CN111516779B - Obstacle crossing inspection robot and obstacle crossing method - Google Patents
Obstacle crossing inspection robot and obstacle crossing method Download PDFInfo
- Publication number
- CN111516779B CN111516779B CN202010381670.8A CN202010381670A CN111516779B CN 111516779 B CN111516779 B CN 111516779B CN 202010381670 A CN202010381670 A CN 202010381670A CN 111516779 B CN111516779 B CN 111516779B
- Authority
- CN
- China
- Prior art keywords
- bridge plate
- obstacle
- vehicle body
- accommodating cavity
- obstacle crossing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C9/00—Special pavings; Pavings for special parts of roads or airfields
- E01C9/08—Temporary pavings
Abstract
The invention relates to an obstacle crossing inspection robot and an obstacle crossing method, wherein the obstacle crossing inspection robot comprises a vehicle body and wheels arranged on the left side and the right side of the vehicle body, the vehicle body is provided with an accommodating cavity penetrating through the front side and the rear side of the vehicle body, a bridge plate and a manipulator are arranged in the accommodating cavity, the manipulator can transfer the bridge plate to an obstacle ditch from the front end of the accommodating cavity, the manipulator can transfer the bridge plate to the accommodating cavity from the obstacle ditch through the rear end of the accommodating cavity, and the space size between the wheels on the two sides of the vehicle body is smaller than the width size of the bridge plate, so that the vehicle body can run on the bridge plate. Through set up manipulator and bridgeplate on the automobile body, the manipulator shifts out the bridgeplate and retrieves the bridgeplate from the rear end that holds the chamber after obstacle crossing from holding the front end in chamber before obstacle crossing to realize that the automobile body passes through the bridgeplate and crosses the obstacle ditch, have the operation convenient and can independently cross the characteristics of obstacle. Meanwhile, the bridge plate is directly recovered from the rear end of the accommodating cavity after the vehicle body passes through the obstacle ditch, the position of the vehicle body can be prevented from being readjusted in the recovery operation, and the obstacle crossing efficiency is further improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an obstacle crossing inspection robot and an obstacle crossing method.
Background
In the process of power equipment inspection, more and more power equipment inspection work is completed through the inspection robot for saving human resources. In an inspection site, an obstacle ditch without a top cover exists on an inspection road, and a general wheeled robot cannot pass through the obstacle ditch.
Therefore, there is a need for an obstacle crossing inspection robot, which has the feature of automatically crossing obstacle ditches.
Disclosure of Invention
The invention aims to provide an obstacle crossing inspection robot and an obstacle crossing method, which have the characteristics of automatic obstacle crossing and high obstacle crossing efficiency.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a pair of robot is patrolled and examined to obstacle surmounting, including the automobile body with set up in the wheel of the left and right sides of automobile body, the automobile body is provided with the chamber that holds that runs through its front and back side, it is provided with bridge plate and manipulator to hold the intracavity, the manipulator can with the bridge plate is followed the front end that holds the chamber is transferred to the obstacle ditch on, and the manipulator can with the bridge plate is followed the obstacle is communicated to be passed the rear end that holds the chamber is transferred to hold the intracavity, be located the both sides of automobile body interval size between the wheel is less than the width size of bridge plate, so that the automobile body can travel on the bridge plate.
Furthermore, the bottom of the accommodating cavity is provided with a roller, and the bridge plate is placed on the roller.
Further, the manipulator includes first extensible member and second extensible member, first extensible member level set up in hold the top in chamber, the second extensible member set up perpendicularly in on the first extensible member, the expansion end of second extensible member is provided with the connection claw, connect the claw be used for with the bridge plate is connected.
Further, the number of the manipulators is two, one manipulator of the two manipulators is used for transferring the bridge plate from the accommodating cavity to the barrier groove, and the other manipulator of the two manipulators is used for transferring the bridge plate from the barrier groove to the accommodating cavity.
Furthermore, the connection claw is provided with an electromagnet, the bridge plate is provided with an iron sheet capable of being adsorbed by the electromagnet, and the connection claw is connected with the bridge plate through the electromagnet and the iron sheet in a magnetic attraction manner.
Further, the manipulator includes the third extensible member, the stiff end of third extensible member with the top of holding the chamber rotates and is connected, the expansion end of third extensible member is provided with the jack catch portion, the jack catch portion be used for with the bridge plate is connected.
Furthermore, a sliding block is arranged on the bridge plate, the sliding block can slide along the length direction of the bridge plate, and the third telescopic piece is connected with the sliding block.
