技术领域technical field
本实用新型涉及一种机器人，具体说涉及一种监控机器人。The utility model relates to a robot, in particular to a monitoring robot.
背景技术Background technique
机器人监控分为主从方式和自主方式。主从方式是指操作人远程操纵机器人，工作效率低，且操作者处于持续紧张中，容易疲劳；自主方式是机器人自己控制自己的行为，在人为设定好的区域内进行监控工作。Robot monitoring is divided into master-slave mode and autonomous mode. The master-slave mode means that the operator controls the robot remotely, which has low work efficiency, and the operator is constantly under tension and is prone to fatigue; the autonomous mode is that the robot controls its own behavior and performs monitoring work in an artificially set area.
现有的自主机器人使用限制较多，只能在底面较为平整的地方移动，对于高低不平的底面使用受限，且监控时信息收集不全，一般只能采集前进方向的信息，不能满足现有的使用需求，为此我们提出一种新型监控机器人，来解决现有的机器人信息采集率低，受制于地形移动困难等问题。Existing autonomous robots have many restrictions on the use, and can only move on places with relatively flat bottom surfaces. The use of uneven bottom surfaces is limited, and the information collection during monitoring is incomplete. Generally, only information on the direction of travel can be collected, which cannot meet the existing requirements. For this reason, we propose a new type of monitoring robot to solve the problems of low information collection rate of existing robots and difficulties in terrain movement.
发明内容Contents of the invention
针对上述现有技术存在的问题，本实用新型提供一种监控机器人，解决现有的机器人信息采集率低，受制于地形移动困难等问题。Aiming at the above-mentioned problems in the prior art, the utility model provides a monitoring robot, which solves the problems of low information collection rate of the existing robot and difficulty in terrain movement.
为了实现上述目的，本实用新型采用的技术方案是：In order to achieve the above object, the technical solution adopted by the utility model is:
一种监控机器人，包括控制室和运动机构，所述运动机构顶部固定连接控制室，所述控制室内部设有伺服电机，所述伺服电机一侧齿轮连接减速器，所述伺服电机另一侧电路连接控制器，所述控制器一侧电路连接摄像头，所述控制器另一侧电路连接录音麦克，所述运动机构为两组相同的运动副通过传动杆固定连接而成，所述运动副为两组对称的运动爪和固定架连接而成，所述运动爪设有传动齿轮，所述传动齿轮一侧齿轮连接传动杆，所述传动杆齿轮连接减速器，所述传动齿轮另一侧固定连接偏心轮，所述偏心轮轴承连接第一支撑杆，所述第一支撑杆一侧轴承连接地爪，所述地爪顶部轴承连接第二支撑杆，所述第二支撑杆另一侧固定连接在固定架上。A monitoring robot, including a control room and a motion mechanism, the top of the motion mechanism is fixedly connected to the control room, and a servo motor is arranged inside the control room, one side of the servo motor is geared to a reducer, and the other side of the servo motor The circuit is connected to the controller, the circuit on one side of the controller is connected to the camera, and the circuit on the other side of the controller is connected to the recording microphone. It is formed by connecting two sets of symmetrical moving claws and a fixed frame. The moving claws are provided with a transmission gear. One side of the transmission gear is connected to a transmission rod, and the transmission rod gear is connected to a reducer. The eccentric wheel is fixedly connected, the bearing of the eccentric wheel is connected to the first support rod, the bearing on one side of the first support rod is connected to the ground claw, the top bearing of the ground claw is connected to the second support rod, and the other side of the second support rod Fixedly connected on the fixed frame.
作为上述方案的进一步优化，所述控制器内部设有MCS-51型单片机。As a further optimization of the above scheme, the controller is equipped with a MCS-51 single-chip microcomputer.
作为上述方案的进一步优化，所述摄像头数量为三组，且分布在控制室的三个方向。As a further optimization of the above scheme, the number of the cameras is three groups, which are distributed in three directions of the control room.
作为上述方案的进一步优化，所述控制器一侧电路连接锂电池。As a further optimization of the above solution, the circuit on one side of the controller is connected to a lithium battery.
作为上述方案的进一步优化，所述控制器顶部电路连接太阳能面板。As a further optimization of the above solution, the top circuit of the controller is connected to the solar panel.
