CN106892019B

CN106892019B - Detection robot

Info

Publication number: CN106892019B
Application number: CN201710125319.0A
Authority: CN
Inventors: 钱蜜; 陈碧榭; 张子晔; 仇鑫凯; 陆文浩; 黄光铭
Original assignee: Suzhou University of Science and Technology
Current assignee: Suzhou University of Science and Technology
Priority date: 2017-03-04
Filing date: 2017-03-04
Publication date: 2023-05-16
Anticipated expiration: 2037-03-04
Also published as: CN106892019A

Abstract

The invention relates to the technical field of robots, in particular to a detection robot, which comprises a chassis and rollers arranged below the chassis, wherein a spring cavity is downwards formed in the upper surface of the chassis, a shaft hole is formed in the bottom surface of the spring cavity, a rotating shaft is inserted in the shaft hole, a flange is fixed on the rotating shaft, a first spring is sleeved on the rotating shaft, the first spring is positioned between the flange and the bottom surface of the spring cavity, an end face bearing is arranged between the first spring and the flange, a plurality of inserting posts are arranged on the lower surface of the flange, and a plurality of inserting holes corresponding to the inserting posts are formed in the upper surface of the chassis; a sliding sleeve is fixed on the side surface of the upper end of the rotating shaft, a supporting rod is arranged in the sliding sleeve in a sliding way, an iron plate is fixed at the end part of the outer end of the supporting rod, an electromagnet is fixed on the sliding sleeve, a second spring is fixed between the electromagnet and the iron plate, according to the invention, the support rod is automatically deflected to the side where the robot is in a rollover process of the robot, and the support rod provides elastic impact, so that the chassis is reset, and the robot is straightened.

Description

Detection robot

Technical Field

The invention relates to the technical field of robots, in particular to a detection robot.

Background

A probe robot is a type of robot that performs exploration and survey tasks instead of humans. Along with development of science and technology, robots begin to replace human beings to finish high-risk or high-difficulty work tasks, wherein detection robots can finish work under high-risk and high-difficulty environments through cameras and sensors carried by the robots, the robots are easily subjected to side turning under the influence of terrain when performing tasks, and once the robots are side turned, exploration tasks cannot be finished.

Disclosure of Invention

The invention aims to solve the technical problems that: in order to solve the problem that in the prior art, when a robot is subjected to the influence of terrain during task execution, rollover easily occurs, and once the robot is rolled over, the exploration task cannot be completed, the detection robot is provided.

The technical scheme adopted for solving the technical problems is as follows: the utility model provides a detection robot, includes the chassis and sets up the gyro wheel in the chassis below, the upper surface of chassis has offered the spring chamber downwards, the shaft hole has been offered to the bottom surface in spring chamber, the shaft hole interpolation is equipped with the pivot, be fixed with the flange in the pivot, the cover is equipped with first spring in the pivot, the elasticity direction of first spring is unanimous with the axis direction of pivot, first spring is located between the bottom surface in flange and spring chamber, be provided with the terminal surface bearing between first spring and the flange, the lower surface of flange is provided with a plurality of inserted posts, the upper surface of chassis has offered a plurality of jack corresponding with the inserted post, the inserted post inserts and establishes in the jack, the lower extreme of pivot passes the chassis, the lower extreme end threaded connection of pivot has stop nut;

a sliding sleeve is fixed on the side surface of the upper end of the rotating shaft, a supporting rod is arranged in the sliding sleeve in a sliding manner, an iron plate is fixed at the end part of the outer end of the supporting rod, an electromagnet is fixed on the sliding sleeve, a second spring is fixed between the electromagnet and the iron plate, and the elastic direction of the second spring is consistent with that of the supporting rod;

the lower surface of the inserted column is fixedly provided with a first contact, the bottom of the jack is fixedly provided with a second contact, and when the first contact and the second contact are contacted, the electromagnet is electrified.

Preferably, a plurality of bearings are arranged between the rotating shaft and the shaft hole.

Because the electromagnet is powered off in the non-detection state of the robot, the second spring can recover from the compressed state after losing the adsorption of the electromagnet, further, a locking screw is arranged on the sliding sleeve, a threaded hole matched with the locking screw is formed in the supporting rod, the locking screw is in threaded connection with the threaded hole, and in the non-use state of the robot, the supporting rod is locked on the sliding sleeve through the locking nut, so that the supporting rod is prevented from extending outwards, the size of the robot is reduced, and the robot is convenient to store; when the robot is used, the locking nut is unscrewed from the supporting rod.

