CN201664921U - A crawler-type panoramic vision intelligent mobile robot platform - Google Patents

Abstract

Translated fromChinese

本实用新型属于机器人技术领域，涉及一种履带式全景视觉智能移动机器人平台，包括底盘、固定在底盘内的两个电机及各自相对应的变速齿轮组、鱼眼镜头和固定架，在底盘的两侧分别安装有一个履带，并设置有与每个履带相配合的从动轮、主动轮、履带压紧轮，电机通过变速齿轮组驱动位于同一侧的主动轮，主动轮通过履带、履带压紧轮带动从动轮运动；从动轮外侧安装有包括大、小两个行星齿轮和臂履带的翻转臂，大行星齿轮与从动轮同轴，两个行星齿轮通过臂履带相连；在底盘的中前方安装有固定架，鱼眼镜头通过镜头架与固定架相连。本实用新型提供的移动机器人平台，具有体积小，机动性好，转向灵活等特点。

The utility model belongs to the technical field of robots, and relates to a crawler-type panorama vision intelligent mobile robot platform, which comprises a chassis, two motors fixed in the chassis and respective corresponding speed change gear sets, a fisheye lens and a fixing frame, and is placed on the bottom of the chassis. A track is installed on both sides, and a driven wheel, a driving wheel, and a track pressing wheel are provided to match each track. The motor drives the driving wheel on the same side through a transmission gear set, and the driving wheel is pressed by the track and the track. The wheel drives the driven wheel to move; the outer side of the driven wheel is equipped with a turning arm including two large and small planetary gears and the arm crawler. The large planetary gear is coaxial with the driven wheel, and the two planetary gears are connected through the arm track; There is a fixed frame, and the fisheye lens is connected with the fixed frame through the lens frame. The mobile robot platform provided by the utility model has the characteristics of small size, good maneuverability, flexible steering and the like.

Description

Translated fromChinese

一种履带式全景视觉智能移动机器人平台 A crawler-type panoramic vision intelligent mobile robot platform

技术领域technical field

本实用新型属于机器人技术领域，涉及一种移动机器人平台。 The utility model belongs to the technical field of robots and relates to a mobile robot platform. the

背景技术Background technique

随着我国石化工业的发展，各类化学反应容器和输送管道的泄漏检测与修补已成为石化工业避免事故的关键技术，在泄漏事故中，共涉及24种危险性物质。由于泄漏的化学品具有易燃易爆和有毒的特性，不宜人工处理，因此，有必要研究适用于危险场合的移动机器人，及时检测可见的异常情况，并进行报警，避免因可见异常泄漏引发的严重后果以及在泄漏检测时有毒危险品对人身造成的伤害。 With the development of my country's petrochemical industry, the leak detection and repair of various chemical reaction vessels and pipelines has become a key technology to avoid accidents in the petrochemical industry. A total of 24 kinds of dangerous substances were involved in the leakage accident. Because the leaked chemicals are flammable, explosive and toxic, they are not suitable for manual handling. Therefore, it is necessary to study mobile robots suitable for dangerous situations, detect visible abnormalities in time, and issue alarms to avoid accidents caused by visible abnormal leakage. Serious consequences and personal injury caused by toxic and dangerous substances during leak detection. the

实用新型内容Utility model content

本实用新型的目的是提供一种适用于危险场合，并具有体积小，机动性好，转向灵活移动机器人平台。为此，本实用新型采用如下的技术方案。 The purpose of the utility model is to provide a mobile robot platform suitable for dangerous occasions, small in size, good in maneuverability and flexible in steering. For this reason, the utility model adopts following technical scheme. the

此履带式全景视觉智能移动机器人平台，主要包括底盘、固定在底盘内的两个电机及其相对应的变速齿轮组、鱼眼镜头和固定架，所述在底盘的两侧分别各安装有一个履带，并设置有与每个履带相配合的从动轮、主动轮、履带压紧轮，所述的电机通过变速齿轮组驱动位于同一侧的主动轮，所述的主动轮通过履带、履带压紧轮带动从动轮运动；从动轮外侧安装有翻转臂，所述的翻转臂包括大、小两个行星齿轮和臂履带，所述的大行星齿轮与从动轮同轴，两个行星齿轮通过臂履带相连；在所述底盘的中前方安装有固定架，所述的鱼眼镜头通过镜头架与固定架相连。 This crawler-type panoramic vision intelligent mobile robot platform mainly includes a chassis, two motors fixed in the chassis and their corresponding speed change gear sets, a fisheye lens and a fixing frame. track, and is provided with a driven wheel, a driving wheel, and a track pressing wheel matched with each track, and the motor drives the driving wheel on the same side through the speed change gear set, and the driving wheel is pressed by the track and the track The wheel drives the driven wheel to move; a turning arm is installed outside the driven wheel, and the turning arm includes two large and small planetary gears and an arm crawler. The large planetary gear is coaxial with the driven wheel, and the two planetary gears pass through the arm crawler. connected; a fixed frame is installed in the middle front of the chassis, and the fisheye lens is connected with the fixed frame through the lens frame. the

