CN111301561A - Omnidirectional vision intelligent vehicle convenient for secondary development - Google Patents

Abstract

The invention relates to the technical field of robotics, and specifically discloses an omnidirectional vision intelligent car which is convenient for secondary development. Chassis; both ends of the end frame are provided with pin shafts, and a vertical frame is hinged outside the pin shaft, and one rod of the vertical frame is provided with a wheel; the other rod of the vertical frame is hinged with a connecting rod , the connecting rod is hinged with a T-shaped rod, the T-shaped rod is provided with a fixed rod, the end frame is provided with a stepped shaft, the fixed rod is hinged on the stepped shaft, and a transmission rod is hinged above the stepped shaft, The other end of the transmission rod is provided with a rotating device; the present invention realizes that a motor controls the steering of the front and rear wheels through a plurality of rods hinged, and receives external signals by setting a visual sensor, which is convenient for secondary development.

Description

An omnidirectional vision smart car that is convenient for secondary development

technical field

The invention relates to the technical field of robots, in particular to an omnidirectional visual intelligent car which is convenient for secondary development.

Background technique

As a new invention of modern times, the smart car is the future development direction. It can operate automatically in an environment according to a preset mode, without human management, and can be used for scientific exploration and other purposes. The smart car can display time, speed and mileage in real time, with automatic tracking, light finding, obstacle avoidance functions, programmable driving speed, accurate positioning and parking, remote image transmission and other functions. The steering mechanism of traditional smart cars often requires multiple motors. In cooperation, this increases the cost while also making the CPU a heavier burden.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an omnidirectional vision intelligent car that is convenient for secondary development, so as to solve the problems raised in the above background technology.

To achieve the above object, the present invention provides the following technical solutions:

An omnidirectional vision smart car convenient for secondary development, comprising a body, with end frames at the front and rear of the body, a cross frame in the middle of the body, and a chassis under the body; both ends of the end frames are provided with A pin shaft, a vertical frame is hinged outside the pin shaft, a steering gear is arranged on one rod of the vertical frame, and a wheel is arranged outside the steering gear; a connecting rod is hinged on the other rod of the vertical frame , the connecting rod is hinged with a T-shaped rod, the T-shaped rod is provided with a fixed rod, the end frame is provided with a stepped shaft, the fixed rod is hinged on the stepped shaft, and a transmission rod is hinged above the stepped shaft, The other end of the transmission rod is provided with a rotating device;

The rotating device includes a rotating base, the rotating base is fixedly connected to the horizontal frame, a rotator is arranged above the rotating base, a rotating cover is arranged above the rotator, and a rotating cover is arranged between the rotator and the rotating cover. There is a pin shaft, and a transmission rod is hinged on the pin shaft;

The center of the rear end frame is provided with a motor, the center of the front end frame is provided with a vision sensor, and the chassis is provided with a controller and a power supply.

As a further solution of the present invention: the angle of the two rods of the vertical frame is fixed; the angle between the T-shaped rod and the fixed rod is fixed.

As a further solution of the present invention: there are two sets of the rotating devices, a rotating connecting rod is arranged between the two sets of the rotating devices, the rotating connecting rod passes through the rotating seat and the rotator, and a pin is arranged outside the rotator ring; a key is arranged between the rotating link and the rotator.

As a further solution of the present invention, the rotating cover and the rotator are detachably connected by fixing bolts, and nuts are fitted under the fixing bolts.

As a further solution of the present invention: the entire trolley is a center-symmetric structure, and there are four wheels in total.

As a further solution of the present invention, an omnidirectional turning head is arranged above the horizontal frame, and a vision sensor is detachably connected to the omnidirectional turning head.

Compared with the prior art, the beneficial effects of the present invention are: the motor drives the rear T-shaped rod to rotate, the rear T-shaped rod and the rear connecting rod can rotate relative to each other, and the rear connecting rod and the rear vertical frame can rotate relative to each other. The rotation of the rear T-bar can be transmitted to the rear vertical frames on both sides through the rear connecting rod, and the rear vertical frame can drive the two rear wheels to rotate on the same side; the rear T-bar drives the rear fixed rod to rotate, so The rear fixed rod can push the rear rotator to rotate around the rear rotating seat through the rear stepped shaft, and then rotate the front fixed rod through the front transmission rod. Since the whole car is a center-symmetric structure, the steering of the two front wheels and the two rear wheels are opposite. ;

The omnidirectional turning head can rotate 360 degrees, and the omnidirectional turning head can drive the upper visual sensor to rotate, so as to collect omnidirectional information.

