CN113427463A - Movable obstacle-crossing live working robot - Google Patents
Movable obstacle-crossing live working robot Download PDFInfo
- Publication number
- CN113427463A CN113427463A CN202110574459.2A CN202110574459A CN113427463A CN 113427463 A CN113427463 A CN 113427463A CN 202110574459 A CN202110574459 A CN 202110574459A CN 113427463 A CN113427463 A CN 113427463A
- Authority
- CN
- China
- Prior art keywords
- fixedly installed
- crawler
- obstacle
- crossing
- machine body
- 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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a movable obstacle-crossing live working robot which comprises a machine body, wherein crawler wheels are fixedly installed at the bottom of the machine body, obstacle-crossing devices are respectively arranged on the front side and the back side of each crawler wheel, an anti-toppling assembly is fixedly installed on the right side of the machine body, a power supply device is fixedly installed in the machine body, a base is fixedly installed at the top of the machine body, a lifting assembly is fixedly installed at the top of the base, and a jacking platform is fixedly installed at the top of the lifting assembly. The mode through set up the walking of wheel band pulley in the bottom of organism improves and grabs the land fertility and hinders the ability more, through utilizing the front wheel that hinders the subassembly branch and establish the obstacle more, thereby can make the ability of climbing the obstacle stronger, and set up the too big and lead to the automobile body to overturn after the slope when the rear that prevents that the organism marchs, utilize power supply unit to supply power, and set up heavier power supply unit in the bottom of whole organism, optimize whole layout structure simultaneously.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a movable obstacle-crossing live working robot.
Background
With the development of the world power grid, especially after the concept of the smart power grid is proposed, the worldwide research on how to improve the safety, efficiency and stability of the power grid becomes a hot spot. The manual live-wire operation requires manual operations such as wire connection and wire disconnection of an operator in extreme dangerous environments such as high voltage and strong electromagnetic field, the labor intensity is high, the spirit is highly tense, the personnel danger is brought to live-wire operators, and the efficiency of completing the operation is low.
Although various types of live working robots have been developed by a plurality of domestic units, the live working robots cannot have good obstacle crossing performance, a body is easy to turn backwards when the obstacles cross, and the working height of the mechanical arm is limited when the mechanical arm is used, so that the working range of the live working robot is greatly limited.
Disclosure of Invention
The invention provides a movable obstacle-crossing live working robot, which improves the ground-grasping force and the obstacle-crossing capability by arranging a wheel belt wheel at the bottom of a machine body for walking, and respectively arranges obstacle-crossing front wheels by utilizing obstacle-crossing components, thereby the ability of climbing over obstacles is stronger, the anti-toppling is arranged at the rear of the machine body to prevent the vehicle body from turning backwards due to overlarge gradient when the obstacle is crossed, the power supply device is used for supplying power, the heavier power supply device is arranged at the bottom of the whole machine body, meanwhile, the overall layout structure is optimized, so that the gravity center of the vehicle body is reduced, the vehicle body is not easy to topple when crossing obstacles, the mechanical arm can be lifted through the lifting assembly, so that the mechanical arm can work at a high position, the walking camera shooting assembly is started when the crawler wheels walk to provide a walking picture for walking, and the working camera shooting assembly is arranged at the mechanical arm to provide a working picture, so that the mechanical arm is more accurate in working.
The technical scheme of the invention is as follows:
the utility model provides a movable hinders live working robot more, includes the organism, the bottom fixed mounting of organism has the athey wheel, the front and the back of athey wheel all are equipped with hinders the device more, the right side fixed mounting of organism has prevents empting the subassembly, the inside fixed mounting of organism has power supply unit, the top fixed mounting of organism has the base, the top fixed mounting of base has lifting unit, lifting unit's top fixed mounting has the footstock, the top of footstock has been seted up and has been held the storehouse, it is provided with two sets ofly to hold the storehouse, the inner wall bottom swing joint in storehouse of holding has the arm, fixed mounting has the work subassembly of making a video recording on the arm face of arm, the top fixed mounting of footstock has the walking subassembly of making a video recording.
Preferably, the obstacle crossing device comprises a telescopic cylinder and an obstacle crossing crawler belt, one end of the telescopic cylinder is hinged to the front side and the back side of the machine body, and the other end of the telescopic cylinder is hinged to the inner side of the obstacle crossing crawler belt.
Preferably, the obstacle crossing crawler comprises a crawler body, a driving wheel and a driven wheel, the driving wheel and the driven wheel are arranged inside the crawler body, the driving wheel is driven by a wheel body of the crawler wheel, the inner side of the driven wheel is rotatably connected with a sleeve shaft, and the telescopic cylinder is hinged to the sleeve shaft.
