司 | A kind of substation inspection vehicle |
| CN109366457A (en) * | 2018-12-28 | 2019-02-22 | 尚盛世(北京)科技有限公司 | A kind of portable investigation caterpillar type robot |
| CN109501875A (en) * | 2018-12-28 | 2019-03-22 | 尚盛世(北京)科技有限公司 | A kind of wedge type caterpillar type robot |
| CN110450869A (en) * | 2019-08-02 | 2019-11-15 | 北京交通大学 | A kind of adaptive drive lacking caterpillar robot |
| CN111776096A (en) * | 2020-07-14 | 2020-10-16 | 重庆大学 | Triangular crawler type inspection robot |
| CN111857146A (en) * | 2020-07-27 | 2020-10-30 | 广州大学 | Climbing robot |
| CN113353165A (en) * | 2021-07-21 | 2021-09-07 | 中煤科工集团重庆研究院有限公司 | Wide-narrow body crawler |
| CN113427463A (en) * | 2021-05-25 | 2021-09-24 | 杭州申昊科技股份有限公司 | Movable obstacle-crossing live working robot |
| CN114016362A (en) * | 2021-11-18 | 2022-02-08 | 孙建军 | Road and bridge construction distance marking and dotting equipment and method thereof |
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| CN113427463A (en) * | 2021-05-25 | 2021-09-24 | 杭州申昊科技股份有限公司 | Movable obstacle-crossing live working robot |
| CN113353165A (en) * | 2021-07-21 | 2021-09-07 | 中煤科工集团重庆研究院有限公司 | Wide-narrow body crawler |
| CN114016362A (en) * | 2021-11-18 | 2022-02-08 | 孙建军 | Road and bridge construction distance marking and dotting equipment and method thereof |
Also Published As
| Publication number | Publication date |
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| CN108216400B (en) | 2019-10-25 |
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Effective date of registration: 20180710 Address after: 518000 Shenzhen, Longhua, Guangdong, Longhua, Longhua, Qingyuan Road, Longhua Road, 7 B building, 5 units, unit 5 Applicant after: SHENZHEN BOMINWELL INTELLIGENT TECHNOLOGY CO., LTD. Address before: 518000 Shenzhen, Longhua, Guangdong, Longhua, Longhua, Qingyuan Road, Longhua Road, 7 B building, 5 units, unit 5 Applicant before: SHENZHEN BOMINWELL INTELLIGENT TECHNOLOGY CO., LTD. Applicant before: Dai Yi |
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Address after: 518000 Shenzhen, Longhua, Guangdong, Longhua, Longhua, Qingyuan Road, Longhua Road, 7 B building, 5 units, unit 5 Patentee after: Shenzhen bomingwei Technology Co.,Ltd. Address before: 518000 Shenzhen, Longhua, Guangdong, Longhua, Longhua, Qingyuan Road, Longhua Road, 7 B building, 5 units, unit 5 Patentee before: SHENZHEN BOMINWELL ROBOTICS Co.,Ltd. |
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Denomination of invention: Crawler type special robot and its system Effective date of registration: 20220124 Granted publication date: 20191025 Pledgee: Shenzhen small and medium sized small loan Co.,Ltd. Pledgor: Shenzhen bomingwei Technology Co.,Ltd. Registration number: Y2022440020013 |