CN110549346B - Robot capable of monitoring environment and monitoring method thereof - Google Patents
Robot capable of monitoring environment and monitoring method thereof Download PDFInfo
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- CN110549346B CN110549346B CN201910794188.4A CN201910794188A CN110549346B CN 110549346 B CN110549346 B CN 110549346B CN 201910794188 A CN201910794188 A CN 201910794188A CN 110549346 B CN110549346 B CN 110549346B
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- fixedly connected
- robot
- monitoring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- 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
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
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- 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
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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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
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention discloses a robot capable of monitoring environment and a monitoring method thereof. According to the invention, the monitoring direction of the robot can be changed by arranging the movable supporting columns, the self-driven direction-changing idler wheels, the supporting ring plate, the fixed sleeve, the moving grooves, the moving blocks, the supporting ring, the tooth grooves, the moving plate, the electric push rods, the pushing plates, the moving groove openings, the tooth blocks, the lifting grooves, the placing grooves, the motors, the lifting rods, the lifting screw holes and the lifting sleeve in a matched manner, so that the monitoring effect of the robot is better, and the problem that the monitoring effect of the robot is poorer due to the fact that the robot can only monitor the forward environmental condition because the monitoring direction cannot be changed when the robot is used is solved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot capable of monitoring environment and a monitoring method thereof.
Background
Along with the development of the modern society and the improvement of the living standard of people, the environmental monitoring robot is widely used in the modern society, and the monitoring direction of the existing environmental monitoring robot cannot be changed according to requirements when the robot is used, so that the robot can only monitor the position right ahead in the moving process, the problem of poor monitoring effect of the robot is caused, and the monitoring of the environment is not facilitated.
Disclosure of Invention
The invention aims to provide a robot capable of monitoring environment and a monitoring method thereof, which have the advantage of changing the monitoring direction and solve the problem of poor monitoring effect of the robot.
In order to achieve the purpose, the invention provides the following technical scheme: a robot capable of monitoring environment comprises a movable base, wherein self-driven direction-changing rollers are fixedly connected to two sides of the front surface and the back surface of the movable base, a storage battery box is fixedly connected to the left side of the top surface of the movable base, a storage battery is placed in an inner cavity of the storage battery box, a fixed disk is fixedly connected to the center of the top surface of the movable base, a supporting ring is fixedly connected to the center of the bottom of the inner cavity of the movable base, a movable notch is vertically formed in the front side of the left side of the top surface of the supporting ring in a penetrating mode, a movable supporting column is arranged in the inner cavity of the supporting ring, the top of the movable supporting column sequentially penetrates through the supporting ring, the movable base and the fixed disk from bottom to top and is fixedly connected with a supporting ring plate, a tooth groove is formed in the circumferential direction of the inner cavity of the movable, the right side of the inner cavity of the moving groove is connected with moving blocks in a sliding mode, one side, corresponding to the two moving blocks, of the moving groove is vertically and fixedly connected with a pushing plate, the center of the right side of the inner cavity of the moving base is fixedly connected with an electric push rod, the left side of the electric push rod is fixedly connected with a moving plate, a tooth block matched with a tooth socket for use is arranged on the back surface of the moving plate, and the left side of the moving plate is fixedly;
the surface of the top of the supporting ring plate is fixedly connected with a fixed sleeve, the top of the fixed sleeve is provided with a mounting base, two sides of the mounting base are fixedly connected with monitoring probes, two sides of the top surface of the mounting base are fixedly connected with air monitors, two sides of the center of the front surface of the mounting base are inlaid with alarm flashlights, two sides of the inner cavity of the fixed sleeve are vertically provided with lifting grooves, the bottom of the inner cavity of each lifting groove is slidably connected with a lifting rod, the inner side of the lifting rod penetrates through the lifting groove and is fixedly connected with a lifting sleeve, the top of the lifting sleeve is fixedly connected with the mounting base, the center of the bottom surface of the lifting sleeve is provided with a lifting screw hole, the center of the top surface of the movable supporting column is provided with a placing groove, the bottom of the inner cavity of the placing groove is fixedly connected, the top of the lifting screw penetrates through the supporting ring plate and extends to the top of the inner cavity of the lifting screw hole.