Description of drawings

In order to explain the technical solutions in the embodiments of the present invention more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only for the present invention. some examples.

Figure 1 is a schematic top-view structural diagram of an omnidirectional vision smart car that is convenient for secondary development.

FIG. 2 is a schematic diagram of the enlarged front view structure of A in an omnidirectional vision smart car that is convenient for secondary development.

FIG. 3 is a schematic diagram of the enlarged front view structure of B in the omnidirectional vision smart car that is convenient for secondary development.

FIG. 4 is a schematic structural diagram of a rotating seat in an omnidirectional vision smart car that is convenient for secondary development.

FIG. 5 is a schematic structural diagram of a rotating cover in an omnidirectional vision smart car that is convenient for secondary development.

In the picture: 1-body, 2-end frame, 3-cross frame, 4-pin shaft, 5-vertical frame, 6-wheel, 7-chassis, 8-linkage, 9-T-bar, 10-fixed bar , 11-transmission rod, 12-rotating device, 13-step shaft, 14-rotating seat, 15-rotating device, 16-pin ring, 17-rotating cover, 18-fixing bolt, 19-nut, 20-rotating connecting rod , 21- omnidirectional steering head, 22- vision sensor, 23- key, 24- motor, 25- steering gear.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

Example 1

Referring to FIGS. 1-5 , in an embodiment of the present invention, an omnidirectional vision smart car that is convenient for secondary development includes a body 1 . The body 1 is provided with end frames 2 at the front and rear, and a cross frame is provided in the middle of the body 1 3. A chassis 7 is provided below the body 1; pins 4 are provided at both ends of the end frame 2, and a vertical frame 5 is hinged to the outside of the pin shaft 4, and the angles of the two rods of the vertical frame 5 are fixed; A steering gear 25 is provided on one rod of the vertical frame 5, and a wheel 6 is provided outside the steering gear 25; a connecting rod 8 is hinged on another rod of the vertical frame 5, and the connecting rod 8 is hinged with a connecting rod 8. The T-shaped rod 9 is provided with a fixed rod 10, and the angle between the T-shaped rod 9 and the fixed rod 10 is fixed; the end frame 2 is provided with a stepped shaft 13, and the fixed rod 10 It is hinged on the stepped shaft 13, a transmission rod 11 is hinged above the stepped shaft 13, and the other end of the transmission rod 11 is provided with a rotating device 12;

Further, there are two sets of the rotating device 12. The rotating device 12 includes a rotating base 14, the rotating base 14 is fixedly connected to the horizontal frame 3, and a rotator 15 is arranged above the rotating base 14. The rotary cover 17 is provided above the rotary device 15, and the rotary cover 17 and the rotary device 15 are detachably connected by a fixing bolt 18, and a nut 19 is fitted under the fixing bolt 18; the rotary device 15 and the rotary device A pin shaft is arranged in the middle of the cover 17, and a transmission rod 11 is hinged on the pin shaft; a rotating connecting rod 20 is arranged between the two sets of the rotating devices 12, and the rotating connecting rod 20 passes through the rotating seat 14 and the rotator 15. , the relative movement between the rotating base 14 and the rotator 15 is restricted by the pin ring 16; torque is transmitted between the rotating link 20 and the rotator 15 through the key 23;

Specifically, the entire trolley is a center-symmetric structure, and there are four wheels 6 in total; a motor 24 is provided in the center of the rear end frame 2 for driving the entire trolley; a visual sensor 22 is provided in the center of the front end frame 2 for receiving information; the chassis 7 is provided with a controller and a power supply.

