CN106347509A - Barrier-free detection robot - Google Patents
Barrier-free detection robot Download PDFInfo
- Publication number
- CN106347509A CN106347509A CN201610937078.5A CN201610937078A CN106347509A CN 106347509 A CN106347509 A CN 106347509A CN 201610937078 A CN201610937078 A CN 201610937078A CN 106347509 A CN106347509 A CN 106347509A
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- CN
- China
- Prior art keywords
- robot
- tripod
- power set
- accessible
- barrier
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/07—Mono-track vehicles
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Fire-Detection Mechanisms (AREA)
- Electric Vacuum Cleaner (AREA)
Abstract
The invention discloses a barrier-free detection robot. The barrier-free detection robot comprises a robot body, a caterpillar band, a top plate, a fixing plate, a linear guide rail, a linear rack, a first power device, a second power device, a horizontal shaft, a gravity center displacement shaft, a remote manipulation system, an alarm, an infrared detector, a panorama camera, a dust detector, a toxic gas detector and a power supply, wherein the second power device drives the robot to operate and the first power device drives a tripod and the fixed plate to move; when the robot moves upward, the tripod moves upward; when the robot moves downward, the tripod moves upward, so that the gravity center of the robot is located at the highest point all the time and a slope climbing gradient can be improved, and furthermore, the robot can move without barriers under the environments of mines and fire disaster and explosion accident scenes and the like; and the working efficiency of the robot is improved and the barrier-free detection robot provides great help to detection of toxic gas and dust.
Description
Technical field
The present invention relates to a kind of robot, it is used for accessible sniffing robot particularly to a kind of.
Background technology
With social development, particularly urbanization and industrialized quickening, people are producing and are producing in work, general merchandise business
There is fire, the accident such as blast in the places such as field, residential building, office building, factory, can produce substantial amounts of toxic gas and powder simultaneously
Dirt.In addition, in the commercial production mined, the mine of coal mining would generally produce substantial amounts of gas, and dust, if can not be timely
Discharge it may occur that the related security incident such as gas explosion accident, dust explosion accident, fire, poisoning, suffocation accident.
Due to the particularity of mine and the scene of the accident, it is relatively difficult that people detect mine and the toxic gas of the scene of the accident and dust
, the appearance of sniffing robot largely solves this problem, however it is necessary that the region landform detecting is usually relatively complex,
So that sniffing robot is being restricted in the action, lead to sniffing robot work efficiency can reduce, the action of robot is limited by landform
The problem of system need to improve further.
Content of the invention
It is subject to landform restricted problem for above-mentioned existing sniffing robot action, the technical problem to be solved in the present invention is to carry
For a kind of accessible sniffing robot.
For solving above-mentioned technical problem, the technical scheme is that a kind of accessible sniffing robot, including robot
Body, crawler belt and top board it is characterised in that: described robot body both sides are provided with crawler belt, are disposed with described crawler belt
Drivewheel, the first auxiliary drive and the second auxiliary drive, described robot body are provided with line slideway, described line slideway
Two ends are provided with guide track block, and described line slideway both sides are provided with linear gear rack, and described linear gear rack two ends are provided with tooth bar block, institute
State and be provided with fixed plate above line slideway, inside described fixed plate, be provided with arc-shaped rack, inside described arc-shaped rack, be provided with three
Corner bracket, is provided with top board above described tripod.It is provided with the first power set inside institute's tripod, described first power set set
There is trunnion axis, below described first power set, be provided with center of gravity displacement axle, described robot body is provided with the second power set,
Described second power set are connected with drivewheel, are provided with detector base above described top board, are provided with described detector base
Power supply, is provided with alarm, panorama camera, poisonous gas detection instrument and dust detection instrument above described detector base.
The preferred version of such scheme is: is provided with clutch shaft bearing and second bearing, described trunnion axis on described tripod
It is connected through clutch shaft bearing with arc-shaped rack, described gravity displacement axle is connected through second bearing with fixed plate.
The preferred version of such scheme is: described first power set are provided with Timing Belt, and described Timing Belt is moved with center of gravity
Position axle connects.
The preferred version of such scheme is: is provided with gear above described linear gear rack, described gear is fixed on center of gravity displacement
On axle.
The preferred version of such scheme is: the front end infrared detector of described detector base, for detecting front end
Barrier, adjustment robot direction of advance.
The preferred version of such scheme is: described robot body is provided with remote controllers, for remote control of machine
People.
Beneficial effect: adopt technique scheme, a kind of accessible sniffing robot of the present invention, the second power set band
Mobile robot runs, and the first power set drive tripod and fixed plate to move, and robot moves upwards, and tripod is transported upwards
Dynamic, robot moves downward, and tripod moves upwards, and the center of gravity making robot, all the time in peak, can improve the slope of climbing
Degree, so make robot can under the environment such as mine, the scene of fire explosion clog-free operation, improve robot
Work efficiency, brings very big help to detection toxic gas and dust.
