CN210389213U

CN210389213U - Robot for exploration

Info

Publication number: CN210389213U
Application number: CN201921171359.XU
Authority: CN
Inventors: 吴博强; 王怀; 徐文杰; 谢琦; 柯翔宇; 王伟
Original assignee: Wuhan University of Science and Engineering WUSE
Current assignee: Wuhan University of Science and Engineering WUSE
Priority date: 2019-07-24
Filing date: 2019-07-24
Publication date: 2020-04-24
Anticipated expiration: 2029-07-24

Abstract

The utility model discloses a robot is used in exploration, including fuselage and camera shooting mechanism, camera shooting mechanism sets up in the fuselage, its camera is worn out the fuselage still includes chassis, lower chassis and multiunit steering wheel group, and the multiunit steering mechanism who equals and the one-to-one with steering wheel group quantity, it is the disc that the level set up with lower chassis to go up the chassis, and the interval sets up from top to bottom, the upper end on last chassis is established to the fuselage, camera shooting mechanism sets up in the fuselage, the fuselage is worn out to its camera, multiunit steering mechanism follows the circumference equipartition in the outside on last chassis, steering mechanism's one end stretches into between chassis and the lower chassis, and with the equal fixed connection on last chassis and lower chassis, steering mechanism's the other end extends to the chassis and the lower chassis outside, and be connected with the steering wheel group transmission that corresponds, steering mechanism drives the removal that the steering wheel group that corresponds 360. The utility model provides a robot is used in exploration convenient to walking.

Description

Robot for exploration

Technical Field

The utility model relates to a robot field. More specifically, the utility model relates to a robot is used in exploration.

Background

With the prosperous development of the machine manufacturing industry and the continuous acceleration of the natural pace of human exploration, exploration work is rapidly developed, but in some dangerous occasions or dangerous environments, due to the existence of dangerous objects or dangerous gases, the field temperature, humidity, pressure and other aspects can be changed unpredictably, and the robots are not convenient to enter into the dangerous environments directly, so that people are in wide and deep demand for robots with the autonomous movement capability in complex environments.

Traditional wheeled exploration robot because the universal wheel can take place to turn to the deflection when meetting the resistance, consequently, when meetting the width and be greater than the ridge of universal wheel tire width, the universal wheel can fall into to lead to the robot to block, can't continue to cross the ridge forward, influenced the autonomous movement of robot, reduced its availability factor and still probably caused robot trouble and economic loss. In addition, when the slope is too large or the robot is subjected to external large lateral thrust, the traditional four-wheel and chassis structure cannot ensure that the robot cannot fall down.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a robot is used in exploration convenient to walking is used for solving the above problem among the prior art.

The utility model provides an above-mentioned technical problem's technical scheme as follows: an exploration robot comprises a machine body and a camera shooting mechanism, wherein the camera shooting mechanism is arranged in the machine body, the camera head penetrates out of the machine body, and the machine also comprises an upper chassis, a lower chassis, a plurality of steering wheel sets and a plurality of steering mechanisms which are equal in number to the steering wheel sets and are in one-to-one correspondence with the steering wheel sets, the upper chassis and the lower chassis are both horizontally arranged discs, the machine body is arranged at the upper end of the upper chassis at intervals, a plurality of groups of steering mechanisms are uniformly distributed at the outer side of the upper chassis along the circumferential direction, one end of each steering mechanism extends into the space between the upper chassis and the lower chassis, and is fixedly connected with the upper chassis and the lower chassis, the other end of the steering mechanism extends to the outer sides of the upper chassis and the lower chassis, and the steering mechanism drives the corresponding steering wheel set to move for 360 degrees.

Preferably, in the exploration robot, the first and second robots, the steering mechanism comprises a fixing piece, a first steering unit, a second steering unit and a connecting piece, the fixing piece is vertically arranged between the upper chassis and the lower chassis, the upper end and the lower end of the first steering unit are respectively and fixedly connected with the lower end of the upper chassis and the upper end of the lower chassis, the first steering unit is fixedly connected with one side of the fixing piece far away from the upper chassis and the lower chassis, the connecting piece is horizontally arranged, one end of the first steering unit is in transmission connection with the first steering unit, the first steering unit drives the connecting piece to horizontally rotate, one end of the second steering unit is in transmission connection with the other end of the connecting piece, the other end of the steering wheel is connected with the corresponding steering wheel set, and the second steering unit and the corresponding steering wheel set are driven to vertically rotate through the relative rotation of the second steering unit and the corresponding connecting piece.