Preferably, the anti-toppling assembly comprises a fixed plate, the fixed plate is fixedly mounted on the right side of the front face and the right side of the back face of the machine body, a sleeve is fixedly mounted on the right side of the fixed plate, a guide rod is movably connected inside the sleeve, the end portion of the guide rod is rotatably connected with a rear wheel, a buffer spring is fixedly mounted on a rod body of the guide rod, and the end portion of the buffer spring is fixedly mounted on the right side of the fixed plate.
Preferably, power supply unit includes battery and switching picture peg, battery fixed mounting is in the organism, switching picture peg fixed mounting is in the front of top platform, the switching picture peg passes through wire and battery electric connection, one side fixed mounting of battery has the controller, the inside fixed mounting of controller has wireless remote control module.
Preferably, the lifting assembly comprises a scissor-type arm support, the top of the scissor-type arm support is movably mounted at the bottom of the top platform, the bottom of the scissor-type arm support is movably mounted at the top of the base, and a lifting bidirectional hydraulic cylinder is fixedly mounted on a frame body of the scissor-type arm support.
Preferably, the bottom right side fixed mounting of top platform has first slide rail, the top right side fixed mounting of cutting fork cantilever crane has first slider, first slider slides in first slide rail, the top right side fixed mounting of base has the second slide rail, the bottom right side fixed mounting of cutting fork cantilever crane has the second slider, the second slider slides in the second slide rail.
Preferably, the working camera shooting assembly comprises a ranging radar and a high-definition focusing camera, and the ranging radar and the high-definition focusing camera are fixedly mounted on one side of the end part of the mechanical arm.
Preferably, the walking camera shooting assembly comprises a supporting rod, the supporting rod is fixedly installed at the top of the top platform, a control holder is fixedly installed at the top of the supporting rod, and a panoramic camera is movably installed at the bottom of the control holder.
Preferably, the surfaces of the crawler wheels and the obstacle crossing crawler are provided with insulating layers, and the end part of the mechanical arm is fixedly provided with an insulating part.
The invention has the beneficial effects that:
1. the invention provides a movable obstacle-crossing live working robot, which improves the ground-grasping force and the obstacle-crossing capability by arranging a wheel belt wheel at the bottom of a machine body for walking, and respectively arranges obstacle-crossing front wheels by utilizing obstacle-crossing components, thereby the ability of climbing over obstacles is stronger, the anti-toppling is arranged at the rear of the machine body to prevent the vehicle body from turning backwards due to overlarge gradient when the obstacle is crossed, the power supply device is used for supplying power, the heavier power supply device is arranged at the bottom of the whole machine body, meanwhile, the overall layout structure is optimized, so that the gravity center of the vehicle body is reduced, the vehicle body is not easy to topple when crossing obstacles, the mechanical arm can be lifted through the lifting assembly, so that the mechanical arm can work at a high position, the walking camera shooting assembly is started when the crawler wheels walk to provide a walking picture for walking, and the working camera shooting assembly is arranged at the mechanical arm to provide a working picture, so that the mechanical arm is more accurate in working.
2. According to the invention, the telescopic cylinder can be used for driving the advancing front end of the obstacle crossing crawler to carry out lifting control, so that the advancing front end of the obstacle crossing crawler can be lifted or lowered according to the form of an obstacle, the obstacle crossing capability is stronger, a machine body is not easy to topple in the obstacle crossing process, the rear wheels can be used for preventing the vehicle body from tilting backwards, and the buffer springs can be used for buffering the rear wheels, so that the rear wheels can still slowly advance after contacting the ground.
3. According to the invention, the scissor-type arm support is driven by the lifting bidirectional hydraulic cylinder to lift, so that the top table is lifted, and when the scissor-type arm support is retracted, the frame body of the scissor-type arm support is closed to the top of the top table, so that the occupied area is small, and the gravity center reduction effect is good.
4. According to the invention, the high-definition focusing camera can remotely provide pictures when the mechanical arm works, so that an operator can operate more conveniently, the distance of work can be monitored by using the range radar, the operator can be assisted, the operator can operate more accurately, the panoramic camera can be supported by the supporting rod, so that the visual angle of the panoramic camera is larger, the camera position of the panoramic camera can be controlled by using the control holder, and the panoramic camera can help the operator to better observe the surrounding environment during the traveling operation.
5. The invention can prevent the current from causing electric shock damage to the internal electric components of the robot in the advancing or working process by arranging the insulating layer and the insulating component.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic perspective view of an obstacle crossing device according to the present invention.
