CN106002925B - Double crawler belt intelligent inspection robots - Google Patents
Double crawler belt intelligent inspection robots Download PDFInfo
- Publication number
- CN106002925B CN106002925B CN201610633354.9A CN201610633354A CN106002925B CN 106002925 B CN106002925 B CN 106002925B CN 201610633354 A CN201610633354 A CN 201610633354A CN 106002925 B CN106002925 B CN 106002925B
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- China
- Prior art keywords
- wheel
- athey wheel
- support
- lithium battery
- crawler belt
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Classifications
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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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
Abstract
The invention discloses a kind of double crawler belt intelligent inspection robots.The crate part point that it is wrapped is arranged between left track unit and right-hand track chiain running gear, described crate part point includes chassis cover, environmental information integrated sensor, binocular vision sensor, laser radar, cabinet lower box, first lithium battery, 3-dimensional digital compass, control main frame and audible-visual annunciator, environmental information integrated sensor is provided with cabinet lower box, binocular vision sensor, laser radar, first lithium battery and 3-dimensional digital compass, binocular vision sensor, laser radar and 3-dimensional digital compass are connected with the first lithium battery, first lithium battery side is provided with control main frame, chassis cover coordinates with cabinet lower box, audible-visual annunciator exposes to be set outside cabinet lower box.Small volume of the present invention, light weight, cost is low, back and forth performs patrol task, and two crawler belts can be independently operated, independent control, can pass through remote monitoring machine people's ambient condition information.
Description
Technical field
The present invention relates to crusing robot technical field, and in particular to double crawler belt intelligent inspection robots.
Background technology
The structure of traditional crusing robot is more complicated, heavier mass, and cost is high, it has not been convenient to back and forth performs inspection
Task, control is also very inconvenient, and its obstacle climbing ability is poor, and in summary, the present invention devises double crawler belt intelligent inspection robots.
The content of the invention
To solve the above problems, the invention provides double crawler belt intelligent inspection robots, small volume, light weight, cost is low,
Reciprocal to perform patrol task, two crawler belts can be independently operated, independent control, can pass through remote monitoring machine people's surrounding environment
Information.
To achieve the above object, the technical scheme taken of the present invention is：Double crawler belt intelligent inspection robots, including crate part
Divide, left track unit and right-hand track chiain running gear, crate part point are arranged on left track unit and right-hand track chiain running part
/, described crate part point include chassis cover, environmental information integrated sensor, binocular vision sensor, laser radar,
Cabinet lower box, the first lithium battery, 3-dimensional digital compass, control main frame and audible-visual annunciator, ring is provided with cabinet lower box
Environment information integrated sensor, binocular vision sensor, laser radar, the first lithium battery and 3-dimensional digital compass, binocular vision pass
Sensor, laser radar and 3-dimensional digital compass are connected with the first lithium battery, and the first lithium battery side is provided with control main frame, machine
Box cover coordinates with cabinet lower box, and audible-visual annunciator exposes to be set outside cabinet lower box.
Preferably, symmetrical structure centered on described left track unit and right-hand track chiain running gear.
Preferably, described left track unit includes right plate, intermediate support plate and left plate, right plate, centre
Supporting plate and left plate form main body frame, and described intermediate support plate is by support shaft on support shaft on first, second, the 3rd
Support shaft, support shaft on the 4th, support shaft, the five times support shafts, the four times support shafts, the three times support shafts, second on the 5th
Lower support shaft, the connection of first time support shaft, and support shaft on first, support shaft, the five time support shafts on the 5th, support for first time
Axle couples with left plate, preceding axis connection main body frame and front right Athey wheel, front left Athey wheel, the first spur gear；Main body frame leads to
Later axle couples with rear right Athey wheel, rear left Athey wheel, and wireless communication module, movable motor control are additionally provided with main body frame
Plate, driver and the second lithium battery, are provided with lithium cell charging hole on the second lithium battery, and crawler belt passes through support wheel, on first
Support wheel on two, support wheel, the three times support wheels, second time support wheel, first time support wheel support are set on the 3rd, and front right is carried out
Belt wheel, front left Athey wheel front left Athey wheel connect rear right Athey wheel and rear left Athey wheel by crawler belt, front right anticollision train and
Rear right anticollision train is separately positioned on side before and after the outer middle part of crawler belt, and front right anticollision train and rear right anticollision train and ditch
Groove track coordinates, and 24V direct current generators are connected by the second spur gear, the first spur gear with front axle, and front axle passes through front right Athey wheel
And front left Athey wheel is connected and is connected with crawler belt, crawler belt passes through rear right Athey wheel and rear left Athey wheel and rear axle rotation connection, cabinet
Part is coupled by gusset piece with right-hand track chiain wheel, rear left Athey wheel, front right Athey wheel and front left Athey wheel.
