CN112829850A - Robot driving device and inspection robot - Google Patents
Robot driving device and inspection robot Download PDFInfo
- Publication number
- CN112829850A CN112829850A CN202110152489.4A CN202110152489A CN112829850A CN 112829850 A CN112829850 A CN 112829850A CN 202110152489 A CN202110152489 A CN 202110152489A CN 112829850 A CN112829850 A CN 112829850A
- Authority
- CN
- China
- Prior art keywords
- chassis
- robot
- spiral
- driving device
- wide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/04—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track having other than ground-engaging propulsion means, e.g. having propellers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/12—Propulsive elements directly acting on water of rotary type with rotation axis substantially in propulsive direction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/02—Propulsive elements directly acting on water of rotary type
- B63H1/12—Propulsive elements directly acting on water of rotary type with rotation axis substantially in propulsive direction
- B63H2001/122—Single or multiple threaded helicoidal screws, or the like, comprising foils extending over a substantial angle; Archimedean screws
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The application discloses robot drive arrangement and inspection robot. The robot driving device comprises a chassis, a lifting screw mechanism and two propelling mechanisms. The chassis is formed with a lifting hole penetrating the upper and lower surfaces thereof. The lifting screw mechanism is arranged at the lifting hole and is configured to drive the chassis to float up or submerge in water. Two advancing mechanism set up in the both sides of chassis, and advancing mechanism includes helical drum and drive division, and drive division drive helical drum rotates to order about the chassis walking. The technical scheme that this application provided can solve the problem that current inspection robot can't work in silt environment and deep water environment.
Description
Technical Field
The application relates to the technical field of detection robots, in particular to a robot driving device and a detection robot.
Background
The detection robot is a mechanical, electrical and instrument integrated system which can automatically walk along the inside or outside of a tiny pipeline, carry one or more sensors and an operation machine and carry out a series of pipeline operations under the remote control operation of a worker or the automatic control of a computer.
The existing detection robot cannot work in a silt or deep water environment due to the defects of the structure.
Disclosure of Invention
The application provides a robot driving device and a detection robot, which can solve the problem that the existing detection robot cannot work in a sludge environment and a deep water environment.
In a first aspect, the present invention provides a robot driving device including:
a chassis formed with a lifting hole penetrating upper and lower surfaces thereof;
the lifting screw mechanism is arranged in the lifting hole and is configured to drive the chassis to float up or submerge in water;
two advancing mechanism set up in the both sides of chassis, and advancing mechanism includes helical drum and drive division, and drive division drive helical drum rotates to order about the chassis walking.
In the implementation process, the robot driving device can carry the inspection robot body to form the inspection robot, and the inspection robot can walk in various environments through the robot driving device;
when the robot driving device is arranged on a hard walking surface, the propelling mechanisms positioned on two sides of the chassis work, and the respective spiral rollers rotate under the driving of the driving part, so that the detection robot is driven to advance together;
when the robot driving device is in a sludge environment or a water environment, the propelling mechanism works, the driving part drives the spiral roller to rotate, and the propelling threads on the surface of the spiral roller can do tunneling actions in the sludge, on the sludge, in the water or on the water surface, so that the whole detection robot is driven to advance;
when the robot driving device is in a deep water environment, the lifting screw mechanism works, and the robot is detected to float up or dive down in water by controlling the rotating direction of a lifting screw propeller of the lifting screw mechanism;
meanwhile, the advancing direction and the speed of the detection robot can be adjusted by adjusting the rotating speed and the rotating direction of the spiral rollers of the two propelling devices.
In an alternative embodiment, the propulsion mechanism comprises two helical drums and two driving parts, one driving part being built in each helical drum;
in the propulsion mechanism, two spiral rollers are arranged in a row along the side of the chassis, and the propulsion threads on the surfaces of the two spiral rollers are arranged in an opposite way.
In the implementation process, two spiral rollers are arranged on one side surface of the chassis, and each spiral roller corresponds to one driving part, so that the robot driving device can be ensured to effectively walk; meanwhile, the directions of the propelling threads of the two spiral rollers on the same side of the chassis are opposite, so that the friction force between the spiral rollers and the contact surfaces of the spiral rollers can be ensured when the propelling mechanism works, and the robot driving device is favorable for walking on complicated ground such as silt and silt.
In an alternative embodiment, one end of one of the helical rollers is rotatably and floatingly engaged with the chassis and the other end is rotatably and floatingly engaged with the other helical roller in the propulsion mechanism.
In the above implementation process, taking two spiral rollers in the same side of the chassis as an example for illustration, the ends of the two spiral rollers close to each other are connected in a matching relationship of being rotatable and being capable of floating mutually, the other end of the spiral roller is connected with the chassis in a matching relationship of being rotatable and being capable of floating with the chassis, which ensures the normal rotation of the spiral rollers and the connection stability between the two spiral rollers and the chassis, simultaneously, the obstacle crossing capability of the robot driving device is improved, when the spiral roller tunnels to an obstacle or an uneven contact surface, because the spiral rollers are connected with the chassis and the two spiral rollers are in floating fit, the spiral rollers can be adaptively adjusted in height along with obstacles or contact surfaces with different concave-convex shapes, so that friction force can be better generated between the spiral rollers and the contact surfaces, and the purpose of smoothly crossing the obstacles is achieved.
In an alternative embodiment, both ends of the chassis are respectively formed with an end bracket;
a middle bracket is also formed on the chassis between the two end brackets on the same side of the chassis;
the end part support is provided with a strip-shaped hole extending along the vertical direction, the end part of the spiral roller is provided with a rotating shaft, and the rotating shaft is rotatably arranged in the strip-shaped hole and can slide along the extending direction of the strip-shaped hole;
the middle bracket is provided with a hinged shaft, and the extension direction of the hinged shaft is vertical to the extension direction of the strip-shaped hole;
the end parts, close to each other, of the two spiral rollers are provided with hinged supports, and the two hinged supports are sleeved with each other and hinged with the hinged shaft.
In the implementation process, the two spiral rollers can float up and down through the articulated shaft, and the spiral rollers and the chassis can float up and down through the strip-shaped holes, so that when the spiral rollers pass through the barrier, the spiral rollers can float under the action of the strip-shaped holes and the articulated shaft to smoothly pass through the barrier; meanwhile, it should be noted that, in a possible implementation manner, the spiral drum includes a rotatable spiral housing and a non-rotatable base, the spiral housing is rotatably disposed on the base, the driving portion is disposed in the spiral housing and fixed with the base to drive the spiral housing to rotate, the hinge bracket is disposed on the surface of the base to be connected with the hinge shaft, and the rotation shaft is disposed on the surface of the spiral housing to be matched with the strip-shaped hole.
In an alternative embodiment, the end bracket is provided with a magnetic levitation module configured to act on the rotating shaft to drive the rotating shaft to be levitated in the strip-shaped hole.
In the implementation process, the spiral roller is in a suspension state relative to the chassis under the action of the magnetic force provided by the magnetic suspension module, so that the stability of the spiral roller is ensured, and the stability of the robot driving device in the walking process is ensured.
In a second aspect, the present invention provides an inspection robot comprising a robot body and the robot driving device of any one of the preceding embodiments;
the robot body is arranged on the chassis, and a control module of the robot body is connected with the lifting screw mechanism and the propelling mechanism.
In the implementation process, the detection robot can adapt to various complex terrains such as silt, grassland, silt or water through the robot driving device, and the environmental characteristics are obtained through the imaging device of the robot body; illustratively, when the detection robot is used for detecting a pipeline with silt and full water, the robot driving device can advance in the silt and the water through the propelling mechanism, can float upwards or submerge in the water through the lifting screw mechanism, and the detection robot detects the inside of the pipeline through the imaging device of the robot body in the advancing process of the pipeline.
In an optional embodiment, the robot body includes a plurality of wide-angle cameras, and the plurality of wide-angle cameras are arranged along the outer contour of the chassis, and are all connected with the control module, and are used for acquiring image signals of each angle, and transmitting the image signals of each angle to the control module, so as to generate a panoramic image.
In the implementation process, the plurality of wide-angle cameras work to acquire the images around the chassis and generate panoramic images through the processing of the control module, so that the improvement of the detection efficiency and the detection quality of the detection robot is facilitated.
In an optional embodiment, the number of the wide-angle cameras is six, the wide-angle cameras are divided into three groups, and the three groups respectively form a front camera assembly, a rear camera assembly and a side camera assembly;
the two wide-angle cameras of the front camera assembly are arranged at the front end of the chassis side by side and used for acquiring images in front of the chassis;
the two wide-angle cameras of the rear camera assembly are arranged at the rear end of the chassis side by side and used for acquiring images behind the chassis;
two wide-angle cameras of the lateral camera shooting assembly are respectively arranged on two sides of the chassis and opposite in orientation, and are respectively used for acquiring images of the lateral side of the chassis.
In an optional embodiment, the robot body further includes a three-dimensional imaging device, the three-dimensional imaging device is disposed on a surface of the chassis, and is connected to the control module, and is configured to acquire point cloud data of the detection environment and generate a three-dimensional image through the control module, and acquire image data and generate a panoramic image through the control module.
In an optional embodiment, the three-dimensional imaging device comprises a plurality of fisheye lenses, a top-view camera, a mounting seat and a laser annular scanning module;
the laser circular scanning module is arranged on the surface of the chassis and is connected with the mounting seat;
the wall of mount pad is evenly located to a plurality of fisheye camera lenses, and the top is looked the camera and is set up in the top surface of mount pad.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a perspective view of a robot driving device in this embodiment;
FIG. 2 is a top view of the robot driving device in this embodiment;
FIG. 3 is a schematic view of the robot driving device according to the present embodiment after hiding a portion of the structure;
FIG. 4 is a schematic view of the chassis in the present embodiment;
FIG. 5 is a schematic view of two spiral rollers and a hinge shaft in the present embodiment;
FIG. 6 is a top view of the inspection robot in this embodiment;
fig. 7 is a schematic diagram of the three-dimensional imaging apparatus in this embodiment.
Icon: 10-a chassis; 11-lifting holes; 12-an end bracket; 13-a middle support; 14-a bar-shaped hole; 15-a hinged axis; 20-a lifting screw mechanism; 30-a propulsion mechanism; 31-a spiral drum; 32-advancing the screw thread; 33-a rotating shaft; 34-a hinged bracket; 40-tail connector; 41-wide angle camera; 42-a three-dimensional imaging device; 43-fisheye lens; 44-top view camera; 45-mounting seat; 46-laser ring scan module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the embodiments of the present application, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, refer to the orientation or positional relationship as shown in the drawings, or as conventionally placed in use of the product of the application, or as conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.
In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The technical solution in the present application will be described below with reference to the accompanying drawings.
The embodiment provides a robot driving device which can solve the problem that the existing detection robot cannot work in a sludge environment and a deep water environment.
Referring to fig. 1 and fig. 2, fig. 1 is a perspective view of the robot driving device in the present embodiment, and fig. 2 is a top view of the robot driving device in the present embodiment.
The robot driving apparatus includes a chassis 10, a lifting screw mechanism 20, and two propulsion mechanisms 30.
The base plate 10 is formed with a lifting hole 11 penetrating upper and lower surfaces thereof. The elevating screw mechanism 20 is provided at the elevating hole 11 and configured to drive the chassis 10 to float up or sink down in water. The two propulsion mechanisms 30 are disposed on two sides of the chassis 10, and each propulsion mechanism 30 includes a spiral roller 31 and a driving portion, and the driving portion drives the spiral roller 31 to rotate so as to drive the chassis 10 to travel.
