CN113048337A - Multi freedom intelligence patrols and examines robot - Google Patents
Multi freedom intelligence patrols and examines robot Download PDFInfo
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- CN113048337A CN113048337A CN202110258707.2A CN202110258707A CN113048337A CN 113048337 A CN113048337 A CN 113048337A CN 202110258707 A CN202110258707 A CN 202110258707A CN 113048337 A CN113048337 A CN 113048337A
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- screw
- sliding table
- module
- down lifting
- bearing seat
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/045—Allowing translations adapted to left-right translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H25/22—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members
- F16H25/2204—Screw mechanisms with balls, rollers, or similar members between the co-operating parts; Elements essential to the use of such members with balls
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
- F16M11/28—Undercarriages for supports with one single telescoping pillar
- F16M11/30—Undercarriages for supports with one single telescoping pillar with co-moving side-struts
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/1004—Structural association with clutches, brakes, gears, pulleys or mechanical starters with pulleys
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/2075—Coaxial drive motors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/2081—Parallel arrangement of drive motor to screw axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/2096—Arrangements for driving the actuator using endless flexible members
Abstract
The invention discloses a multi-degree-of-freedom intelligent inspection robot which comprises a shell module, an up-down lifting module, a left-right translation module, a head module, a first screw, a second screw, a third screw and a fourth screw, wherein the up-down lifting module is arranged on the shell module through the first screw and the second screw; the left-right translation module is arranged on the up-down lifting module through a third screw; the head module is installed on the left-right translation module through a fourth screw. The invention has the beneficial effects that: the technical scheme can realize the self-adaptive height with multiple degrees of freedom, and can be widely applied to the detection task of a narrow window; the blind corner of the blind area is inspected, and the inspected object can be inspected in all directions at multiple angles; the height and position of the inspection object can be adjusted automatically, so that the application range and the field of the inspection robot are expanded; the color heating imaging camera is suitable for combination, and the detection accuracy and the detectability are greatly improved.
Description
Technical Field
The invention relates to an inspection robot, in particular to a multi-degree-of-freedom intelligent inspection robot.
Background
The inspection robot is an intelligent mobile device capable of automatically navigating, building a map and planning a path, and an image and video camera carried by the inspection robot can detect and analyze the conditions of fire, smoke, water leakage, suspicious personnel and the like and report the detection and analysis results to a server and related workers. The inspection robot can completely or partially replace manual operation, and particularly replace manual operation in severe weather such as high temperature, extreme cold, strong wind, rain, snow and the like and high-pollution and high-risk environments, so that the health and safety of personnel are protected. The inspection robot can work for twenty-four hours without rest, the working intensity of personnel and the number of manual use requirements are greatly reduced, networking cooperative work can be performed among multiple machines, data information can be shared in time, and work tasks can be efficiently completed.
The existing inspection robot has defects in specific environments and special function using requirements, cannot be used in the specific environments, and cannot meet the special function using requirements. In some special places, the external visible space is small, the visible window is higher from the ground and has different heights from the ground, so that the camera carried by the inspection robot cannot reach the visible window, or even if the camera carried by the inspection robot can reach the visible window, the conditions that all the internal spaces of the visible window cannot be completely detected exist, and the conditions of visual angle detection loss, dead angle detection and the like exist. On the demand of some special functions, it is not enough that current robot of patrolling and examining also has, if need measurement personnel quantity, measurement personnel position to and some special behaviors action etc.. Aiming at the defects and the use requirements of the prior art, the multi-freedom-degree intelligent inspection robot is developed.
Disclosure of Invention
The invention mainly solves the technical problem of providing a multi-degree-of-freedom intelligent inspection robot, and solves one or more of the problems in the prior art.
In order to solve the technical problems, the invention adopts a technical scheme that: the utility model provides a multi freedom intelligence inspection robot, its innovation point lies in: the lifting mechanism comprises a shell module, an up-down lifting module, a left-right translation module, a head module, a first screw, a second screw, a third screw and a fourth screw, wherein the up-down lifting module is arranged on the shell module through the first screw and the second screw; the left-right translation module is arranged on the up-down lifting module through a third screw; the head module is installed on the left-right translation module through a fourth screw.
