CN216830909U - Pendulum suspension four-wheel drive intelligent navigation robot - Google Patents
Pendulum suspension four-wheel drive intelligent navigation robot Download PDFInfo
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- CN216830909U CN216830909U CN202220203319.4U CN202220203319U CN216830909U CN 216830909 U CN216830909 U CN 216830909U CN 202220203319 U CN202220203319 U CN 202220203319U CN 216830909 U CN216830909 U CN 216830909U
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Abstract
The utility model provides a pendulum-type hangs four-wheel drive intelligent navigation robot, including frame, pendulum-type suspension, first wheelset and second wheelset, first wheelset set up in on the frame, the second wheelset passes through pendulum-type suspension with connected to the frame, the second wheelset is relative the frame can carry out the swing motion. The beneficial effects of the utility model reside in that: the pendulum-type suspension system of the robot can enable the robot to cross over short and small obstacles which cannot be avoided through a laser radar, greatly improves the passing performance of the robot, and effectively expands the application scene of the robot.
Description
Technical Field
The utility model belongs to the technical field of intelligent navigation dolly technique and specifically relates to indicate a pendulum-type hangs four-wheel drive intelligent navigation robot.
Background
The intelligent navigation robot is an automatic driving mechanical device facing the industrial field and the educational field, and can realize machines with various functions through various sensors, self power and control capacity. The robot applied to automatic driving has great requirements, the space of the robot market in China is huge, and the pendulum suspension robot can be applicable to various places for office work stably with relatively low cost.
Indoor scene official working is considered mostly to current navigation robot, and laser radar, degree of depth camera and sensor are not enough to cause the intellectuality not enough, run into the short and small barrier in ground and can't dodge through laser radar, and the trafficability characteristic is not enough can lead to dolly collision or wearing and tearing, and how high efficiency, low cost, automatic, intelligent realization autopilot be that people need explore and study always.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that: aiming at the defects of the prior art, the pendulum suspension four-wheel-drive intelligent navigation robot is reasonable in structure and strong in trafficability.
In order to solve the technical problem, the utility model discloses a technical scheme be: the utility model provides a pendulum-type suspension four-wheel drive intelligent navigation robot, includes frame, pendulum-type suspension system, first wheelset and second wheelset, first wheelset set up in on the frame, the second wheelset pass through pendulum-type suspension system with the connected to frame, the second wheelset is relative the frame can carry out the swing motion.
Furthermore, the pendulum suspension system comprises a pendulum suspension fixing frame, a pendulum suspension fixing plate and a pendulum fixing shaft, the pendulum suspension fixing frame is connected with the frame, and the pendulum suspension fixing plate is rotatably connected with the pendulum suspension fixing frame through the pendulum fixing shaft.
Furthermore, a plane bearing is arranged between the pendulum type suspension fixing frame and the pendulum type suspension fixing plate.
Furthermore, the pendulum-type suspension fixing frame is provided with limiting columns, and the limiting columns are arranged on two sides of the pendulum-type suspension fixing plate.
Furthermore, the first wheel set comprises a first chassis, a first driving wheel, a first driving motor, a second driving wheel and a second driving motor, the first chassis is arranged below the frame through a support, the first driving motor and the second driving motor are respectively arranged on two sides of the first chassis, the first driving wheel is connected with a rotating shaft of the first driving motor, and the second driving wheel is connected with a rotating shaft of the second driving motor.
Furthermore, the second wheel set comprises a second chassis, a third driving wheel, a third driving motor, a fourth driving wheel and a fourth driving motor, the second chassis is connected with the pendulum suspension fixing plate, the third driving motor and the fourth driving motor are respectively arranged on two sides of the second chassis, the third driving wheel is connected with a rotating shaft of the third driving motor, and the fourth driving wheel is connected with a rotating shaft of the fourth driving motor.