Further, the automobile body still is provided with distance sensor, distance sensor is used for detecting the automobile body with the interval between the obstacle ditch.
Furthermore, the front end and the rear end of the accommodating cavity are both provided with limiting parts, and the bridge plate is located between the two limiting parts.
The obstacle crossing inspection robot comprises the obstacle crossing inspection robot and further comprises the following steps:
s1, the vehicle body is provided with a distance sensor, the distance sensor measures the distance from the vehicle body to the obstacle trench, and the vehicle body stops within a set distance range;
s2, starting the manipulator, and transferring the bridge plate from the front end of the accommodating cavity to the obstacle groove;
s3, driving the vehicle body on the bridge plate so that the vehicle body crosses the obstacle ditch;
and S4, stopping after the vehicle body completely passes over the bridge plate, and starting the manipulator to transfer the bridge plate from the obstacle groove to the accommodating cavity.
Compared with the prior art, the invention has the beneficial effects that:
according to the obstacle crossing inspection robot and the obstacle crossing method, the manipulator and the bridge plate are arranged on the vehicle body, the manipulator moves the bridge plate out of the front end of the accommodating cavity before obstacle crossing and recovers the bridge plate from the rear end of the accommodating cavity after obstacle crossing, so that the vehicle body can cross the obstacle ditch through the bridge plate, and the obstacle crossing inspection robot has the characteristics of convenience in operation and capability of crossing obstacles independently. Meanwhile, the bridge plate is directly recovered from the rear end of the accommodating cavity after the vehicle body passes through the obstacle ditch, the position of the vehicle body can be prevented from being readjusted in the recovery operation, and the obstacle crossing efficiency is further improved.
Drawings
Fig. 1 is a schematic view of an obstacle crossing inspection robot according to an embodiment.
Fig. 2 is a schematic diagram of an obstacle crossing inspection robot according to another embodiment.
Fig. 3 is a schematic view of an obstacle crossing inspection robot according to still another embodiment.
Fig. 4 is a schematic view of an obstacle crossing inspection robot according to still another embodiment.
In the figure:
1. a vehicle body; 10. a wheel; 11. a roller; 12. an avoidance groove; 2. a manipulator; 21. a first telescoping member; 22. a second telescoping member; 23. a third telescoping member; 3. a bridge plate; 4. the groove is obstructed.
Detailed Description
In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings.
For the convenience of description, the advancing direction of the obstacle crossing inspection robot is taken as a reference, one side facing the advancing direction is a front side, the side opposite to the front side is a rear side, and a left side and a right side are arranged between the front side and the rear side correspondingly.
As shown in fig. 1 to 4, the obstacle crossing inspection robot provided by the invention comprises a vehicle body 1 and wheels 10 arranged on the left side and the right side of the vehicle body 1, wherein the vehicle body 1 is provided with accommodating cavities penetrating through the front side and the rear side of the vehicle body, a bridge plate 3 and a manipulator 2 are arranged in the accommodating cavities, the manipulator 2 can transfer the bridge plate 3 from the front end of the accommodating cavity to an obstacle ditch 4, the manipulator 2 can transfer the bridge plate 3 from the obstacle ditch 4 to the accommodating cavity through the rear end of the accommodating cavity, and the space between the wheels 10 on the two sides of the vehicle body 1 is smaller than the width of the bridge plate 3, so that the vehicle body 1 can run on the bridge plate 3. In this embodiment, the bridge plate 3 is adapted to overlap an opening of the obstacle trench 4, and functions as a bridge so that the vehicle body 1 passes over the obstacle trench 4 via the bridge plate 3. The accommodation chamber is used for installing the manipulator 2 and placing the bridge plate 3, and is located at one end of the vehicle body 1 close to the wheels 10 to reduce the transfer distance of the bridge plate 3. The front side and the rear side of the accommodating cavity are arranged in a penetrating mode, and before the obstacle is crossed, the manipulator 2 moves the bridge plate 3 out of the front end of the accommodating cavity and is connected to the obstacle ditch 4 in an overlapping mode. The distance L between the left and right wheels 10 of the vehicle body 1 is smaller than the width of the bridge plate 3, and the vehicle body 1 passes through the barrier groove 4 through the bridge plate 3. After the obstacle crossing, the manipulator 2 moves the bridge plate 3 into the accommodating cavity from the rear end of the accommodating cavity, so that the bridge plate 3 is recovered. This structure moves out and retrieves the bridge plate 3 from the front and rear sides of the accommodation chamber, respectively, and the operation is convenient. Meanwhile, the bridge plate 3 is directly recovered from the rear end of the containing cavity after the vehicle body 1 passes through the obstacle ditch 4, the position of the vehicle body 1 can be prevented from being readjusted in the recovery operation, and the obstacle crossing efficiency is further improved.