Preferably, described wireless communication module is connected with remote control.
The crate part packing of the present invention has some electronic devices or sensor, for data acquisition and remote monitoring；Left and right
Track unit is independent walking mechanism, is equipped with lithium battery, control panel, driver, direct current generator, wireless module etc.
Part, tablet personal computer can be utilized to realize remote control by wireless module；Cabinet is partly installed in two track units
Between；
In cabinet partial interior, according to requirements, it is mounted with that is integrated with the rings such as CO, CO2, CH4, temperature, humidity
Environment information integrated sensor, for environmental monitoring.When the environmental information that the environmental information integrated sensor of robot detects
When item data is exceeded, audible-visual annunciator can also send warning message.
In cabinet partial interior, laser radar, binocular vision sensor, 3-dimensional digital compass are installed and share one block of lithium electricity
Pond, it is front and rear to install one respectively on upper frame plate.Laser radar, binocular vision sensor are used to monitor surrounding in real time
Complaint message；3-dimensional digital compass is used for the posture for detecting robot ride.
Robot cabinet part is also equipped with 24V lithium battery, is the independent current source of restocking, it can have been exported simultaneously
12V and 5V DC voltage, each electronics to cabinet part.
The invention has the advantages that：Small volume, light weight, cost is low, back and forth performs patrol task, two crawler belts
Independent control can be independently operated, remote monitoring machine people's ambient condition information can be passed through.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the cabinet part isometric structural representation of the present invention；
Fig. 3 is the side view of the cabinet part of the present invention；
Fig. 4 is Fig. 3 of present invention A-A to sectional view；
Fig. 5 is the dimensional structure diagram of the left track unit of the present invention；
Fig. 6 is the planar structure schematic diagram of the left track unit of the present invention；
Fig. 7 is Fig. 6 of present invention B-B direction sectional view；
Fig. 8 is the internal structure schematic diagram of the left track unit of the present invention.
Embodiment
In order that objects and advantages of the present invention are more clearly understood, the present invention is carried out with reference to embodiments further
Describe in detail.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to limit this hair
It is bright.
As shown in figures 1-8, the embodiments of the invention provide double crawler belt intelligent inspection robots, including cabinet part 1, left shoe
Band running gear 2 and right-hand track chiain running gear 3, cabinet part 1 is arranged on left track unit 2 and right-hand track chiain running gear 3
Between, described cabinet part 1 include chassis cover 1-1, environmental information integrated sensor 1-2, binocular vision sensor 1-3,
Laser radar 1-4, cabinet lower box 1-5, the first lithium battery 1-6,3-dimensional digital compass 1-7, control main frame 1-8 and sound and light alarm
Environmental information integrated sensor 1-2, binocular vision sensor 1-3, laser radar 1- are provided with device 1-9, cabinet lower box 1-5
4th, the first lithium battery 1-6 and 3-dimensional digital compass 1-7, binocular vision sensor 1-3, laser radar 1-4 and 3-dimensional digital compass
1-7 is connected with the first lithium battery 1-6, and the first lithium battery 1-6 sides are provided with control main frame 1-8, chassis cover 1-1 and cabinet
Lower box 1-5 coordinates, and audible-visual annunciator 1-9 exposes to be set outside cabinet lower box 1-5.
Symmetrical structure centered on described left track unit 2 and right-hand track chiain running gear 3.