Preferably, in the exploration robot, the first steering unit and the second steering unit are both double-shaft steering engines, the body of the first steering unit is fixedly connected with one side of the fixing piece far away from the upper chassis and the lower chassis, two output shafts of the first steering unit are both vertically arranged, one end of the connecting piece is provided with a first gap corresponding to the two output shafts of the first steering unit, two output shafts of the first steering unit are respectively connected with the inner wall of the first gap in a rotating way, two output shafts of the second steering unit are both horizontally arranged, the body of the steering wheel is fixedly connected with the steering wheel set, the other end of the connecting piece is provided with a second gap corresponding to two output shafts of the second steering unit, and two output shafts of the second steering unit are respectively and rotatably connected with the inner wall of the second notch.

Preferably, the robot for exploration, the steering wheel group includes support piece and two-axis motor, support piece's one end with the fuselage fixed connection of second steering unit, two-axis motor sets up support piece's the other end, two output shafts of two-axis motor all level and set up to equal coaxial coupling has a pivot, equal coaxial cover is equipped with at least one runner in the pivot, and arbitrary two epaxial the quantity of runner equals.

Preferably, in the exploration robot, a plurality of third gaps are equidistantly formed in the periphery of the lower chassis, the number of the third gaps is equal to the number of the steering mechanisms, and any two adjacent groups of the steering mechanisms have one third gap.

Preferably, in the exploration robot, the number of the steering wheel sets is four.

The utility model discloses a position and the direction of two biax steering wheels turn to location adjustment walking wheels can adjust the moving direction of robot under the motionless condition that makes of fuselage, more is favorable to the nimble walking of this robot, and the direction rotates at will, effectively improves the exploration efficiency under the strange environmental condition, and the practicality is strong.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.

Drawings

Fig. 1 is a schematic structural diagram of an exploration robot according to the present invention;

fig. 2 is a bottom view of the exploration robot according to the present invention;

fig. 3 is a schematic structural view of a steering mechanism according to the present invention;

fig. 4 is a schematic structural view of the steering wheel set of the present invention.

Detailed Description

The present invention is further described in detail below with reference to the drawings so that those skilled in the art can implement the invention with reference to the description.

It should be noted that, in the description of the present invention, the terms "lateral", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of description and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

FIG. 1-FIG. 2 show a robot for exploration, which comprises a body 1 and a camera mechanism, wherein the camera mechanism is disposed in the body 1, a camera 2 of the camera mechanism penetrates out of the body 1, the robot further comprises an upper chassis 3, a lower chassis 4, a plurality of steering wheel sets, and a plurality of steering mechanisms which are equal in number to the steering wheel sets and correspond to the steering wheel sets one by one, the upper chassis 3 and the lower chassis 4 are both horizontally arranged discs and are arranged at intervals from top to bottom, the body 1 is mounted at the upper end of the upper chassis 3, the plurality of steering mechanisms are circumferentially and uniformly distributed at the outer side of the upper chassis 3, one end of each steering mechanism extends into a space between the upper chassis 3 and the lower chassis 4 and is fixedly connected with the upper chassis 3 and the lower chassis 4, and the other end of each steering mechanism extends to the outer sides of the upper chassis 3 and the lower chassis 4, and the steering mechanism drives the corresponding steering wheel set to move for 360 degrees.

In this embodiment, go up chassis 3 and lower chassis 4 between the one end of accessible multiunit steering mechanism connect, also can vertically set up many connecting rods between the two, go up chassis 3 and connect fixedly through the connecting rod between the lower chassis 4, then at last chassis 3 and the equipartition multiunit steering mechanism of lower chassis 4 between, and connect the wheelset that turns to at every steering mechanism's the other end, turn to 360 removal of wheelset through the steering mechanism drive correspondence, adjust the position of every group steering wheelset on vertical direction and horizontal direction promptly, thereby adjust the direction of advance that every group turned to the wheelset, just so can be in the in-service use process, thereby turn to the direction of advance of wheelset through adjusting the multiunit, adjust the direction of advance of robot.