Specifically, the vehicle body 1 is also provided with a distance sensor for detecting the distance between the vehicle body 1 and the obstacle trench 4. It is understood that the obstacle trench 4 is detected by the distance sensor to stop the vehicle body 1 at a position near the opening of the obstacle trench 4 on one side of the obstacle trench 4, and the vehicle body drives over the obstacle trench 4 after completing the overlapping of the bridge plate 3.
Specifically, referring to fig. 2, the bottom of the accommodating chamber is provided with rollers 11, and the bridge plate 3 is placed on the rollers 11. In this embodiment, the number of the rollers 11 is plural, and the plural rollers 11 are provided at intervals in the front-rear direction of the vehicle body 1. Set up gyro wheel 11, be favorable to reducing the bridge plate 3 and shift out or the immigration frictional force when holding the chamber, avoid wearing and tearing between bridge plate 3 and the chamber wall that holds the chamber to and reduce the energy resource consumption when manipulator 2 transfers bridge plate 3.
In one embodiment, referring to fig. 4, the manipulator 2 includes a first telescopic member 21 and a second telescopic member 22, the first telescopic member 21 is horizontally disposed at the top of the accommodating cavity, the second telescopic member 22 is vertically disposed on the first telescopic member 21, and a movable end of the second telescopic member 22 is provided with a connecting claw for connecting with the bridge plate 3. In this embodiment, the fixed end of the first extensible member 21 is horizontally installed at the top of the accommodating cavity, the movable end of the first extensible member 21 is connected with the fixed end of the second extensible member 22, the movable end of the second extensible member 22 is provided with a connecting claw, and the connecting claw is used for being connected with the bridge plate 3. The horizontal movement of the bridge plate 3 is realized by the extension and contraction of the first extensible member 21, and the vertical movement of the bridge plate 3 is realized by the extension and contraction of the second extensible member 22.
Specifically, the manipulator 2 has two, the first extensible member 21 of one manipulator 2 extends to the front side of the vehicle body 1 to realize the transfer of the bridge plate 3 from the accommodating cavity to the obstacle groove 4, and the first extensible member 21 of the other manipulator 2 extends to the rear side of the vehicle body 1 to realize the transfer of the bridge plate 3 from the obstacle groove 4 to the accommodating cavity.
Specifically, the connection claw is provided with the electro-magnet, and bridge plate 3 is provided with the iron sheet that can adsorb with the electro-magnet, connects claw and bridge plate 3 and passes through electro-magnet and iron sheet magnetism to be inhaled and be connected. It can be understood that the connection claw is connected with the bridge plate 3 through magnetic attraction, so that selective connection between the connection claw and the bridge plate 3 is facilitated, and connection and separation between the connection claw and the bridge plate 3 are achieved through power-on and power-off of the electromagnet.
In another embodiment, referring to fig. 1 and 2, the manipulator 2 includes a third telescopic member 23, a fixed end of the third telescopic member 23 is rotatably connected to the top of the accommodating cavity, and a movable end of the third telescopic member 23 is provided with a claw portion for connecting with the bridge plate 3. In this embodiment, the third extensible member 23 is an electric extensible member, the third extensible member 23 can rotate along the joint of the fixed end thereof and the accommodating cavity, and the bridge plate 3 can be transferred between the accommodating cavity and the obstacle trench 4 by the rotation and the extension of the third extensible member 23. The clamping claw part is provided with an electromagnet, an iron sheet which can attract the electromagnet is arranged on the bridge plate 3, and the clamping claw part and the bridge plate 3 are connected through the electromagnet and the iron sheet, so that the clamping claw part is separated from the bridge plate 3 after the bridge plate 3 and the obstacle groove 4 are installed.
