CN111376667A - Mobile inspection operation robot - Google Patents
Mobile inspection operation robot Download PDFInfo
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- CN111376667A CN111376667A CN202010306924.XA CN202010306924A CN111376667A CN 111376667 A CN111376667 A CN 111376667A CN 202010306924 A CN202010306924 A CN 202010306924A CN 111376667 A CN111376667 A CN 111376667A
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- 238000007689 inspection Methods 0.000 title claims abstract description 57
- 230000007246 mechanism Effects 0.000 claims abstract description 66
- 239000000725 suspension Substances 0.000 claims abstract description 46
- 230000035939 shock Effects 0.000 claims abstract description 19
- 230000036544 posture Effects 0.000 claims abstract description 14
- 238000010521 absorption reaction Methods 0.000 claims abstract description 5
- 230000000007 visual effect Effects 0.000 claims description 16
- 239000006096 absorbing agent Substances 0.000 claims description 14
- 238000013016 damping Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 4
- 230000003044 adaptive effect Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 2
- 230000033001 locomotion Effects 0.000 description 17
- 238000005516 engineering process Methods 0.000 description 7
- 238000012545 processing Methods 0.000 description 7
- 230000009466 transformation Effects 0.000 description 6
- 230000008859 change Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/001—Arrangements for attachment of dampers
- B60G13/005—Arrangements for attachment of dampers characterised by the mounting on the axle or suspension arm of the damper unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
- B60G13/02—Resilient suspensions characterised by arrangement, location or type of vibration dampers having dampers dissipating energy, e.g. frictionally
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/20—Type of damper
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a mobile inspection operation robot, and belongs to the technical field of robots. Comprises a mechanical arm and a chassis; the mechanical arm is a cooperative robot; the chassis comprises a chassis body, four moving wheels, four speed reducing motors, a front suspension mechanism and a rear suspension mechanism, wherein the front suspension mechanism and the rear suspension mechanism are suspension mechanisms with the same structure; the suspension mechanism comprises a pair of shock absorption adjusting suspension mechanisms with the same structure, a middle bracket and a connecting frame; forming a pair of shock-absorbing adjusting suspension mechanisms into two independent suspension mechanisms; the top surface of chassis body is fixed along length direction and is equipped with a pair of guide rail, and the arm is located chassis body top through the cooperation activity of arm mounting panel and a pair of guide rail. When the mobile inspection operation is carried out, the chassis is suitable for different road surface environments, and the mechanical arm is suitable for environments with strict requirements on postures and positions in the inspection operation. The invention realizes the smooth execution of the routing inspection task under the condition of more space and position limitations in the routing inspection task.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a mobile inspection operation robot.
Background
The mobile inspection is a technology for completing inspection in motion by utilizing modern technologies such as a modern mobile terminal technology, a mobile communication technology, a computer technology and the like. The mobile inspection technology is used for solving the problems of large labor consumption, incomplete recorded results and the like in manual inspection. Most of mobile inspection robots adopted by the traditional mobile inspection technology only have a recording function, the capability of operating working equipment on a working site is poor, subsequent personnel tracking processing is often required, and the labor consumption is high.
The existing mobile inspection robot mostly adopts a structure of a mobile chassis, a lifting platform, a holder and a vision sensor, wherein the mobile chassis usually adopts a transmission mode of a motor, a reducer and a mobile wheel, the structure can complete tasks more ideally when processing simpler inspection tasks (such as recording the working conditions of instruments and meters directly displayed outside and the readings of each measured quantity in a power station with regular indoor ground), and the mobile chassis can also smoothly ensure that load equipment of the mobile inspection robot has better stability. However, when the inspection robot works in a complex environment, such as when the condition of outdoor road surface is not good, and the inspection operation needs to be completed by collecting the number of the instruments inside the electrical cabinet, or even by performing certain interactive operation (such as pressing a corresponding button, and starting the equipment to be inspected on site, etc.), the mobile chassis of the existing mobile inspection robot cannot ensure that the inspection equipment of the load can work normally, especially when facing the road surface with poor flatness, the stability of the mobile chassis is greatly influenced, and the vibration of the road surface can be directly fed back to the inspection equipment of the load, so that the working stability of the mobile chassis and the load inspection equipment is greatly influenced, the inspection operation cannot be normally completed, and the equipment of the load improves the gravity center height of the whole inspection robot, and even the inspection robot can overturn under the condition, The risk of damaging the equipment.
