CN109343536A - A kind of interior crusing robot - Google Patents
A kind of interior crusing robot Download PDFInfo
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- CN109343536A CN109343536A CN201811376375.2A CN201811376375A CN109343536A CN 109343536 A CN109343536 A CN 109343536A CN 201811376375 A CN201811376375 A CN 201811376375A CN 109343536 A CN109343536 A CN 109343536A
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- holder
- fixed
- support frame
- pedestal
- lifting
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- 230000007246 mechanism Effects 0.000 claims abstract description 71
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 39
- 230000003028 elevating effect Effects 0.000 claims abstract description 23
- 238000013016 damping Methods 0.000 claims description 17
- 239000000523 sample Substances 0.000 claims description 13
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000013011 mating Effects 0.000 claims 1
- 238000007689 inspection Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 14
- 230000001681 protective effect Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000037237 body shape Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000017525 heat dissipation Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
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Abstract
The present invention provides a kind of indoor crusing robots, including pedestal, walking mechanism, power supply, lifting holder, video camera and controller；The walking mechanism is fixed on the lower end of pedestal, and power supply is fixed in pedestal；The lifting holder includes holder, holder support frame and elevating mechanism；The fixing end of the elevating mechanism is fixed on the base, and lift side is fixedly connected with the holder support frame, and the top of the holder support frame is fixedly connected with the holder；The video camera is fixed on the holder；The power end of the walking mechanism, elevating mechanism and video camera with the power electric connection；The controller is connect with the walking mechanism, lifting holder and camera signal respectively.It is of the present invention interior crusing robot, by go up and down holder, walking mechanism and self-charging source use, realize robot intelligent and high-efficiency work, it is labor-saving simultaneously, improve inspection accuracy rate.
Description
Technical field
The invention belongs to crusing robot technical fields, more particularly, to a kind of indoor crusing robot.
Background technique
With the development of science and technology, more and more work can be completed by robot, to save manpower, inspection machine
People mainly passes through carrying PTZ camera, realizes acquisition and the visual identity of image to complete inspection work, crusing robot
On the one hand it needs by adjusting PTZ camera height on the other hand to need steady walking to find the field range being more suitable for,
To improve the efficiency and accuracy rate of inspection work.Therefore, crusing robot is needed more flexibly to go up and down holder and more be put down
Steady walking mechanism, the accurate inspection work of high efficiency to realize robot.
Summary of the invention
In view of this, the present invention is directed to propose a kind of interior crusing robot, fills by lifting holder, walking mechanism and certainly
The use of power supply, realize robot intelligent and high-efficiency work, it is labor-saving simultaneously, improve inspection accuracy rate.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of interior crusing robot, including pedestal, walking mechanism, power supply, lifting holder, video camera and controller；
The walking mechanism is fixed on the lower end of pedestal, and power supply is fixed in pedestal；
The lifting holder includes holder, holder support frame and elevating mechanism；
The fixing end of the elevating mechanism is fixed on the base, and lift side is fixedly connected with the holder support frame, described
The top of holder support frame is fixedly connected with the holder；
The video camera is fixed on the holder；
The power end of the walking mechanism, elevating mechanism and video camera with the power electric connection；
The controller is connect with the walking mechanism, lifting holder and camera signal respectively.
Further, the holder support frame is in lower end and the rectangular-shape body structure of a side opening, the elevator
Structure is located at the inside of the holder support frame.
Further, the elevating mechanism includes lifting motor, screw rod, screw rod slide unit and sliding block；
The lifting motor is connect with screw rod transmission, drives screw rod rotation；
The screw rod is rotatably fixed on the bottom end of the screw rod slide unit, which is vertically arranged in holder support frame
Inside, and with the holder supporting framework at sliding block sliding channel；
The sliding block is through on the screw rod, and is bonded the screw rod slide unit length direction setting, the sliding block and screw rod spiral shell
Line goes up and down in sliding block sliding channel with merging and slides；
The sliding block is fixedly connected with the holder support frame.
Further, the elevating mechanism further includes drag chain, and described drag chain one end is fixed on the holder support frame, separately
One end is fixed on the upper end of the screw rod slide unit.
Further, the drag chain is linked by hollow connection buckle.
Further, the elevating mechanism further includes lifting supporting element, and the lifting supporting element and the screw rod slide unit are solid
Fixed connection, the screw rod slide unit are fixed on the base by lifting supporting element.
Further, protection board is additionally provided on the lateral wall of the holder support frame.
Further, the holder includes holder pedestal, connector and probe mounting frame；
Rotating mechanism is equipped in the holder pedestal, the rotation axis of the rotating mechanism is stretched out by holder pedestal and and connector
It is fixedly connected；
The probe mounting frame is mounted on the side of connector by angular adjustment frame.
Further, the probe mounting frame has a pair, relatively fixed the two of the connector by angular adjustment frame
Side.
Further, the rotating mechanism include the first micro-machine, the output shaft of first micro-machine with it is described
Connector is fixedly connected.