The working principle of the embodiment of the present invention is: the motor 24 drives the rear T-shaped rod 9 to rotate, the rear T-shaped rod 9 and the rear connecting rod 8 can rotate relative to each other, and the rear connecting rod 8 and the rear vertical frame 5 can be relative to each other. Rotation, the rotation of the rear T-bar 9 can be transmitted to the rear vertical frame 5 on both sides through the rear connecting rod 8, and the rear vertical frame 5 can drive the two rear wheels 6 to rotate on the same side; the rear T-bar 9 The rear fixed rod 10 is driven to rotate, and the rear fixed rod 10 can push the rear rotator 15 to rotate around the rear rotating seat 14 through the rear stepped shaft 13, and then rotate the front fixed rod 10 through the front transmission rod 11. Because the whole car is a center-symmetric structure , so the two front wheels 6 turn in opposite directions to the two rear wheels 6 .

Example 2

Referring to FIG. 1 , the difference from Embodiment 1 is that in this embodiment of the present invention, an omnidirectional turning head 21 is provided above the horizontal frame 3 , and a visual sensor 22 is detachably connected to the omnidirectional turning head 21 .

The working principle of the embodiment of the present invention is that the omnidirectional swivel head 21 can rotate 360 degrees, and the omnidirectional swivel head 21 can drive the upper visual sensor 22 to rotate, thereby collecting omnidirectional information.

The electrical components appearing in this article are all connected with the external main controller and 220V mains, and the main controller can be a conventional known device controlled by a computer or the like.

In the description of the present invention, unless otherwise expressly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral Connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication of two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (6)

1. The omnidirectional vision intelligent trolley convenient for secondary development is characterized by comprising a trolley body (1), wherein end frames (2) are arranged at the front and the rear of the trolley body (1), a cross frame (3) is arranged in the middle of the trolley body (1), and a chassis (7) is arranged below the trolley body (1); two ends of the end frame (2) are provided with pin shafts (4), a vertical frame (5) is hinged outside the pin shafts (4), a steering gear (25) is arranged on one rod of the vertical frame (5), and wheels (6) are arranged outside the steering gear (25); a connecting rod (8) is hinged to the other rod of the vertical frame (5), a T-shaped rod (9) is hinged to the connecting rod (8), a fixing rod (10) is arranged on the T-shaped rod (9), a stepped shaft (13) is arranged on the end frame (2), the fixing rod (10) is hinged to the stepped shaft (13), a transmission rod (11) is hinged to the upper portion of the stepped shaft (13), and a rotating device (12) is arranged at the other end of the transmission rod (11);

the rotating device (12) comprises a rotating seat (14), the rotating seat (14) is fixedly connected to the cross frame (3), a rotator (15) is arranged above the rotating seat (14), a rotating cover (17) is arranged above the rotator (15), a pin shaft is arranged between the rotator (15) and the rotating cover (17), and a transmission rod (11) is hinged to the pin shaft;

the motor (24) is arranged at the center of the end frame (2) at the rear part, the vision sensor (22) is arranged at the center of the end frame (2) at the front part, and the controller and the power supply are arranged on the chassis (7).

2. The omnidirectional visual intelligent trolley convenient for secondary development according to claim 1, wherein two poles of the vertical frame (5) are fixed in angle; the angle between the T-shaped rod (9) and the fixing rod (10) is fixed.

3. The omnidirectional vision intelligent trolley convenient for secondary development according to claim 2, wherein the number of the rotating devices (12) is two, a rotating connecting rod (20) is arranged between the two rotating devices (12), the rotating connecting rod (20) penetrates through the rotating base (14) and the rotator (15), and a pin ring is arranged outside the rotator (15); a key (23) is arranged between the rotating connecting rod (20) and the rotator (15).

4. The omnidirectional visual intelligent trolley convenient for secondary development according to any one of claims 1 to 3, wherein the rotary cover (17) is detachably connected with the rotator (15) through a fixed bolt (18), and a nut (19) is matched below the fixed bolt (18).

5. Omni-directional visual smart cart convenient for secondary development according to claim 2 or 3, characterized in that said wheels (6) are four in total.

6. The omnidirectional vision intelligent trolley convenient for secondary development according to claim 5, wherein an omnidirectional turning head (21) is arranged above the cross frame (3), and a vision sensor (22) is detachably connected to the omnidirectional turning head (21).

Images