本实用新型一种监控机器人的运动机构是由两组相同的运动副通过传动杆固定连接而成，运动副为两组对称的运动爪和固定架连接而成，所以使得整个运动机构可以向着一个方向爬行前进，当需要调转方向时，只需要控制器控制伺服电机反转即可，简单方便。控制室三面均设有摄像头，在控制室内部设有录音麦克，可以使得装置在行进路线上将影像和声音都录制下来，信息收集全面且操作简单，采用八组地爪设计，可以在复杂的底面移动，使用灵活。The motion mechanism of a monitoring robot of the utility model is formed by two groups of identical motion pairs fixedly connected through transmission rods, and the motion pairs are formed by connecting two groups of symmetrical motion claws and a fixed frame, so that the entire motion mechanism can move towards a The direction crawls forward. When the direction needs to be reversed, the controller only needs to control the servo motor to reverse, which is simple and convenient. There are cameras on three sides of the control room, and a recording microphone inside the control room, which can make the device record images and sounds on the traveling route, comprehensive information collection and easy operation. It adopts eight sets of ground claws, which can be used in complex places. The bottom surface is mobile and flexible to use.
附图说明Description of drawings
图1是本实用新型的一种监控机器人的整体结构示意图。Fig. 1 is a schematic diagram of the overall structure of a monitoring robot of the present invention.
图2是本实用新型的一种监控机器人的控制室结构示意图。Fig. 2 is a structural schematic diagram of a control room of a monitoring robot of the present invention.
图3是本实用新型的一种监控机器人的运动机构结构示意图。Fig. 3 is a schematic structural diagram of a motion mechanism of a monitoring robot of the present invention.
图4是本实用新型的一种监控机器人的运动机构俯视图。Fig. 4 is a top view of a motion mechanism of a monitoring robot of the present invention.
图5是本实用新型的一种监控机器人的运动副结构示意图。Fig. 5 is a schematic structural diagram of a kinematic pair of a monitoring robot of the present invention.
图6是本实用新型的一种监控机器人的固定架结构示意图。Fig. 6 is a structural schematic diagram of a fixed frame of a monitoring robot of the present invention.
图7是本实用新型的一种监控机器人的运动爪结构示意图。Fig. 7 is a structural schematic diagram of a moving claw of a monitoring robot of the present invention.
图8是本实用新型的一种监控机器人的偏心轮结构示意图。Fig. 8 is a structural schematic diagram of an eccentric wheel of a monitoring robot of the present invention.
图中附图标记为：1、控制室；11、控制器；12、伺服电机；13、减速器；14、摄像头；15、录音麦克；16、太阳能面板；17、锂电池；2、运动机构；21、运动副；22、传动杆；23、固定架；24、运动爪；25、传动齿轮；26、偏心轮；27、第一支撑杆；28、地爪；29、第二支撑杆。Reference signs in the figure are: 1. Control room; 11. Controller; 12. Servo motor; 13. Reducer; 14. Camera; 15. Recording microphone; 16. Solar panel; 17. Lithium battery; 2. Movement mechanism ; 21, kinematic pair; 22, transmission rod; 23, fixed frame;
具体实施方式Detailed ways
为使本实用新型的目的、技术方案和优点更加清楚明了，下面通过实施例，对本实用新型进行进一步详细说明。但是应该理解，此处所描述的具体实施例仅仅用以解释本实用新型，并不用于限制本实用新型的范围。In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model will be further described in detail through the following examples. However, it should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the scope of the utility model.
参见图1-图8，See Figure 1-Figure 8,
本优选实施例的一种监控机器人，包括控制室1和运动机构2，所述运动机构2顶部固定连接控制室1，所述控制室1内部设有伺服电机12，所述伺服电机12一侧齿轮连接减速器13，所述伺服电机12另一侧电路连接控制器11，所述控制器11内部设有MCS-51型单片机，所述控制器11一侧电路连接摄像头14，所述摄像头14数量为三组，且分布在控制室的三个方向，所述控制器11另一侧电路连接录音麦克15，所述控制器11一侧电路连接锂电池17，所述控制器11顶部电路连接太阳能面板16，所述运动机构2为两组相同的运动副21通过传动杆22固定连接而成，所述运动副21为两组对称的运动爪24和固定架23连接而成，所述运动爪24设有传动齿轮25，所述传动齿轮25一侧齿轮连接传动杆22，所述传动杆22齿轮连接减速器13，所述传动齿轮25另一侧固定连接偏心轮26，所述偏心轮26轴承连接第一支撑杆27，所述第一支撑杆27一侧轴承连接地爪28，所述地爪28顶部轴承连接第二支撑杆29，所述第二支撑杆29另一侧固定连接在固定架23上。A monitoring robot in this preferred embodiment includes a control room 1 and a motion mechanism 2, the top of the motion mechanism 2 is fixedly connected to the control room 1, and the inside of the control room 1 is provided with a servo motor 12, and one side of the servo motor 12 is The gear is connected to the reducer 13, and the other side circuit of the servo motor 12 is connected to the controller 11. The inside of the controller 11 is provided with a MCS-51 single-chip microcomputer, and the circuit on one side of the controller 11 is connected to the camera 14, and the camera 14 The number is three groups, and they are distributed in three directions of the control room. The circuit on the other side of the controller 11 is connected to the recording microphone 15, the circuit on one side of the controller 11 is connected to the lithium battery 17, and the circuit on the top of the controller 11 is connected to the The solar panel 16, the motion mechanism 2 is formed by two groups of identical motion pairs 21 fixedly connected through the transmission rod 22, and the motion pair 21 is formed by connecting two groups of symmetrical motion claws 24 and a fixed frame 23, and the motion Claw 24 is provided with transmission gear 25, and described transmission gear 25 side gears are connected transmission rod 22, and described transmission rod 22 gears are connected speed reducer 13, and described transmission gear 25 other side is fixedly connected with eccentric wheel 26, and described eccentric wheel 26 bearings are connected to the first support rod 27, one side of the first support rod 27 is connected to the ground claw 28, the top bearing of the ground claw 28 is connected to the second support rod 29, and the other side of the second support rod 29 is fixedly connected On the fixed frame 23.
