CN220162467U - Omnidirectional outdoor inspection robot - Google Patents
Omnidirectional outdoor inspection robot Download PDFInfo
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- CN220162467U CN220162467U CN202321425518.0U CN202321425518U CN220162467U CN 220162467 U CN220162467 U CN 220162467U CN 202321425518 U CN202321425518 U CN 202321425518U CN 220162467 U CN220162467 U CN 220162467U
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- steering
- main board
- arm
- inspection robot
- mounting block
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- 238000007689 inspection Methods 0.000 title claims abstract description 33
- 238000012544 monitoring process Methods 0.000 claims abstract description 21
- 238000013016 damping Methods 0.000 claims abstract description 12
- 230000035939 shock Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 description 7
- 239000003638 chemical reducing agent Substances 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
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Abstract
The utility model provides an omnidirectional outdoor inspection robot which comprises a main board, and a steering system, a control system, a monitoring system and a mechanical arm which are arranged on the main board; the steering system comprises a steering arm, a steering driving module, steering wheels, a damping mechanism and a direction maintaining assembly; the direction holding assembly comprises a mounting block and two connecting arms which are arranged in parallel up and down and have equal length, the two connecting arms are rotationally connected between the bottom end of the steering arm and the mounting block, the mounting block is fixedly connected with the steering wheel, and the damping mechanism is rotationally connected between the steering arm and the mounting block. The other end of the steering arm is connected with the power output end of the steering driving module; the control system is used for controlling the steering system and the mechanical arm; the monitoring system is electrically connected with the control system. The robot can realize omnidirectional movement and easily traverse narrow roads and obstacles. Meanwhile, the inspection task can be accurately and efficiently realized, and the manpower resources are saved.
Description
Technical Field
The utility model relates to the technical field of outdoor patrol robots, in particular to an omnidirectional outdoor patrol robot.
Background
Traditional outdoor inspection and monitoring work needs to consume a large amount of time and labor, and has potential safety hazards. In recent years, with the continuous development of robot technology, some robots are beginning to be applied to the field of outdoor inspection and monitoring, such as inspection robots, monitoring robots and the like, and the robots have the characteristics of high efficiency, accuracy, safety and the like, but generally adopt a traditional wheel type or crawler type running mode, can only run in one direction, and have the problems of large turning radius, difficulty in traversing a narrow space, complex road surface and the like. Meanwhile, the robots can only finish simple inspection tasks, and manual intervention is still required for some complex inspection works.
Disclosure of Invention
In order to solve the technical problems in the background technology, the utility model provides an omnidirectional outdoor inspection robot.
The technical scheme of the utility model is as follows:
an omnidirectional outdoor inspection robot comprises a main board, and a steering system, a control system, a monitoring system and a mechanical arm which are arranged on the main board; the steering system comprises a steering arm, a steering driving module, steering wheels, a damping mechanism and a direction holding assembly; the direction maintaining assembly comprises a mounting block and two connecting arms which are arranged in parallel up and down and have equal length, the two connecting arms are rotationally connected between the bottom end of the steering arm and the mounting block, the mounting block is fixedly connected with the steering wheel, and the damping mechanism is rotationally connected between the steering arm and the mounting block. The other end of the steering arm is connected with the power output end of the steering driving module; the control system is used for controlling the steering system and the mechanical arm; the monitoring system is electrically connected with the control system.
In the above scheme, the steering arm is located below the main board, the steering driving module is installed on the top surface of the main board, and the power output end of the steering driving module penetrates through the main board to be connected with the steering arm.
In the above scheme, the steering arm is of an inverted L shape and comprises a horizontal section and a vertical section, and the power output end of the steering driving module is connected to the tail end of the horizontal section.
In the above scheme, the steering wheel, the damping mechanism and the direction holding assembly are located at one side of the horizontal section extending.
In the above scheme, the steering wheel is located right below the steering driving module.
Further, one end of each of the two connecting arms, which is far away from the steering arm, is connected to one side of the mounting block, and a spacing distance is reserved between the two connecting arms.
In the above scheme, the number of the connecting arms is two, and the connecting arms are symmetrically arranged at two sides of the mounting block.
Further, a control bin is fixed on the bottom surface of the main board, and the control system is installed in the control bin.
In the above scheme, an access hole is formed in the main board at a position corresponding to the control bin.
Further, the top surface of the main board is fixed with a fixing frame, and the monitoring system is installed on the fixing frame.