In some embodiments, the up-down lifting module comprises an up-down lifting main shell, a guide rail, a fifth screw, a slider, a support plate, a guide rail, a sixth screw, a photoelectric limit switch, a seventh screw, a shaft sleeve, a first bearing seat, an eighth screw, a bearing, a first anti-collision pad, a first ball screw, an up-down lifting auxiliary shell, a first ball screw nut, a second anti-collision pad, a second bearing seat, a ninth screw, a tenth screw, a first motor, an eleventh screw, a first motor flange, a first synchronizing wheel, a retainer ring, a twelfth screw, a synchronous belt, a support seat, a thirteenth screw, a bearing seat support, a fourteenth screw, a second synchronizing wheel, a lock nut, a photoelectric limit switch, a shading sheet, a fifteenth screw, a sixteenth screw and a seventeenth screw;
the first motor is fixed on the supporting seat through a tenth screw, an eleventh screw and a first motor flange, and the supporting seat is fixedly arranged on the shell module through a thirteenth screw; the first synchronous wheel is connected with the first motor through a check ring and a twelfth screw; the first ball screw is arranged on the first bearing seat and the second bearing seat through a bearing and a locking nut; a first anti-collision pad is arranged at the end part of the first bearing seat, a second anti-collision pad is arranged at the end part of the second bearing seat, the second bearing seat is fixed on the supporting plate through a seventeenth screw, and the first bearing seat is fixed on the supporting plate through an eighth screw; the first ball screw is provided with a first ball screw nut, and the first ball screw nut is simultaneously arranged on the guide rail through a fifteenth screw; the lower end of the first ball screw is provided with a second synchronous wheel which is connected with the first synchronous wheel through a synchronous belt; the guide rail is fixed on the support plate through a sixth screw; the up-down lifting main shell and the up-down lifting auxiliary shell form an up-down lifting shell, and the up-down lifting main shell and the up-down lifting auxiliary shell are connected with each other through a clamping groove structure and a ninth screw; an up-down lifting shell consisting of the up-down lifting main shell and the up-down lifting auxiliary shell is fixed on the first ball screw nut through a sixteenth screw, and a guide rail and a sliding block are arranged on the up-down lifting shell consisting of the up-down lifting main shell and the up-down lifting auxiliary shell; the supporting plate is fixed on the shell module through screws.
In some embodiments, the left-right translation module comprises a sliding table upper cover plate, an eighteenth screw, a sliding table connecting flange, a nineteenth screw, a wire harness fixing plate, a twentieth screw, a sliding table switching block, a middle cover plate, a twenty-first screw, a shading sheet, a twenty-second screw, a photoelectric limit switch, a second motor flange, a second motor, a coupler, a supporting bearing seat, a second ball screw nut, a wire pressing plate, a drag chain, a sliding table lower cover plate, a twenty-third screw, a drag chain fixing plate, a twenty-fourth screw, a wire blocking plate, a twenty-fifth screw, a sliding table base, a guide rail, a supporting bearing seat, a photoelectric limit switch mounting plate, a twenty-sixth screw, a photoelectric limit switch, a sliding table fixing foot, a shading sheet and a twenty-seventh screw;
the second motor is fixed on a second motor flange through a screw, one end of the coupler is connected with a motor shaft of the second motor, and the other end of the coupler is connected with one end of a second ball screw; two ends of the second ball screw are fixed on a supporting bearing seat, and the supporting bearing seat is fixed on the sliding table base; the second ball screw is provided with a second ball screw nut which is simultaneously connected with the guide rail; a sliding table switching block is arranged on the second ball screw nut and is mutually connected with the second ball screw nut through a screw; the sliding table connecting flange is connected with the sliding table switching block through a nineteenth screw; photoelectric limit switches and photoelectric limit switches are installed on two sides of the sliding table module, the electric limit switches are triggered through the shading sheets, and the electric limit switches are triggered through the shading sheets; the sliding table base is fixed on the sliding table lower cover plate through a sliding table fixing foot; the wire blocking plate is arranged on the lower cover plate of the sliding table, one end of the drag chain is arranged on the wire blocking plate, the other end of the drag chain is arranged on the drag chain fixing plate, and the drag chain fixing plate is fixed on the connecting flange of the sliding table through twenty-four screws; the wire pressing plate is used for fixing a wire pressing line at the lower end of a wire harness, and the wire harness fixing plate is used for fixing a wire pressing line at the upper end of the wire harness; the sliding table upper cover plate and the sliding table lower cover plate are connected with each other through eighteenth screws.