Disclosure of Invention
The invention provides a mobile inspection operation robot, aiming at solving the problem that the existing mobile inspection robot is poor in operation capability.
A mobile inspection operation robot includes a robot arm and a chassis. The mechanical arm is a cooperative robot; the chassis comprises a chassis body 1, four moving wheels 3, four speed reducing motors 11, a front suspension mechanism and a rear suspension mechanism, wherein the front suspension mechanism and the rear suspension mechanism are suspension mechanisms with the same structure;
the output shaft of each speed reducing motor 11 is fixedly connected with a corresponding moving wheel 3 through a hub connecting piece 7;
the suspension mechanism comprises a pair of shock absorption adjusting suspension mechanisms with the same structure, a middle bracket 14 and a connecting bracket 13;
the middle bracket 14 is an inverted U-shaped bracket;
the shock absorption adjusting suspension mechanism comprises a shock absorber 82, a swing rod mechanism and an adjusting rod mechanism; the swing rod mechanism comprises a rectangular swing frame and is positioned at the upper part; the adjusting rod mechanism comprises a rectangular adjusting frame which is positioned at the lower part, and the rectangular swinging frame and the rectangular adjusting frame are vertically parallel; one end of the rectangular swinging frame and one end of the rectangular adjusting frame are respectively and fixedly connected with an upright motor mounting bracket 85, and the other end of the rectangular swinging frame and the other end of the rectangular adjusting frame are respectively and fixedly connected with one end of two side edges of the middle bracket 14; the other ends of the two side edges of the middle bracket 14 are respectively and fixedly connected with the other end of the rectangular swinging frame and the other end of the rectangular adjusting frame of the other damping adjusting suspension mechanism, so that the pair of damping adjusting suspension mechanisms form two independent suspension mechanisms;
the connecting frame 13 is a U-shaped bracket, the bottom of the connecting frame 13 is fixedly connected with the top of the middle bracket 14, and two side edges of the connecting frame 13 are respectively parallel to the motor mounting bracket 85; one end of the shock absorber 82 is movably connected with one side of the connecting frame 13, and the other end of the shock absorber 82 is movably connected with the corresponding rectangular swinging frame; the connecting frame 13 is fixedly connected with the bottom of the chassis body 1;
each speed reducing motor 11 is correspondingly and fixedly arranged on the motor mounting bracket 85;
the top surface of the chassis body 1 is fixedly provided with a pair of guide rails 2 along the length direction, and the mechanical arm is movably arranged at the top of the chassis body 1 through the matching of a mechanical arm mounting plate 30 and the pair of guide rails 2;
when the mobile inspection operation is carried out, the chassis is suitable for different road surface environments, the mechanical arm is suitable for environments with strict requirements on postures and positions in the inspection operation, and the clamping jaw 19 and the vision sensor 20 are driven to reach different acquisition positions in different postures.
The technical scheme for further limiting is as follows:
the swing rod mechanism comprises a pair of swing rods 83, a pair of connecting posts 87 and a pair of supporting posts 86; two ends of one connecting column 87 are respectively and fixedly connected with one end of a pair of swing rods 83, two ends of the other connecting column 87 are respectively and fixedly connected with the other end of the pair of swing rods 83 to form a rectangular swing frame, and two ends of a pair of supporting columns 86 are respectively and fixedly connected with the pair of swing rods 83 and are positioned in the rectangular swing frame in parallel.
The adjusting rod mechanism comprises a pair of adjusting rods 89 and a pair of connecting rods 88, and two ends of one connecting rod 88 are respectively and fixedly connected with two ends of the pair of adjusting rods 89 to form a rectangular adjusting frame;
the adjusting rod 89 comprises a pair of connectors 891 and a telescopic adjusting pipe 895; both ends of the telescopic adjusting pipe 895 are threaded pipes; a rotary hemisphere 892 is arranged on the connecting head 891, and the rotary hemisphere 892 is rotatably connected with the connecting head 891; fixing rod 893 is being connected to the outside fixed connection of connector 891, and the dead lever 893 perpendicular to the axial lead of rotating hemisphere 892, and dead lever 893 is the screw rod, and a pair of connector 891 is fixed respectively through dead lever 893 and is located flexible regulation pipe 895 both ends, and nut 894 fixed connection on the dead lever 893 is the pipe end of flexible regulation pipe 895 for adjust the length that dead lever 893 stretched into flexible regulation pipe 895.
