CN210136429U - Mechanical structure of self-navigation crawler mobile robot - Google Patents
Mechanical structure of self-navigation crawler mobile robot Download PDFInfo
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- CN210136429U CN210136429U CN201921412007.9U CN201921412007U CN210136429U CN 210136429 U CN210136429 U CN 210136429U CN 201921412007 U CN201921412007 U CN 201921412007U CN 210136429 U CN210136429 U CN 210136429U
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Abstract
The utility model discloses a mechanical structure of an autonomous navigation crawler mobile robot, which comprises a box body, the box body is in modular design, the upper end of the box body is provided with a boss, the boss is provided with a laser sensor installation position and a pan-tilt camera installation position, the upper end surface of the box body is provided with an antenna installation position, the bottom of the box body is provided with a chassis installation position, the side surface of the box body is provided with a camera installation position, an ultrasonic sensor installation position, a loudspeaker installation position, a sound pick-up installation position and a bumper installation position which are mutually independent, the box body is provided with various installation positions, and corresponding accessories are installed at the corresponding installation positions to realize related functions so as to assemble the robots with various functions, thereby greatly improving the universality of the box body and shortening the development cycle of the whole box body and the robot, and the modular box body can greatly reduce the cost of the whole box body and the robot.
Description
Technical Field
The utility model relates to a robotechnology field, more specifically say, it relates to a mechanical structure of autonomic navigation track mobile robot.
Background
With the progress of computer technology, intelligent technology and control technology, the robot technology is continuously developed, has permeated into various fields in people's life, replaces human beings to carry out various kinds of work, and human labor force is greatly liberated.
The existing robots have different mechanical structure design forms of boxes, although the shapes are different, the design principles and purposes are the same, and the sensors are fixedly installed for realizing the autonomous navigation function of the mobile robot. However, the box body has different shapes and specific structures, so that the box body has poor universality, energy waste is caused, the development period is prolonged, and the cost is increased.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a mechanical structure of independently navigating track mobile robot solves current box commonality not go, and development cycle is long, problem with high costs.
The above technical purpose of the present invention can be achieved by the following technical solutions: the utility model provides a mechanical structure of autonomic navigation track mobile robot, includes the box, the box is the modularized design, the upper end of box is equipped with the boss, be equipped with laser sensor installation position and cloud platform camera installation position on the boss, the up end of box is equipped with antenna installation position, the bottom of box is equipped with chassis installation position, the side of box is equipped with mutually independent camera installation position, ultrasonic sensor installation position, speaker installation position, adapter installation position and bumper installation position.
The laser sensor support is arranged at the laser sensor mounting position, and the laser sensor is arranged on the laser sensor support when being mounted.
As a further optimization, the device comprises a laser sensor protection cover, wherein the laser sensor protection cover is arranged at the laser sensor installation position and used for covering the laser sensor.
Preferably, the number of the camera mounting positions is at least four, and the camera mounting positions are respectively arranged on the front panel, the rear panel, the left side panel and the right side panel of the box body.
Preferably, the number of the ultrasonic sensor mounting positions is at least eight, and two ultrasonic sensor mounting positions are respectively arranged on the front panel, the rear panel, the left side panel and the right side panel of the box body.
As a further optimization, the front panel of the box body is provided with an illuminating lamp mounting position.
Preferably, the number of the bumper mounting positions is two, and the bumper mounting positions are respectively arranged on the front panel and the rear panel of the box body.
As further optimization, the rear end panel of the box body is provided with a warning lamp mounting position.
As a further optimization, the upper end face of the box body is provided with an apron mounting position.
As a further optimization, the device comprises a laser sensor arranged at the laser sensor mounting position; and/or, including a pan-tilt camera mounted at the pan-tilt camera mounting location; and/or, an antenna mounted at the antenna mounting location; and/or, install the camera that the said camera is installed completely; and/or the ultrasonic sensor is arranged at the ultrasonic sensor mounting position; and/or, a speaker mounted at the speaker mounting location; and/or a sound pick-up arranged at the sound pick-up mounting position; and/or a bumper mounted at the bumper mounting location.