The invention has the beneficial effects that: the technical scheme can realize the self-adaptive height with multiple degrees of freedom, and can be widely applied to the detection task of a narrow window; the blind corner of the blind area is inspected, and the inspected object can be inspected in all directions at multiple angles; the height and position of the inspection object can be adjusted automatically, so that the application range and the field of the inspection robot are expanded; the color heating imaging camera is suitable for combination, and the detection accuracy and the detectability are greatly improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive efforts, wherein:
fig. 1 is a schematic structural diagram of a multi-degree-of-freedom intelligent inspection robot.
Fig. 2 is an exploded view of the multi-degree-of-freedom intelligent inspection robot.
Fig. 3 is an explosion diagram of the upper and lower lifting modules of the multi-degree-of-freedom intelligent inspection robot.
Fig. 4 is an exploded view of the left and right translation modules of the multi-degree-of-freedom intelligent inspection robot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all 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.
As shown in fig. 1 to 4, the embodiment of the present invention includes:
a multi-degree-of-freedom intelligent inspection robot comprises a shell module 10, an up-down lifting module 11, a left-right translation module 12, a head module 13, a first screw 1001, a second screw 1101, a third screw 1201 and a fourth screw 1301, wherein the up-down lifting module 11 is installed on the shell module 10 through the first screw 1001 and the second screw 1101; the left-right translation module 12 is installed on the up-down lifting module 11 through a third screw 1201; the head module 13 is mounted on the left-right translation module 12 by a fourth screw 1301.
In some embodiments, the up-down lifting module 11 includes an up-down lifting main housing 1102, a guide rail 1103, a fifth screw 1104, a slider 1105, a support plate 1106, a guide rail 1107, a sixth screw 1108, an electro-optical limit switch 1109, a seventh screw 1110, a bushing 1111, a first bearing seat 1112, an eighth screw 1113, a bearing 1114, a first crash pad 1115, a first ball screw 1116, an up-down lifting sub-housing 1117, a first ball screw nut 1118, a second crash pad 1119, a second bearing seat 1120, a ninth screw 1121, a tenth screw 1122, a first motor 1123, an eleventh screw 1124, a first motor flange 1125, a first synchronizing wheel 1126, a retainer ring 1127, a twelfth screw 1128, a synchronizing wheel 1129, a support seat 1130, a thirteenth screw 1131, a bearing seat support 1132, a fourteenth screw 1133, a second synchronizing wheel 1134, a lock nut 1135, an electro-optical limit switch 1136, a shade sheet 1137, a fifteenth screw 1138, a sixteenth synchronizing wheel 1139, a sixteenth screw 1139, a photoelectric limit switch 1136, A seventeenth screw 1140;
the first motor 1123 is fixed on the supporting seat 1130 through a tenth screw 1122, an eleventh screw 1124 and a first motor flange 1125, and the supporting seat 1130 is fixedly installed on the housing module 10 through a thirteenth screw 1131; the first synchronizing wheel 1126 is connected with the first motor 1123 through a retainer ring 1127 and a twelfth screw 1128; the first ball screw 1116 is mounted on the first bearing housing 1112 and the second bearing housing 1120 through a bearing 1114 and a lock nut 1135; the first crash pad 1115 is arranged at the end of the first bearing seat 1112, the second crash pad 1119 is arranged at the end of the second bearing seat 1120, the second bearing seat 1120 is fixed on the support plate 1106 through a screw 1140, and the first bearing seat 1112 is fixed on the support plate 1106 through an eighth screw 1113; a first ball screw nut 1118 is mounted on the first ball screw 1116, and the first ball screw nut 1118 is also mounted on the guide rail 1107 through a fifteenth screw 1138; the lower end of the first ball screw 1116 is provided with a second synchronous wheel 1134, and the second synchronous wheel 1134 is connected with the first synchronous wheel 1126 through a synchronous belt 1129; the guide rail 1107 is fixed to the support plate 1106 by a sixth screw 1108; the up-down lifting main shell 1102 and the up-down lifting auxiliary shell 1117 form an up-down lifting shell, and the up-down lifting main shell 1102 and the up-down lifting auxiliary shell 1117 are connected with each other through a clamping groove structure and a ninth screw 1121; the up-down lifting housing composed of the up-down lifting main housing 1102 and the up-down lifting auxiliary housing 1117 is fixed on the first ball screw nut 1118 through a sixteenth screw 1139, and the up-down lifting housing composed of the up-down lifting main housing 1102 and the up-down lifting auxiliary housing 1117 is provided with a guide rail 1103 and a slider 1105; the support plate 1106 is fixed to the housing module 10 by screws 1101.