Further, the output shaft of first micro-machine passes through drive socket and is fixedly connected with the connector.
Further, the angular adjustment frame includes connect across the shaft of the connector and with the rotating shaft transmission
Two micro-machines.
Further, the video camera is mounted on the probe mounting frame.
Further, the holder support frame is equipped with tool box, and tool box includes tool box main body, the tool box master
In flat, one end of the tool box main body is fixedly connected body with the holder support frame, and the other end is equipped with door, the door knot
Structure is by being fastened on the tool box main body.
Further, four side walls of the tool box main body rectangular frame-shaped, the tool box main body are parallel to the work
Has the axle center of box main body, one end of the tool box main body is fixed on the leading flank of the holder support frame, and the other end is equipped with door
Structure.
Further, the tool box main body is in flat and outer end opening rectangular-shape, the inner end of the tool box main body
It is embedded in the holder support frame.
Further, the tool box main body is fixed on the lower end of the holder support frame leading flank.
Further, fixing piece, support plate, display, loudspeaker and sound pick-up are additionally provided on the holder support frame；
The display, loudspeaker and sound pick-up are fixed on the supporting plate, and the support plate is fixed on holder by fixing piece
On support frame.
Further, in horizontal U-shaped, opening is fixed on the holder support frame leading flank fixing piece, should
The one end of fixing piece far from opening is in plane tabular；
The support plate is fixed on one end far from opening on the fixing piece, and the support plate is laterally vertically arranged, and
It is in right-angled intersection with the holder support frame；
The display is fixed on the middle part of the support plate, and the loudspeaker and sound pick-up are separately fixed at the display
In the support plate of two sides.
Further, the pedestal includes bottom plate, side plate, baffle, connection bent plate, cover board and handrail；
There are two the side plates, respectively the relatively fixed left and right sides in the bottom plate upper surface；
There are two the baffles, respectively the relatively fixed front and rear sides in the bottom plate upper surface；
The cover board is fixed on the upper end of the side plate, and the front and rear sides of the cover board lower end surface pass through bent by connection respectively
Plate is fixedly connected with corresponding baffle, and the connection bent plate is inwardly recessed to form groove relative to cover board and baffle；
The handrail has a pair, the relatively fixed two sides for being mounted on the cover board.
Further, the baffle is in outwardly protruding arcuation.
Further, anticollision strip is installed on the lateral surface of the baffle.
Further, the side plate is equipped with interface.
Further, the handrail includes support post and support beam, and the support post has two groups, the upper end difference
The both ends of the support beam are fixed on, lower end is fixed on the cover board.
Further, the walking mechanism is installed on the bottom plate.
Further, the on both sides of the middle of the bottom plate offers tire mounting groove, and the rear and front end of the tire mounting groove is set
There is baffle.
Further, the walking mechanism includes being fixed on a pair of of driving wheel mechanism of bottom plate two sides and being located under bottom plate
Driven wheel on end face.
Further, the driving wheel mechanism includes motor, speed reducer, damping device, connecting plate, bearing and driving wheel；
The driving wheel is located in the tire mounting groove, which is fixed on the connecting plate by bearing, described
Connecting plate is fixed on the bottom plate by damping device, and the driving wheel is connect by speed reducer with the motor drive.
Further, the middle part of the bottom plate is equipped with driving mounting slot recessed down, and the driving mounting slot is in rectangular
Body shape, the driving mounting slot is by extending to right side on the left of bottom plate.
Further, the tire mounting groove is the opening through bottom plate at left and right sides of the driving mounting slot,
And the baffle of tire mounting groove rear and front end is flushed with the front-rear side walls of the driving mounting slot.
Further, the damping device includes slide bar, damping sliding block, connector, spring, limit shaft and fixed frame；
The slide bar is fixed on the outside of the fixed frame vertically；
The damping sliding block is set on the slide bar, and is fixedly connected with connector；
The limit shaft is fixed on the inside of the fixed frame, and the spring is set on limit shaft, and upper end is fixed；
Described connector one end is fixedly connected with connecting plate, and the other end is slidably set on limit shaft, and with spring
Lower end is fixed；
The fixed frame is fixed on bottom plate.
Further, the slide bar has a pair, the relatively fixed outside in the fixed frame.
Further, the connector is U-shaped, and the connector is laterally disposed, including epipleural, lower side panel and side bottom plate,
The medial surface of the side bottom plate is fixedly connected with damping sliding block, and lateral surface is fixedly connected with connecting plate, and the upside of the connector
Plate is shorter than lower side panel, and the epipleural can be slidably mounted on slide bar, and lower side panel can be slidably mounted on slide bar and limit shaft.
Further, the fixed frame is U-shaped, and the fixed frame is laterally disposed, and is open towards connecting plate, and the slide bar is perpendicular
It is directly fixed on the U-shaped opening side of the fixed frame, the limit shaft is fixed on vertically on the inside of fixed frame.
Further, the upper end of the slide bar and the lower end of limit shaft are equipped with sliding slot, and the connector is sliding in sliding slot
It is dynamic.