The omnidirectional outdoor inspection robot provided by the utility model has the following beneficial effects:
1. the steering driving module can drive the steering arm to rotate 360 degrees around the vertical line, so that omnidirectional running is realized, and the robot can easily pass through a narrow road and obstacles;
2. by the aid of the mechanical arm, the inspection task of the position which is difficult to reach can be completed;
3. through monitoring system, real-time detection surrounding environment information can make the robot more accurate location and removal.
4. The inspection task can be efficiently completed, and the consumption of human resources is low.
Drawings
In the drawings:
fig. 1 is a perspective view of an omnidirectional outdoor inspection robot according to the present utility model;
fig. 2 is a schematic front view of the omnidirectional outdoor inspection robot of the present utility model;
fig. 3 is a schematic view of the steering system of the present utility model.
The components represented by the reference numerals in the figures are:
1. a main board; 11. an access opening; 2. a steering system; 21. a steering arm; 211. a horizontal section; 212. a vertical section; 22. a steering drive module; 221. a steering motor; 222. a speed reducer; 223. an encoder; 23. a steering wheel; 231. a wheel axle; 24. a damping mechanism; 25. a direction holding assembly; 251. a connecting arm; 252. a mounting block; 3. a control system; 4. a monitoring system; 5. a mechanical arm; 6. a torque transmission shaft; 7. a control bin; 8. a battery compartment; 9. and a fixing frame.
Detailed Description
As shown in fig. 1 and 2, the embodiment of the utility model provides an omnidirectional outdoor inspection robot, which comprises a main board 1, a steering system 2, a control system 3, a monitoring system 4 and a mechanical arm 5, wherein the steering system 2, the control system 3, the monitoring system 4 and the mechanical arm 5 are arranged on the main board 1; the steering system 2 includes a steering arm 21, a steering drive module 22, a steering wheel 23, a damper mechanism 24, and a direction holding assembly 25; the direction maintaining assembly 25 comprises a mounting block 252 and two connecting arms 251 which are arranged in parallel up and down and have equal length, wherein the two connecting arms 251 are rotatably connected between the bottom end of the steering arm 21 and the mounting block 252, the mounting block 252 is fixedly connected with the steering wheel 23, and the damping mechanism 24 is rotatably connected between the steering arm 21 and the mounting block 252. The other end of the steering arm 21 is connected with the power output end of the steering driving module 22; the control system 3 is used for controlling the steering system 2 and the mechanical arm 5; the monitoring system 4 is electrically connected to the control system 3.
The steering driving module 22 can drive the steering arm 21 to rotate around a vertical line, so that 360-degree rotation of the steering wheel 23 is realized, the outdoor inspection robot can move in all directions, and a narrow road and a barrier can be easily traversed. Meanwhile, the direction keeping assembly 25 comprises two connecting arms 251 which are arranged in parallel up and down and have equal length, so that the steering wheel 23 can be always vertical to the ground when moving up and down, and the normal running of the robot is ensured.
Specifically, as shown in fig. 2 and 3, in the present embodiment, the steering arm 21 is located below the main plate 1, and is in an inverted L shape, and includes a horizontal section 211 and a vertical section 212. The steering driving module 22 is mounted on the top surface of the main board 1, and its power output end passes through the main board 1 and is connected with the steering arm 21, specifically, with the end of the horizontal section 211. The main board 1 is provided with a hole through which the power output end of the steering drive module 22 passes.
More specifically, the torque transmission shaft 6 is fixed to the connection end of the steering arm 21 and the steering drive module 22, and has an inner hole, into which the power output end of the steering drive module 22 is inserted and fixedly connected to the torque transmission shaft 6. The hole of the main board 1 through which the power output end of the steering driving module 22 passes is fixed with a crossed roller bearing (not shown in the figure), and the inner ring of the crossed roller bearing is fixedly connected with the torque transmission shaft 6. A thrust bearing (not shown) is also provided between the torque transmission shaft 6 and the main plate 1 for sharing the axial force of the crossed roller bearing, the thrust bearing being sleeved outside the torque transmission shaft 6.
In this embodiment, the steering wheel 23, the damper mechanism 24, and the direction holding assembly 25 are located on the side where the horizontal segment 211 extends. Preferably, the steering wheel 23 is located directly below the steering drive module 22 to save space occupied during steering, and thus to cope with narrower roads.