In another embodiment, referring to fig. 3, the bridge plate 3 is provided with a sliding block which can slide along the length direction of the bridge plate 3, and the third telescopic member 23 is connected with the sliding block. In the present embodiment, the longitudinal direction of the bridge plate 3 is parallel to the advancing direction of the vehicle body 1. The slider slides and sets up on bridge 3, and the stiff end of third extensible member 23 rotates with the top that holds the chamber to be connected, and the expansion end of third extensible member 23 rotates with the slider to be connected, realizes that bridge 3 moves along the horizontal direction through the flexible of third extensible member 23. The top of holding the chamber is provided with dodges groove 12, dodges groove 12 and runs through in the bottom surface that holds the chamber and the bottom surface of automobile body 1 to and run through in the front side and the trailing flank of automobile body 1. When the obstacle is crossed, the third telescopic piece 23 extends towards the front side of the vehicle body 1, so that the bridge plate 3 moves forwards and covers the opening of the obstacle groove 4, the vehicle body 1 runs forwards, the third telescopic piece 23 penetrates through the avoiding groove 12 and is rotatably connected with the bridge plate 3 in the process of passing through the bridge plate 3, and meanwhile, the distance between the connecting position of the third telescopic piece 23 and the top of the accommodating cavity and the bridge plate 3 is changed by stretching of the third telescopic piece 23 and sliding of the sliding block. When the vehicle body 1 passes over the obstacle groove 4, the third extendable member 23 is retracted, and the bridge plate 3 is transferred from the rear end of the housing chamber into the housing chamber.
Specifically, the front end and the rear end of the accommodating cavity are both provided with limiting parts, and the bridge plate 3 is located between the two limiting parts. It can be understood that the limiting member is used for limiting and fixing the bridge plate 3, and the bridge plate 3 is prevented from sliding and falling off the vehicle body 1 during the running of the vehicle body 1.
Specifically, the obstacle crossing inspection robot further comprises an inspection unit, a power supply unit and a processing unit. The inspection unit is used for detecting power equipment, the power supply unit comprises a storage battery, and the power supply unit provides electric energy for the obstacle-crossing inspection robot.
The obstacle crossing inspection robot further comprises the following steps:
s1, the vehicle body 1 is provided with a distance sensor, the distance sensor measures the distance from the vehicle body 1 to the obstacle trench 4, and the vehicle body 1 moves to a set distance range and stops;
s2, starting the manipulator 2, and transferring the bridge plate 3 from the front end of the accommodating cavity to the obstacle groove 4 through the manipulator 2;
s3, the vehicle body 1 is driven on the bridge plate 3 so that the vehicle body 1 passes over the obstacle trench 4;
s4, the vehicle body 1 completely passes over the bridge plate 3 and stops, and the robot 2 is started to transfer the bridge plate 3 from the obstacle groove 4 to the housing cavity.
In this embodiment, shift out the bridge plate 3 and retrieve the bridge plate 3 from the rear end that holds the chamber respectively from the front end that holds the chamber through manipulator 2, realize surmounting the obstacle and patrol and examine the robot and independently cross obstacle ditch 4.
The remarkable effects of the embodiment are as follows: through set up manipulator 2 and bridge 3 on automobile body 1 to shift out bridge 3 and retrieve bridge 3 from the rear end that holds the chamber after the obstacle crossing through manipulator 2 before the obstacle crossing, in order to realize that automobile body 1 crosses obstacle ditch 4 through bridge 3, have the convenient and characteristics that can independently cross the obstacle. Meanwhile, the bridge plate 3 is directly recovered from the rear end of the containing cavity after the vehicle body 1 passes through the obstacle ditch 4, the position of the vehicle body 1 can be prevented from being readjusted in the recovery operation, and the obstacle crossing efficiency is further improved.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (5)
1. The obstacle crossing inspection robot is characterized by comprising a vehicle body and wheels arranged on the left side and the right side of the vehicle body, wherein the vehicle body is provided with accommodating cavities penetrating through the front side and the rear side of the vehicle body, a bridge plate and a mechanical arm are arranged in the accommodating cavities, the mechanical arm can transfer the bridge plate to an obstacle ditch from the front end of the accommodating cavity, the mechanical arm can transfer the bridge plate to the accommodating cavities from the rear end of the accommodating cavity through obstacles, and the space between the wheels on the two sides of the vehicle body is smaller than the width of the bridge plate, so that the vehicle body can run on the bridge plate;
the manipulator comprises a third telescopic piece, the fixed end of the third telescopic piece is rotatably connected with the top of the accommodating cavity, and the movable end of the third telescopic piece is provided with a clamping claw part which is used for being connected with the bridge plate;
the bridge plate is provided with a sliding block, the sliding block can slide along the length direction of the bridge plate, and the third telescopic piece is connected with the sliding block.
2. An obstacle crossing inspection robot according to claim 1, wherein rollers are provided at the bottom of the receiving cavity, and the bridge plate is placed on the rollers.
3. An obstacle crossing inspection robot according to claim 1, wherein the body is further provided with a distance sensor for detecting a distance between the body and the obstacle trench.