Further, the fixed frame is fixedly connected by decelerator shell with the bottom plate.
Further, the power supply be self-charging source, including plug piece, position locator, telescope motor, connection electric wire and
Battery；
The outer end bottom surface of plug piece is equipped with plug；
The position locator is fixed in the outer end side surface of the plug piece；
The telescopic shaft of the telescope motor is fixedly connected with the inner end of plug piece；
One end of the connection electric wire is electrically connected with the plug piece, and the other end is electrically connected with battery.
Further, the robot charging plug further includes cable protective tube, and the cable protective tube is hose, is arranged
On the connection electric wire.
Further, the rear end of the plug piece is equipped with retracting cylinder, and the retracting cylinder outer end is fixed on plug piece, inner end
It is fixedly connected with the telescopic shaft of telescope motor, and connects electric wire by stretching out in retracting cylinder.
Further, the robot charge power supply further includes electric wire attaching means, and the electric wire attaching means is cooperatively connected electric
Line setting, the redundant segments of constraint connection electric wire.
Further, the electric wire attaching means includes fixing axle, constraint line wheel, lifting connector and attaching means pedestal；
The lifting connector has a pair, and opposed vertical is fixed on the two sides of attaching means pedestal upper surface；
The both ends of the fixing axle are respectively fixedly connected with lifting connector with this；
The constraint line wheel can be rotated the middle part that detent is fixed on the fixing axle, the axial direction of the constraint line wheel with connect electricity
The trend of line is vertical, and it is justified side and is equipped with and the cable protective tube or connect the restraint slot that electric wire matches.
Further, the lifting connector is the lifting shaft and sliding sleeve being mutually slidably matched.
Further, the lifting connector is spring.
Further, the robot charge power supply further includes battery stand, and the battery passes through battery stand
Fixed, which includes support plate, detent chimb and fixed support；
The support plate is adapted with the bottom surface of the battery；
The detent chimb is arranged around the support plate periphery；
The fixation is supported and fixed on the lower end of the support plate.
Further, the support plate is in rectangle, and the fixation is supported by a pair, and L-shape, this is to fixed support phase pair
It is fixed on the both ends of the support plate lower surface.
Compared with the existing technology, indoor crusing robot of the present invention has the advantage that
(1) indoor crusing robot of the present invention, by going up and down the use of holder, walking mechanism and self-charging source,
Realize robot intelligent and high-efficiency work, it is labor-saving simultaneously, improve inspection accuracy rate.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is indoor crusing robot structural schematic diagram described in the embodiment of the present invention；
Fig. 2 is that crusing robot described in the embodiment of the present invention goes up and down cradle head structure schematic diagram；
Fig. 3 is elevating mechanism schematic diagram of internal structure described in the embodiment of the present invention；
Fig. 4 is cradle head structure schematic diagram described in the embodiment of the present invention；
Fig. 5 is holder support frame structure diagram described in the embodiment of the present invention；
Fig. 6 is display installation structure schematic diagram on holder support frame described in the embodiment of the present invention；
Fig. 7 is robot running gear structural schematic diagram described in the embodiment of the present invention；
Fig. 8 is driving wheel mechanism structural schematic diagram described in the embodiment of the present invention；
Fig. 9 is robot power supply structural schematic diagram described in the embodiment of the present invention；
Figure 10 is cable protective tube structural schematic diagram in robot power supply described in the embodiment of the present invention；
Figure 11 is the electric wire attaching means structure that lifting connector is lifting shaft and sliding sleeve described in the embodiment of the present invention
Schematic diagram；
Figure 12 is the electric wire attaching means structural schematic diagram that lifting connector is spring described in the embodiment of the present invention；
Figure 13 is battery stand structural schematic diagram described in the embodiment of the present invention；
Figure 14 is mounting structure schematic diagram of the battery in robot described in the embodiment of the present invention.