Preferably, the surface of the movable supporting column is movably connected with the inner ring of the supporting ring and the inner ring of the fixed disc through bearings, the depth of the moving notch is the same as that of the moving groove at the bottom of the inner cavity of the moving base, and the center lines of the moving notch and the moving groove are on the same straight line.
Preferably, the reinforcing rods are fixedly connected to the top and the bottom of the electric push rod, one side of the reinforcing rods, far away from the electric push rod, is fixedly connected with the moving base, and the surface of the top and the surface of the bottom of the pushing plate are in sliding contact with the top and the bottom of the inner cavity of the moving base.
Preferably, the top and the bottom on the left side of the inner cavity of the movable base are fixedly connected with a return spring, the inner side of the return spring is fixedly connected with a return plate, and the surface of the top and the surface of the bottom of the return plate are in sliding contact with the top and the bottom of the inner cavity of the movable base.
Preferably, the surface at the top of the fixed sleeve and the surface at the top of the lifting sleeve are on the same straight line, the inner diameter of the supporting ring plate is smaller than the outer diameter of the lifting sleeve, the threads on the surface of the lifting screw are arranged at the top of the supporting ring plate, and the inner diameter of the placing groove is smaller than the inner diameter of the supporting ring plate.
Preferably, the inner ring of the storage battery box is fixedly connected with an elastic protection plate in the circumferential direction, the front side and the rear side of the two sides of the bottom of the inner cavity of the storage battery box are both provided with limiting notches, the bottom of the inner cavity of each limiting notch is communicated with a movable notch, and the outer side of the inner cavity of each movable notch is slidably connected with a movable limiting block.
Preferably, the center on activity stopper top surface department fixedly connected with limiting plate, the top fixedly connected with elastic support arched plate of limiting plate, the board is placed to the top fixedly connected with of elastic support arched plate, the battery is placed in the top of placing the board.
Preferably, the surface of placing the board outer lane is sliding contact with the surface of elasticity protection shield, the surface of elastic support arch-shaped plate bottom is sliding contact with the bottom of battery box inner chamber, the surface of limiting plate is sliding contact with the inner chamber of spacing notch, the longitudinal length of activity notch is greater than the longitudinal length of spacing notch, the longitudinal length of activity stopper is greater than the longitudinal length of spacing notch.
Preferably, the back surface of the mounting base is fixedly connected with a signal receiving/transmitting antenna, the output end of the storage battery is electrically connected with the signal receiving/transmitting antenna, the electric push rod, the motor, the monitoring probe, the alarm flash lamp and the air monitor respectively, and the electric push rod, the motor, the monitoring probe, the alarm flash lamp and the air monitor are all in bidirectional electrical connection with the signal receiving/transmitting antenna.
Preferably, a monitoring method for an environment monitoring robot includes the steps of:
A) the robot is placed on the ground of a monitored place, the robot is controlled to be in a standby state by using a remote controller of the robot, when the robot breaks down, an alarm flash lamp runs to remind a user in time, the robot is checked, maintained and processed, when the robot is normal, a self-driven direction-changing roller is controlled to run normally and linearly, a monitoring probe and an air monitor are controlled to run simultaneously, and a signal receiving/transmitting antenna is used for sending the signal to the remote controller, so that an operator can know the signal in time, and the robot can conveniently perform itineration monitoring;
B) when the robot needs to change the monitoring direction in a large scale, the self-driven direction-changing roller is controlled by the remote controller to change the direction, so that the running direction of the robot is changed, and meanwhile, the monitoring direction of the monitoring probe is changed under the change of the running direction;
C) when the monitoring height of the robot needs to be raised, the remote controller is used for controlling the motor to rotate forwards, so that the lifting screw rod rotates forwards, the lifting sleeve rises on the surface of the lifting screw rod, the mounting base moves upwards, and the monitoring probe is driven to move upwards to adjust the monitoring height;
D) when the monitoring angle of robot needs lightly to finely adjust the festival, utilize remote controller control electric putter to stretch out for the activity board moves to the left, under the cooperation of tooth piece and tooth's socket, drives the activity support column rotatory, makes the mounting base rotatory, thereby slightly changes monitor's control direction.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the monitoring direction of the robot can be changed by arranging the movable supporting columns, the self-driven direction-changing idler wheels, the supporting ring plate, the fixing sleeve, the moving grooves, the moving blocks, the supporting ring, the tooth grooves, the moving plate, the electric push rods, the pushing plates, the moving groove openings, the tooth blocks, the lifting grooves, the placing grooves, the motors, the lifting rods, the lifting screw holes and the lifting sleeve in a matched manner, so that the monitoring effect of the robot is better, the problem that the monitoring effect of the robot is poorer due to the fact that the robot can only monitor the forward environmental condition because the monitoring direction cannot be changed when the robot is used is solved, and the problem that the monitoring effect of the robot is poorer is.