The beneficial effects of the invention are as follows: according to the invention, the support rod is automatically deflected to the side where the robot is in a rollover process of the robot, and the support rod provides elastic impact, so that the chassis is reset, and the robot is straightened.

Drawings

The invention will be further described with reference to the drawings and examples.

FIG. 1 is a schematic view of a detection robot of the present invention;

FIG. 2 is an enlarged schematic view of a portion of FIG. 1A;

FIG. 3 is a schematic view showing the distribution of flanges and posts on a rotating shaft of the detection robot;

FIG. 4 is a schematic illustration of the present invention detecting robot rollover;

fig. 5 is an enlarged partial schematic view of B in fig. 4.

In the figure: 1. the device comprises a chassis, 1-1, a spring cavity, 1-2, an inserting hole, 2, a roller, 3, a rotating shaft, 3-1, a flange, 3-2, an inserting column, 4, a first spring, 5, an end face bearing, 6, a limit nut, 7, a sliding sleeve, 8, a supporting rod, 8-1, an iron plate, 9, an electromagnet, 10, a second spring, 11, a first contact, 12, a second contact, 13, a bearing, 14 and a locking screw.

Detailed Description

The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only those features which are relevant to the invention, and orientation and reference (e.g., up, down, left, right, etc.) may be used solely to aid in the description of the features in the drawings. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the claimed subject matter is defined only by the appended claims and equivalents thereof.

Example 1

As shown in fig. 1-5, the detection robot comprises a chassis 1 and a roller 2 arranged below the chassis 1, cameras and sensors for detection are arranged on four sides of the chassis 1, a spring cavity 1-1 is formed in the upper surface of the chassis 1 downwards, a shaft hole is formed in the bottom surface of the spring cavity 1-1, a rotating shaft 3 is inserted in the shaft hole, a flange 3-1 is fixed on the rotating shaft 3, a first spring 4 is sleeved on the rotating shaft 3, the elastic direction of the first spring 4 is consistent with the axial direction of the rotating shaft 3, the first spring 4 is positioned between the flange 3-1 and the bottom surface of the spring cavity 1-1, an end face bearing 5 is arranged between the first spring 4 and the flange 3-1, a plurality of inserting posts 3-2 are arranged on the lower surface of the flange 3-1, a plurality of inserting holes 1-2 corresponding to the inserting posts 3-2 are formed in the upper surface of the chassis 1, the lower end of the rotating shaft 3 penetrates through the chassis 1, a limit nut 6 is connected to the lower end of the rotating shaft 3 in a threaded manner, and the limit nut 6 can prevent the rotating shaft 3 from being separated from the chassis 1;

the side surface of the upper end of the rotating shaft 3 is fixedly provided with a sliding sleeve 7, the sliding sleeve 7 is internally provided with a supporting rod 8, the end part of the outer end of the supporting rod 8 is fixedly provided with an iron plate 8-1, an electromagnet 9 is fixedly arranged on the sliding sleeve 7, a second spring 10 is fixedly arranged between the electromagnet 9 and the iron plate 8-1, the elastic direction of the second spring 10 is consistent with that of the supporting rod 8, the second spring 10 is made of a non-magnetic material, the supporting rod 8 is inclined from inside to outside, and when the chassis 1 is turned over, the supporting rod 8 has a thrust in the horizontal direction on the rotating shaft 3, so that the chassis 1 is favorable for resetting;

the lower surface of the inserted column 3-2 is fixed with a first contact 11, the bottom of the jack 1-2 is fixed with a second contact 12, when the first contact 11 and the second contact 12 are contacted, the electromagnet 9 is electrified, the electromagnet 9 is connected with a system power supply through a wire, and the first contact 11 and the second contact 12 are connected in series on the wire.

A plurality of bearings 13 are arranged between the rotating shaft 3 and the shaft hole, and the rotating shaft 3 can slide relative to the inner ring of the bearings 13.

The sliding sleeve 7 is provided with the locking screw 14, the supporting rod 8 is provided with a threaded hole matched with the locking screw 14, the locking screw 14 is in threaded connection with the threaded hole, and when the robot is not in use, the supporting rod 8 is locked on the sliding sleeve 7 through the locking nut, so that the supporting rod 8 is prevented from extending outwards, the size of the robot is reduced, and the robot is convenient to store; when the robot is used, the locking nut is unscrewed from the support rod 8.

The working principle of the detection robot is as follows:

when the robot runs, the electromagnet 9 is electrified, the rotating shaft 3 is detected to be downwards compressed under the action of the gravity of the rotating shaft 3 and the gravity of the sliding sleeve 7, the electromagnet 9 and the supporting rod 8, meanwhile, the inserting column 3-2 on the flange 3-1 is inserted into the inserting hole 1-2 on the chassis 1, so that the rotating shaft 3 is radially fixed, the stability of the robot during movement is improved, when the robot turns over, the chassis 1 tilts during the turning over process of the robot, at the moment, the first spring 4 loses the gravity action of the rotating shaft 3, the sliding sleeve 7, the electromagnet 9 and the supporting rod 8 on the rotating shaft, the first spring 4 outwards ejects the rotating shaft 3, the inserting column 3-2 is separated from the inserting hole 1-2, the sliding sleeve 7 and the supporting rod 8 on the side of the rotating shaft 3 drives the rotating shaft 3 to rotate under the action of dead weight, the supporting rod 8 is positioned on the side of the chassis 1, meanwhile, the first contact 11 on the inserting column 3-2 is separated from the second contact 12 on the bottom of the inserting hole 1-2, the electromagnet 9 is deenergized, the supporting rod 8 is outwards ejected under the action of the second spring 10, and the supporting rod is ejected outwards under the action of the supporting rod 10 on the side of the supporting rod, so that the robot is reset to roll over the chassis during the turning over process of the robot, and the chassis is impacted by the robot in the turning over process; after the robot is righted, along with vibration when the robot moves, the rotating shaft 3 rotates, when the inserting column 3-2 is aligned with the jack 1-2, the rotating shaft 3 enables the first spring 4 to be compressed downwards under the action of the gravity of the body of the rotating shaft, the sliding sleeve 7, the electromagnet 9 and the supporting rod 8, meanwhile, the inserting column 3-2 on the flange 3-1 is inserted into the jack 1-2 on the chassis 1, the rotating shaft 3 is enabled to be fixed in the radial direction, meanwhile, the first contact 11 is contacted with the second contact 12, the electromagnet 9 is electrified, and the iron plate 8-1 on the support is enabled to shrink and reset under the adsorption of the electromagnet 9.

The above-described preferred embodiments according to the present invention are intended to suggest that, from the above description, various changes and modifications can be made by the worker in question without departing from the technical spirit of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.

Claims

1. The utility model provides a survey robot, includes chassis (1) and sets up gyro wheel (2) in chassis (1) below, its characterized in that: the upper surface of the chassis (1) is provided with a spring cavity (1-1) downwards, the bottom surface of the spring cavity (1-1) is provided with a shaft hole, a rotating shaft (3) is inserted in the shaft hole, a flange (3-1) is fixed on the rotating shaft (3), a first spring (4) is sleeved on the rotating shaft (3), the elastic direction of the first spring (4) is consistent with the axial direction of the rotating shaft (3), the first spring (4) is positioned between the flange (3-1) and the bottom surface of the spring cavity (1-1), an end face bearing (5) is arranged between the first spring (4) and the flange (3-1), the lower surface of the flange (3-1) is provided with a plurality of inserting columns (3-2), a plurality of inserting holes (1-2) corresponding to the inserting columns (3-2) are formed in the upper surface of the chassis (1), the lower end of the rotating shaft (3) penetrates through the chassis (1), and the lower end of the rotating shaft (3) is connected with a limit nut (6);

a sliding sleeve (7) is fixed on the side surface of the upper end of the rotating shaft (3), a supporting rod (8) is arranged in the sliding sleeve (7), an iron plate (8-1) is fixed at the end part of the outer end of the supporting rod (8), an electromagnet (9) is fixed on the sliding sleeve (7), a second spring (10) is fixed between the electromagnet (9) and the iron plate (8-1), and the elastic direction of the second spring (10) is consistent with that of the supporting rod (8);

a first contact (11) is fixed on the lower surface of the plug post (3-2), a second contact (12) is fixed at the bottom of the jack (1-2), and when the first contact (11) and the second contact (12) are in contact, the electromagnet (9) is electrified;

a plurality of bearings (13) are arranged between the rotating shaft (3) and the shaft hole;

the sliding sleeve (7) is provided with a locking screw (14), the supporting rod (8) is provided with a threaded hole matched with the locking screw (14), and the locking screw (14) is in threaded connection with the threaded hole.