To sum up, the utility model discloses following beneficial effect has: various installation positions are arranged on the box body, and in order to realize different functions, corresponding accessories are installed at the corresponding installation positions to realize related functions, so that the box body can be assembled into robots with various different functions, the universality of the box body is greatly improved, the development period of the box body and the robot is shortened, and the cost of the box body and the robot is greatly reduced due to the modularized box body.
Drawings
Fig. 1 is a structural schematic diagram of one perspective of a mechanical structure of an autonomous navigation crawler mobile robot in an embodiment;
fig. 2 is a structural schematic diagram of another perspective of the mechanical structure of the autonomous navigation crawler mobile robot in the embodiment.
In the figure: 1. a box body; 11. a boss; 12. a laser sensor mounting position; 13. a holder camera mounting position; 14. an antenna mounting location; 15. a chassis mounting position; 16-A, 16-B, 16-C, 16-D and camera mounting positions; 17-A, 17-B, 17-C, 17-D, 17-E, 17-F, 17-G, 17-H, ultrasonic sensor mounting position; 18. a speaker mounting location; 19. a sound pickup mounting position; 110-A, 110-B, bumper mounting location; 120. an apron mounting position; 130. an illuminating lamp mounting position; 140. a warning lamp mounting position; 2. a crawler chassis; 3. a pan-tilt camera; 4. a apron panel; 5. an antenna; 6. a laser sensor support; 7. a laser sensor protective cover; 8. a laser sensor; 9-A, 9-B, 9-C, 9-D, camera; 100-A, 100-B, 100-C, 100-D, 100-E, 100-F, 100-G, 100-H, ultrasonic sensors; 200. an illuminating lamp; 300-A, 300-B, a bumper; 400. a speaker; 500. a sound pickup; 600. a warning light.
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention clearer and more obvious, the following description of the present invention with reference to the accompanying drawings and embodiments is provided for further details. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, a mechanical structure of an autonomous navigation crawler mobile robot includes a housing 1, where the housing 1 is of a modular design and can be universally used for various models and various robots with different functions, including but not limited to the autonomous navigation crawler mobile robot in the present embodiment. The front end of the upper end face of the box body 1 is provided with a boss 11, and the boss 11 is provided with a laser sensor mounting position 12 and a holder camera mounting position 13. The upper end face of the box body 1 is provided with an antenna mounting position 14, and the bottom of the box body 1 is provided with a chassis mounting position 15. As shown in fig. 2, the side of the box 1 is provided with: camera mounting positions 16-A, 16-B, 16-C and 16-D; the mounting positions of the ultrasonic sensors are 17-A, 17-B, 17-C, 17-D, 17-E, 17-F, 17-G and 17-H; a speaker mounting location 18; a microphone mounting location 19 and bumper mounting locations 110-a, 110-B. The box body 1 is provided with various installation positions, and in order to realize different functions, corresponding accessories are installed at the corresponding installation positions to realize related functions, so that robots with various different functions can be assembled, the universality of the box body 1 is greatly improved, the development period of the box body 1 and the whole robot is shortened, and the cost of the box body 1 and the whole robot can be greatly reduced due to the modularized box body 1.
As shown in fig. 1, the self-navigation tracked mobile robot in the embodiment includes a tracked chassis 2 mounted at a chassis mounting position 15, and the tracked chassis 2 is mounted and fixed by bolt and welding. Box 1 is equipped with the screw mounting hole in cloud platform camera installation position 13 department, and the self-contained navigation track mobile robot in this embodiment is including installing cloud platform camera 3 in cloud platform camera installation position 13 department, through bolt and nut with cloud platform camera 3 and box 1 fixed connection, realizes that 3 horizontal 360 degrees rotations of cloud platform camera and overlook 90 degrees rotation realize real-time panorama monitoring and make a video recording. The rear end of the up end of box 1 is equipped with air park installation position 120, and the automatic navigation track mobile robot in this embodiment is including installing air park board 4 at air park installation position 120, and air park board 4 passes through the bolt and installs on box 1, and unmanned aerial vehicle can freely take off and land on air park board 4, realizes with unmanned aerial vehicle's collaborative work. The self-navigation crawler mobile robot in the embodiment comprises an antenna 5 arranged at an antenna mounting position 14, so that system information is transmitted wirelessly.