4. The obstacle crossing inspection robot according to claim 1, wherein limiting pieces are arranged at the front end and the rear end of the accommodating cavity, and the bridge plate is located between the two limiting pieces.
5. An obstacle crossing inspection robot including the obstacle crossing inspection robot according to any one of claims 1 to 4, further comprising the steps of:
s1, the vehicle body is provided with a distance sensor, the distance sensor measures the distance from the vehicle body to the obstacle trench, and the vehicle body stops within a set distance range;
s2, starting the manipulator, and transferring the bridge plate from the front end of the accommodating cavity to the obstacle groove;
s3, driving the vehicle body on the bridge plate so that the vehicle body crosses the obstacle ditch;
and S4, stopping after the vehicle body completely passes over the bridge plate, and starting the manipulator to transfer the bridge plate from the obstacle groove to the accommodating cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010381670.8A CN111516779B (en) | 2020-05-08 | 2020-05-08 | Obstacle crossing inspection robot and obstacle crossing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010381670.8A CN111516779B (en) | 2020-05-08 | 2020-05-08 | Obstacle crossing inspection robot and obstacle crossing method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111516779A CN111516779A (en) | 2020-08-11 |
| CN111516779B true CN111516779B (en) | 2021-11-02 |
Family
ID=71912384
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010381670.8A Active CN111516779B (en) | 2020-05-08 | 2020-05-08 | Obstacle crossing inspection robot and obstacle crossing method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111516779B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102009642A (en) * | 2009-09-06 | 2011-04-13 | 李涛 | A vehicle obstacle crossing device by automatically bridging |
| CN206692976U (en) * | 2017-05-17 | 2017-12-01 | 国网山东省电力公司梁山县供电公司 | A kind of vehicle-mounted interim quick paving device of electric power |
| EP3628777A1 (en) * | 2018-09-27 | 2020-04-01 | Eagle Technology, LLC | Robotic bridging system |
-
2020
- 2020-05-08 CN CN202010381670.8A patent/CN111516779B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102009642A (en) * | 2009-09-06 | 2011-04-13 | 李涛 | A vehicle obstacle crossing device by automatically bridging |
| CN206692976U (en) * | 2017-05-17 | 2017-12-01 | 国网山东省电力公司梁山县供电公司 | A kind of vehicle-mounted interim quick paving device of electric power |
| EP3628777A1 (en) * | 2018-09-27 | 2020-04-01 | Eagle Technology, LLC | Robotic bridging system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111516779A (en) | 2020-08-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110254278B (en) | New energy automobile charging system | |
| CN1751650A (en) | Charging device for automatic vacuum cleaner, and connecting method therefor | |
| CN105545047A (en) | Left-right parallel thrust-lifting type transverse intelligent automobile carrier | |
| CN207633816U (en) | A kind of new bicycle transfer device | |
| CN111516779B (en) | Obstacle crossing inspection robot and obstacle crossing method | |
| CN106393167A (en) | Self-reconfiguration robot connecting device | |
| CN211641988U (en) | Vehicle-mounted unmanned aerial vehicle device | |
| CN108005447B (en) | Clamp arm, clamping assembly and carrier using same | |
| CN2868164Y (en) | Charging device for automatic vacuum cleaner | |
| CN207015471U (en) | A kind of lightweight magnetic roller adsorption type wall climbing robot | |
| CN208264009U (en) | A kind of machinery garage automobile intelligent charging unit | |
| CN109159712B (en) | Self-charging track-changing type parking stall detection mechanism | |
| CN216383104U (en) | Magnetic adsorption type structure and pipeline robot | |
| CN212890654U (en) | Wall-climbing detection robot carrying laser scanning probe | |
| CN113895266A (en) | Mobile charging pile and parking lot applying same | |
| CN111531561A (en) | Autonomous bridging robot and bridging method | |
| CN211731080U (en) | Integration snakelike arm charger robot device and system | |
| CN114310927A (en) | Chassis of rail transit inspection robot and robot | |
| CN112161144A (en) | Pipeline robot auxiliary device capable of detecting water level and water flow direction | |
| CN110254343A (en) | A kind of intelligent carrier and method for carrying with automatic charging function | |
| CN211137136U (en) | Disease detection device of building | |
| CN211617454U (en) | Automatic battery charging system | |
| CN211597926U (en) | Carry sweep and have AGV carrier who carries sweep | |
| CN219237223U (en) | Multifunctional transportation equipment for charging piles | |
| CN217126223U (en) | Grabbing system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |