CN112388600B - Split type inspection robot with quick-release quick-connection mechanism - Google Patents
Split type inspection robot with quick-release quick-connection mechanism Download PDFInfo
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- CN112388600B CN112388600B CN202011250718.8A CN202011250718A CN112388600B CN 112388600 B CN112388600 B CN 112388600B CN 202011250718 A CN202011250718 A CN 202011250718A CN 112388600 B CN112388600 B CN 112388600B
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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
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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Abstract
The invention provides a split type inspection robot with a quick-release quick-connection mechanism, which comprises a host machine and a slave machine, wherein the host machine and the slave machine are locked and unlocked through the quick-release quick-connection mechanism, the quick-release quick-connection mechanism comprises a first wheel assembly arranged on the host machine, the first wheel assembly comprises a first roller, the first wheel assembly is of a telescopic structure to realize the lifting of the first roller, the split type inspection robot also comprises a matching structure arranged on the slave machine, the first wheel assembly is matched with the matching structure to lock the host machine and the slave machine in a contracted state of the first wheel assembly, and the host machine and the slave machine are unlocked in an expanded state of the first wheel assembly. Quick detach quick-connect mechanism utilizes the extending structure on one of them part's the walking wheel and the cooperation of another part to realize locking and the unblock between the two parts, has simplified the structure on the one hand, and the structure is more reliable, and is not fragile, increase of service life, on the other hand can make a part walking wheel rise when two parts link together to improve the stationarity of marcing of split type robot when locking state.
Description
The application is as follows: 20/05/2019, with the application numbers: CN 201910416874.8, invention name: a divisional application of a split type inspection robot.
Technical Field
The invention relates to the field of robots, in particular to a split type inspection robot with a quick-release quick-connection mechanism.
Background
In order to facilitate the inspection robot to carry out multidirectional inspection, the prior art provides that the inspection robot is set into a split structure, and automatic buckles are adopted between split units to realize locking and unlocking.
The prior structure has the following problems:
1. the automatic buckle structure is required to be specially arranged, the structure is complex, and the cost is increased;
2. frequent locking and unlocking actions are very likely to cause damage to the catch.
Disclosure of Invention
The invention aims to provide a split type inspection robot with a quick-release quick-connection mechanism, and aims to solve the problems that an existing split type robot is complex in structure and easy to damage due to the adoption of an automatic bayonet.
The invention provides a split type inspection robot with a quick-release quick-connection mechanism, which comprises a host machine and a slave machine, wherein the host machine and the slave machine are locked and unlocked through the quick-release quick-connection mechanism, the quick-release quick-connection mechanism comprises a first wheel assembly arranged on the host machine, the first wheel assembly comprises a first roller, the first wheel assembly is constructed into a telescopic structure to realize the lifting of the first roller, the quick-release quick-connection mechanism also comprises a matching structure arranged on the slave machine, the first wheel assembly is matched with the matching structure to lock the host machine and the slave machine in a contracted state of the first wheel assembly, and the host machine and the slave machine are unlocked in an expanded state of the first wheel assembly.
The first wheel assembly further comprises a fixed part and a movable part, the movable part can move relative to the fixed part to realize the extension and contraction of the first wheel assembly, the first roller is connected with the movable part,
the fixed part comprises a first clamping structure and the movable part comprises a second clamping structure, and the matching structure is clamped between the first clamping structure and the second clamping structure in the contraction state; alternatively, the first and second electrodes may be,
the host is provided with a first clamping structure, the fixed part is connected with the first clamping structure, the movable part comprises a second clamping structure, and in the contraction state, the matching structure is clamped between the first clamping structure and the second clamping structure.
Optionally, a first optical communication unit is disposed on the master, a second optical communication unit is disposed on the slave, and the master and the slave communicate with each other through the first optical communication unit and the second optical communication unit.
