Mobile Sentry Robot for Laboratory Safety Inspection Based on Machine Vision and Infrared Thermal Imaging Detection

Figure 5

The chassis structure. The parts in the picture include (1) mecanum wheel, (19) axle, (7) plum flower coupling, (5) fixed motor base, axle socket, axle spring, (16) 3510 motor, (17) the lower, (4) suspension spring, (8) on the next spring fittings, (3) upper spring connector, suspension spring fittings, (2) shock absorber support plate, (9) hanging plate, (20) hinge, (18) support block, (15) idler pulley, (14) regulating wheel fixator, (10) chuck, (11) suction cup fastener, (12) linear motor, (13) linear motor fixed truss, support plate, (21) fixed plate for linear motor, (22) weld truss, and (6) square steel stiffener.