In this embodiment, the steering wheel 23 is preferably a hub motor wheel, which has an axle 231 protruding outwards. The mounting block 252 is fixedly connected to the end of the axle 231. Specifically, the mounting block 252 may be configured as an upper portion and a lower portion, which may be screwed by bolts to clamp and fix the end of the axle 231. The two connecting arms 251 of the direction keeping assembly 25 are correspondingly connected to one sides of the upper and lower parts of the mounting block 252 at the ends far away from the steering arm 21, and a distance is provided between the two connecting arms 251, so as to avoid interference between the two connecting arms 251 during rotation, and thus the steering wheel 23 cannot have a sufficient up-and-down movement distance. And, preferably, the number of the connection arms 251 is set in two pairs and symmetrically disposed at both sides of the mounting block 252 to more stably support the steering wheel 23.
In addition, the damping mechanism 24 is used for damping the vibration force transmitted by the steering wheel 23 to protect the electronic components mounted on the main board 1, and one end of the damping mechanism is rotatably connected to the mounting block 252, and particularly preferably connected to the top surface of the mounting block 252 or the side far from the steering wheel 23. The other end of the damper mechanism 24 is pivotally connected upwardly to the steering arm 21, particularly preferably at the junction of the horizontal section 211 and the vertical section 212. In this embodiment, the shock absorbing mechanism 24 is preferably a spring shock absorber.
From the above, it will be appreciated that when a bump is encountered, the steering wheel 23 is raised, the steering wheel 23 rotates about the connection of the direction-maintaining assembly 25 and the steering arm 21, but the steering wheel 23 is always perpendicular to the ground with the direction-maintaining assembly 25 acting downwards, and the shock absorbing mechanism 24 is compressed to store energy. After passing over the protrusions, the steering wheel 23 falls, and the damper mechanism 24 is released and restored. Thus, the robot can still run easily and stably on a complex road surface.
In addition, the steering drive module 22 in the present embodiment is integrated with a steering motor 221, a speed reducer 222, and an encoder 223. The steering motor 221 is a stepping motor, and can be provided with both of the stepping motors 42 and 57. The speed reducer 222 is a worm gear speed reducer 222, wherein a worm is an output shaft, one end of which is connected to the torque transmission shaft 6, and the other end of which is connected to the encoder 223. The encoder 223 includes a low-speed side encoder and a high-speed side encoder. The turbine of the speed reducer 222 is connected to the output shaft of the steering motor 221. A driving and controlling integrated board (not shown) is installed on the surface of the steering motor 221 away from the turbine, and a magnetic encoder is installed in the board for improving positioning accuracy.
In the present utility model, the number of steering systems 2 is at least three to be able to support the main plate 1. In this embodiment, four are preferable, and are provided at the four corners of the main board 1, respectively.
Referring to fig. 1 and 2 again, in the embodiment, a control cabin 7 is fixed on the bottom surface of the main board 1, a control system 3 is installed in the control cabin 7, an access opening 11 is formed on the main board 1 corresponding to the control cabin 7, and the control system 3 is installed in the control cabin 7 through the access opening 11. When the control system 3 fails, the control system 3 can be overhauled through the overhauling port 11. A cover plate 12 (not shown) is also provided on the main plate 1 to cover the access opening 11. The control cabin 7 can also store the electric wires of the robot.
In this embodiment, the control system 3 may include an industrial personal computer and a driver. The driver is used for driving the wheel hub motor of the steering wheel 23, and the industrial personal computer is used for controlling the steering driving module 22, the driver and the mechanical arm 5. Specifically, the industrial personal computer may control the steering motors 221 in the four steering systems 2 to start or stop and rotate at the same speed or at different speeds respectively or simultaneously, and may also control the hub motors in the four steering systems 2 to start or stop and rotate at the same speed or at different speeds respectively or simultaneously, and control the mechanical arm to change different postures.
In addition, a battery compartment 8 is also fixed on the bottom surface of the control compartment 7, and a battery for supplying power to the robot can be fixed in the battery compartment 8.
In addition, the monitoring system 4 is disposed on the top surface of the main board 1, and in order to make the positioning of the monitoring system 4 more accurate, a fixing frame 9 is fixed on the main board 1, and the monitoring system 4 is mounted on the fixing frame 9. The monitoring system 4 can comprise various sensors such as a laser radar, imu, gps and the like so as to realize high-precision positioning and attitude control, and improve the movement precision and the working efficiency of the robot.