The motor mounting bracket 85 is in a vertical plate shape, a motor mounting hole is formed in the middle of the motor mounting bracket, the vertical edges on the two sides are bent towards one side to form turned edges, and one end of the rectangular swinging frame and one end of the rectangular adjusting frame are respectively and fixedly connected with the turned edges on the two sides of the motor mounting bracket 85.
One end of the chassis body 1 in the length direction is a front end, and the other end of the chassis body 1 is a rear end; the front end of the front cover plate is fixedly provided with a front cover plate 5, and a laser sensor 6 is arranged on the front cover plate 6; and a rear cover plate 9 is fixedly arranged at the rear end.
The damper 82 is a magnetorheological damper.
One end of the shock absorber 82 is movably connected to one side of the connecting frame 13 through a U-shaped mounting frame 81, and the other end of the shock absorber 82 is movably connected to a corresponding supporting column 86 of the rectangular swing frame through a U-shaped fixing frame 84.
The mechanical arm is a six-axis mechanical arm with six degrees of freedom and comprises six servo driving motors and a link mechanism with six rotating pairs connected in series, and each servo driving motor drives one rotating pair to rotate.
The beneficial technical effects of the invention are embodied in the following aspects:
(1) according to the invention, the front suspension mechanism and the rear suspension mechanism are arranged on the movable chassis, so that the flexibility between the movable chassis and the movable wheels can be increased, the vibration fed back to the movable wheels from the road surface can be absorbed, and is not directly transmitted to the movable chassis body and the mechanical arm, the clamping jaw and the vision sensor loaded on the movable chassis body, and the movable chassis and the inspection equipment loaded on the movable chassis can keep better stability under the condition of poorer road surface.
(2) The mechanical arm, the clamping jaw and the visual sensor are loaded on the mobile chassis to serve as the inspection equipment, compared with a traditional lifting platform and a traditional tripod head which only have a mechanism with simple lifting and rotating motions, the mechanical arm and the clamping jaw have higher freedom degree and better operating capability, the higher freedom degree can enable the positions and postures of the clamping jaw and the visual sensor in the space to have more choices, and the inspection task can be smoothly executed on some equipment with more restrictions on the space position (such as the fact that the distance is too small and the mobile inspection robot is not allowed to enter) in the inspection task; when the robot arm is used in some scenes needing certain operations (such as opening the cabinet door of the electric cabinet, pressing a button and the like), the robot arm can complete the task requirement by matching the clamping jaw and completing visual servo positioning by using the visual sensor, and the robot arm has better operation capability.
Drawings
FIG. 1 is a schematic view of the structure of the present invention.
Fig. 2 is a rear view of fig. 1.
Fig. 3 is a schematic view of the chassis structure.
Fig. 4 is a bottom view of fig. 3.
Fig. 5 is a rear view of fig. 3.
Fig. 6 is a schematic view of the suspension structure of the present invention.
Fig. 7 is an exploded view of fig. 6.
Fig. 8 is a schematic view of the structure of the adjusting lever.
Fig. 9 is a schematic structural diagram of the cooperative robot.
Fig. 10 is a schematic view of the operation of the mobile inspection operation robot of the present invention.
Fig. 11 is another schematic view of the mobile inspection robot according to the present invention.
FIG. 12 is a control flow diagram of the present invention.
Sequence numbers in the upper figure: the automatic control system comprises a movable chassis body 1, a movable guide rail 2, a movable wheel 3, an emergency stop button 4, a front cover plate 5, a laser sensor 6, a hub connecting piece 7, a suspension mechanism 8, a U-shaped mounting frame 81, a shock absorber 82, a swing rod 83, a U-shaped fixing frame 84, a motor mounting bracket 85, a supporting column 86, a connecting column 87, a connecting rod 88, an adjusting rod 89, a connector 891, a rotating hemisphere 892, a fixing rod 893, a nut 894, a telescopic adjusting pipe 895, a rear cover plate 9, a sensor bracket 10, a speed reducing motor 11, an operation panel 12, a connecting frame 13 and a middle bracket 14; the mechanical arm mounting plate 15, the mechanical arm 16, the tail end connecting piece 17, the clamping jaw fixing plate 18, the clamping jaw 19 and the vision sensor 20; a control unit 21, a movement control module 211, a motion control module 212, a vision processing module 213.