As shown in fig. 1, the self-contained navigation crawler mobile robot in this embodiment includes a laser sensor support 6 and a laser sensor protective cover 7, and the laser sensor support 6 and the laser sensor protective cover 7 are installed at a laser sensor installation position 12 and are fixedly connected to the box body 2 through bolts and nuts. The self-navigation crawler mobile robot in the embodiment comprises a laser sensor 8, wherein the laser sensor 8 is installed on a laser sensor support 6, and a laser sensor protection cover 7 covers the laser sensor 8 to protect the laser sensor 8.
As shown in fig. 1 and 2, the camera mounting positions 16-a, 16-B, 16-C, 16-D in the present embodiment are four in number, and are provided on the front panel, the rear panel, the left side panel, and the right side panel of the casing 1, respectively. The self-navigation crawler mobile robot in the embodiment comprises four cameras 9-A, 9-B, 9-C and 9-D which are respectively arranged at four camera mounting positions 16-A, 16-B, 16-C and 16-D, static photographing of 360 degrees around a box body 1 is achieved, and the defect that a pan-tilt camera 3 can only photograph in one direction when rotating in real time and cannot photograph in other angles is overcome.
Referring to fig. 1 and 2, the ultrasonic sensor mounting positions 17-a, 17-B, 17-C, 17-D, 17-E, 17-F, 17-G, and 17-H in the present embodiment are eight in total, and two ultrasonic sensor mounting positions are provided on each of the front panel, the rear panel, the left side panel, and the right side panel of the housing. The autonomous navigation crawler mobile robot in the embodiment comprises eight ultrasonic sensors 100-A, 100-B, 100-C, 100-D, 100-E, 100-F, 100-G and 100-H which are respectively fixedly installed at eight ultrasonic sensor installation positions 17-A, 17-B, 17-C, 17-D, 17-E, 17-F, 17-G and 17-H in an embedded mode, the obstacle avoidance function of the detection of obstacles around a box body is achieved, and the anti-collision function is achieved.
As shown in fig. 1, the front panel of the box 1 is provided with an illumination lamp installation position 130, and the self-contained navigation crawler mobile robot in the embodiment includes an illumination lamp 200 installed at the illumination lamp installation position 130, so as to realize an illumination function in an environment where the light of the mobile robot is insufficient.
Referring to fig. 1 and 2, the bumper mounting portions 110-a and 110-B of the present embodiment are two in number and are respectively provided on the rear panel of the front panel of the housing 1. The self-navigation crawler mobile robot in the embodiment comprises two bumpers 300-A and 300-B which are respectively arranged at two bumper mounting positions 110-A and 110-B, wherein the bumpers 300-A and 300-B can be fixedly arranged by welding or bolts and nuts, so that the front panel and the rear panel of the box body 1 are protected.
With reference to fig. 1 and fig. 2, the self-navigation tracked mobile robot in this embodiment includes a speaker 400 installed at the speaker installation position 18, and the speaker 400 is fixed and installed by screws, so as to implement voice broadcast and sound production and prompt and pay attention to pedestrians moving around. The self-contained navigation crawler mobile robot in the embodiment comprises a pickup 500 provided with a pickup mounting position 19, wherein the pickup 500 is fixedly mounted by fastening a panel of the box body 1 through bolts and nuts of the pickup 500, so that the box body 1 is monitored to pick up surrounding sound. The rear panel of box 1 is equipped with warning light installation position 140, and the self-contained navigation track mobile robot in this embodiment is including installing warning light 600 at warning light installation position 140, and warning light 600 scintillation realizes the suggestion and fright effect.
The assembling method of the self-navigation crawler mobile robot comprises the following steps: firstly, fixing the connection between a box body 1 and a crawler chassis 2 by using bolts and nuts and a welding mode, so that the device becomes a partial modularized mechanical mechanism device on a mobile robot chassis; then, the pan-tilt camera 3, the laser sensor 8, the laser sensor support 6, the laser sensor protective cover 7, the video cameras 9-A, 9-B, 9-C, 9-D, the illuminating lamp 200, the ultrasonic sensors 100-A, 100-B, 100-C, 100-D, 100-E, 100-F, 100-G, 100-H, the loudspeaker 400, the sound pick-up 500, the warning lamp 600, the bumpers 300-A, 300-B, the apron board 4 and the antenna 5 are fixedly installed on the corresponding positions of the box body 1 one by one, so that respective functions are realized, a navigation robot system is organically formed, and the autonomous navigation of the mobile robot is completed.