The working principle of the up-down lifting module 11 is as follows: the first motor 1123 drives the first synchronous wheel 1126 to rotate, the first synchronous wheel 1126 drives the second synchronous wheel 1134 to rotate through the synchronous belt 1129, and the second synchronous wheel 1134 is fixed on the first ball screw 1116, so that the second synchronous wheel 1134 drives the first ball screw 1116 to rotate; since the first ball screw nut 1118 is fixed to the guide rail 1107, the rotating first ball screw 1116 drives the first ball screw nut 1118 to move linearly along the guide rail 1107; the up-down housing composed of the up-down main housing 1102 and the up-down sub housing 1117 is fixed to the first ball screw nut 1118, so that it moves linearly along the guide rail 1107 together with the first ball screw nut 1118; when the first motor 1123 rotates, the up-down housing composed of the up-down main housing 1102 and the up-down sub housing 1117 moves linearly in one direction, and when the first motor 1123 rotates in the opposite direction, the up-down housing composed of the up-down main housing 1102 and the up-down sub housing 1117 moves linearly in the other opposite direction, thereby driving the left-right translation module 12 and the head module 13 to move up and down.
In some embodiments, the left-right translation module 12 includes a slide upper cover plate 1202, an eighteenth screw 1203, a slide connection flange 1204, a nineteenth screw 1205, a wire harness fixing plate 1206, a twentieth screw 1207, a slide adapter block 1208, an intermediate cover plate 1209, a twenty-first screw 1210, a light shielding plate 1211, a twenty-second screw 1212, an electro-optical limit switch 1213, a second motor flange 1214, a second motor 1215, a coupling 1216, a support bearing seat 1217, a second ball screw 1218, a second ball screw nut 1219, the photoelectric limit switch comprises a line pressing plate 1220, a drag chain 1221, a sliding table lower cover plate 1222, a twenty-third screw 1223, a drag chain fixing plate 1224, a twenty-fourth screw 1225, a line blocking plate 1226, a twenty-fifth screw 1227, a sliding table base 1228, a guide rail 1229, a support bearing seat 1230, a photoelectric limit switch mounting plate 1231, a twenty-sixth screw 1232, a photoelectric limit switch 1233, a sliding table fixing foot 1234, a shading sheet 1235 and a twenty-seventh screw 1236;
the second motor 1215 is fixed on a second motor flange 1214 through a screw, one end of a coupler 1216 is connected with a motor shaft of the second motor 1215, and the other end of the coupler 1216 is connected with one end of a second ball screw 1218; two ends of the second ball screw 1218 are fixed on the support bearing seat 1217 and the support bearing seat 1217, and the support bearing seat 1217 are fixed on the sliding table base 1228; a second ball screw nut 1219 is arranged on the second ball screw 1218, and the second ball screw nut 1219 is connected with the guide rail 1229 at the same time; a sliding table switching block 1208 is mounted on the second ball screw nut 1219, and the sliding table switching block 1208 is connected with the second ball screw nut 1219 through a screw 1235; the sliding table connecting flange 1204 is connected with a sliding table switching block 1208 through a nineteenth screw 1205; photoelectric limit switches 1213 and 1233 are mounted on two sides of the sliding table module, the electric limit switches 1213 are triggered by the light shielding sheets 1211, and the electric limit switches 1233 are triggered by the light shielding sheets 1235; the sliding table base 1228 is fixed on the sliding table lower cover plate 1222 through the sliding table fixing foot 1234; the wire blocking plate 1226 is installed on the sliding table lower cover plate 1222, one end of the drag chain 1221 is installed on the wire blocking plate 1226, the other end of the drag chain 1221 is installed on the drag chain fixing plate 1224, and the drag chain fixing plate 1224 is fixed on the sliding table connecting flange 1204 through twenty-four screws 1225; the wire pressing plate 1220 is used for fixing the lower end of a wire harness, and the wire harness fixing plate 1206 is used for fixing the upper end of the wire harness; the upper slide table cover plate 1202 and the lower slide table cover plate 1222 are connected to each other by an eighteenth screw 1203.