Preferably, as another embodiment of the present invention, as shown in fig. 3, the steering mechanism includes a fixing member 5, a first steering unit 6, a second steering unit 7 and a connecting member 8, the fixing member 5 is vertically disposed between the upper chassis 3 and the lower chassis 4, upper and lower ends of the fixing member 5 are respectively and fixedly connected to a lower end of the upper chassis 3 and an upper end of the lower chassis 4, the first steering unit 6 is fixedly connected to a side of the fixing member 5 away from the upper chassis 3 and the lower chassis 4, the connecting member 8 is horizontally disposed, one end of the connecting member is in transmission connection with the first steering unit 6, the first steering unit 6 drives the connecting member 8 to horizontally rotate, one end of the second steering unit 7 is in transmission connection with the other end of the connecting member 8, and the other end of the second steering unit is connected to the corresponding steering wheel set, the second steering unit 7 and the corresponding steering wheel set are driven to vertically rotate through the relative rotation of the second steering unit 7 and the corresponding connecting piece 8.

In this embodiment, steering mechanism includes mounting 5, first steering unit 6, second steering unit 7 and connecting piece 8, drive the second through first steering unit 6 and turn to unit 7, connecting piece 8 and the corresponding wheelset horizontal rotation that turns to, adjust the corresponding wheelset that turns to position on the horizontal direction promptly, then the second turns to unit 7's the other end and the corresponding wheelset fixed connection that turns to, turn to unit 7 through the second and drive the corresponding wheelset vertical rotation that turns to, adjust the corresponding wheelset that turns to promptly and in the ascending position of vertical direction, thereby realize carrying out 360 removal through steering mechanism to the corresponding wheelset that turns to.

Preferably, as another embodiment of the present invention, as shown in fig. 3, in the exploration robot, the first steering unit 6 and the second steering unit 7 are both dual-shaft steering engines, one side of the body 1 of the first steering unit 6, which is away from the upper chassis 3 and the lower chassis 4, of the fixing member 5 is fixedly connected, two output shafts of the first steering unit 6 are both vertically arranged, one end of the connecting member 8 is provided with a first notch 9 corresponding to two output shafts of the first steering unit 6, two output shafts of the first steering unit 6 are respectively rotatably connected with an inner wall of the first notch 9, two output shafts of the second steering unit 7 are both horizontally arranged, the body 1 is fixedly connected with the steering wheel set, the other end of the connecting member 8 is provided with a second notch 10 corresponding to two output shafts of the second steering unit 7, two output shafts of the second steering unit 7 are respectively connected with the inner wall of the second notch 10 in a rotating manner.

In this embodiment, the first steering unit 6 and the second steering unit 7 both adopt a dual-shaft steering engine, and the dual-shaft steering engine in the present application can be a dual-shaft steering engine sold in the market, for example, a dual-shaft digital robot steering engine sold by shenzhenli power dimension model science and technology limited; as shown in fig. 3, the connecting element 8 consists of two U-shaped elements, the opening of one of which is arranged horizontally and forms a first recess 9, and the opening of the other U-shaped element is arranged vertically and forms a second recess 10.

Preferably, as another embodiment of the present invention, as shown in fig. 4, an exploration robot, the steering wheel set includes a support 11 and a dual-shaft motor 12, one end of the support 11 and the second steering unit 7 fixed to the fuselage 1, the dual-shaft motor 12 is disposed at the other end of the support 11, two output shafts of the dual-shaft motor 12 are horizontally disposed and coaxially connected to a rotating shaft, the rotating shaft is coaxially sleeved with at least one rotating wheel 13, and the rotating shaft has the same number of rotating wheels 13.

In this embodiment, double-shaft motor 12 adopt on the market common biax direct current motor can, the equal level setting of two output shafts of double-shaft motor 12, and all have a pivot through shaft coupling coaxial coupling, equal coaxial cover is equipped with the runner 13 that quantity is the same in the pivot, as shown in fig. 4, equal coaxial cover is equipped with two runners 13 in the pivot, for traditional single-wheel structure, two runners 13 enable the robot action more stable like this, have the action ability under the more outstanding complicated topography, be difficult for empting.

Preferably, as another embodiment of the present invention, as shown in fig. 2, a plurality of third notches 16 are provided on the periphery of the lower chassis 4 at equal intervals, the number of the third notches 16 is equal to the number of the steering mechanisms, and any two adjacent sets of the steering mechanisms have one third notch 16.

In this embodiment, a third notch 16 is provided in any two adjacent steering mechanisms to facilitate the rotation of the connecting member 8 in the steering mechanism and prevent the lower chassis 4 from affecting the rotation of the steering mechanism.

Preferably, as another embodiment of the present invention, as shown in fig. 1 to 2, the number of the steering wheel sets is set to four groups.