Optionally, the host further includes a second roller fixedly disposed, in the extended state, the bottom end of the first roller and the bottom end of the second roller are located on the same horizontal plane, and in the retracted state, the bottom end of the first roller is higher than the bottom end of the second roller; and/or the presence of a gas in the gas,
the slave machine comprises a second wheel assembly, the second wheel assembly comprises a third roller, the second wheel assembly is of a telescopic structure so as to achieve lifting of the third roller, the slave machine further comprises a fixedly arranged fourth roller, the bottom end of the third roller and the bottom end of the fourth roller are located on the same horizontal plane in the stretching state of the second wheel assembly, and the bottom end of the third roller is higher than the bottom end of the fourth roller in the contraction state of the second wheel assembly.
Optionally, the split type inspection robot further comprises a control device, wherein the control device is used for controlling the second wheel assembly to be in a contracted state when the master machine and the slave machine are locked, and is also used for controlling the second wheel assembly to be in an extended state when an unlocking signal is received.
Optionally, the fitting structure includes an installation port provided on the slave, the installation port penetrates through an edge of the slave, the installation port includes a limiting portion close to an opening of the installation port and a positioning portion far away from the opening, a size of the positioning portion is larger than a size of the limiting portion in a direction perpendicular to an opening direction of the installation port and perpendicular to a vertical direction, the movable portion includes a connecting portion and a locking portion connected to the connecting portion, the connecting portion is adapted to the limiting portion in size, the locking portion is adapted to the positioning portion in size, the connecting portion penetrates the positioning portion through the limiting portion from the opening, and when the first wheel assembly changes from an extended state to a contracted state, the locking portion is embedded into the positioning portion.
Optionally, the fixed part includes a sleeve, the host computer includes a first connecting plate, the sleeve is connected to the first connecting plate, the first connecting plate constitutes the first clamping structure, the movable part includes a cylinder, a part of the cylinder is located in the sleeve and can follow telescopic axial motion in order to realize the flexible of first wheel subassembly, the part of the cylinder that exposes outside the sleeve constitutes the connecting portion, the axial outer end of connecting portion sets up the sticking department, the axial outer end of sticking department is provided with the splint, the splint constitute the second clamping structure.
Optionally, the slave computer includes a second connecting plate, the mounting opening is disposed in the second connecting plate, a bottom surface of the first connecting plate is flush with a top surface of the second connecting plate, and the second connecting plate constitutes the matching structure.
Optionally, the first wheel assembly further includes a driving device and a transmission mechanism, the driving device drives the movable portion to move through the transmission mechanism, the transmission mechanism includes a lead screw connected to the driving device and a nut engaged with the lead screw, and the nut is fixedly connected to an end of the column.
Optionally, the nut has a non-circular outer cross-sectional profile, and the nut cooperates with the inner wall of the sleeve to limit circumferential rotation of the nut.
The application provides a split type quick detach of patrolling and examining robot mechanism soon utilizes the extending structure on one of them part's the walking wheel and the cooperation of another part to realize locking and unblock between the two parts, the structure has been simplified on the one hand, make split type robot's structure simple compact more, and extending structure's flexible realization locking and unblock, the structure is more reliable, not fragile, increase of service life, on the other hand can make a part walking wheel rise when two parts link together, with the stationarity of marcing forward of improvement split type robot when the locking state.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a front view of a host according to the present invention;
FIG. 2 is a perspective view of a host according to the present invention;
fig. 3 is one of the perspective views of a slave according to the present invention;
fig. 4 is a second perspective view of a slave according to the present invention;
fig. 5 is a perspective view of the overall structure of the inspection robot according to the present invention;
fig. 6 is a front view of the overall structure of the inspection robot according to the present invention;
fig. 7 is a perspective view of the first wheel assembly of the inspection robot in a retracted state according to the present invention;
fig. 8 is a front view of the first wheel assembly of the inspection robot in a retracted state according to the present invention;
FIG. 9 is a sectional view taken along line A-A of FIG. 8;
fig. 10 is a cross-sectional view of the first wheel assembly of the inspection robot in an extended state according to the present invention.