Brief description
Fig. 1 is a kind of side view of accessible sniffing robot of the present invention；
Fig. 2 is a kind of front view of accessible sniffing robot of the present invention.
In figure: 1- robot body, 2- guide track block, 3- line slideway, 4- fixed plate, 5- tripod, 6- top board, 7-
One bearing, 8- second bearing, 9- linear gear rack, 10- drivewheel, the auxiliary driving wheel of 11- first, the auxiliary driving wheel of 12- second, 13- crawler belt,
14- tooth bar block, 15- arc-shaped rack, 16- gear, 17- center of gravity shifts axle, 18- trunnion axis, 19- first power set, and 20- is same
Step band, 21- second power set, 22- remote control system, 23- power supply, 24- alarm, 25- infrared detector, 26- powder
Dirt survey meter, 27- detector base, 28- poisonous gas detection instrument, 29- panorama camera.
Specific embodiment
Below in conjunction with the accompanying drawings the specific embodiment of the present invention is described further.Here it should be noted that for
The explanation of these embodiments is used to help understand the present invention, but does not constitute limitation of the invention.Additionally, it is disclosed below
As long as each embodiment of the present invention in involved technical characteristic do not constitute conflict each other and just can be mutually combined.
As shown in Figure 1, 2, a kind of accessible sniffing robot of the present embodiment, including robot body 1, crawler belt 13 and top
Plate 6, this 1 body both sides of mover are provided with crawler belt 13, are disposed with drivewheel 10, the first auxiliary driving wheel 11 and second in crawler belt 13
Auxiliary driving wheel 12, robot body 1 is provided with line slideway 3, and line slideway 3 two ends are provided with guide track block 2,3 liang of line slideway
Side is provided with linear gear rack 9, and linear gear rack 9 two ends are provided with tooth bar block 14, are provided with fixed plate 4, fixed plate above line slideway 3
It is provided with arc-shaped rack 15 inside 4, be provided with tripod 5 inside arc-shaped rack 15, above tripod 5, be provided with top board 6.In tripod 5
Side is provided with the first power set 19, and the first power set 19 are provided with trunnion axis 18, are provided with center of gravity below the first power set 19
Displacement axle 17, robot body 1 is provided with the second power set 20, and the second power set 20 are connected with drivewheel 10, on top board 6
Side is provided with detector base 27, is provided with power supply 23, is provided with alarm 24, panorama phase above detector base in detector base 27
Machine 29, poisonous gas detection instrument 28 and dust survey meter 26.
Wherein, tripod 5 is provided with clutch shaft bearing 7 and second bearing 8, trunnion axis 18 passes through clutch shaft bearing 7 and arc
Tooth bar 15 connects, and gravity displacement axle 17 is connected through second bearing 8 with fixed plate 4.
Wherein, the first power set 19 are provided with Timing Belt 20, and Timing Belt 20 shifts axle 17 with center of gravity and is connected.
Wherein, linear gear rack 9 is provided with gear 16, and gear 16 is fixed on center of gravity displacement axle 17.
Wherein, the front end infrared detector 25 of detector base 27, for detecting the barrier of front end, adjusts robot
Direction of advance.
Wherein, robot body 1 is provided with remote controllers 22, for remote control robot.
In sum, a kind of accessible sniffing robot provided by the present invention, the second power set band mobile robot fortune
OK, the first power set drive tripod and fixed plate to move, and robot moves upwards, and tripod moves upwards, robot to
Then tripod moves upwards for lower motion, and the center of gravity making robot, all the time in peak, can improve the gradient of climbing, so make machine
Device people can clog-free operation under the environment such as mine, the scene of fire explosion, improve machine task efficiency, give
Detect toxic gas and dust brings very big help.
Above in association with accompanying drawing, embodiments of the present invention are explained in detail, but the invention is not restricted to described enforcement
Mode.For a person skilled in the art, in the case of without departing from the principle of the invention and spirit, to these embodiments
Carry out multiple changes, modification, replacement and modification, still fall within protection scope of the present invention.
Claims (6)
1. a kind of accessible sniffing robot, including robot body, crawler belt and top board it is characterised in that: described robot this
Body both sides are provided with crawler belt, are disposed with drivewheel, the first auxiliary drive and the second auxiliary drive, described machine in described crawler belt
It is provided with line slideway, described line slideway two ends are provided with guide track block, described line slideway both sides are provided with directly on device human body
Line tooth bar, described linear gear rack two ends are provided with tooth bar block, are provided with fixed plate above described line slideway, in described fixed plate
Side is provided with arc-shaped rack, is provided with tripod inside described arc-shaped rack, is provided with top board above described tripod.Inside institute's tripod
It is provided with the first power set, described first power set are provided with trunnion axis, be provided with center of gravity below described first power set and move
Position axle, described robot body is provided with the second power set, and described second power set are connected with drivewheel, on described top board
Side is provided with detector base, is provided with power supply, is provided with alarm, panorama phase above described detector base in described detector base
Machine, poisonous gas detection instrument and dust survey meter.