Description of symbols:
1- pedestal；11- bottom plate；111- driving mounting slot；112- tire mounting groove；1121- baffle；12- handrail；121-
Support post；122- support beam；13- side plate；131- interface；14- baffle；15- connection bent plate；16- cover board；17- distance is visited
Survey device；18- anticollision strip；
2- walking mechanism；21- driving wheel mechanism；211- motor；212- speed reducer；213- damping device；2131- slide bar；
2132- sliding block；2133- connector；2134- spring；2135- limit shaft；2136- fixed frame；2137- sliding slot；214- connecting plate；
215- bearing；216- driving wheel；22- driven wheel；
3- power supply；31- plug piece；32- position locator；33- telescope motor；34- connection electric wire；35- battery；36-
Cable protective tube；37- retracting cylinder；38- electric wire attaching means；381- fixing axle；382- constrains line wheel；383- goes up and down connector；
3831- lifting shaft；3832- sliding sleeve；384- pedestal；39- battery stand；391- support plate；392- detent chimb；
The fixed support of 393-；
4- goes up and down holder；41- holder；411- holder pedestal；412- connector；4121- drive socket；413- probe peace
It shelves；415- angular adjustment frame；42- holder support frame；421- protection board；The tool box 422-；423- fixing piece；424- support
Plate；425- display；426- loudspeaker；427- sound pick-up；43- elevating mechanism；Motor is used in 431- lifting；432- screw rod；433-
Bar slide unit；434- sliding block；435- drag chain；436- goes up and down supporting element；
5- video camera.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply phase
To importance or implicitly indicate the quantity of indicated technical characteristic.The feature for defining " first ", " second " etc. as a result, can
To explicitly or implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, " multiple "
It is meant that two or more.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood by concrete condition
Concrete meaning in the present invention.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
As shown in Fig. 1 to 14, the present invention provides a kind of indoor crusing robot, including pedestal 1, walking mechanism 2, power supply 3,
Go up and down holder 4, video camera 5 and controller；
The walking mechanism 2 is fixed on the lower end of pedestal 1, and power supply 3 is fixed in pedestal 1；
The lifting holder 4 includes holder 41, holder support frame 42 and elevating mechanism 43；
The fixing end of the elevating mechanism 43 is fixed on pedestal 1, and lift side is fixedly connected with the holder support frame, institute
The top for stating holder support frame is fixedly connected with the holder；
The video camera is fixed on the holder；
The walking mechanism, lifting holder and video camera power end with the power electric connection；
The controller is connect with the walking mechanism, lifting holder and camera signal respectively.
It is additionally provided with GPS locator on pedestal, realizes the positioning of robot.
Temperature Humidity Sensor and wind sensor are additionally provided on pedestal, to realize the monitoring of robot external environment.
Controller includes upper computer and lower computer, and host computer is sensed with GPS locator, Temperature Humidity Sensor, wind-force respectively
The sensors such as device, range finder and camera signal connection, realize data analysis, slave computer respectively with walking mechanism, rise
The control end signal connection for dropping holder, controls the movement of robot.
The course of work of the invention are as follows: controller control walking mechanism runs to designated position, then passes through lifting holder
Elevating mechanism adjust camera height, then by holder adjust video camera horizontal rotation angle and vertical tilt angle, reality
Existing video camera is directed to the flexible clear shooting of locality, realizes the efficient monitoring of robot.
Further, the holder support frame 42 is in lower end and the rectangular-shape body structure of a side opening, the lifting
Mechanism 43 is located at the inside of the holder support frame 2.
Further, the elevating mechanism 43 includes lifting motor 431, screw rod 432, screw rod slide unit 433 and sliding block
434；
The lifting motor 431 and screw rod 432 are sequentially connected, and screw rod 432 is driven to rotate；
The screw rod 432 is rotatably fixed on the bottom end of the screw rod slide unit 433, which is vertically arranged in
Inside holder support frame 42, and sliding block sliding channel is constituted with the holder support frame 42；
The sliding block 434 is through on the screw rod 432, and is bonded 433 length direction of the screw rod slide unit setting, the sliding block
434 are threadedly engaged and go up and down in sliding block sliding channel with screw rod 432 and slide；
The sliding block 434 is fixedly connected with the holder support frame 42.
Further, the elevating mechanism 43 further includes drag chain 435, and described 435 one end of drag chain is fixed on the holder branch
On support 42, the other end is fixed on the upper end of the screw rod slide unit 433.
Further, the drag chain 435 is linked by hollow connection buckle.
Further, the elevating mechanism 43 further includes lifting supporting element 436, the lifting supporting element 436 and the silk
Bar slide unit 433 is fixedly connected, and the screw rod slide unit is fixed on the base by lifting supporting element.
Further, protection board 421 is additionally provided on the lateral wall of the holder support frame 42.
Protection board had not only avoided the abrasion of the lifting holder in robot, but also realized the beauty of lifting holder appearance；
When in use, controller control lifting is rotated with motor drives screw mandrel first, screw rod and sliding block be threadedly engaged with
And sliding block and screw rod slide unit are bonded, and when realizing screw rod rotation, situation that sliding block walks up and down；
Sliding block walks up and down, and holder support frame is driven to walk up and down, and then drives the lifting of holder, facilitates and visits on holder
Head is the case where different height detects peripheral information.
In addition, the setting of drag chain, realizes the downward purpose of cable secure on holder, it is hollow that cable is penetrated the every section of drag chain
Connection buckle in, the security arrangement of cable can be realized.
Further, the holder 41 includes pedestal 411, connector 412 and probe mounting frame 413；
Rotating mechanism is equipped in the pedestal 411, the rotation axis of the rotating mechanism is stretched out by pedestal 411 and and connector
412 are fixedly connected；
The probe mounting frame 413 is mounted on the side of connector 412 by angular adjustment frame 415.
Further, the probe mounting frame 413 has a pair, relatively fixed in the connection by angular adjustment frame 415
The two sides of part 412.
Further, the rotating mechanism include the first micro-machine, the output shaft of first micro-machine with it is described
Connector 412 is fixedly connected.