In the implementation process, the robot driving device can carry the inspection robot body to form the inspection robot, and the inspection robot can walk in various environments through the robot driving device.
When the robot driving device is on a hard walking surface, the propulsion mechanisms 30 on both sides of the chassis 10 operate, and the respective spiral rollers 31 are driven by the driving part to rotate, thereby driving the inspection robot to advance together.
When the robot driving device is in a sludge environment or a water environment, the propelling mechanism 30 works, the driving part drives the spiral roller 31 to rotate, and the propelling threads 32 on the surface of the spiral roller 31 can perform tunneling actions in the sludge, on the sludge, in the water or on the water surface, so that the whole detection robot is driven to advance;
when the robot driving device is in a deep water environment, the lifting screw mechanism 20 works, and the rotation direction of a lifting screw propeller of the lifting screw mechanism 20 is controlled, so that the robot can be detected to float or dive in water.
Meanwhile, by adjusting the rotation speed and the rotation direction of the spiral rollers 31 of the two propulsion devices, the advancing direction and the speed of the detection robot can be adjusted.
In the present disclosure, the propulsion mechanism 30 includes two spiral drums 31 and two driving portions, and each spiral drum 31 has one driving portion built therein.
In the propulsion mechanism 30, two helical rollers 31 are arranged in a row along the side of the chassis 10, and the propulsion threads 32 on the surfaces of the two helical rollers 31 are arranged opposite to each other. Illustratively, the advancing screw 32 of one of the helical drums 31 is clockwise helical, and the advancing screw 32 of the other helical drum 31 is counterclockwise helical.
In the implementation process, two spiral rollers 31 are arranged on one side surface of the chassis 10, and each spiral roller corresponds to one driving part, so that the robot driving device can be ensured to effectively walk; meanwhile, the directions of the propelling threads 32 of the two spiral rollers 31 on the same side of the chassis 10 are opposite, so that the friction force between the spiral rollers 31 and the contact surfaces of the spiral rollers can be ensured when the propelling mechanism 30 works, and the robot driving device is favorable for walking on complicated ground such as silt and silt.
It should be noted that, in the present disclosure, the driving portion is built in the spiral roller 31, and the driving portion is hidden by the spiral roller 31 in the drawing, so that no reference numeral is given, and meanwhile, the structure in which the driving portion is built in the spiral roller 31 is the prior art, and therefore, details about the technical scheme in which the driving portion drives the spiral roller 31 to rotate are not described herein.
Referring to fig. 3, fig. 3 is a schematic view of the robot driving device according to the embodiment after hiding a partial structure.
In the propulsion mechanism 30, one end of one of the spiral rollers 31 is rotatably and floatingly engaged with the chassis 10, and the other end is rotatably and floatingly engaged with the other spiral roller 31.
In the above implementation process, taking two spiral rollers 31 in the same side of the chassis 10 as an example for illustration, the ends of the two spiral rollers 31 close to each other are connected in a matching relationship that they can rotate and float, and the other end of the spiral roller 31 is connected with the chassis 10 in a matching relationship that they can rotate and float, which ensures the normal rotation of the spiral roller 31, also ensures the connection stability between the two spiral rollers 31 and the chassis 10, and also improves the obstacle crossing capability of the robot driving device, when the spiral roller 31 tunnels to an obstacle or uneven contact surface, because the connection relationship between the spiral roller 31 and the chassis 10 and between the two spiral rollers 31 are floating matching, the spiral roller 31 can adaptively adjust the height along with the obstacle or uneven contact surface to better generate friction with the contact surface, the purpose of smoothly crossing the obstacle is achieved.
Referring to fig. 4 and 5, fig. 4 is a schematic view of the chassis 10 in the present embodiment, and fig. 5 is a schematic view of two spiral rollers 31 and the hinge shaft 15 in the present embodiment.
The end bracket 12 is formed with a strip-shaped hole 14 extending in the vertical direction. The end of the spiral roller 31 is formed with a rotating shaft 33, and the rotating shaft 33 is rotatably disposed in the strip-shaped hole 14 and can slide along the extending direction of the strip-shaped hole 14. It should be noted that the end of the shaft 33 passing through the slot 14 is fixed by a fastener or other fixing structure to ensure that the spiral roller 31 is not separated from the end bracket 12.
The intermediate bracket 13 is provided with a hinge shaft 15, the extension direction of the hinge shaft 15 being perpendicular to the extension direction of the strip-shaped hole 14.
The two helical drums 31 are each provided with a hinge bracket 34 at the end adjacent to each other, and the two hinge brackets 34 are nested with each other and are hinged to the hinge shaft 15.
In the implementation process, the two spiral rollers 31 can float up and down through the hinge shaft 15, and the spiral rollers 31 and the chassis 10 can float up and down through the strip-shaped holes 14, so that when the spiral rollers 31 pass through an obstacle, the spiral rollers can float under the action of the strip-shaped holes 14 and the hinge shaft 15 so as to smoothly pass through the obstacle; meanwhile, it should be noted that, in a possible implementation manner, the spiral drum 31 includes a rotatable spiral housing and a non-rotatable base, the spiral housing is rotatably disposed on the base, the driving portion is built in the spiral housing and fixed with the base to drive the spiral housing to rotate, the hinge bracket 34 is disposed on the surface of the base to be connected with the hinge shaft 15, and the rotating shaft 33 is disposed on the surface of the spiral housing to be matched with the strip-shaped hole 14.
It should be noted that, in a possible embodiment, the end bracket 12 is provided with a magnetic levitation module configured to act on the rotating shaft 33 to drive the rotating shaft 33 to suspend in the strip-shaped hole 14. The spiral roller 31 is in a suspension state relative to the chassis 10 under the action of the magnetic force provided by the magnetic suspension module, so that the stability of the spiral roller 31 is ensured, and the stability of the robot driving device in the walking process is ensured.
It should be noted that this disclosure also provides an inspection robot. Referring to fig. 6, fig. 6 is a top view of the detection robot in the present embodiment.
The robot body is arranged on the chassis 10, and a control module of the robot body is connected with the lifting screw mechanism 20 and the propelling mechanism 30.
The detection robot can adapt to various complex terrains such as silt, grassland, silt or water through the robot driving device, and the environmental characteristics are obtained through the imaging device of the robot body; for example, when the inspection robot is used for inspecting a pipeline with silt and full water, the robot driving device can advance in the silt and the water through the propelling mechanism 30, can float up or submerge in the water through the lifting screw mechanism 20, and the inspection robot inspects the interior of the pipeline through the imaging device of the robot body during the advancing process of the pipeline.
It should be noted that a tail connector 40 may be disposed below the chassis 10, and the tail connector 40 is used for connecting with a cable, and is used for power supply and signal transmission of the robot body and the robot body.
In the present disclosure, the robot body includes a plurality of wide-angle cameras 41, and the plurality of wide-angle cameras 41 are arranged along the outer contour of the chassis 10, and are all connected with the control module, for acquiring the image signal of each angle, and transmitting the image signal of each angle to the control module, so as to generate a panoramic image. Through the work of a plurality of wide-angle cameras 41, the image frames around the chassis 10 are acquired and processed by the control module to generate a panoramic image, so that the detection efficiency and the detection quality of the detection robot are improved.
In the present disclosure, the number of the wide-angle cameras 41 is six, and the wide-angle cameras are equally divided into three groups, which respectively form a front camera module, a rear camera module, and a side camera module.
Two wide-angle cameras 41 of the front camera assembly are arranged side by side at the front end of the chassis 10, and the wide-angle cameras 41 are used for acquiring images in front of the chassis 10.
Two wide-angle cameras 41 of the rear camera assembly are arranged side by side at the rear end of the chassis 10, and the wide-angle cameras 41 are used for acquiring images at the rear of the chassis 10.