Detailed Description
The invention will be further explained by the embodiments with reference to the drawings.
Example 1
Referring to fig. 1 and 2, a mobile inspection robot includes a robot arm and a chassis. The mechanical arm is a cooperative robot. Referring to fig. 3 and 4, the chassis includes a chassis body 1, four moving wheels 3, four reduction motors 11, a front suspension mechanism and a rear suspension mechanism, and the front suspension mechanism and the rear suspension mechanism are suspension mechanisms having the same structure.
Referring to fig. 6, the suspension mechanism includes a pair of shock-absorbing adjusting suspension mechanisms having the same structure, an intermediate bracket 14, and a link bracket 13; the intermediate support 14 is an inverted U-shaped support.
Referring to fig. 7, the shock-absorbing adjusting suspension mechanism includes a shock absorber 82, a swing link mechanism, and an adjusting lever mechanism. The damper 82 is a magnetorheological damper. The swing rod mechanism comprises a pair of swing rods 83, a pair of connecting posts 87 and a pair of supporting posts 86; two ends of one connecting column 87 are respectively and fixedly connected with one end of a pair of swing rods 83, two ends of the other connecting column 87 are respectively and fixedly connected with the other end of the pair of swing rods 83 to form a rectangular swing frame, and two ends of a pair of supporting columns 86 are respectively and fixedly connected with the pair of swing rods 83 and are positioned in the rectangular swing frame in parallel. The rectangular swing frame is located at the upper portion. The adjusting rod mechanism comprises a pair of adjusting rods 89 and a pair of connecting rods 88, and two ends of one connecting rod 88 are respectively and fixedly connected with two ends of the pair of adjusting rods 89 to form a rectangular adjusting frame. Referring to fig. 8, the adjustment lever 89 includes a pair of connectors 891 and a telescoping adjustment tube 895; both ends of the telescopic adjusting pipe 895 are threaded pipes; a rotary hemisphere 892 is arranged on the connecting head 891, and the rotary hemisphere 892 is rotatably connected with the connecting head 891; fixing rod 893 is being connected to the outside fixed connection of connector 891, and the dead lever 893 perpendicular to the axial lead of rotating hemisphere 892, and dead lever 893 is the screw rod, and a pair of connector 891 is fixed respectively through dead lever 893 and is located flexible regulation pipe 895 both ends, and nut 894 fixed connection on the dead lever 893 is the pipe end of flexible regulation pipe 895 for adjust the length that dead lever 893 stretched into flexible regulation pipe 895. The rectangular adjusting frame is positioned at the lower part. The rectangular swinging frame and the rectangular adjusting frame are parallel up and down. One end of the rectangular swinging frame and one end of the rectangular adjusting frame are respectively and fixedly connected with an upright motor mounting bracket 85, and the other end of the rectangular swinging frame and the other end of the rectangular adjusting frame are respectively and fixedly connected with one end of two side edges of the middle bracket 14; the other ends of the two side edges of the middle bracket 14 are respectively and fixedly connected with the other end of the rectangular swinging frame and the other end of the rectangular adjusting frame of the other damping adjusting suspension mechanism, so that the pair of damping adjusting suspension mechanisms form two independent suspension mechanisms.
Referring to fig. 6, the connecting frame 13 is a U-shaped bracket, the bottom of the connecting frame 13 is fixedly connected to the top of the middle bracket 14, and two side edges of the connecting frame 13 are respectively parallel to the motor mounting bracket 85; the upper end of the shock absorber 82 is movably connected with one side of the connecting frame 13 through a U-shaped mounting frame 81, and the lower end of the shock absorber 82 is movably connected with a corresponding rectangular swinging frame through a U-shaped fixing frame 84. The connecting frame 13 is fixedly connected to the bottom of the chassis body 1.
Each speed reducing motor 11 is correspondingly arranged on the motor mounting bracket 85, and the output shaft of the speed reducing motor 11 is fixedly connected with a corresponding moving wheel 3 through a hub connecting piece 7.
Referring to fig. 3, one end of the chassis body 1 in the length direction is a front end, and the other end is a rear end. The front end of the front cover plate is fixedly provided with a front cover plate 5, and the front cover plate 5 is provided with a laser sensor 6; referring to fig. 5, the rear end is fixedly mounted with a rear cover plate 9.
Referring to fig. 3, a pair of guide rails 2 is fixedly installed on the top surface of the chassis body 1 along the length direction, and the robot arm is movably installed on the top of the chassis body 1 through the cooperation of the robot arm installation plate 30 and the pair of guide rails 2, see fig. 1 and 2.
The mechanical arm 16 is a cooperative robot, a six-axis mechanical arm having six degrees of freedom; the servo driving mechanism comprises six servo driving motors and a link mechanism formed by connecting six rotating pairs in series, wherein each servo driving motor drives one rotating pair to rotate. The tail end of the mechanical arm 4 is sequentially connected with a tail end connecting piece 17, a clamping jaw fixing plate 18 and a clamping jaw 19 from near to far, as shown in figure 9; a vision sensor 20 is connected to one side of the jaw 19, and a control unit 21 is also mounted inside the chassis.
Referring to fig. 12, the control unit 21 includes a movement control module 211, a motion control module 212, and a visual control module 213; the motion control module 211 is used for controlling the traveling action of the moving chassis, the motion control module 212 is used for solving the forward and backward kinematics and dynamics solution of the mechanical arm 416, and the vision control module 213 is used for processing the vision signals of the vision sensor 20. The control unit 21 is used to control the movement of the various sensors, the moving chassis, the robot arm 16 and the gripping jaws 19 as a whole.
When the mobile inspection operation is carried out, the chassis is suitable for different road surface environments, and the mechanical arm is suitable for environments with strict requirements on postures and positions in the inspection operation and drives the clamping jaw 19 and the vision sensor 20 to reach different acquisition positions in different postures.
Example 2
Referring to fig. 10, in the process of the mobile inspection operation robot, the laser sensor 6 collects peripheral geographic information and transmits the information to the mobile control module 211, the mobile control module 211 analyzes the transmitted information, constructs a map in real time, and determines the geographic position and the peripheral environment of the mobile inspection robot, the visual sensor 20 collects external features of the electrical cabinet and transmits the features to the visual processing module 213, the visual processing module 213 compares the collected features with preset information to determine whether the features collected by the visual sensor 20 are target features, when the features collected by the visual sensor 20 are determined to be the target features, the control unit 21 takes the electrical cabinet as a target to be operated and controls the mobile chassis 1 to approach the electrical cabinet through the mobile control module 211, in the process, the mobile control module 211 judges the geographic position of the mobile chassis 1 in real time, the collision with foreign objects is prevented, whether the mobile chassis 1 reaches a designated position is judged, when the mobile chassis 1 reaches the designated position, the motion control module 212 controls the mechanical arm 16 to perform corresponding posture transformation to enable the electric cabinet handle to be positioned in a clamping space of the clamping jaw 719, the control unit 21 controls the clamping jaw 19 to work to clamp the handle of the electric cabinet, after clamping and locking, the motion control module 212 controls the mechanical arm 16 to perform relative track transformation according to a preset command to drive the clamping jaw 719 to reach a designated space point in a designated posture, so that a cabinet door of the electric cabinet can be opened smoothly, after the operation is completed, the control unit 21 controls the clamping jaw 19 to recover an initial state, the handle is released, then the motion control module 212 controls the mechanical arm 16 to perform corresponding motion transformation to enable the visual sensor 20 to be opposite to instruments and meters in the electric cabinet to collect information, after the collection is completed, the mobile inspection robot can reverse the steps, the cabinet door of the electric cabinet is closed, and the information of the next electric cabinet is collected.