2. The movable supporting column can be supported through the matching of the supporting ring and the fixed disc, the moving notch is convenient for the movement of the pushing plate, the reinforcing rod is used for improving the stability of the electric push rod, the reset spring is matched with the reset plate to buffer and protect the moving block and the pushing plate, the fixed sleeve is used for accommodating the lifting sleeve, the movable limiting block, the movable notch, the elastic supporting arch plate, the limiting notch, the limiting plate, the placing plate and the elastic protecting plate are used in a matched mode, the storage battery can be buffered and protected, the storage battery is prevented from being in hard collision with the storage battery box, and the signal receiving/transmitting antenna is convenient for receiving and transmitting signals.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a cross-sectional view of a mobile base structure according to the present invention;
FIG. 3 is a top view of a support ring structure of the present invention;
FIG. 4 is a top view of the movable plate structure of the present invention;
FIG. 5 is a sectional view of the movable support post and the fixed sleeve in combination;
fig. 6 is a sectional view showing the structure of a battery case according to the present invention.
In the figure: the device comprises a movable base 1, a fixed disc 2, a movable supporting column 3, a self-driven redirecting roller 4, a supporting ring plate 5, a fixed sleeve 6, a monitoring probe 7, a mounting base 8, an air monitor 9, an alarm flashlight 10, a storage battery box 11, a reset plate 12, a movable groove 13, a movable block 14, a supporting ring 15, a tooth groove 16, a movable plate 17, an electric push rod 18, a pushing plate 19, a reset spring 20, a movable notch 21, a tooth block 22, a lifting groove 23, a placement groove 24, a motor 25, a lifting rod 26, a lifting screw 27, a lifting screw 28, a movable limiting block 29, a movable notch 30, an elastic supporting arch plate 31, a limiting notch 32, a limiting plate 33, a placement plate 34, an elastic protecting plate 35, a storage battery 36 and a lifting sleeve 37.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, a robot capable of monitoring environment comprises a movable base 1, wherein both sides of the front surface and the back surface of the movable base 1 are fixedly connected with self-driven direction-changing rollers 4, the left side of the top surface of the movable base 1 is fixedly connected with a storage battery box 11, a storage battery 36 is placed in an inner cavity of the storage battery box 11, an elastic protection plate 35 is fixedly connected to the inner ring of the storage battery box 11 in an annular direction, both the front side and the rear side of the bottom of the inner cavity of the storage battery box 11 are provided with limit notches 32, the bottom of the inner cavity of the limit notches 32 is communicated with a movable notch 30, the outer side of the inner cavity of the movable notch 30 is slidably connected with a movable limit block 29, a limit plate 33 is fixedly connected to the center of the top surface of the movable limit block 29, an elastic support arch plate, the storage battery 36 is placed on the top of the placing plate 34, the surface of the outer ring of the placing plate 34 is in sliding contact with the surface of the elastic protection plate 35, the surface of the bottom of the elastic support arch-shaped plate 31 is in sliding contact with the bottom of the inner cavity of the storage battery box 11, the surface of the limiting plate 33 is in sliding contact with the inner cavity of the limiting notch 32, the longitudinal length of the movable notch 30 is greater than that of the limiting notch 32, the longitudinal length of the movable limiting block 29 is greater than that of the limiting notch 32, the storage battery 36 can be buffered and protected by matching the movable limiting block 29, the movable notch 30, the elastic support arch-shaped plate 31, the limiting notch 32, the limiting plate 33, the placing plate 34 and the elastic protection plate 35, hard collision between the storage battery 36 and the storage battery box 11 is avoided, the fixed disc 2 is fixedly connected to the center of the top surface of the moving base 1, a movable notch 21 is vertically arranged on the left front side of the top surface of the support ring 15 in a penetrating manner, a movable support column 3 is arranged in an inner cavity of the support ring 15, the top of the movable support column 3 sequentially penetrates