In the embodiment, the number of the steering wheel sets is four, so that the number of the steering wheel sets can be reduced as much as possible on the premise of ensuring that the robot is always kept horizontal.

While the embodiments of the invention have been disclosed above, it is not limited to the applications listed in the description and the embodiments, which are fully applicable in all kinds of fields suitable for the invention, and further modifications may be readily made by those skilled in the art, and the invention is therefore not limited to the specific details and embodiments shown and described herein, without departing from the general concept defined by the claims and their equivalents.

Claims

1. The exploration robot comprises a robot body (1) and a camera shooting mechanism, wherein the camera shooting mechanism is arranged in the robot body (1), a camera (2) of the camera shooting mechanism penetrates out of the robot body (1), the exploration robot is characterized by further comprising an upper chassis (3), a lower chassis (4), a plurality of groups of steering wheel sets and a plurality of groups of steering mechanisms, wherein the steering wheel sets are equal in number and correspond to the steering wheel sets one by one, the upper chassis (3) and the lower chassis (4) are horizontally arranged discs and are arranged at intervals from top to bottom, the robot body (1) is arranged at the upper end of the upper chassis (3), the plurality of groups of steering mechanisms are uniformly distributed at the outer side of the upper chassis (3) along the circumferential direction, one end of each steering mechanism extends into a position between the upper chassis (3) and the lower chassis (4) and is fixedly connected with the upper chassis (3) and the lower chassis (4), and the other end of each steering mechanism extends to the outer sides of the upper chassis (3) and the, and the steering mechanism drives the corresponding steering wheel set to move for 360 degrees.

2. An exploration robot as claimed in claim 1, wherein the steering mechanism comprises a fixed member (5), a first steering unit (6), a second steering unit (7) and a connecting member (8), the fixed member (5) is vertically arranged between the upper chassis (3) and the lower chassis (4), the upper and lower ends of the fixed member are fixedly connected with the lower end of the upper chassis (3) and the upper end of the lower chassis (4), respectively, the first steering unit (6) is fixedly connected with the fixed member (5) at the side far away from the upper chassis (3) and the lower chassis (4), the connecting member (8) is horizontally arranged, one end of the connecting member is in transmission connection with the first steering unit (6), the first steering unit (6) drives the connecting member (8) to horizontally rotate, one end of the second steering unit (7) is in transmission connection with the other end of the connecting member (8), the other end of the steering wheel is connected with the corresponding steering wheel set, and the second steering unit (7) and the corresponding steering wheel set are driven to vertically rotate through the relative rotation of the second steering unit (7) and the corresponding connecting piece (8).

3. The exploration robot as claimed in claim 2, wherein the first steering unit (6) and the second steering unit (7) are dual-shaft steering engines, the body (1) of the first steering unit (6) is fixedly connected with one side of the fixing member (5) far away from the upper chassis (3) and the lower chassis (4), two output shafts of the first steering unit (6) are vertically arranged, one end of the connecting member (8) is provided with a first notch (9) corresponding to the two output shafts of the first steering unit (6), the two output shafts of the first steering unit (6) are respectively rotatably connected with the inner wall of the first notch (9), the two output shafts of the second steering unit (7) are horizontally arranged, the body (1) of the second steering unit is fixedly connected with the steering wheel set, and the other end of the connecting member (8) is provided with a second notch (10) corresponding to the two output shafts of the second steering unit (7) ) Two output shafts of the second steering unit (7) are respectively connected with the inner wall of the second notch (10) in a rotating mode.

4. An exploration robot as claimed in claim 3, characterized in that said steering wheel set comprises a support (11) and a double-shaft motor (12), one end of said support (11) is fixedly connected to the body (1) of said second steering unit (7), said double-shaft motor (12) is disposed at the other end of said support (11), two output shafts of said double-shaft motor (12) are both horizontally disposed and are both coaxially connected to a rotating shaft, at least one rotating wheel (13) is coaxially sleeved on said rotating shaft, and the number of said rotating wheels (13) on any two rotating shafts is equal.

5. A surveying robot as claimed in any one of claims 1-4, characterized in that the lower chassis (4) is provided with a number of equally spaced third gaps (16) in its periphery, the number of said third gaps (16) being equal to the number of said steering mechanisms, and that any two adjacent sets of said steering mechanisms have one said third gap (16).

6. An exploration robot as claimed in any one of claims 1 to 4 wherein the number of steering wheel sets is arranged in four groups.