Example 3
Referring to fig. 11, the mobile inspection operation robot performs inspection operation work on instruments with different heights and different orientations, the laser sensor 6 collects surrounding environment information in real time, an environment map is constructed, the mobile control module 211 analyzes the information of the laser sensor 6, compares the information with a built-in map to determine the real-time position of the chassis mobile floor 1 and the position of the operation equipment to be inspected, controls the chassis mobile floor 1 to reach a preset position, and performs the inspection operation work, after the preset position is reached, the motion control module 212 controls the mechanical arm 16 to perform corresponding posture transformation, so that the visual sensor 20 on the clamping jaw 19 can collect the information to be collected in a proper posture, and after the collection is completed, the motion control module 212 controls the mechanical arm 16 to perform posture transformation again, so that the visual sensor 20 can respectively face the operation panels of other equipment in a proper posture, the collection is completed, in the process, some equipment to be inspected may need to take corresponding operations, such as opening, closing, etc., at this time, the control unit 21 controls the clamping jaw 19 to be in the clamping state according to the preset command, the motion control module 212 controls the mechanical arm 16 to perform corresponding motion transformation, the visual sensor 20 collects the shape change of the button, and uploads the shape change of the button to be judged by the visual processing module 213 whether the button is pressed down or shifted to a corresponding gear, so as to complete the operation of the operation panel button.
The above description is not intended to limit the present invention in any way on the structure and shape thereof. Any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention still fall within the scope of the technical solution of the present invention.
Claims (8)
1. A mobile inspection operation robot comprises a mechanical arm and a chassis; the mechanical arm is a cooperative robot; the chassis comprises a chassis body (1), four moving wheels (3), four speed reducing motors (11), a front suspension mechanism and a rear suspension mechanism, wherein the front suspension mechanism and the rear suspension mechanism are suspension mechanisms with the same structure; the method is characterized in that:
the output shaft of each speed reducing motor (11) is fixedly connected with a corresponding moving wheel (3) through a hub connecting piece (7);
the suspension mechanism comprises a pair of shock absorption adjusting suspension mechanisms with the same structure, a middle bracket (14) and a connecting frame (13);
the middle bracket (14) is an inverted U-shaped bracket;
the shock absorption adjusting suspension mechanism comprises a shock absorber (82), a swing rod mechanism and an adjusting rod mechanism; the swing rod mechanism comprises a rectangular swing frame and is positioned at the upper part; the adjusting rod mechanism comprises a rectangular adjusting frame which is positioned at the lower part, and the rectangular swinging frame and the rectangular adjusting frame are vertically parallel; one end of the rectangular swinging frame and one end of the rectangular adjusting frame are respectively and fixedly connected with an upright motor mounting bracket (85), and the other end of the rectangular swinging frame and the other end of the rectangular adjusting frame are respectively and fixedly connected with one end of two side edges of the middle bracket (14); the other ends of the two side edges of the middle bracket (14) are respectively and fixedly connected with the other end of the rectangular swinging frame and the other end of the rectangular adjusting frame of the other damping adjusting suspension mechanism, so that the pair of damping adjusting suspension mechanisms form two independent suspension mechanisms;
the connecting frame (13) is a U-shaped support, the bottom of the connecting frame (13) is fixedly connected with the top of the middle support (14), and two side edges of the connecting frame (13) are respectively parallel to the motor mounting support (85); one end of the shock absorber (82) is movably connected with one side of the connecting frame (13), and the other end of the shock absorber (82) is movably connected with the corresponding rectangular swinging frame; the connecting frame (13) is fixedly connected with the bottom of the chassis body (1);
each speed reducing motor (11) is correspondingly and fixedly arranged on the motor mounting bracket (85);
the top surface of the chassis body (1) is fixedly provided with a pair of guide rails (2) along the length direction, and the mechanical arm is movably arranged at the top of the chassis body (1) through the matching of a mechanical arm mounting plate (30) and the pair of guide rails (2);
when the mobile inspection operation is carried out, the chassis is adaptive to different road surface environments, the mechanical arm is suitable for the environment which has strict requirements on the posture and the position in the inspection operation, and the clamping jaw (19) and the visual sensor (20) are driven to reach different acquisition positions in different postures.
2. The mobile inspection operating robot of claim 1, wherein: the swing rod mechanism comprises a pair of swing rods (83), a pair of connecting columns (87) and a pair of supporting columns (86); two ends of one connecting column (87) are respectively and fixedly connected with one end of a pair of swing rods (83), two ends of the other connecting column (87) are respectively and fixedly connected with the other end of the pair of swing rods (83) to form a rectangular swing frame, and two ends of a pair of supporting columns (86) are respectively and fixedly connected with the pair of swing rods (83) and are positioned in the rectangular swing frame in parallel.
3. The mobile inspection operating robot of claim 1, wherein: the adjusting rod mechanism comprises a pair of adjusting rods (89) and a pair of connecting rods (88), and two ends of one connecting rod (88) are respectively and fixedly connected with two ends of the pair of adjusting rods (89) to form a rectangular adjusting frame;
the adjusting rod (89) comprises a pair of connectors (891) and a telescopic adjusting pipe (895); both ends of the telescopic adjusting pipe (895) are threaded pipes; a rotating hemisphere (892) is arranged on the connecting head (891), and the rotating hemisphere (892) is rotatably connected with the connecting head (891); the outside fixed connection dead lever (893) of connector (891), and dead lever (893) perpendicular to rotate the axial lead of hemisphere (892), dead lever (893) are the screw rod, and a pair of connector (891) are fixed respectively through dead lever (893) and are located flexible regulation pipe (895) both ends, and the pipe end of flexible regulation pipe (895) is fixed being connected to nut 894 on dead lever (893) for adjust the length that dead lever (893) stretched into flexible regulation pipe (895).
4. The mobile inspection operating robot of claim 1, wherein: the motor mounting support (85) is in a vertical plate shape, a motor mounting hole is formed in the middle of the motor mounting support, the vertical edges on the two sides are bent towards one side to form turned edges, and one end of the rectangular swinging frame and one end of the rectangular adjusting frame are fixedly connected with the turned edges on the two sides of the motor mounting support (85) respectively.
5. The mobile inspection operating robot of claim 1, wherein: one end of the chassis body (1) in the length direction is a front end, and the other end of the chassis body is a rear end; a front cover plate (5) is fixedly arranged at the front end, and a laser sensor (6) is arranged on the front cover plate (6); and a rear cover plate (9) is fixedly arranged at the rear end.
6. The mobile inspection operating robot of claim 1, wherein: the damper (82) is a magnetorheological damper.
7. The mobile inspection operating robot of claim 1, wherein: one end of the shock absorber (82) is movably connected with one side of the connecting frame (13) through a U-shaped mounting frame (81), and the other end of the shock absorber (82) is movably connected with a corresponding supporting column (86) of the rectangular swinging frame through a U-shaped fixing frame (84).
8. The mobile inspection operating robot of claim 1, wherein: the mechanical arm is a six-axis mechanical arm with six degrees of freedom and comprises six servo driving motors and a link mechanism with six rotating pairs connected in series, and each servo driving motor drives one rotating pair to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010306924.XA CN111376667B (en) | 2020-04-17 | 2020-04-17 | Mobile inspection operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010306924.XA CN111376667B (en) | 2020-04-17 | 2020-04-17 | Mobile inspection operation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111376667A true CN111376667A (en) | 2020-07-07 |
| CN111376667B CN111376667B (en) | 2024-02-13 |
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Family Applications (1)
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| CN202010306924.XA Active CN111376667B (en) | 2020-04-17 | 2020-04-17 | Mobile inspection operation robot |
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| CN112758203A (en) * | 2021-01-19 | 2021-05-07 | 上海工程技术大学 | Single-leg jumping robot mechanism |
| CN113021293A (en) * | 2021-03-08 | 2021-06-25 | 北京玄马知能科技有限公司 | Six-wheel all-wheel drive inspection robot with auxiliary operation arm |
| CN113547502A (en) * | 2021-08-02 | 2021-10-26 | 苏州触达信息技术有限公司 | Intelligent inspection robot |
| CN113664848A (en) * | 2021-08-27 | 2021-11-19 | 沈阳吕尚科技有限公司 | Inspection robot and working method thereof |
| CN114633246A (en) * | 2020-12-15 | 2022-06-17 | 谙布尔(北京)科学技术有限公司 | Mobile robot base and mobile robot |
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| CN111376667B (en) | 2024-02-13 |
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