Further, the output shaft of first micro-machine passes through drive socket 4121 and the connector 412 is fixed
Connection.
Further, the angular adjustment frame 415 includes connecting across the shaft of the connector 412 and with the rotating shaft transmission
The second micro-machine connect.
Further, the video camera 5 is mounted on the probe mounting frame 413.
The pedestal of holder is fixed on the top of holder support frame, and holder support frame can drive holder to go up and down, while pedestal
It is inside equipped with the first micro-machine, which can drive holder to be revolved by connector under the control of the controller
Turn；
Probe mounting frame is fixed by angular adjustment frame, i.e. the rotation of the second micro-machine under control of the controller can drive
Shaft rotation, shaft rotation drives probe mounting frame to transfer, and then video camera is driven to adjust the angle shooting.
Further, the holder support frame is equipped with tool box, and 422 tool boxes 422 include tool box main body, the work
Has box main body in flat, one end of the tool box main body is fixedly connected with the holder support frame 42, and the other end is equipped with door knot
Structure, the door is by being fastened on the tool box main body.
Further, four side walls of the tool box main body rectangular frame-shaped, the tool box main body are parallel to the work
Has the axle center of box main body, one end of the tool box main body is fixed on the leading flank of the holder support frame 42, and the other end is equipped with
Door.
Further, the tool box main body is in flat and outer end opening rectangular-shape, the inner end of the tool box main body
It is embedded in the holder support frame 42.
Further, the tool box main body is fixed on the lower end of 42 leading flank of holder support frame.
Further, fixing piece 423, support plate 424, display 425, loudspeaker are additionally provided on the holder support frame 42
426 and sound pick-up 427；
The display 425, loudspeaker 426 and sound pick-up 427 are fixed in support plate 424, and the support plate 424 passes through solid
Determine part 423 to be fixed on holder support frame.
Further, for the fixing piece 423 in horizontal U-shaped, opening is fixed on 42 leading flank of holder support frame
On, the one end of the fixing piece 423 far from opening is in plane tabular；
The support plate 424 is fixed on one end far from opening on the fixing piece 423, and 424 Horizontal vertical of support plate
Straight setting, and be in right-angled intersection with the holder support frame 42；
The display 425 is fixed on the middle part of the support plate 424, and the loudspeaker 426 and sound pick-up 427 are fixed respectively
In the support plate 424 of 425 two sides of display.
Tool box is fixed on holder support frame so that crusing robot no matter walk where, all carry mechanic
Tool, in chance failure, repairman need to only rush to crusing robot site opening tool box as early as possible to be made crusing robot
It is repaired with tool, does not need selection, lookup and the carrying of the model progress tool for corresponding to crusing robot again, facilitate dimension
The work for repairing personnel also improves the response efficiency of chance failure；
Display was fixed on display steadily on holder support frame by the fixation of fixing piece and support plate, but also
So that having certain interval between display and holder support frame, the installation, maintenance and heat dissipation of display are facilitated
Further, the pedestal includes bottom plate 11, side plate 13, baffle 14, connection bent plate 15, cover board 16 and handrail 17；
There are two the side plates 13, respectively the relatively fixed left and right sides in 11 upper surface of bottom plate；
There are two the baffles 14, respectively the relatively fixed front and rear sides in 11 upper surface of bottom plate；
The cover board 16 is fixed on the upper end of the side plate 13, and the front and rear sides of 16 lower end surface of cover board by passing through respectively
Connection bent plate 15 is fixedly connected with corresponding baffle 14, and the connection bent plate 15 concaves relative to cover board 16 and baffle 14
Into formation groove；
The handrail 12 has a pair, the relatively fixed two sides for being mounted on the cover board 16.
Further, the baffle 14 is in outwardly protruding arcuation.
Further, anticollision strip 18 is installed on the lateral surface of the baffle 14.
Further, the side plate 13 is equipped with interface 131.
Further, the handrail 12 includes support post 121 and support beam 122, and the support post 121 has two
Group, the upper end are separately fixed at the both ends of the support beam 122, and lower end is fixed on cover board 16.
Further, the vertical cross section of the connection bent plate 15 is in outwardly open L shape, and one end and baffle 14 are fixed
Connection, the other end are fixedly connected with cover board 16, which cooperates cover board 16 to form groove.
Further, range finder 17 is equipped in the groove.
The pedestal adjusts support construction and video camera etc. to walking mechanism, the lifting holder etc. for supporting crusing robot
Exploring block, so that walking mechanism, lifting holder and video camera work normally under the control of the controller；
Range finder on the pedestal detects its front end at a distance from barrier, prevents crusing robot from bumping against obstacle
Object；
Interface on side plate connect with robot controller signal when installing and using, facilitates the machine by the pedestal
People's controller and extraneous free data exchange, avoid and need to open the problem of controller could be arranged in bottom case when in use；
The robot needs that break down lift, but when not being that high-volume in robot production line lifts, spatially can
Have certain limitation, at this moment using argue for the sake of arguing manually lift or using small machines it is more convenient, this just needs to set in robot
Set the handrail for being easy to exert a force.The setting of handrail meets this function, so that the small space of the short distance of robot lifts the side of becoming
Just.