In this embodiment, in order to complete different working requirements, the top surface of the motherboard 1 may further be provided with a mechanical arm 5, and the mechanical arm 5 may assist in completing inspection and monitoring tasks. And the mechanical arm 5 with different forms can be carried according to different working requirements.
In this embodiment, the fixing frame 9 and the mechanical arm 5 are respectively installed on two opposite sides of the main board 1, and the access opening 11 is disposed between the fixing frame 9 and the mechanical arm 5.
According to the omnidirectional outdoor inspection robot provided by the utility model, the movement of the four steering systems 2 and the cooperative work of the mechanical arms 5 are controlled, so that omnidirectional movement and flexible inspection operation can be realized, narrow roads and obstacles can be easily traversed, and the omnidirectional outdoor inspection robot is suitable for inspection tasks under various outdoor environments, such as power lines, pipelines, bridges and the like. Meanwhile, the robot is provided with various sensors such as a laser radar, imu and gps, so that high-precision positioning and attitude control can be realized, the movement precision and the working efficiency of the robot are improved, and the consumption of human resources is saved.
Claims (10)
1. The omnidirectional outdoor inspection robot is characterized by comprising a main board (1), and a steering system (2), a control system (3), a monitoring system (4) and a mechanical arm (5) which are arranged on the main board (1);
the steering system (2) comprises a steering arm (21), a steering driving module (22), steering wheels (23), a damping mechanism (24) and a direction maintaining assembly (25);
the direction maintaining assembly (25) comprises a mounting block (252) and two connecting arms (251) which are arranged in parallel up and down and have equal length, the two connecting arms (251) are rotatably connected between the bottom end of the steering arm (21) and the mounting block (252), the mounting block (252) is fixedly connected with the steering wheel (23), the damping mechanism (24) is rotatably connected between the steering arm (21) and the mounting block (252), and the other end of the steering arm (21) is connected with the power output end of the steering driving module (22);
the control system (3) is used for controlling the steering system (2) and the mechanical arm (5);
the monitoring system (4) is electrically connected with the control system (3).
2. An omnidirectional outdoor inspection robot according to claim 1, wherein the steering arm (21) is located below the main board (1), the steering driving module (22) is mounted on the top surface of the main board (1), and a power output end of the steering driving module (22) penetrates through the main board (1) to be connected with the steering arm (21).
3. An omnidirectional outdoor inspection robot as recited in claim 2, wherein said steering arm (21) is inverted-L shaped and comprises a horizontal section (211) and a vertical section (212), and wherein said power output of said steering drive module (22) is connected to the end of said horizontal section (211).
4. An omnidirectional outdoor inspection robot as recited in claim 3, wherein said steering wheel (23), shock absorbing mechanism (24) and direction holding assembly (25) are located on a side of said horizontal segment (211) extending.
5. An omnidirectional outdoor inspection robot as recited in claim 4, wherein said steering wheel (23) is located directly below said steering drive module (22).
6. An omnidirectional outdoor inspection robot as recited in claim 1, wherein an end of said two connecting arms (251) remote from said steering arm (21) is connected to one side of said mounting block (252) with a spacing distance between said two connecting arms (251).
7. An omnidirectional outdoor inspection robot as recited in claim 6, wherein said plurality of connection arms (251) is two pairs symmetrically disposed on either side of said mounting block (252).
8. An omnidirectional outdoor inspection robot as recited in claim 1, wherein a control cabin (7) is fixed to the bottom surface of said main board (1), and said control system (3) is mounted in said control cabin (7).
9. The omnidirectional outdoor inspection robot of claim 8, wherein an access opening (11) is provided on the main board at a position corresponding to the control cabin (7).
10. An omnidirectional outdoor inspection robot as recited in claim 1, wherein a mount (9) is fixed to a top surface of said main board (1), and said monitoring system (4) is mounted on said mount (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321425518.0U CN220162467U (en) | 2023-06-06 | 2023-06-06 | Omnidirectional outdoor inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321425518.0U CN220162467U (en) | 2023-06-06 | 2023-06-06 | Omnidirectional outdoor inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220162467U true CN220162467U (en) | 2023-12-12 |
Family
ID=89051838
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321425518.0U Active CN220162467U (en) | 2023-06-06 | 2023-06-06 | Omnidirectional outdoor inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220162467U (en) |
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2023
- 2023-06-06 CN CN202321425518.0U patent/CN220162467U/en active Active
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