Further, first driving motor is equipped with first encoder, second driving motor is equipped with the second encoder, the third driving motor is equipped with the third encoder, the fourth driving motor is equipped with the fourth encoder.
Further, the first driving wheel, the second driving wheel, the third driving wheel and the fourth driving wheel are Mecanum wheels.
Further, still include the display screen support, the display screen support is fixed with the display screen, the display screen support will the display screen be the angle set up in the top of frame.
Further, still include degree of depth camera, laser radar, major control system board, extension system board, battery and antenna, degree of depth camera, laser radar, major control system board, extension system board and antenna all set up in the frame, the battery set up in first chassis.
The beneficial effects of the utility model reside in that: the pendulum-type suspension system of the robot can enable the robot to cross over short and small obstacles which cannot be avoided through a laser radar, greatly improves the passing performance of the robot, and effectively expands the application scene of the robot.
Drawings
The specific structure of the present invention is detailed below with reference to the accompanying drawings:
fig. 1 is a schematic view of the overall structure of a mecanum wheel set according to the present invention;
FIG. 2 is a schematic diagram of an explosion structure of a Mecanum wheel set of the present invention;
fig. 3 is a schematic view of a connection structure between the second wheel set and the pendulum suspension system according to the present invention;
fig. 4 is an exploded view of a second wheel set according to the present invention;
FIG. 5 is a schematic view of the overall structure of the present invention using a common wheel set;
1-a vehicle frame;
11-an anti-collision beam; 12-a LED light bar; 13-semitransparent 'U' -shaped adhesive tape; 14-a light bar fixing plate; 15-a scaffold; 16-display screen support; 17-a display screen; 18-an antenna; 19-a carrier;
21-pendulum type suspension fixing frame; 22-pendulum suspension fixing plate; 23-a pendulum fixed shaft; 24-a planar bearing; 25-a limiting column;
3-a first wheel set; 31-a first chassis;
4-a second wheel set; 41-a second chassis;
5-a depth camera; 6-laser radar; 7-a master control system board;
8-an expansion system board; 81-OLED display screen;
9-battery.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "secured" are to be construed broadly and can, for example, be connected or detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.
Examples
Referring to fig. 1 to 5, a pendulum suspension four-wheel-drive intelligent navigation robot includes a frame 1, a pendulum suspension system, a first wheel set 3 and a second wheel set 4, where the first wheel set 3 is disposed on the frame 1, the second wheel set 4 is connected to the frame 1 through the pendulum suspension system, and the second wheel set 4 can perform a left-right swinging motion relative to the frame 1.
Specifically, the pendulum suspension system includes a pendulum suspension fixing frame 21, a pendulum suspension fixing plate 22 and a pendulum fixing shaft 23, the pendulum suspension fixing frame 21 is connected to the frame 1, and the pendulum suspension fixing plate 22 is rotatably connected to the pendulum suspension fixing frame 21 through the pendulum fixing shaft 23, so that the second wheel set 4 fixed to the pendulum suspension fixing plate 22 can swing left and right relative to the frame 1.
A plane bearing 24 is arranged between the pendulum type suspension fixing frame 21 and the pendulum type suspension fixing plate 22, so that the flexibility of the movement between the pendulum type suspension fixing frame 21 and the pendulum type suspension fixing plate 22 can be ensured.
In order to prevent the swing transition of the swing type suspension fixing plate 22 and avoid the second wheel set 4 from colliding with the frame 1 to cause a fault, the swing type suspension fixing frame 21 is provided with a limit column 25, and the limit columns 25 are respectively arranged on two sides of the swing type suspension fixing plate 22. The frame 1 is still equipped with crashproof roof beam 11 corresponding to the front end of second wheelset 4, can effectively protect second wheelset 4. In order to facilitate the robot team to advance, an LED lamp system is further arranged at the rear end of the frame 1 and comprises an LED lamp bar 12, a semitransparent U-shaped adhesive tape 13 and a lamp bar fixing plate 14, the LED lamp bar 12 is fixed at the rear end of the frame 1 through the lamp bar fixing plate 14, the semitransparent U-shaped adhesive tape 13 covers the LED lamp bar 12, and the semitransparent U-shaped adhesive tape 13 can enable light rays emitted by the LED lamp bar 12 to become soft and not dazzling.
The first wheel set 3 comprises a first chassis 31, a first driving wheel, a first driving motor, a second driving wheel and a second driving motor, the first chassis 31 is arranged below the frame 1 through a support 15, the first driving motor and the second driving motor are respectively arranged on two sides of the first chassis 31, the first driving wheel is connected with a rotating shaft of the first driving motor, and the second driving wheel is connected with a rotating shaft of the second driving motor.
The second wheel set 4 comprises a second chassis 41, a third driving wheel, a third driving motor, a fourth driving wheel and a fourth driving motor, the second chassis 41 is connected with the pendulum suspension fixing plate 22, the third driving motor and the fourth driving motor are respectively arranged on two sides of the second chassis 41, the third driving wheel is connected with a rotating shaft of the third driving motor, and the fourth driving wheel is connected with a rotating shaft of the fourth driving motor. Preferably, the second chassis 41 is designed integrally with the pendulum suspension holder plate 22.
The four driving wheels are driven by independent driving motors, so that the four-wheel-drive traveling capability of the robot can be realized.
In order to accurately obtain the angular speed of the driving motor and facilitate the control of the movement of the robot, the first driving motor is provided with a first encoder; the second driving motor is provided with a second encoder; the third driving motor is provided with a third encoder; the fourth drive motor is provided with a fourth encoder.
Similarly, the first driving motor, the second driving motor, the third driving motor and the fourth driving motor may also be stepping motors.
Preferably, the first driving wheel, the second driving wheel, the third driving wheel and the fourth driving wheel are Mecanum wheels, and the robot can move forward, transversely move, obliquely move, rotate and the combination of the moving modes by adopting the Mecanum wheels, so that the flexibility of the robot in action in a limited space is greatly increased.
In order to ensure that the navigation robot can monitor the path in real time, the navigation robot further comprises a depth camera 5, a laser radar 6, a main control system board 7, an extension system board 8, a battery 9 and an antenna 18, wherein the main control system board 7 is respectively connected with the depth camera 5, the laser radar 6, the extension system board 8, the battery 9 and the antenna 18 through electric signals.
Be equipped with carrier 19 on the frame 1, carrier 19 passes through support 15 and sets up in the top of frame 1, and laser radar 6 sets up in carrier 19, can prevent that depth camera 5 from sheltering from laser radar 6, and main control system board 7 is installed in the rear of frame 1, and main control system board 7 is raspberry group 4B or Jetson nano or Jetson Xavi er NX or other mainboard. Extension system board 8 sets up in carrier 19, be located laser radar 6's rear side, extension system board 8 includes USB expansion board and ROS robot expansion board, can convenience of customers carry out the equipment extension, for some basic states of convenient user understanding robot simultaneously, be equipped with OLED display screen 81 on the carrier 19, OLED display screen 81 can show the current key status information of robot, in order to monitor the gesture of robot, ROS robot expansion board still is equipped with the gyroscope. The antenna 18 is disposed at the rear end of the object carrier 19, so as to avoid shielding the laser radar 6 or the depth camera 5, and facilitate the structural layout of the robot. Since the weight of the battery 9 is large, the battery 9 is disposed on the first chassis 31 in order to ensure the stability of the center of gravity of the robot.
From the above description, the beneficial effects of the present invention are: the pendulum-type suspension system of the robot can enable the robot to cross over short and small obstacles which cannot be avoided through a laser radar, greatly improves the passing performance of the robot, and effectively expands the application scene of the robot.
The above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all the equivalent structures or equivalent processes that are used in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.