Further, the walking mechanism 2 is installed on the bottom plate 11.
Further, the on both sides of the middle of the bottom plate 11 offers tire mounting groove 112, before the tire mounting groove 112
Both ends are equipped with baffle 1121 afterwards.
Further, the walking mechanism 2 includes being fixed on a pair of of driving wheel mechanism 21 of bottom plate two sides and the bottom of positioned at
Driven wheel 22 on plate lower end surface.
Further, the driving wheel mechanism 21 include motor 211, speed reducer 212, damping device 213, connecting plate 214,
Bearing 215 and driving wheel 216；
The driving wheel 216 is located in the tire mounting groove 112, which is fixed on described by bearing 215
On connecting plate 214, the connecting plate 214 is fixed on the bottom plate 11 by damping device 213, and the driving wheel 216 passes through
Speed reducer 212 and the motor 211 are sequentially connected.
Further, the middle part of the bottom plate 11 is equipped with driving mounting slot 111 recessed down, the driving mounting slot
111 in a rectangular parallelepiped shape, which extends to right side by the left side of bottom plate 11.
Further, the tire mounting groove 112 is to run through bottom plate 11 positioned at 111 left and right sides of driving mounting slot
Opening, and the baffle 1121 of 112 rear and front end of tire mounting groove and the front-rear side walls of the driving mounting slot 111 are neat
It is flat.
Further, the damping device 213 includes slide bar 2131, damping sliding block 2132, connector 2133, spring
2134, limit shaft 2135 and fixed frame 2136；
The slide bar 2131 is fixed on the outside of the fixed frame 2136 vertically；
The damping sliding block 2132 is set on the slide bar 2131, and is fixedly connected with connector 2133；
The limit shaft 2135 is fixed on the inside of the fixed frame 2136, and the spring 2134 is set in limit shaft 2135
Upper and upper end is fixed；
Described 2133 one end of connector is fixedly connected with connecting plate 214, and the other end is slidably set on limit shaft 2135,
And it is fixed with the lower end of spring 2134；
The fixed frame 2136 is fixed on bottom plate 11.
Further, the slide bar 2131 has a pair, the relatively fixed outside in the fixed frame 2136.
Further, the connector 2133 is U-shaped, and the connector 2133 is laterally disposed, including epipleural, lower side panel and
The medial surface of side bottom plate, the side bottom plate is fixedly connected with damping sliding block 2132, and lateral surface is fixedly connected with connecting plate 214, and
The epipleural of the connector 2133 is shorter than lower side panel, and the epipleural can be slidably mounted on slide bar 2131, and lower side panel is slidably
It is mounted on slide bar 2131 and limit shaft 2135.
Further, the fixed frame 2136 is U-shaped, and the fixed frame 2136 is laterally disposed, and is open towards connecting plate
214, the slide bar 2131 is fixed on the U-shaped opening side of the fixed frame 2136 vertically, and the limit shaft 2135 is fixed on vertically
2136 inside of fixed frame.
Further, the upper end of the slide bar 2131 and the lower end of limit shaft 2135 are equipped with sliding slot 2137, the connection
Part 2133 slides in sliding slot 2137.
Further, the fixed frame 2136 is fixedly connected by 212 shell of speed reducer with the bottom plate 11.
Further, the lower side panel of the connector 2133 is fixedly connected with the lower end of the spring 2134.
For the present invention during robot ambulation, motor via reducer drives driving wheel to rotate first, robot ambulation,
Driven wheel follows rotation, keeps the steady of robot ambulation,
When driving wheel smooth-riding surface when driving, spring is in compressive state, and when driving wheel enters pit, spring can be extensive
It is again nature, downward active force is applied to driving wheel by connecting plate, forces driving wheel to land non-slip；
When there is protrusion in bottom surface, driving wheel is caused to vibrate in the process of walking, the driving wheel of vibration passes through bearing and connection
The vibration of strip follower link, so that connector and damping sliding block slide on slide bar, and connector slides on slide bar
While synchronize and slide on limit shaft, by the fixation of connector and spring, realize spring to the buffering of vibration, reduce
Vibration during robot ambulation realizes the damping of robot ambulation；
Portion in the soleplate is arranged in driving mounting slot, maintains the balance at bottom plate center, and the setting of tire mounting groove, makes
It obtains tire no longer to protrude from left and right sides of bottom plate, avoids tire side and always rub with barrier in walking process, increase
Life of Tyre.
Further, the power supply is self-charging source, including plug piece 31, position locator 32, telescope motor 33, connection
Electric wire 34 and battery 35；
The outer end bottom surface of plug piece 31 is equipped with plug；
The position locator 32 is fixed in the outer end side surface of the plug piece 31；
The telescopic shaft of the telescope motor 33 is fixedly connected with the inner end of plug piece 31；
One end of the connection electric wire 34 is electrically connected with the plug piece 31, and the other end is electrically connected with battery 35.