Described left track unit includes right plate 2-2, intermediate support plate 2-8 and left plate 2-17, right plate 2-
2nd, intermediate support plate 2-8 and left plate 2-17 form main body frame, and described intermediate support plate 2-8 is by support shaft 2- on first
19th, support shaft 2-21 on second, support shaft 2-23 on the 3rd, support shaft 2-25 on the 4th, on the 5th under support shaft 2-26, the 5th
Support shaft 2-29, the four times support shaft 2-30, the three times support shaft 2-32, second time support shaft 2-34, first time support shaft 2-
36 connections, and support shaft 2-19 on first, support shaft 2-26, the five times support shaft 2-29, first time support shaft 2-36 on the 5th
Couple with left plate 2-17, front axle 2-3 connection main body frames and front right Athey wheel 2-4, front left Athey wheel 2-18, the first spur gear
2-5；Main body frame is coupled by rear axle 2-13 with rear right Athey wheel 2-12, rear left Athey wheel 2-15, is also set up on main body frame
There are wireless communication module 2-9, movable motor control panel 2-10, driver 2-11 and the second lithium battery 2-28, the second lithium battery 2-
It is provided with lithium cell charging hole 2-38 on 28, crawler belt 2-37 passes through support wheel 2-22, the 3rd on support wheel 2-20 on first, second
Upper support wheel 2-24, the three times support wheel 2-31, second time support wheel 2-33, first time support wheel 2-35 support are set, front right
Athey wheel 2-4, front left Athey wheel 2-18 front lefts Athey wheel pass through crawler belt 2-37 connections rear right Athey wheel 2-12 and rear left Athey wheel
2-15, front right anticollision train 2-1 and rear right anticollision train 2-14 are separately positioned on side before and after the outer middle parts of crawler belt 2-37, and preceding
Right anticollision train 2-1 and rear right anticollision train 2-14 coordinates with groove track, and 24V direct current generators 2-7 passes through the second straight-tooth
Wheel 2-6, the first spur gear 2-5 are connected with front axle 2-3, and front axle 2-3 is connected by front right Athey wheel 2-4 and front left Athey wheel 2-18
It is connected with crawler belt 2-37, crawler belt 2-37 is rotatablely connected by rear right Athey wheel 2-12 and rear left Athey wheel 2-15 and rear axle 2-13,
Cabinet part 1 is carried out by gusset piece 2-16 and rear right Athey wheel 2-12, rear left Athey wheel 2-15, front right Athey wheel 2-4 and front left
Belt wheel 2-18 couples.
Described wireless communication module 2-9 is connected with remote control.
Present embodiment physical dimension is：403*365*200mm, total are steel as framework, its entirety
Quality is 24Kg.Remote control can be carried out to double-track robot by tablet personal computer, machine is realized using wireless communication module
The real-time monitoring of device people.Two crawler sections and cabinet part are separate unit, and such as single crawler belt can pass through radio communication
Module realizes Remote, and cabinet part can also be independently installed in other moveable platforms or stationary monitoring occasion.
The long-range branch line remote control of present embodiment can be realized by three kinds of modes：
(1) directly coupled by tablet personal computer with robot, realize remote control；
(2) by tablet personal computer, wireless relay, couple again with robot, remote control is realized；
(3) by tablet personal computer, internet, modem, wireless router, then couple with robot, realize long-range
Control.
Present embodiment track unit, it is an independent drive mechanism, itself can pass through flat board electricity
Brain or mobile phone carry out Remote.Its track unit and restocking part independent sector each other.Respectively to left and right crawler travel
Partial motor carries out rotating control, it is possible to achieve advance, retroversion and the course changing control of caterpillar robot.Track unit
Front and rear Athey wheel be divided into left and right two halves to support crawler belt, i.e. front right Athey wheel 2-4 and front left Athey wheel 2-18 and rear right to carry out
Belt wheel 2-12, rear left Athey wheel 2-15；Movable motor control panel 2-10 is the control core of robot, and driver 2-11 is direct current
The driver of motor, the second lithium battery 2-28 are track unit and other electronics, and it is by lithium electricity that it, which charges,
Pond charging hole 2-38 completes charging；Pass through the walking movement of wireless communication module 2-9 remote control track units；Front right is carried out
Belt wheel 2-4, front left Athey wheel 2-18 drive crawler belt 2-37 to rotate, and crawler belt 2-37 drives rear right Athey wheel 2-12 and rear left crawler belt again
2-15 is taken turns to rotate；Anticollision train, when the robot is travelled in groove, prevent robot from being collided with groove, and
Ensure Robot groove track traveling；Walking movement is to drive the second spur gear 2-6 by 24V direct current generators 2-7, and first is straight
Power is sent to front axle 2-3 by gear 2-5, and front axle 2-3 drives front right Athey wheel 2-4, front left Athey wheel 2-18 to rotate again, then band