Two wide-angle cameras 41 of the side camera assembly are respectively arranged on two sides of the chassis 10 and face opposite directions, and are respectively used for acquiring images of two sides of the chassis 10.
It should be noted that, in this embodiment, the front camera module, the rear camera module, and the side camera module are all disposed on the upper surface of the chassis, and in other specific embodiments, the front camera module, the rear camera module, and the side camera module may be disposed on the lower surface of the chassis.
Referring to fig. 7, fig. 7 is a schematic diagram of the three-dimensional imaging device 42 in the present embodiment.
The robot body further comprises a three-dimensional imaging device 42, wherein the three-dimensional imaging device 42 is arranged on the surface of the chassis 10, is connected with the control module, and is used for acquiring point cloud data of a detection environment and generating a three-dimensional image through the control module, and acquiring image data and generating a panoramic image through the control module.
The three-dimensional imaging device 42 includes a plurality of fisheye lenses 43, a top-view camera 44, a mount 45, and a laser annular scanning module 46. The laser sweeping module 46 is disposed on the surface of the chassis 10 and connected to the mounting seat 45. The plurality of fisheye lenses 43 are uniformly arranged on the wall surface of the mounting seat 45 in a surrounding manner, and the top-view camera 44 is arranged on the top surface of the mounting seat 45.
In the implementation process, the number of the fisheye lenses 43 can be four, the four fisheye lenses 43 and the top-view camera 44 are used for collecting image data, and the panoramic image is spliced through calculation of the control module. The laser ring-setting module collects laser point cloud data to generate a three-dimensional image.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A robot driving apparatus, comprising:
a base plate formed with a lifting hole penetrating upper and lower surfaces thereof;
the lifting screw mechanism is arranged in the lifting hole and is configured to drive the chassis to float up or submerge in water;
the two propelling mechanisms are arranged on two sides of the chassis and comprise a spiral roller and a driving part, and the driving part drives the spiral roller to rotate so as to drive the chassis to walk.
2. The robot driving device according to claim 1,
the propelling mechanism comprises two spiral rollers and two driving parts, and each spiral roller is internally provided with one driving part;
in the propelling mechanism, the two spiral rollers are arranged in a row along the side surface of the chassis, and the propelling threads on the surfaces of the two spiral rollers are arranged oppositely.
3. The robot driving device according to claim 2,
in the propulsion mechanism, one end of one spiral roller is rotatably matched with the chassis in a floating way, and the other end of the spiral roller is rotatably matched with the other spiral roller in a floating way.
4. The robot driving device according to claim 3,
end brackets are respectively formed at two ends of the chassis;
the chassis is also provided with a middle bracket between the two end brackets on the same side of the chassis;
the end part support is provided with a strip-shaped hole extending along the vertical direction, the end part of the spiral roller is provided with a rotating shaft, and the rotating shaft is rotatably arranged in the strip-shaped hole and can slide along the extending direction of the strip-shaped hole;
the middle bracket is provided with a hinged shaft, and the extending direction of the hinged shaft is vertical to the extending direction of the strip-shaped hole;
the end parts, close to each other, of the two spiral rollers are provided with hinged supports, and the hinged supports are sleeved with each other and hinged with the hinged shaft.
5. The robot driving device according to claim 4,
the end support is provided with a magnetic suspension module which is configured to act on the rotating shaft so as to drive the rotating shaft to be suspended in the strip-shaped hole.
6. An inspection robot comprising a robot body and the robot driving device according to any one of claims 1 to 5;
the robot body is arranged on the chassis, and a control module of the robot body is connected with the lifting screw mechanism and the propelling mechanism.
7. The inspection robot of claim 6,
the robot body includes a plurality of wide-angle cameras, and a plurality of wide-angle cameras are followed the outline on chassis is arranged, and all with control module connects for acquire the image signal of each angle, and to general the image signal transmission of each angle extremely control module is in order to generate panoramic image.