Further, the robot charge power supply further includes cable protective tube 36, and the cable protective tube 36 is soft
Pipe, is set on the connection electric wire 34.
Further, the rear end of the plug piece 31 is equipped with retracting cylinder 37, and 37 outer end of retracting cylinder is fixed on plug piece
On 31, inner end is fixedly connected with the telescopic shaft of telescope motor 33, and connects electric wire 34 by stretching out in retracting cylinder 37.
Further, the robot charge power supply further includes electric wire attaching means 38, and the cooperation of electric wire attaching means 38 connects
It connects wires 34 settings, the redundant segments of constraint connection electric wire 34.
Further, the electric wire attaching means 38 includes fixing axle 381, constraint line wheel 382, lifting 383 peace treaty of connector
Bundle pedestal 384；
The lifting connector 383 has a pair, and opposed vertical is fixed on the two sides of 384 upper surface of attaching means pedestal；
The both ends of the fixing axle 381 are respectively fixedly connected with lifting connector 383 with this；
The constraint line wheel 382 can be rotated the middle part that detent is fixed on the fixing axle 381, the axis of the constraint line wheel 382
To vertical with the trend for connecting electric wire 34, the circle side of constraint line wheel 382 is equipped with to be matched with the cable protective tube 36
Restraint slot.
Further, the lifting connector 383 is the lifting shaft 3831 and sliding sleeve 3832 being mutually slidably matched.
Further, the lifting connector 383 is spring.
Further, the robot charge power supply further includes battery stand 39, and the battery 35 passes through battery
Bracket 39 is fixed, which includes support plate 391, detent chimb 392 and fixed support 393；
The support plate 391 is adapted with the bottom surface of the battery 35；
The detent chimb 392 is arranged around 391 periphery of support plate；
The fixed support 393 is fixed on the lower end of the support plate 391.
Further, the support plate 391 is in rectangle, and the fixed support 393 has a pair, and is in L shape, this is to fixation
Support the 393 relatively fixed both ends in 391 lower surface of support plate.
Robot charge power supply provided by the invention is mounted in robot, and cooperation robot special charging stake uses, machine
Device people charging pile is additionally arranged identification positioning function compared to general charging pile, i.e., in order to facilitate machine in the stake of robot special charging
The automatic identification of people is equipped with identification point or anchor point, after robot detects that robot location reaches charging pile by controller,
Controller control telescope motor stretches out first, drives plug piece to stretch out by retracting cylinder, plug piece is inserted into charging pile jack,
Charging cable no longer relaxes at this time, which drives electric wire attaching means to rise, and then after power supply is fully charged, controller control is stretched
Contracting motor is shunk, and plug piece is extracted out of charging pile jack, completes charging process, in the process, due to connection electric wire pine
It relaxes, electric wire attaching means declines under the action of self gravity or spring tension, will connect electric wire straightening, avoids twining for connection electric wire
Around confusion.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. it is a kind of interior crusing robot, it is characterised in that: including pedestal, walking mechanism, power supply, lifting holder, video camera and
Controller；
The walking mechanism is fixed on the lower end of pedestal, and power supply is fixed in pedestal；
The lifting holder includes holder, holder support frame and elevating mechanism；
The fixing end of the elevating mechanism is fixed on the base, and lift side is fixedly connected with the holder support frame, the holder
The top of support frame is fixedly connected with the holder；
The video camera is fixed on the holder；
The power end of the walking mechanism, elevating mechanism and video camera with the power electric connection；
The controller is connect with the walking mechanism, lifting holder and camera signal respectively.
2. interior crusing robot according to claim 1, it is characterised in that: the holder support frame is in lower end and side
The rectangular-shape body structure of opening, the elevating mechanism are located at the inside of the holder support frame；
The elevating mechanism includes lifting motor, screw rod, screw rod slide unit and sliding block；
The lifting motor is connect with screw rod transmission, drives screw rod rotation；
The screw rod is rotatably fixed on the bottom end of the screw rod slide unit, which is vertically arranged in holder support frame
Portion, and with the holder supporting framework at sliding block sliding channel；
The sliding block is through on the screw rod, and is bonded the screw rod slide unit length direction setting, which matches with wire rod thread
Merging is gone up and down in sliding block sliding channel slides；
The sliding block is fixedly connected with the holder support frame.
3. interior crusing robot according to claim 2, it is characterised in that: the elevating mechanism further includes drag chain, institute
It states drag chain one end to be fixed on the holder support frame, the other end is fixed on the upper end of the screw rod slide unit.
4. interior crusing robot according to claim 1, it is characterised in that: the holder includes holder pedestal, connection
Part and probe mounting frame；
Rotating mechanism is equipped in the holder pedestal, the rotation axis of the rotating mechanism is stretched out by holder pedestal and fixed with connector
Connection；
The probe mounting frame is mounted on the side of connector by angular adjustment frame.
5. interior crusing robot according to claim 1, it is characterised in that: the holder support frame is equipped with tool
Case, tool box include tool box main body, and the tool box main body is in flat, one end of the tool box main body and the holder branch
Support is fixedly connected, and the other end is equipped with door, and the door is by being fastened on the tool box main body.
6. interior crusing robot according to claim 5, it is characterised in that: be additionally provided with fixation on the holder support frame
Part, support plate, display, loudspeaker and sound pick-up；
The display, loudspeaker and sound pick-up are fixed on the supporting plate, and the support plate is fixed on holder by fixing piece and supports
On frame.
7. interior crusing robot according to claim 1, it is characterised in that: the pedestal includes bottom plate, side plate, gear
Plate, connection bent plate, cover board and handrail；
There are two the side plates, respectively the relatively fixed left and right sides in the bottom plate upper surface；
There are two the baffles, respectively the relatively fixed front and rear sides in the bottom plate upper surface；
The cover board is fixed on the upper end of the side plate, the front and rear sides of the cover board lower end surface by respectively by connection bent plate with
Corresponding baffle is fixedly connected, and the connection bent plate is inwardly recessed to form groove relative to cover board and baffle；
The handrail has a pair, the relatively fixed two sides for being mounted on the cover board.
8. interior crusing robot according to claim 1, it is characterised in that: the walking mechanism is installed in the bottom plate
On；
The on both sides of the middle of the bottom plate offers tire mounting groove, and the rear and front end of the tire mounting groove is equipped with baffle；
The walking mechanism includes being fixed on a pair of of driving wheel mechanism of bottom plate two sides and driven on bottom plate lower end surface
Wheel；
The driving wheel mechanism includes motor, speed reducer, damping device, connecting plate, bearing and driving wheel；The driving wheel is located at
In the tire mounting groove, which is fixed on the connecting plate by bearing, and the connecting plate is fixed by damping device
On the bottom plate, the driving wheel is connect by speed reducer with the motor drive.
9. interior crusing robot according to claim 1, it is characterised in that: the power supply is self-charging source, including is inserted
Head, position locator, telescope motor, connection electric wire and battery；
The outer end bottom surface of plug piece is equipped with plug；
The position locator is fixed in the outer end side surface of the plug piece；
The telescopic shaft of the telescope motor is fixedly connected with the inner end of plug piece；
One end of the connection electric wire is electrically connected with the plug piece, and the other end is electrically connected with battery.
10. interior crusing robot according to claim 9, it is characterised in that: further include electric wire attaching means, the electric wire
The setting of attaching means mating connection electric wire, the redundant segments of constraint connection electric wire；
The electric wire attaching means includes fixing axle, constraint line wheel, lifting connector and attaching means pedestal；
The lifting connector has a pair, and opposed vertical is fixed on the two sides of attaching means pedestal upper surface；
The both ends of the fixing axle are respectively fixedly connected with lifting connector with this；
The constraint line wheel can be rotated the middle part that detent is fixed on the fixing axle, the axial direction of the constraint line wheel with connect electric wire
Trend is vertical, and it is justified side and is equipped with the restraint slot matched with the connection electric wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811376375.2A CN109343536B (en) | 2018-11-19 | 2018-11-19 | Indoor inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811376375.2A CN109343536B (en) | 2018-11-19 | 2018-11-19 | Indoor inspection robot |
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| CN109343536B CN109343536B (en) | 2024-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811376375.2A Active CN109343536B (en) | 2018-11-19 | 2018-11-19 | Indoor inspection robot |
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| CN109947137A (en) * | 2019-03-19 | 2019-06-28 | 北京特种机械研究所 | A kind of PGV visual scanning head automatic tracking apparatus |
| CN110143268A (en) * | 2019-05-06 | 2019-08-20 | 中国科学院深圳先进技术研究院 | Wall detection robot is climbed under water |
| CN110193837A (en) * | 2019-05-24 | 2019-09-03 | 北京海益同展信息科技有限公司 | Rail polling robot |
| CN110962111A (en) * | 2019-11-19 | 2020-04-07 | 深圳市安泽智能机器人有限公司 | Robot |
| CN111561651A (en) * | 2020-06-01 | 2020-08-21 | 深圳市赛为智能股份有限公司 | Inspection robot and working method thereof |
| CN113829363A (en) * | 2021-09-16 | 2021-12-24 | 武汉工程大学 | Intelligent inspection robot and inspection method for 5G base station data center |
| CN115092287A (en) * | 2021-11-01 | 2022-09-23 | 杭州申昊科技股份有限公司 | Driving steering mechanism of walking robot |
| CN116146661A (en) * | 2023-04-13 | 2023-05-23 | 国网江苏省电力有限公司泰州供电分公司 | Intelligent inspection equipment |
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| CN115092287A (en) * | 2021-11-01 | 2022-09-23 | 杭州申昊科技股份有限公司 | Driving steering mechanism of walking robot |
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| CN116146661A (en) * | 2023-04-13 | 2023-05-23 | 国网江苏省电力有限公司泰州供电分公司 | Intelligent inspection equipment |
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