through the support ring 15, the movable base 1 and the fixed disk 2 from bottom to top and is fixedly connected with a support ring plate 5, the surface of the movable support column 3, the inner ring of the support ring 15 and the inner ring of the fixed disk 2 are movably connected through bearings, the depth of the movable notch 21 is the same as that of a movable groove 13 at the bottom of the inner cavity of the movable base 1, the central line is on the same straight line, the movable support column 3 can be supported through the matching of the support ring 15 and the fixed disk 2, the movement of the pushing plate 19 is facilitated through the movable notch 21, a tooth groove 16 is arranged on the surface of the movable support column 3 and in the annular direction of the inner cavity of the movable base, the right side of the inner cavity of the moving groove 13 is connected with moving blocks 14 in a sliding manner, one side corresponding to the two moving blocks 14 is vertically and fixedly connected with a pushing plate 19, the center of the right side of the inner cavity of the moving base 1 is fixedly connected with an electric push rod 18, the left side of the electric push rod 18 is fixedly connected with a moving plate 17, the back surface of the moving plate 17 is provided with a tooth block 22 matched with the tooth socket 16 for use, the left side of the moving plate 17 is fixedly connected with the pushing plate 19, the left sides of the top and the bottom of the electric push rod 18 are fixedly connected with reinforcing rods, one side of each reinforcing rod far away from the electric push rod 18 is fixedly connected with the moving base 1, the surface of the top and the surface of the bottom of the pushing plate 19 are in sliding contact with the top and the bottom of the inner cavity of the moving base 1, through the reinforcing rods, the surface of the top and the surface of the bottom of the reset plate 12 are in sliding contact with the top and the bottom of the inner cavity of the movable base 1, and the movable block 14 and the pushing plate 19 can be protected in a buffering way through the matching of the reset spring 20 and the reset plate 12;
the surface of the top of the supporting ring plate 5 is fixedly connected with a fixed sleeve 6, the top of the fixed sleeve 6 is provided with a mounting base 8, both sides of the mounting base 8 are fixedly connected with monitoring probes 7, both sides of the top surface of the mounting base 8 are fixedly connected with air monitors 9, both sides of the center of the front surface of the mounting base 8 are inlaid with alarm flashlights 10, both sides of the inner cavity of the fixed sleeve 6 are vertically provided with lifting grooves 23, the bottom of the inner cavity of the lifting groove 23 is slidably connected with a lifting rod 26, the inner side of the lifting rod 26 penetrates through the lifting groove 23 and is fixedly connected with a lifting sleeve 37, the top of the lifting sleeve 37 is fixedly connected with the mounting base 8, the center of the bottom surface of the lifting sleeve 37 is provided with a lifting screw hole 28, the center of the top surface of the movable supporting column 3 is provided with a placing groove 24, the surface, the inner diameter of the supporting ring plate 5 is smaller than the outer diameter of the lifting sleeve 37, the thread on the surface of the lifting screw 27 is arranged at the top of the supporting ring plate 5, the inner diameter of the placing groove 24 is smaller than the inner diameter of the supporting ring plate 5, the lifting sleeve 37 can be stored through the fixing sleeve 6, the bottom of the inner cavity of the placing groove 24 is fixedly connected with the motor 25, the top of the output shaft of the motor 25 is sleeved with the lifting screw 27, the top of the lifting screw 27 penetrates through the supporting ring plate 5 and extends to the top of the inner cavity of the lifting screw hole 28, and through the arrangement of the movable supporting column 3, the self-driven redirection roller 4, the supporting ring plate 5, the fixing sleeve 6, the moving groove 13, the moving block 14, the supporting ring 15, the tooth socket 16, the movable plate 17, the electric push rod 18, the push plate 19, the moving notch 21, the tooth block 22, the lifting groove 23, the placing groove 24, the monitoring direction of the robot can be changed, so that the monitoring effect of the robot is better, the problem that the monitoring effect of the robot is poor due to the fact that the monitoring direction cannot be changed when the robot is used is solved, the robot can only monitor the environment condition in the front right direction, and therefore the robot is worthy of popularization;