FIG. 3 is a schematic structural view of the anti-toppling assembly of the present invention.
Fig. 4 is a schematic structural diagram of the lifting assembly of the present invention.
FIG. 5 is a top plan view of the top table portion of the present invention.
FIG. 6 is a schematic diagram of the circuit of the present invention.
Reference numerals: 1. a body; 2. a crawler wheel; 3. an obstacle crossing device; 301. a telescopic cylinder; 302. an obstacle-crossing crawler belt; 3021. a track body; 3022. a driving wheel; 3023. a driven wheel; 3024. a sleeve shaft; 4. an anti-tipping assembly; 401. a fixing plate; 402. a sleeve; 403. a guide bar; 404. a rear wheel; 405. a buffer spring; 5. a power supply device; 501. a storage battery; 502. a patch board is connected; 503. a controller; 504. a wireless remote control module; 6. a base; 7. a lifting assembly; 701. a scissor-fork type arm support; 702. a lifting bidirectional hydraulic cylinder; 8. a top stage; 9. a storage bin; 10. a mechanical arm; 11. a working camera component; 1101. a range radar; 1102. a high-definition focusing camera; 12. a walking camera component; 1201. a strut; 1202. controlling the holder; 1203. a panoramic camera; 13. a first slide rail; 14. a first slider; 15. a second slide rail; 16. a second slider; 17. an insulating layer; 18. an insulating member.
Detailed Description
The present invention is described in terms of particular embodiments, other advantages and features of the invention will become apparent to those skilled in the art from the following disclosure, and it is to be understood that the described embodiments are merely exemplary of the invention and that it is not intended to limit the invention to the particular embodiments disclosed. 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.
It should be noted that in the description of the present invention, the terms "in", "upper", "lower", "lateral", "inner", etc. indicate directions or positional relationships based on those shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; may be a mechanical connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1-6, the invention provides a movable obstacle-crossing electric operating robot, comprising a machine body 1, the bottom of the machine body 1 is fixedly provided with a crawler wheel 2, the front and the back of the crawler wheel 2 are both provided with obstacle crossing devices 3, an anti-toppling assembly 4 is fixedly arranged on the right side of the machine body 1, a power supply device 5 is fixedly arranged inside the machine body 1, a base 6 is fixedly arranged at the top of the machine body 1, a lifting component 7 is fixedly arranged at the top of the base 6, the top of the lifting component 7 is fixedly provided with a top platform 8, the top of the top platform 8 is provided with a containing bin 9, two groups of the accommodating bins 9 are arranged, the bottom of the inner wall of each accommodating bin 9 is movably connected with a mechanical arm 10, the arm surface of the mechanical arm 10 is fixedly provided with a working camera shooting assembly 11, and the top of the top platform 8 is fixedly provided with a walking camera shooting assembly 12.
Furthermore, the ground-grabbing force and the obstacle-crossing capability are improved by arranging the wheel belt wheel at the bottom of the machine body 1 for walking, and the obstacle-crossing front wheels are respectively arranged by utilizing the obstacle-crossing component, thereby the ability of climbing over obstacles is stronger, the anti-toppling is arranged at the rear part of the machine body 1 to prevent the vehicle body from turning backwards due to overlarge gradient when the obstacle is crossed, the power supply device 5 is used for supplying power, the heavier power supply device 5 is arranged at the bottom of the whole machine body 1, meanwhile, the overall layout structure is optimized, so that the gravity center of the vehicle body is reduced, the vehicle body is not easy to topple when crossing obstacles, the mechanical arm 10 can be lifted through the lifting assembly 7, so that the mechanical arm 10 can work at a high position, the walking camera assembly 12 is started when the crawler wheel 2 walks, a walking picture is provided for walking, and the working camera assembly 11 is arranged at the mechanical arm 10 and provides a working picture, so that the mechanical arm 10 works more accurately.
As shown in fig. 1, 2 and 6, the obstacle crossing device 3 includes a telescopic cylinder 301 and an obstacle crossing track 302, one end of the telescopic cylinder 301 is hinged to the front and back of the machine body 1, and the other end of the telescopic cylinder 301 is hinged to the inner side of the obstacle crossing track 302.
Further, the advancing front end of the obstacle crossing crawler 302 can be driven to perform lifting control by using the telescopic cylinder 301, so that the advancing front end of the obstacle crossing crawler 302 can be lifted or lowered according to the shape of an obstacle, the obstacle crossing capability is stronger, and the machine body 1 is not prone to toppling in the obstacle crossing process.