Left-right translation module 12 operating principle: the second motor 1215 rotates to drive the second ball screw 1218 to rotate through the coupling 1216; the second ball screw nut 1219 is connected to the second ball screw 1218 and the guide rail 1229, so that the second ball screw 1218 drives the second ball screw nut 1219 to move linearly in the direction of the guide rail 1229; since the sliding table connecting flange 1204 is connected to the second ball screw nut 1219 through the sliding table adapter block 1208, the sliding table connecting flange 1204 makes a linear motion in the direction of the guide rail 1229; the head module 13 is connected with the sliding table connecting flange 1204 through a fourth screw 1301, so that the head module 13 makes a linear motion along the direction of the guide rail 1229; when the second motor 1215 rotates, the sliding table connecting flange 1204 moves linearly in one direction, and when the second motor 1215 rotates in the reverse direction, the sliding table connecting flange 1204 moves linearly in the other opposite direction, so that the head module 13 is driven to move linearly in a left-right translation manner.
The invention has the beneficial effects that: the technical scheme can realize the self-adaptive height with multiple degrees of freedom, and can be widely applied to the detection task of a narrow window; the blind corner of the blind area is inspected, and the inspected object can be inspected in all directions at multiple angles; the height and position of the inspection object can be adjusted automatically, so that the application range and the field of the inspection robot are expanded; the color heating imaging camera is suitable for combination, and the detection accuracy and the detectability are greatly improved.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by the present specification, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (3)
1. The utility model provides a robot is patrolled and examined to multi freedom intelligence which characterized in that: the lifting mechanism comprises a shell module (10), an up-down lifting module (11), a left-right translation module (12), a head module (13), a first screw (1001), a second screw (1101), a third screw (1201) and a fourth screw (1301), wherein the up-down lifting module (11) is installed on the shell module (10) through the first screw (1001) and the second screw (1101); the left-right translation module (12) is installed on the up-down lifting module (11) through a third screw (1201); the head module (13) is installed on the left-right translation module (12) through a fourth screw (1301).
2. The multi-degree-of-freedom intelligent inspection robot according to claim 1, wherein: the up-down lifting module (11) comprises an up-down lifting main shell (1102), a guide rail (1103), a fifth screw (1104), a sliding block (1105), a supporting plate (1106), a guide rail (1107), a sixth screw (1108), a photoelectric limit switch (1109), a seventh screw (1110), a shaft sleeve (1111), a first bearing seat (1112), an eighth screw (1113), a bearing (1114), a first anti-collision pad (1115), a first ball screw (1116), an up-down lifting auxiliary shell (1117), a first ball screw nut (1118), a second anti-collision pad (1119), a second bearing seat (1120), a ninth screw (1121), a tenth screw (1122), a first motor (1123), an eleventh screw (1124), a first motor flange (1125), a first synchronizing wheel (1126), a retainer ring (1127), a twelfth screw (1128), a synchronizing belt (1125), a supporting seat (1130), a thirteenth screw (1131), The device comprises a bearing seat support (1132), a fourteenth screw (1133), a second synchronizing wheel (1134), a locking nut (1135), a photoelectric limit switch (1136), a light shielding sheet (1137), a fifteenth screw (1138), a sixteenth screw (1139) and a seventeenth screw (1140);
the first motor (1123) is fixed on the supporting seat (1130) through a tenth screw (1122), an eleventh screw (1124) and a first motor flange (1125), and the supporting seat (1130) is fixedly installed on the shell module (10) through a thirteenth screw (1131); the first synchronous wheel (1126) is connected with the first motor (1123) through a retainer ring (1127) and a twelfth screw (1128); the first ball screw (1116) is mounted on the first bearing seat (1112) and the second bearing seat (1120) through a bearing (1114) and a locking nut (1135); a first anti-collision pad (1115) is arranged at the end part of the first bearing seat (1112), a second anti-collision pad (1119) is arranged at the end part of the second bearing seat (1120), the second bearing seat (1120) is fixed on the supporting plate (1106) through a seventeenth screw (1140), and the first bearing seat (1112) is fixed on the supporting plate (1106) through an eighth screw (1113); a first ball screw nut (1118) is mounted on the first ball screw (1116), and the first ball screw nut (1118) is mounted on the guide rail (1107) through a fifteenth screw (1138); a second synchronous wheel (1134) is arranged at the lower end of the first ball screw (1116), and the second synchronous wheel (1134) is connected with the first synchronous wheel (1126) through a synchronous belt (1129); the guide rail (1107) is fixed on the support plate (1106) through a sixth screw (1108); the up-down lifting main shell (1102) and the up-down lifting auxiliary shell (1117) form the up-down lifting shell, and the up-down lifting main shell (1102) and the up-down lifting auxiliary shell (1117) are connected with each other through a clamping groove structure and a ninth screw (1121); an up-down lifting shell consisting of the up-down lifting main shell (1102) and the up-down lifting auxiliary shell (1117) is fixed on the first ball screw nut (1118) through a sixteenth screw (1139), and a guide rail (1103) and a sliding block (1105) are arranged on the up-down lifting shell consisting of the up-down lifting main shell (1102) and the up-down lifting auxiliary shell (1117); the support plate (1106) is fixed to the housing module (10) by screws (1101).