本实用新型的一种监控机器人使用时，太阳能面板将太阳能转化为电能通过控制器给锂电池充电，锂电池给伺服电机供电，使得其带动减速器从而带动运动机构的传动杆，使得传动杆带动传动齿轮转动，从而带动偏心轮转动，偏心轮转动带动第一支撑杆往复运动，因为第二支撑杆一端固定在固定架上，所以在第二支撑杆和第一支撑杆的作用力下，使得地爪往复运动，整个运动机构由八组地爪组成。因为运动机构是由两组相同的运动副通过传动杆固定连接而成，运动副为两组对称的运动爪和固定架连接而成，所以使得整个运动机构可以向着一个方向爬行前进，当需要调转方向时，只需要控制器控制伺服电机反转即可，简单方便。控制室三面均设有摄像头，在控制室内部设有录音麦克，可以使得装置在行进路线上将影像和声音都录制下来，信息收集全面且操作简单。When the monitoring robot of the utility model is in use, the solar panel converts solar energy into electric energy to charge the lithium battery through the controller, and the lithium battery supplies power to the servo motor, so that it drives the reducer to drive the transmission rod of the motion mechanism, so that the transmission rod drives The transmission gear rotates, thereby driving the eccentric wheel to rotate, and the rotation of the eccentric wheel drives the first support rod to reciprocate. Because one end of the second support rod is fixed on the fixed frame, under the force of the second support rod and the first support rod, the The ground claws reciprocate, and the whole movement mechanism is composed of eight groups of ground claws. Because the kinematic mechanism is composed of two sets of identical kinematic pairs fixedly connected by transmission rods, and the kinematic pair is connected by two sets of symmetrical kinematic claws and a fixed frame, so that the entire kinematic mechanism can crawl forward in one direction. In the direction, only the controller needs to control the servo motor to reverse, which is simple and convenient. Cameras are installed on three sides of the control room, and a recording microphone is installed inside the control room, which allows the device to record images and sounds along the route, comprehensive information collection and easy operation.
以上所述仅为本实用新型的较佳实施例而已，并不用以限制本实用新型，凡在本实用新型的精神和原则之内所作的任何修改、等同替换或改进等，均应包含在本实用新型的保护范围之内。The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modification, equivalent replacement or improvement made within the spirit and principles of the present utility model shall be included in this utility model. within the scope of protection of utility models.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820065424.XUCN207915480U (en) | 2018-01-16 | 2018-01-16 | A kind of supervisory-controlled robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820065424.XUCN207915480U (en) | 2018-01-16 | 2018-01-16 | A kind of supervisory-controlled robot |
| Publication Number | Publication Date |
|---|---|
| CN207915480Utrue CN207915480U (en) | 2018-09-28 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201820065424.XUExpired - Fee RelatedCN207915480U (en) | 2018-01-16 | 2018-01-16 | A kind of supervisory-controlled robot |
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| CN109278892A (en)* | 2018-10-16 | 2019-01-29 | 北京理工大学 | A non-slip humanoid robot foot imitating cat's claw |
| CN109661900A (en)* | 2019-01-25 | 2019-04-23 | 徐州盛斗士生物科技有限公司 | A kind of sitting posture mung bean picking Bao Ke Shou item shuttle creeper-traveler |
| CN110246298A (en)* | 2019-07-09 | 2019-09-17 | 张兰勇 | A kind of crawler type forest patrol robot |
| CN110667728A (en)* | 2019-10-21 | 2020-01-10 | 江苏科技大学 | Bionic six-foot crawling robot |
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