a monitoring method for an environment monitoring robot comprises the following steps:
A) the robot is placed on the ground of a monitored place, the robot is controlled to be in a standby state by using a remote controller of the robot, when the robot breaks down, an alarm flash lamp 10 runs to remind a user in time, the inspection and maintenance treatment is carried out, when the robot is normal, the self-driven direction-changing roller 4 is controlled to run normally and linearly, meanwhile, the monitoring probe 7 and the air monitor 9 are controlled to run, and a signal receiving/transmitting antenna is used for sending the signal to the remote controller, so that an operator can know the signal in time, and the robot can conveniently carry out itineration monitoring;
B) when the robot needs to change the monitoring direction in a large scale, the self-driven direction-changing roller 4 is controlled by the remote controller to change the direction, so that the running direction of the robot is changed, and meanwhile, the monitoring direction of the monitoring probe 7 is changed under the change of the running direction;
C) when the monitoring height of the robot needs to be raised, the remote controller is used for controlling the motor 25 to rotate forwards, so that the lifting screw 27 rotates forwards, the lifting sleeve 37 rises on the surface of the lifting screw 27, the mounting base 8 moves upwards, and the monitoring probe 7 is driven to move upwards to adjust the monitoring height;
D) when the monitoring angle of the robot needs to be adjusted slightly, the remote controller is used for controlling the electric push rod 18 to extend out, so that the movable plate 17 moves leftwards, the movable support column 3 is driven to rotate under the matching of the tooth block 22 and the tooth groove 16, the mounting base 8 is rotated, and the monitoring direction of the monitoring probe 7 is slightly changed.
All kinds of parts used in the application document are standard parts and can be purchased from the market, the specific connection mode of all parts adopts conventional means such as mature bolts, rivets, welding and the like in the prior art, the conventional models in the prior art are adopted for machinery, parts and electrical equipment, the conventional connection mode in the prior art is adopted for circuit connection, and detailed description is not given here.
In summary, the following steps: the robot capable of monitoring the environment and the monitoring method thereof solve the problem of poor monitoring effect of the robot by the matched use of the movable supporting column 3, the self-driven direction-changing roller 4, the supporting ring plate 5, the fixed sleeve 6, the moving groove 13, the moving block 14, the supporting ring 15, the tooth socket 16, the movable plate 17, the electric push rod 18, the pushing plate 19, the moving notch 21, the tooth block 22, the lifting groove 23, the placing groove 24, the motor 25, the lifting rod 26, the lifting screw 27, the lifting screw 28 and the lifting sleeve 37.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. A robot with environmental monitoring function, comprising a mobile base (1), characterized in that: the self-driven direction-changing roller wheels (4) are fixedly connected to the two sides of the front surface and the back surface of the movable base (1), a storage battery box (11) is fixedly connected to the left side of the top surface of the movable base (1), a storage battery (36) is placed in an inner cavity of the storage battery box (11), a fixed disk (2) is fixedly connected to the center of the top surface of the movable base (1), a supporting ring (15) is fixedly connected to the center of the bottom of the inner cavity of the movable base (1), a movable notch (21) is vertically formed in the front side of the left side of the top surface of the supporting ring (15) in a penetrating mode, a movable supporting column (3) is arranged in the inner cavity of the supporting ring (15), the top of the movable supporting column (3) sequentially penetrates through the supporting ring (15), the movable base (1) and the fixed, tooth sockets (16) are annularly formed in the surface of the movable supporting column (3) and located in an inner cavity of the movable base (1), moving grooves (13) are formed in the top and the left side of the bottom of the inner cavity of the movable base (1), moving blocks (14) are slidably connected to the right side of the inner cavity of the moving grooves (13), a pushing plate (19) is vertically and fixedly connected to one side corresponding to the two moving blocks (14), an electric push rod (18) is fixedly connected to the center of the right side of the inner cavity of the movable base (1), a movable plate (17) is fixedly connected to the left side of the electric push rod (18), tooth blocks (22) matched with the tooth sockets (16) for use are formed in the back surface of the movable plate (17), and the left side of the movable plate;
the surface fixed connection at the top of the supporting ring plate (5) is provided with a fixed sleeve (6), the top of the fixed sleeve (6) is provided with a mounting base (8), the two sides of the mounting base (8) are fixedly connected with monitoring probes (7), the two sides of the top surface of the mounting base (8) are fixedly connected with air monitors (9), the two sides of the center of the front surface of the mounting base (8) are inlaid with alarm flash lamps (10), the two sides of the inner cavity of the fixed sleeve (6) are vertically provided with lifting grooves (23), the bottom of the inner cavity of the lifting grooves (23) is slidably connected with lifting rods (26), the inner sides of the lifting rods (26) penetrate through the lifting grooves (23) and are fixedly connected with lifting sleeves (37), the top of the lifting sleeves (37) is fixedly connected with the mounting base (8), and the center of the bottom surface of the lifting sleeves (37) is provided with lifting screw holes, a placing groove (24) is formed in the center of the top surface of the movable supporting column (3), a motor (25) is fixedly connected to the bottom of an inner cavity of the placing groove (24), a lifting screw (27) is sleeved on the top of an output shaft of the motor (25), and the top of the lifting screw (27) penetrates through the supporting ring plate (5) and extends to the top of the inner cavity of the lifting screw (28);
the surface of the movable supporting column (3) is movably connected with the inner ring of the supporting ring (15) and the inner ring of the fixed disc (2) through bearings, the depth of the moving notch (21) is the same as that of the moving groove (13) at the bottom of the inner cavity of the moving base (1), and the central lines of the moving notch and the moving groove are on the same straight line;
reinforcing rods are fixedly connected to the left sides of the top and the bottom of the electric push rod (18), one side, far away from the electric push rod (18), of each reinforcing rod is fixedly connected with the movable base (1), and the surface of the top and the surface of the bottom of the push plate (19) are in sliding contact with the top and the bottom of the inner cavity of the movable base (1);
the top and the bottom of the left side of the inner cavity of the movable base (1) are fixedly connected with a return spring (20), the inner side of the return spring (20) is fixedly connected with a return plate (12), and the surface of the top and the surface of the bottom of the return plate (12) are in sliding contact with the top and the bottom of the inner cavity of the movable base (1);
the surface of the top of the fixed sleeve (6) and the surface of the top of the lifting sleeve (37) are on the same straight line, the inner diameter of the supporting ring plate (5) is smaller than the outer diameter of the lifting sleeve (37), the threads on the surface of the lifting screw (27) are arranged on the top of the supporting ring plate (5), and the inner diameter of the placing groove (24) is smaller than the inner diameter of the supporting ring plate (5);
an elastic protection plate (35) is fixedly connected to the inner ring of the storage battery box (11) in the circumferential direction, limiting notches (32) are formed in the front side and the rear side of the two sides of the bottom of the inner cavity of the storage battery box (11), a movable notch (30) is communicated with the bottom of the inner cavity of each limiting notch (32), and a movable limiting block (29) is connected to the outer side of the inner cavity of each movable notch (30) in a sliding mode;
a limiting plate (33) is fixedly connected to the center of the top surface of the movable limiting block (29), an elastic supporting arch-shaped plate (31) is fixedly connected to the top of the limiting plate (33), a placing plate (34) is fixedly connected to the top of the elastic supporting arch-shaped plate (31), and the storage battery (36) is placed on the top of the placing plate (34);