8. The inspection robot of claim 7,
the number of the wide-angle cameras is six, the wide-angle cameras are divided into three groups, and a front camera assembly, a rear camera assembly and a side camera assembly are respectively formed;
the two wide-angle cameras of the front camera assembly are arranged at the front end of the chassis side by side and used for acquiring images in front of the chassis;
the two wide-angle cameras of the rear camera assembly are arranged at the rear end of the chassis side by side and used for acquiring images behind the chassis;
two of subassembly is made a video recording to side direction wide angle camera arrange respectively in the both sides and the opposite orientation on chassis are used for acquireing respectively the image of chassis side.
9. The inspection robot of claim 6,
the robot body further comprises a three-dimensional imaging device, the three-dimensional imaging device is arranged on the surface of the chassis, is connected with the control module and is used for acquiring point cloud data of a detection environment, generating a three-dimensional image through the control module and acquiring image data and generating a panoramic image through the control module.
10. The inspection robot of claim 9,
the three-dimensional imaging device comprises a plurality of fisheye lenses, a top-view camera, a mounting seat and a laser annular scanning module;
the laser circular scanning module is arranged on the surface of the chassis and is connected with the mounting seat;
a plurality of the fisheye lens are uniformly arranged on the wall surface of the mounting seat in a surrounding manner, and the top-view camera is arranged on the top surface of the mounting seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110152489.4A CN112829850A (en) | 2021-02-03 | 2021-02-03 | Robot driving device and inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110152489.4A CN112829850A (en) | 2021-02-03 | 2021-02-03 | Robot driving device and inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112829850A true CN112829850A (en) | 2021-05-25 |
Family
ID=75931847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110152489.4A Pending CN112829850A (en) | 2021-02-03 | 2021-02-03 | Robot driving device and inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112829850A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200283081A1 (en) * | 2017-10-31 | 2020-09-10 | Crover Ltd | Propulsion in granular media |
-
2021
- 2021-02-03 CN CN202110152489.4A patent/CN112829850A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200283081A1 (en) * | 2017-10-31 | 2020-09-10 | Crover Ltd | Propulsion in granular media |
| US11623703B2 (en) * | 2017-10-31 | 2023-04-11 | Crover Ltd | Propulsion in granular media |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20190163039A1 (en) | Gimbal and unmanned aerial vehicle and control method thereof | |
| US8364312B2 (en) | Modular rotary multi-sensor sensor ring | |
| US10399620B2 (en) | Spherical robot and method of controlling the same | |
| EP3360799B1 (en) | 3-axis adjustable small gimbal | |
| AU2008350457B2 (en) | Underwater cleaning robot and auxiliary cleaning work machine | |
| KR102021827B1 (en) | Cleaner | |
| JP5665677B2 (en) | Tracking device | |
| CN104508346A (en) | Carrier of non-orthogonal shafts | |
| FR2648071A1 (en) | SELF-CONTAINED METHOD AND APPARATUS FOR AUTOMATIC FLOOR CLEANING BY EXECUTING PROGRAMMED MISSIONS | |
| JP6927776B2 (en) | Optical unit with runout correction function | |
| CN112829850A (en) | Robot driving device and inspection robot | |
| CN108431482B (en) | Small camera gimbal and electronic device comprising same | |
| GB2458905A (en) | Omni-directional camera system | |
| JP2005253060A (en) | Monitoring camera apparatus and monitoring camera system | |
| CN214524140U (en) | Robot driving device and inspection robot | |
| JPH059679B2 (en) | ||
| US10995898B2 (en) | Gimbal | |
| US10488350B2 (en) | Inspection system for inspecting an internal component of a machine | |
| JP6793006B2 (en) | Optical unit | |
| JPH10221481A (en) | Natatorial inspection device and its system | |
| JP2014175774A (en) | Tracking apparatus | |
| JP2002374433A (en) | Monitor camera device | |
| KR102481190B1 (en) | A robot cleaner | |
| TWM504975U (en) | Imaging module winding structure and imaging apparatus | |
| CN214930673U (en) | Two-axis adjusting photoelectric nacelle |
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 |