Description of reference numerals:
1. a host; 11. a first wheel assembly; 111. a first roller; 112. a movable portion; 1121. a connecting portion; 1122. a locking portion; 1123. a cylinder; 1124. a splint; 113. a sleeve; 1131. a first connecting plate portion; 1132. a second web portion; 114. a motor; 115. a lead screw; 1151. positioning the projection; 116. a nut; 117. a first clamping member; 118. a second clamping member; 12. a first body; 13. a first connecting plate; 14. a second roller;
2. a slave; 21. a second body; 22. a second connecting plate; 221. an installation port; 2211. a limiting part; 2212. a positioning part; 23. a second wheel assembly; 231. a third roller; 24. a fourth roller;
3. a state detection device; 31. a magnetic ring switch;
41. a first optical communication element; 42. a second optical communication element.
Detailed Description
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 10, according to an embodiment of the present invention, there is provided a split inspection robot having a quick release quick connection mechanism, including a host, a slave, and a quick release quick connection mechanism, where the quick release quick connection mechanism is used for locking and unlocking between the host and the slave, so as to facilitate automatic connection and disconnection between the host and the slave, as shown in fig. 1 and 2, the quick release quick connection mechanism includes a first wheel assembly 11 disposed on the host 1, the first wheel assembly 11 includes a first roller 111, the first roller 111 is a traveling wheel of the host 1, the first wheel assembly 11 is configured as a telescopic structure to achieve lifting of the first roller 111, that is, the telescopic direction of the first wheel assembly 11 is vertical, as shown in fig. 3 and 4, the quick release quick connection mechanism further includes a matching structure disposed on the slave 2, and in a retracted state of the first wheel assembly 11, the first wheel assembly 11 cooperates with the matching structure to lock the host 1 and the slave 2 to form an integrated inspection robot (see fig. 5 and 6) In the extended state of the first wheel assembly 11, the host machine 1 and the slave machine 2 are unlocked, so that the two parts can respectively perform the inspection operation.
The application provides a split type quick detach of patrolling and examining robot mechanism soon utilizes the extending structure on one of them part's the walking wheel and the cooperation of another part to realize locking and unblock between the two parts, the structure has been simplified on the one hand, make split type robot's structure simple compact more, and extending structure's flexible realization locking and unblock, the structure is more reliable, not fragile, increase of service life, on the other hand can make a part walking wheel rise when two parts link together, with the stability of marcing of improvement split type robot when the locking state (specifically introduce at the back).
The first wheel assembly 11 may be engaged with the engaging structure, for example, by a hook engaged with a hanging hole, specifically, the first wheel assembly 11 is provided with the hook, the engaging structure is a hanging hole, the hook is hung on the hanging hole in the retracted state of the first wheel assembly 11 to lock the host 1 and the slave 2, and the hook is disengaged from the hanging hole in the extended state of the first wheel assembly 11 to unlock the host 1 and the slave 2.
For another example, in a preferred embodiment, as shown in fig. 8 to 10, the first wheel assembly 11 further includes a fixed portion and a movable portion 112, the movable portion 112 can move relative to the fixed portion to achieve the extension and retraction of the first wheel assembly 11, and the first roller 111 is connected to the movable portion 112. Wherein, the host 1 is provided with a first clamping structure, the fixing part is connected to the first clamping structure, the movable part 112 comprises a second clamping structure, the matching structure is clamped between the first clamping structure and the second clamping structure in a contraction state, and the distance between the first clamping structure and the second clamping structure is increased in an extension state, so that the first clamping structure and the second clamping structure are separated from each other.
Specifically, as shown in fig. 1 and 2, the main body 1 includes a first body 12 and a first connecting plate 13 connected to an edge of the first body 12, the first wheel assembly 11 is inserted into the first connecting plate 13, the fixing portion is fixedly connected to the first connecting plate 13, a clamping plate 1124 is disposed on the movable portion 112, the clamping plate 1124 is located below the first connecting plate 13, the first connecting plate 13 constitutes a first clamping structure, and the clamping plate 1124 constitutes a second clamping structure, as shown in fig. 3 and 4, the slave 2 includes a second body 21 and a second connecting plate 22, as shown in fig. 5 and 6, a bottom surface of the first connecting plate 13 is flush with a top surface of the second connecting plate 22, and the second connecting plate 22 constitutes a mating structure, that is, when the first wheel assembly 11 is in a retracted state, the second connecting plate 22 is clamped between the first connecting plate 13 and the clamping plate 1124. To simplify the structure, the second body 21 and the second connection plate 22 are provided as an integral structure. In the embodiment shown in fig. 1 and 2, the first wheel assembly 11 is provided in two side by side, and as shown in fig. 3 and 4, the second connecting plate 22 is formed by extending the edge of the second body 21 toward the main body 1 and is provided in two correspondingly.
In order to achieve better locking between the master 1 and the slave 2, preferably, the matching structure includes a mounting opening 221 disposed on the slave 2, in the embodiment shown in fig. 3 and 4, the mounting opening 221 is disposed on the second connecting plate 22, the mounting opening 221 penetrates through to the edge of the second connecting plate 22, the mounting opening 221 includes a limit portion 2211 close to the opening thereof and a positioning portion 2212 far from the opening thereof, in the direction perpendicular to the opening of the mounting opening 221 and perpendicular to the vertical direction, the size of the positioning portion 2212 is larger than that of the limit portion 2211, for example, in the embodiment shown in fig. 3 and 4, the mounting opening 221 is T-shaped, the movable portion 112 includes a connecting portion 1121 and a locking portion 1122 connected to the connecting portion 1121, the connecting portion 1121 is matched with the size of the limit portion 2211, the locking portion is matched with the size of the positioning portion 2212, when the master 1 and the slave 2 make a close movement, the connecting portion 1121 penetrates through the positioning portion 2212 by the opening 1122, when first wheel assembly 11 is changed from the extended state to the retracted state, lock portion 1122 moves upward and fits into positioning portion 2212, thereby further improving the reliability of connection when master unit 1 and slave unit 2 are locked.
In a specific embodiment, as shown in fig. 9 and 10, the fixing portion includes a sleeve 113, a first connecting plate portion 1131 is disposed on an outer peripheral wall of a lower end of the sleeve 113, and the first connecting plate portion 1131 is fixedly connected to the first connecting plate 13 by a fastener, specifically, a first connecting hole is disposed on the first connecting plate portion 1131, a second connecting hole is disposed on the first connecting plate 13, and the fastener passes through the first connecting hole and the second connecting hole to realize the fastening connection of the first connecting plate portion 1131 and the first connecting plate 13. The movable portion 112 includes a cylinder 1123, a portion of the cylinder 1123 is located in the sleeve 113 and can move along the axial direction of the sleeve 113 to achieve extension and retraction of the first wheel assembly 11, the portion of the cylinder 1123 exposed outside the sleeve 113 constitutes the connecting portion 1121, the axial outer end of the connecting portion 1121 is provided with the locking portion 1122, the axial outer end of the locking portion 1122 is provided with the clamping plate 1124, and the first roller 111 is connected to the end portion of the cylinder 1123 where the clamping plate 1124 is provided.
Further, the first wheel assembly 11 further includes a driving device and a transmission mechanism, and the driving device drives the movable portion 112 to move through the transmission mechanism, so as to achieve the extension and retraction of the first wheel assembly 11. The driving device may be, for example, a motor 114, an air cylinder, or other power supply device, in the embodiment shown in fig. 9 and 10, the transmission mechanism includes a lead screw 115 connected to the motor 114 and a nut 116 engaged with the lead screw 115, the nut 116 is fixedly connected to the end of the cylinder 1123, and the rotation of the nut 116 is limited, so that when the motor 114 drives the lead screw 115 to rotate, the nut 116 drives the cylinder 1123 to move up and down.
It is further preferable that a second connection plate portion 1132 is provided on the outer peripheral wall of the upper end of the sleeve 113, the motor 114 is fixedly connected to the second connection plate portion 1132, a motor shaft of the motor 114 extends into the sleeve 113 and is connected to the lead screw 115 in the sleeve 113, the lead screw 115 is positioned in the sleeve 113 through a positioning structure, the positioning structure includes a first clamping member 117 and a second clamping member 118 which are arranged up and down, a positioning protrusion 1151 is provided on the outer peripheral wall of the lead screw 115, the positioning protrusion 1151 is clamped between the first clamping member 117 and the second clamping member 118 so as to limit the axial movement of the lead screw 115 and not affect the rotation of the lead screw 115, the upper end of the cylinder 1123 is a hollow structure, and the lower end of the lead screw 115 extends into the cylinder 1123, so that the structure of the first wheel assembly 11 is more compact.
In order to simplify the structure, it is further preferable that the inner cavity of the sleeve 113 has a stepped hole structure, and the first clamping member 117 and the second clamping member 118 are fixed on a stepped surface of the stepped hole structure.
Further preferably, the outer profile of the cross section of the nut 116 is non-circular, the nut 116 is matched with the inner wall of the sleeve 113 to limit the circumferential rotation of the nut 116, and the circumferential limit of the nut 116 is realized through the structure of the nut 116, so that the structure is simpler. To facilitate machining, in one particular embodiment, the cross-sectional outer profile of the nut 116 is square.
Further, the master machine 1 further includes a second roller 14 fixedly disposed, in an extended state, the bottom end of the first roller 111 and the bottom end of the second roller 14 are located at the same horizontal plane, in a retracted state, the bottom end of the first roller 111 is higher than the bottom end of the second roller 14, the slave machine 2 includes a second wheel assembly 23, the second wheel assembly 23 includes a third roller 231, the second wheel assembly 23 is configured to be a telescopic structure to achieve lifting and lowering of the third roller 231, the structure of the second wheel assembly 23 may be the same as that of the first wheel assembly 11, so as to facilitate batch processing, or a portion of the first wheel assembly that needs to be matched with a matching structure may be omitted to simplify the structure, in the embodiment shown in fig. 3 and 4, the second roller assembly 23 is disposed between two second connecting plates 22, the slave machine 2 further includes a fourth roller 24 fixedly disposed, in an extended state of the second wheel assembly 23, the bottom end of the third roller 231 and the bottom end of the fourth roller 24 are located at the same horizontal plane, and in the contracted state of the second wheel assembly 23, the bottom end of the third roller 231 is higher than the bottom end of the fourth roller 14. Thus, when the two parts are separated, the bottom ends of the first roller 111 and the second roller 14 are flush with each other and are used as the travelling wheels to realize the travelling of the host 1, the bottom ends of the third roller 231 and the fourth roller 24 are flush with each other and are used as the travelling wheels to realize the travelling of the slave 2, and when the two parts are connected together, the first roller 111 and the third roller 231 ascend and the second roller 14 and the fourth roller 24 are used as the travelling wheels to realize the travelling of the whole robot, so that the travelling stability of the whole robot can be improved.
Further, the split type inspection robot further comprises a control device, the control device is used for controlling the second wheel assembly 23 to be in a contraction state when the host machine 1 and the slave machine 2 are locked, the second idler wheel 14 and the fourth idler wheel 24 are used as walking wheels to achieve advancing of the whole robot, and the control device is also used for controlling the second wheel assembly 23 to be switched from the contraction state to the extension state when an unlocking signal is received, so that stable support of the slave machine is not affected after the host machine 1 and the slave machine 2 are unlocked.
Further, the quick release quick connection mechanism further comprises a state detection device 3 for detecting the telescopic state of the first wheel assembly 11, so as to determine whether the locking and unlocking actions of the master machine 1 and the slave machine 2 are completed. The state detection device 3 may be, for example, a position sensor, a proximity switch, or the like. In one embodiment, the state detection device includes a fixed magnetic ring switch 31 and a magnet (not shown) disposed on the movable portion 112, when the first wheel assembly 11 is extended, the magnet is far away from the magnetic ring switch 31, so that the magnetic ring switch 31 is turned off, which indicates that the master 1 and the slave 2 are in the unlocking state, and when the first wheel assembly 11 is retracted, the magnet is close to the magnetic ring switch 31, so that the magnetic ring switch 31 is turned on, which indicates that the master 1 and the slave 2 are in the locking state.
Preferably, the position of magnetic ring switch 31 is adjustable to ensure the detection precision of status detection device 3, and the adjustable structure may be, for example, a limit sliding slot is disposed on first connection plate 13, magnetic ring switch 31 can slide along the limit sliding slot to adjust its position, and after the position is determined, magnetic ring switch 31 can be fixedly connected with first connection plate 13 by a fastener.
The state detection device 3 can also detect the telescopic state of the second wheel assembly 23, and the specific structure is similar to that of the first wheel assembly 11, and is not described herein again.
Further preferably, the master 1 is provided with a first optical communication element 41, the slave 2 is provided with a second optical communication element 42, and the master 1 and the slave 2 communicate with each other through the first optical communication element 41 and the second optical communication element 42 to realize signal transmission between the two parts.
The application provides a quick detach quick link mechanism of split type robot utilizes the extending structure on one of them some walking wheels and the cooperation of another part to realize locking and unblock between the two parts, the structure has been simplified on the one hand, make split type robot's structure simple compact more, and extending structure's flexible realization locking and unblock, the structure is more reliable, not fragile, increase of service life, on the other hand can make some walking wheels rise when two parts link together, with the stationarity of marcing of improvement split type robot when the locking condition.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A split type inspection robot with a quick-release quick-connection mechanism is characterized by comprising a host and a slave, wherein the host and the slave are locked and unlocked through the quick-release quick-connection mechanism, the quick-release quick-connection mechanism comprises a first wheel assembly arranged on the host, the first wheel assembly comprises a first roller, the first wheel assembly is constructed into a telescopic structure to realize the lifting of the first roller, the quick-release quick-connection mechanism further comprises a matching structure arranged on the slave, the first wheel assembly is matched with the matching structure to lock the host and the slave in a contracted state of the first wheel assembly, and the host and the slave are unlocked in an expanded state of the first wheel assembly;
the first wheel assembly further comprises a fixed part and a movable part, the movable part can move relative to the fixed part to realize the extension and contraction of the first wheel assembly, the first roller is connected with the movable part,
the fixed part comprises a first clamping structure and the movable part comprises a second clamping structure, and the matching structure is clamped between the first clamping structure and the second clamping structure in the contraction state; alternatively, the first and second electrodes may be,
the main machine is provided with a first clamping structure, the fixed part is connected with the first clamping structure, the movable part comprises a second clamping structure, and the matching structure is clamped between the first clamping structure and the second clamping structure in the contraction state;
the master is provided with a first optical communication unit, the slave is provided with a second optical communication unit, and the master and the slave are communicated through the first optical communication unit and the second optical communication unit.
2. The split type inspection robot according to claim 1, wherein the host machine further comprises a second roller wheel fixedly arranged, the bottom end of the first roller wheel and the bottom end of the second roller wheel are positioned on the same horizontal plane in the extended state, and the bottom end of the first roller wheel is higher than the bottom end of the second roller wheel in the retracted state; and/or the presence of a gas in the gas,
the slave machine comprises a second wheel assembly, the second wheel assembly comprises a third roller, the second wheel assembly is of a telescopic structure so as to achieve lifting of the third roller, the slave machine further comprises a fixedly arranged fourth roller, the bottom end of the third roller and the bottom end of the fourth roller are located on the same horizontal plane in the stretching state of the second wheel assembly, and the bottom end of the third roller is higher than the bottom end of the fourth roller in the contraction state of the second wheel assembly.
3. The split inspection robot according to claim 2, further comprising a control device configured to control the second wheel assembly to be in a retracted state when the master and the slave are locked, and to control the second wheel assembly to be switched from the retracted state to the extended state when an unlocking signal is received.
4. The split type inspection robot according to claim 1, wherein the matching structure comprises an installation port arranged on the slave, the installation port penetrates through the edge of the slave, the installation port comprises a limiting portion close to an opening of the installation port and a positioning portion far away from the opening of the installation port, the size of the positioning portion is larger than that of the limiting portion in a direction perpendicular to the opening of the installation port and perpendicular to the vertical direction, the movable portion comprises a connecting portion and a locking portion connected with the connecting portion, the connecting portion is matched with the limiting portion in size, the locking portion is matched with the positioning portion in size, the connecting portion penetrates into the positioning portion through the limiting portion through the opening, and when the first wheel assembly is changed from an expanded state to a contracted state, the locking portion is embedded into the positioning portion.
5. The split type inspection robot according to claim 4, wherein the fixing portion comprises a sleeve, the host comprises a first connecting plate, the sleeve is connected to the first connecting plate, the first connecting plate constitutes the first clamping structure, the movable portion comprises a cylinder, a part of the cylinder is located in the sleeve and can move axially along the sleeve to achieve extension and retraction of the first wheel assembly, the part of the cylinder exposed out of the sleeve constitutes the connecting portion, the axial outer end of the connecting portion is provided with the locking portion, the axial outer end of the locking portion is provided with a clamping plate, and the clamping plate constitutes the second clamping structure.
6. The split type inspection robot according to claim 5, wherein the slave machine comprises a second connecting plate, the mounting port is formed in the second connecting plate, the bottom surface of the first connecting plate is flush with the top surface of the second connecting plate, and the second connecting plate forms the matching structure.
7. The split type inspection robot according to claim 5, wherein the first wheel assembly further comprises a driving device and a transmission mechanism, the driving device drives the movable portion to move through the transmission mechanism, the transmission mechanism comprises a lead screw connected with the driving device and a nut matched with the lead screw, and the nut is fixedly connected with the end portion of the column body.
8. The split inspection robot according to claim 7, wherein the nut is non-circular in cross-sectional outer profile, and the nut cooperates with the inner wall of the sleeve to limit circumferential rotation of the nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011250718.8A CN112388600B (en) | 2019-05-20 | 2019-05-20 | Split type inspection robot with quick-release quick-connection mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011250718.8A CN112388600B (en) | 2019-05-20 | 2019-05-20 | Split type inspection robot with quick-release quick-connection mechanism |
| CN201910416874.8A CN110053015B (en) | 2019-05-20 | 2019-05-20 | Split type inspection robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910416874.8A Division CN110053015B (en) | 2019-05-20 | 2019-05-20 | Split type inspection robot |
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| CN112388600A CN112388600A (en) | 2021-02-23 |
| CN112388600B true CN112388600B (en) | 2022-02-08 |
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| CN201910416874.8A Active CN110053015B (en) | 2019-05-20 | 2019-05-20 | Split type inspection robot |
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| CN102039591A (en) * | 2009-10-13 | 2011-05-04 | 中国科学院沈阳自动化研究所 | Variable-pitch wheel-arm composite inspection robot mechanism |
| KR20120121947A (en) * | 2011-04-28 | 2012-11-07 | 현대중공업 주식회사 | Mobile robot for working inside of hull block |
| US10180685B2 (en) * | 2015-05-12 | 2019-01-15 | Viabot Inc. | Autonomous modular robot |
| CN109732558A (en) * | 2019-03-01 | 2019-05-10 | 深圳互喜智联科技有限公司 | Mobile robot drives wheel lifter |
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| AU7678691A (en) * | 1990-04-03 | 1991-10-30 | Edward Leslie Theodore Webb | Clinching tool for sheet metal joining |
| JPH07172340A (en) * | 1993-12-20 | 1995-07-11 | Nippondenso Co Ltd | Travel truck |
| CN104647366A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Floating split type robot |
| CN108000476A (en) * | 2017-11-30 | 2018-05-08 | 陈益敏 | A kind of split type robot |
| CN107826414A (en) * | 2017-12-11 | 2018-03-23 | 上海木爷机器人技术有限公司 | A kind of storage cabinet and the robot for moving storage cabinet |
Also Published As
| Publication number | Publication date |
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| CN110053015A (en) | 2019-07-26 |
| CN110053015B (en) | 2020-12-08 |
| CN112388600A (en) | 2021-02-23 |
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