3. The multi-degree-of-freedom intelligent inspection robot according to claim 1, wherein: the left-right translation module (12) comprises a sliding table upper cover plate (1202), an eighteenth screw (1203), a sliding table connecting flange (1204), a nineteenth screw (1205), a wire harness fixing plate (1206), a twentieth screw (1207), a sliding table transfer block (1208), a middle cover plate (1209), a twenty-first screw (1210), a light shielding sheet (1211), a twenty-second screw (1212), a photoelectric limit switch (1213), a second motor flange (1214), a second motor (1215), a coupler (1216), a support bearing seat (1217), a second ball screw (1218), a second ball screw nut (1219), a wire pressing plate (1220), a drag chain (1221), a sliding table lower cover plate (1222), a twenty-third screw (1223), a drag chain fixing plate (1224), a twenty-fourth screw (1225), a wire blocking plate (1226), a twenty-fifth screw (1227), a sliding table base (1228), a guide rail (1229), The photoelectric limiting switch device comprises a supporting bearing seat (1230), a photoelectric limiting switch mounting plate (1231), a twenty-sixth screw (1232), a photoelectric limiting switch (1233), a sliding table fixing foot (1234), a light shielding sheet (1235) and a twenty-seventh screw (1236);
the second motor (1215) is fixed on a second motor flange (1214) through a screw, one end of a coupler (1216) is connected with a motor shaft of the second motor (1215), and the other end of the coupler (1216) is connected with one end of a second ball screw (1218); two ends of a second ball screw (1218) are fixed on a supporting bearing seat (1217) and a supporting bearing seat (1217), and the supporting bearing seat (1217) are fixed on a sliding table base (1228); a second ball screw nut (1219) is arranged on the second ball screw (1218), and the second ball screw nut (1219) is connected with the guide rail (1229) at the same time; a sliding table switching block (1208) is mounted on the second ball screw nut (1219), and the sliding table switching block (1208) is connected with the second ball screw nut (1219) through a screw (1235); the sliding table connecting flange (1204) is connected with a sliding table switching block (1208) through a nineteenth screw (1205); photoelectric limit switches (1213) and (1233) are mounted on two sides of the sliding table module, the electric limit switches (1213) are triggered through the light shielding sheets (1211), and the electric limit switches (1233) are triggered through the light shielding sheets (1235); the sliding table base (1228) is fixed on a sliding table lower cover plate (1222) through a sliding table fixing foot (1234); the wire blocking plate (1226) is installed on the sliding table lower cover plate (1222), one end of the drag chain (1221) is installed on the wire blocking plate (1226), the other end of the drag chain is installed on the drag chain fixing plate (1224), and the drag chain fixing plate (1224) is fixed on the sliding table connecting flange (1204) through twenty-four screws (1225); the wire pressing plate (1220) is used for fixing the lower end of a wire harness by pressing a wire, and the wire harness fixing plate (1206) is used for fixing the upper end of the wire harness by pressing a wire; the sliding table upper cover plate (1202) and the sliding table lower cover plate (1222) are connected with each other through eighteenth screws (1203).
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| US4766775A (en) * | 1986-05-02 | 1988-08-30 | Hodge Steven W | Modular robot manipulator |
| US20030197481A1 (en) * | 2002-04-22 | 2003-10-23 | Gonzalez Jose Raul | Modular hybrid multi-axis robot |
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