本实用新型提供的履带式全景视觉智能移动机器人平台，具有体积小，机动性好，转向灵活等特点，可通过远程控制操作对机器人的行为进行控制。带翻转臂的履带式移动底盘在地形适应能力方面很出色，在陡峭地形、复杂环境下有着较高的越障能力和良好的环境适应性，具有更高的灵活性、自适应性。带翻转臂 的履带式结构保证了移动机器人平台能够在水泥地、公路、草地、沙地、碎石地、雪地等各种环境下安全准确的运行。鱼眼镜头可以完成对机器移动平台外界环境信息的采集，本实用新型选用的富士能FE185C057HA-1鱼眼镜头可摄取360度方位角和180度天顶角整个半球域的全景，无死角并且效率高的大领域监视，严格满足等距投影成像原理，且结构相对紧凑、体积小，同时满足机器人对外界信息的需求。 The crawler-type panoramic vision intelligent mobile robot platform provided by the utility model has the characteristics of small size, good maneuverability, flexible steering, etc., and can control the behavior of the robot through remote control operations. The crawler-type mobile chassis with flipping arms is excellent in terrain adaptability. It has high obstacle-surmounting ability and good environmental adaptability in steep terrain and complex environments, and has higher flexibility and adaptability. The crawler structure with flip arm ensures that the mobile robot platform can operate safely and accurately in various environments such as concrete, road, grass, sand, gravel, and snow. The fisheye lens can complete the collection of the external environment information of the machine mobile platform. The Fujinon FE185C057HA-1 fisheye lens selected by the utility model can capture the panorama of the entire hemisphere with a 360-degree azimuth angle and a 180-degree zenith angle, with no dead angle and high efficiency. High-level large-scale surveillance strictly meets the principle of equidistant projection imaging, and its structure is relatively compact, small in size, and at the same time meets the needs of robots for external information. the

附图说明Description of drawings

图1本实用新型的机器人运动平台结构示意图。 Fig. 1 is a schematic structural diagram of the robot motion platform of the present invention. the

1底盘       2左履带   3右履带       4左翻转臂    5右翻转臂 1chassis 2left track 3right track 4 left turningarm 5 right turning arm

6主动轮     7加紧轮   8从动轮       9小行星齿轮  10固定架 6driving wheel 7 tighteningwheel 8 drivenwheel 9 smallplanetary gear 10 fixed frame

11鱼眼镜头  12镜头架  13大行星齿轮  14臂履带 11fisheye lens 12lens holder 13 largeplanetary gear 14 arm crawler

具体实施方式Detailed ways

下面结合附图和实施例对本实用新型做进一步详述。 Below in conjunction with accompanying drawing and embodiment the utility model is described in further detail. the

本实用新型的机器人运动平台包括底盘1、左履带2、右履带3、左翻转臂4、右翻转臂5、鱼眼镜头11等。该运动平台采用前驱动，在底盘的内部安装有两个电机，分别通过变速齿轮组来控制主动轮6的转向转速，每一个电机的转向、转速、起停由相应的伺服控制器来控制的完成，其主体部分是两条形状可变的履带，即左履带2、右履带3，每个履带通过行星齿轮9与运动平台连接在一起，并设计有压紧装置，各个履带设计有两个履带压紧轮7，通过压紧轮7对履带的作用，使履带对路面的适应性更好，减小履带打滑；翻转臂包括臂履带14、大行星齿轮13、小行星齿轮9，大行星齿轮13与从动轮8同轴，翻转臂通过大行星齿轮9与从动轮轴连接，两个行星齿轮通过臂履带14相连。当两条履带的速度相同，实现平台的直线运动；当两条履带的速度不同时，实现平台的转向运动。鱼眼镜头11通过镜头架12安装在固定架10上，固定架10安装在底盘1的中前端，有利于表现照片的长景深效果。 The robot motion platform of the utility model comprises achassis 1, aleft crawler belt 2, aright crawler belt 3, aleft turning arm 4, aright turning arm 5, afisheye lens 11, and the like. The motion platform adopts the front drive, and two motors are installed inside the chassis, and the steering speed of thedriving wheel 6 is controlled through the transmission gear set respectively. The steering, speed, start and stop of each motor are controlled by the corresponding servo controller. Completed, its main part is two crawlers with variable shapes, namely theleft crawler 2 and theright crawler 3, each crawler is connected with the motion platform through theplanetary gear 9, and is designed with a pressing device, and each crawler is designed with two Thetrack pressing wheel 7, through the action of thepressing wheel 7 on the track, makes the track better adaptable to the road surface and reduces the slipping of the track; the turning arm includes anarm track 14, a largeplanetary gear 13, a smallplanetary gear 9, a large planetary Thegear 13 is coaxial with the drivenwheel 8, and the turning arm is connected with the driven wheel shaft through the largeplanetary gear 9, and the two planetary gears are connected through thearm track 14. When the speeds of the two crawlers are the same, the linear motion of the platform is realized; when the speeds of the two crawlers are different, the turning motion of the platform is realized. Thefisheye lens 11 is installed on thefixed frame 10 through thelens frame 12, and thefixed frame 10 is installed on the middle front end of thechassis 1, which is beneficial to express the long depth of field effect of the photo. the

Claims (1)

1. crawler type panoramic vision intelligent mobile robot platform, comprise the chassis, be fixed on two motors and corresponding separately change-speed gearing group, fish eye lens and fixed mount in the chassis, it is characterized in that, be separately installed with a crawler belt in the both sides on chassis, and be provided with driven pulley, driving wheel, the crawler belt contact roller that matches with each crawler belt, described motor drives the driving wheel that is positioned at the same side by the change-speed gearing group, and described driving wheel drives the driven pulley motion by crawler belt, crawler belt contact roller; The driven pulley outside is equipped with flip-arm, and described flip-arm comprises large and small two planetary gears and arm crawler belt, and described mafor planet gear is coaxial with driven pulley, and two planetary gears link to each other by the arm crawler belt; Middle the place ahead on described chassis is equipped with fixed mount, and described fish eye lens links to each other with fixed mount by lens bracket.

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