Claims (10)
1. The utility model provides a pendulum-type hangs four-wheel drive intelligent navigation robot which characterized in that: the swing type bicycle comprises a frame, a swing type suspension system, a first wheel set and a second wheel set, wherein the first wheel set is arranged on the frame, the second wheel set is connected with the frame through the swing type suspension system, and the second wheel set is opposite to the frame and can swing.
2. The pendulum suspension four-wheel drive intelligent navigation robot of claim 1, wherein: the pendulum type suspension system comprises a pendulum type suspension fixing frame, a pendulum type suspension fixing plate and a pendulum type fixing shaft, the pendulum type suspension fixing frame is connected with the vehicle frame, and the pendulum type suspension fixing plate is connected with the pendulum type suspension fixing frame in a rotating mode through the pendulum type fixing shaft.
3. The pendulum suspension four-wheel drive intelligent navigation robot of claim 2, wherein: and a plane bearing is arranged between the pendulum type suspension fixing frame and the pendulum type suspension fixing plate.
4. The pendulum suspension four-wheel drive intelligent navigation robot of claim 3, wherein: the pendulum-type hangs the mount and is equipped with spacing post, spacing post set up in the both sides of pendulum-type suspension fixed plate.
5. The pendulum suspension four-wheel drive intelligent navigation robot of claim 4, wherein: the first wheel set comprises a first chassis, a first driving wheel, a first driving motor, a second driving wheel and a second driving motor, the first chassis is arranged below the frame through a support, the first driving motor and the second driving motor are respectively arranged on two sides of the first chassis, the first driving wheel is connected with a rotating shaft of the first driving motor, and the second driving wheel is connected with a rotating shaft of the second driving motor.
6. The pendulum suspension four-wheel drive intelligent navigation robot of claim 5, wherein: the second wheel set comprises a second chassis, a third driving wheel, a third driving motor, a fourth driving wheel and a fourth driving motor, the second chassis is connected with the swing type suspension fixing plate, the third driving motor and the fourth driving motor are respectively arranged on two sides of the second chassis, the third driving wheel is connected with a rotating shaft of the third driving motor, and the fourth driving wheel is connected with a rotating shaft of the fourth driving motor.
7. The pendulum suspension four-wheel drive intelligent navigation robot of claim 6, wherein: the first driving motor is provided with a first encoder, the second driving motor is provided with a second encoder, the third driving motor is provided with a third encoder, and the fourth driving motor is provided with a fourth encoder.
8. The pendulum suspension four-wheel drive intelligent navigation robot of claim 7, wherein: the first driving wheel, the second driving wheel, the third driving wheel and the fourth driving wheel are Mecanum wheels.
9. The pendulum suspension four-wheel drive intelligent navigation robot of claim 8, wherein: the frame is characterized by further comprising a display screen support, wherein a display screen is fixed on the display screen support, and the display screen support enables the display screen to be arranged above the frame in an angle mode.
10. The pendulum suspended four-wheel drive intelligent navigation robot of claim 9, wherein: still include degree of depth camera, laser radar, major control system board, expansion system board, battery and antenna, degree of depth camera, laser radar, major control system board, expansion system board and antenna all set up in the frame, the battery set up in first chassis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220203319.4U CN216830909U (en) | 2022-01-25 | 2022-01-25 | Pendulum suspension four-wheel drive intelligent navigation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220203319.4U CN216830909U (en) | 2022-01-25 | 2022-01-25 | Pendulum suspension four-wheel drive intelligent navigation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216830909U true CN216830909U (en) | 2022-06-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220203319.4U Active CN216830909U (en) | 2022-01-25 | 2022-01-25 | Pendulum suspension four-wheel drive intelligent navigation robot |
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| Country | Link |
|---|---|
| CN (1) | CN216830909U (en) |
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- 2022-01-25 CN CN202220203319.4U patent/CN216830909U/en active Active
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