Dynamic crawler belt 2-37 is rotated, and crawler belt 2-37 drives rear right Athey wheel 2-12, rear left Athey wheel 2-15 to be rotated around rear axle 2-13 again.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (2)
1. pair crawler belt intelligent inspection robot, it is characterised in that including cabinet part (1), left track unit (2) and right shoe
Band running gear (3), cabinet part (1) is arranged between left track unit (2) and right-hand track chiain running gear (3), described
Cabinet part (1) include chassis cover (1-1), environmental information integrated sensor (1-2), binocular vision sensor (1-3), swash
Optical radar (1-4), cabinet lower box (1-5), the first lithium battery (1-6), 3-dimensional digital compass (1-7), control main frame (1-8) and
Audible-visual annunciator (1-9), cabinet lower box (1-5) is interior to be provided with environmental information integrated sensor (1-2), binocular vision sensor
(1-3), laser radar (1-4), the first lithium battery (1-6) and 3-dimensional digital compass (1-7), binocular vision sensor (1-3), swash
Optical radar (1-4) and 3-dimensional digital compass (1-7) are connected with the first lithium battery (1-6), and the first lithium battery (1-6) side is set
There is control main frame (1-8), chassis cover (1-1) coordinates with cabinet lower box (1-5), and audible-visual annunciator (1-9) exposes under cabinet
Set outside casing (1-5), described left track unit includes right plate (2-2), intermediate support plate (2-8) and left plate
(2-17), right plate (2-2), intermediate support plate (2-8) and left plate (2-17) form main body frame, described intermediate support plate
(2-8) is by support shaft on support shaft (2-23) on support shaft (2-21) on support shaft (2-19) on first, second, the 3rd, the 4th
(2-25), support shaft (2-26), the five times support shafts (2-29), the four times support shafts (2-30), the three times support shafts on the 5th
(2-32), second time support shaft (2-34), the connection of first time support shaft (2-36), and support shaft (2-19) on first, on the 5th
Support shaft (2-26), the five times support shafts (2-29), first time support shaft (2-36) couple with left plate (2-17), front axle (2-
3) main body frame and front right Athey wheel (2-4), front left Athey wheel (2-18), the first spur gear (2-5) are connected；Main body frame passes through
Rear axle (2-13) couples with rear right Athey wheel (2-12), rear left Athey wheel (2-15), and radio communication is additionally provided with main body frame
Module (2-9), movable motor control panel (2-10), driver (2-11) and the second lithium battery (2-28), the second lithium battery (2-
28) it is provided with lithium cell charging hole (2-38) on, crawler belt (2-37) passes through support wheel on support wheel (2-20) on first, second
(2-22), support wheel (2-24), the three times support wheels (2-31), second time support wheel (2-33), first time support wheel on the 3rd
(2-35) support is set, after front right Athey wheel (2-4), front left Athey wheel (2-18) front left Athey wheel are connected by crawler belt (2-37)
Right-hand track chiain wheel (2-12) and rear left Athey wheel (2-15), front right anticollision train (2-1) and rear right anticollision train (2-14) point
Be not arranged on crawler belt (2-37) side before and after middle part outside, and front right anticollision train (2-1) and rear right anticollision train (2-14) and
Groove track coordinates, and 24V direct current generators (2-7) pass through the second spur gear (2-6), the first spur gear (2-5) and front axle (2-3) phase
Even, front axle (2-3) is connected by front right Athey wheel (2-4) and front left Athey wheel (2-18) and is connected with crawler belt (2-37), crawler belt (2-
37) it is rotatablely connected by rear right Athey wheel (2-12) and rear left Athey wheel (2-15) with rear axle (2-13), cabinet part (1) passes through
Gusset piece (2-16) and right-hand track chiain wheel (2-12), rear left Athey wheel (2-15), front right Athey wheel (2-4) and front left Athey wheel (2-
18) couple.
2. double crawler belt intelligent inspection robots according to claim 1, it is characterised in that described wireless communication module
(2-9) is connected with remote control.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610633354.9A CN106002925B (en) | 2016-08-04 | 2016-08-04 | Double crawler belt intelligent inspection robots |
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| CN201610633354.9A CN106002925B (en) | 2016-08-04 | 2016-08-04 | Double crawler belt intelligent inspection robots |
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| CN106002925B true CN106002925B (en) | 2018-02-02 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106774324B (en) * | 2016-12-22 | 2020-06-09 | 以恒激光科技（北京）有限公司 | Two cameras three-dimensional identification patrol robot |
| CN108111814A (en) * | 2017-12-21 | 2018-06-01 | 广州众源网络科技有限公司 | A kind of intelligent track inspection device |
| CN108406775A (en) * | 2018-05-08 | 2018-08-17 | 河南理工大学 | A kind of Internet of Things Web robot |
| CN114932562B (en) * | 2021-08-10 | 2024-04-19 | 南京航空航天大学 | Underground cable tunnel inspection robot based on laser radar and implementation method |
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