the surface of the outer ring of the placing plate (34) is in sliding contact with the surface of the elastic protection plate (35), the surface of the bottom of the elastic support arch-shaped plate (31) is in sliding contact with the bottom of the inner cavity of the storage battery box (11), the surface of the limiting plate (33) is in sliding contact with the inner cavity of the limiting notch (32), the longitudinal length of the movable notch (30) is greater than that of the limiting notch (32), and the longitudinal length of the movable limiting block (29) is greater than that of the limiting notch (32);
the back surface of the mounting base (8) is fixedly connected with a signal receiving/transmitting antenna, the output end of the storage battery (36) is respectively and electrically connected with the signal receiving/transmitting antenna, the electric push rod (18), the motor (25), the monitoring probe (7), the alarm flash lamp (10) and the air monitor (9), and the electric push rod (18), the motor (25), the monitoring probe (7), the alarm flash lamp (10) and the air monitor (9) are all in bidirectional electric connection with the signal receiving/transmitting antenna;
the monitoring direction of the robot can be changed by matching the movable supporting column (3), the self-driven direction-changing roller (4), the supporting ring plate (5), the fixing sleeve (6), the moving groove (13), the moving block (14), the supporting ring (15), the tooth groove (16), the moving plate (17), the electric push rod (18), the pushing plate (19), the moving notch (21), the tooth block (22), the lifting groove (23), the placing groove (24), the motor (25), the lifting rod (26), the lifting screw (27), the lifting screw hole (28) and the lifting sleeve (37).
2. The method according to claim 1, wherein the method comprises the steps of: the method comprises the following steps:
A) the robot is placed on the ground of a monitored place, the robot is controlled to be in a standby state by using a remote controller of the robot, when the robot breaks down, an alarm flash lamp (10) runs to remind a user in time, the inspection and maintenance treatment is carried out, when the robot is normal, a self-driven direction-changing roller (4) is controlled to run normally and linearly, a monitoring probe (7) and an air monitor (9) are controlled to run simultaneously, and a signal receiving/transmitting antenna is used for sending the information to the remote controller, so that an operator can know the information in time, and the robot can conveniently carry out itineration monitoring;
B) when the robot needs to change the monitoring direction in a large scale, the self-driven direction-changing roller (4) is controlled by the remote controller to change the direction of the robot, so that the running direction of the robot is changed, and meanwhile, the monitoring direction of the monitoring probe (7) is changed under the change of the running direction;
C) when the monitoring height of the robot needs to be raised, the remote controller is used for controlling the motor (25) to rotate forwards, so that the lifting screw (27) rotates forwards, the lifting sleeve (37) rises on the surface of the lifting screw (27), the mounting base (8) moves upwards, and the monitoring probe (7) is driven to move upwards to adjust the monitoring height;
D) when the monitoring angle of the robot needs to be adjusted slightly, the remote controller is used for controlling the electric push rod (18) to extend out, so that the movable plate (17) moves leftwards, the movable supporting column (3) is driven to rotate under the matching of the tooth block (22) and the tooth groove (16), the mounting base (8) is rotated, and the monitoring direction of the monitoring probe (7) is slightly changed.
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| CN201910794188.4A CN110549346B (en) | 2019-08-27 | 2019-08-27 | Robot capable of monitoring environment and monitoring method thereof |
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| CN110549346B true CN110549346B (en) | 2020-07-03 |
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| US6658325B2 (en) * | 2001-01-16 | 2003-12-02 | Stephen Eliot Zweig | Mobile robotic with web server and digital radio links |
| CN204160476U (en) * | 2014-10-08 | 2015-02-18 | 广东宏兴机械有限公司 | Servo four axle stamping mechanical arm |
| CN104329546A (en) * | 2014-11-18 | 2015-02-04 | 池州易创电子科技有限公司 | Rotatable display screen |
| CN208608266U (en) * | 2018-07-20 | 2019-03-15 | 胡友兰 | A kind of new energy charged lithium cells transport device |
| CN108958265B (en) * | 2018-08-05 | 2019-09-17 | 北京华远意通热力科技股份有限公司 | A kind of inspecting robot |
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