2. a kind of accessible sniffing robot according to claim 1 it is characterised in that: described tripod is provided with first
Bearing and second bearing, described trunnion axis is connected through clutch shaft bearing with arc-shaped rack, and described gravity displacement axle passes through the second axle
Hold and be connected with fixed plate.
3. a kind of accessible sniffing robot according to claim 1 it is characterised in that: set on described first power set
There is Timing Belt, described Timing Belt is connected with center of gravity displacement axle.
4. a kind of accessible sniffing robot according to claim 1 it is characterised in that: be provided with above described linear gear rack
Gear, described gear is fixed on center of gravity displacement axle.
5. a kind of accessible sniffing robot according to claim 1 it is characterised in that: the front end of described detector base
Infrared detector.
6. a kind of accessible sniffing robot according to claim 1 it is characterised in that: described robot body is provided with
Remote controllers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610937078.5A CN106347509A (en) | 2016-11-01 | 2016-11-01 | Barrier-free detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610937078.5A CN106347509A (en) | 2016-11-01 | 2016-11-01 | Barrier-free detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106347509A true CN106347509A (en) | 2017-01-25 |
Family
ID=57864069
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610937078.5A Pending CN106347509A (en) | 2016-11-01 | 2016-11-01 | Barrier-free detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106347509A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108995658A (en) * | 2018-07-16 | 2018-12-14 | 河南聚合科技有限公司 | A kind of adverse circumstances crawler type danger source exploring processing Unmanned Systems |
| CN112303435A (en) * | 2020-10-14 | 2021-02-02 | 常留喜 | Geological prospecting machine |
| CN114260882A (en) * | 2021-12-28 | 2022-04-01 | 中煤科工集团沈阳研究院有限公司 | Mining underground pipeline grabbing robot |
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| US4222449A (en) * | 1978-06-08 | 1980-09-16 | Feliz Jack M | Step-climbing wheel chair |
| WO1999049827A1 (en) * | 1998-03-31 | 1999-10-07 | Sunstate Mobility Corporation | Personal mobility vehicle |
| CN1260298A (en) * | 1999-01-14 | 2000-07-19 | 陈文全 | Device for keeping launch vehicle horizontal |
| CN2511530Y (en) * | 2001-12-04 | 2002-09-18 | 陈文全 | Movable device for keeping centre of gravity and horizontal stability |
| US20040168842A1 (en) * | 2003-02-27 | 2004-09-02 | Chuan Chen Wen | Self-leveling and balancing vehicle |
| CN205345099U (en) * | 2015-11-17 | 2016-06-29 | 陈文全 | It is accessible from mule carriage assembly |
| CN206351723U (en) * | 2016-11-01 | 2017-07-25 | 陈文全 | A kind of accessible sniffing robot |
-
2016
- 2016-11-01 CN CN201610937078.5A patent/CN106347509A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4222449A (en) * | 1978-06-08 | 1980-09-16 | Feliz Jack M | Step-climbing wheel chair |
| WO1999049827A1 (en) * | 1998-03-31 | 1999-10-07 | Sunstate Mobility Corporation | Personal mobility vehicle |
| CN1260298A (en) * | 1999-01-14 | 2000-07-19 | 陈文全 | Device for keeping launch vehicle horizontal |
| CN2511530Y (en) * | 2001-12-04 | 2002-09-18 | 陈文全 | Movable device for keeping centre of gravity and horizontal stability |
| US20040168842A1 (en) * | 2003-02-27 | 2004-09-02 | Chuan Chen Wen | Self-leveling and balancing vehicle |
| CN205345099U (en) * | 2015-11-17 | 2016-06-29 | 陈文全 | It is accessible from mule carriage assembly |
| CN206351723U (en) * | 2016-11-01 | 2017-07-25 | 陈文全 | A kind of accessible sniffing robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108995658A (en) * | 2018-07-16 | 2018-12-14 | 河南聚合科技有限公司 | A kind of adverse circumstances crawler type danger source exploring processing Unmanned Systems |
| CN112303435A (en) * | 2020-10-14 | 2021-02-02 | 常留喜 | Geological prospecting machine |
| CN114260882A (en) * | 2021-12-28 | 2022-04-01 | 中煤科工集团沈阳研究院有限公司 | Mining underground pipeline grabbing robot |
| CN114260882B (en) * | 2021-12-28 | 2024-05-07 | 中煤科工集团沈阳研究院有限公司 | Mining underground pipeline grabbing robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170125 |
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| RJ01 | Rejection of invention patent application after publication |