The above embodiments are merely illustrative of the present invention, and are not intended to limit the present invention, and those skilled in the art can make modifications to the above embodiments without inventive contribution as required after reading the present specification, but all the embodiments are protected by patent laws within the scope of the present invention.
Claims (10)
1. The utility model provides a mechanical structure of self-contained navigation track mobile robot, includes the box, its characterized in that: the box is the modularized design, the upper end of box is equipped with the boss, be equipped with laser sensor installation position and cloud platform camera installation position on the boss, the up end of box is equipped with antenna installation position, the bottom of box is equipped with chassis installation position, the side of box is equipped with mutually independent camera installation position, ultrasonic sensor installation position, speaker installation position, adapter installation position and bumper installation position.
2. The mechanical structure of an autonomous navigation crawler mobile robot according to claim 1, characterized in that: the device comprises a laser sensor support, wherein the laser sensor support is arranged at a laser sensor mounting position, and the laser sensor is arranged on the laser sensor support during mounting.
3. The mechanical structure of an autonomous navigation crawler mobile robot according to claim 2, characterized in that: the protection cover of the laser sensor is arranged at the installation position of the laser sensor and used for covering the upper part of the laser sensor.
4. The mechanical structure of an autonomous navigation crawler mobile robot according to claim 1, characterized in that: the camera mounting positions are at least four and are respectively arranged on the front panel, the rear panel, the left side panel and the right side panel of the box body.
5. The mechanical structure of an autonomous navigation crawler mobile robot according to claim 1, characterized in that: the ultrasonic sensor mounting positions are at least eight, and the front panel, the rear panel, the left side panel and the right side panel of the box body are respectively provided with two ultrasonic sensor mounting positions.
6. The mechanical structure of an autonomous navigation crawler mobile robot according to claim 1, characterized in that: and the front panel of the box body is provided with an illuminating lamp mounting position.
7. The mechanical structure of an autonomous navigation crawler mobile robot according to claim 1, characterized in that: the number of the bumper mounting positions is two, and the bumper mounting positions are respectively arranged on the front panel and the rear panel of the box body.
8. The mechanical structure of an autonomous navigation crawler mobile robot according to claim 1, characterized in that: the rear end panel of box is equipped with warning light installation position.
9. The mechanical structure of an autonomous navigation crawler mobile robot according to claim 1, characterized in that: and the upper end surface of the box body is provided with an apron mounting position.
10. The mechanical structure of an autonomous navigation crawler mobile robot according to any one of claims 1 to 9, characterized in that: the laser sensor is arranged at the laser sensor mounting position; and/or, including a pan-tilt camera mounted at the pan-tilt camera mounting location; and/or, an antenna mounted at the antenna mounting location; and/or, install the camera that the said camera is installed completely; and/or the ultrasonic sensor is arranged at the ultrasonic sensor mounting position; and/or, a speaker mounted at the speaker mounting location; and/or a sound pick-up arranged at the sound pick-up mounting position; and/or a bumper mounted at the bumper mounting location.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921412007.9U CN210136429U (en) | 2019-08-28 | 2019-08-28 | Mechanical structure of self-navigation crawler mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921412007.9U CN210136429U (en) | 2019-08-28 | 2019-08-28 | Mechanical structure of self-navigation crawler mobile robot |
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| CN210136429U true CN210136429U (en) | 2020-03-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412991A (en) * | 2019-08-28 | 2019-11-05 | 深圳科卫机器人服务有限公司 | A kind of mechanical structure of independent navigation peddrail mobile robot |
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- 2019-08-28 CN CN201921412007.9U patent/CN210136429U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110412991A (en) * | 2019-08-28 | 2019-11-05 | 深圳科卫机器人服务有限公司 | A kind of mechanical structure of independent navigation peddrail mobile robot |
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Address after: 518000, No. 4068 Qiaoxiang Road, Shahe Street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Kewei Robot Technology Co., Ltd Address before: 518000, No. 4068 Qiaoxiang Road, Shahe Street, Nanshan District, Shenzhen City, Guangdong Province Patentee before: SHENZHEN KEWEI ROBOT SERVICE Co.,Ltd. |