As shown in fig. 1, 2 and 6, the obstacle crossing crawler 302 includes a crawler body 3021, a driving wheel 3022 and a driven wheel 3023, the driving wheel 3022 and the driven wheel 3023 are disposed inside the crawler body 3021, the driving wheel 3022 is driven by a wheel body of the crawler wheel 2, a sleeve shaft 3024 is rotatably connected to an inner side of the driven wheel 3023, and the telescopic cylinder 301 is hinged to the sleeve shaft 3024.
Further, the crawler body 3021 is rotated by supplying power to a power system of the crawler wheel 2 through the portion of the driving wheel 3022, the sleeve 3024 portion of the driven wheel 3023 is connected to the telescopic cylinder 301, the crawler body 3021 is lined with the driven wheel 3023 and its components, and the telescopic cylinder 301 drives the portion of the driven wheel 3023 to be raised or lowered.
As shown in fig. 1 and 3, the anti-toppling assembly 4 includes a fixing plate 401, the fixing plate 401 is fixedly installed on the right side of the front surface and the right side of the back surface of the machine body 1, a sleeve 402 is fixedly installed on the right side of the fixing plate 401, a guide rod 403 is movably connected inside the sleeve 402, a rear wheel 404 is rotatably connected to an end of the guide rod 403, a buffer spring 405 is fixedly installed on a rod body of the guide rod 403, and an end of the buffer spring 405 is fixedly installed on the right side of the fixing plate 401.
Further, the rear wheel 404 can be prevented from tilting backward, and the rear wheel 404 can be cushioned by the cushion spring 405, so that the rear wheel 404 can travel slowly even after contacting the ground, and the guide rod 403 can move in the sleeve 402 to support and guide the vehicle.
As shown in fig. 6, the power supply device 5 includes a storage battery 501 and a switching board 502, the storage battery 501 is fixedly installed in the machine body 1, the switching board 502 is fixedly installed on the front surface of the top platform 8, the switching board 502 is electrically connected to the storage battery 501 through a wire, a controller 503 is fixedly installed on one side of the storage battery 501, and a wireless remote control module 504 is fixedly installed inside the controller 503.
Further, can supply power for the electrical apparatus in the operation process through battery 501, controller 503 controls the electrical apparatus, and switching picture peg 502 can carry out the switching to the power supply of battery 501 to the electrical apparatus in top 8 tops to prevent that lifting unit 7 lift in-process wire is in disorder and hinge to be decreased, wireless remote control module 504 carries out remote control to this robot's electrical component through current wireless remote control technique.
As shown in fig. 1, 4 and 6, the lifting assembly 7 includes a scissor type arm support 701, a top portion of the scissor type arm support 701 is movably mounted at a bottom portion of the top platform 8, a bottom portion of the scissor type arm support 701 is movably mounted at a top portion of the base 6, and a lifting bidirectional hydraulic cylinder 702 is fixedly mounted on a frame body of the scissor type arm support 701.
Further, the scissor-type arm support 701 is driven by the lifting bidirectional hydraulic cylinder 702 to lift, so that the top platform 8 is lifted, and when the scissor-type arm support 701 is retracted, the frame body is closed at the top of the top platform 8, so that the occupied area is small, and the gravity center reduction effect is good.
As shown in fig. 4, a first slide rail 13 is fixedly mounted on the right side of the bottom of the top table 8, a first slide block 14 is fixedly mounted on the right side of the top of the scissor-type arm support 701, the first slide block 14 slides in the first slide rail 13, a second slide rail 15 is fixedly mounted on the right side of the top of the base 6, a second slide block 16 is fixedly mounted on the right side of the bottom of the scissor-type arm support 701, and the second slide block 16 slides in the second slide rail 15.
Further, in the lifting process of the scissor arm support 701, a slider slides in the first slide rail 13 and a second slider 16 slides in the second slide rail 15, so that the scissor arm support 701 can be lifted.
As shown in fig. 5 and 6, the working camera assembly 11 includes a range radar 1101 and a high-definition focusing camera 1102, and both the range radar 1101 and the high-definition focusing camera 1102 are fixedly mounted on one side of the end portion of the mechanical arm 10.
Further, the high-definition focusing camera 1102 can remotely provide pictures when the mechanical arm 10 works, so that an operator can operate more conveniently, the distance of work can be monitored by the ranging radar 1101, the operator can be assisted, and the operator can operate more accurately.
As shown in fig. 1, the walking camera assembly 12 includes a supporting rod 1201, the supporting rod 1201 is fixedly installed at the top of the top platform 8, a control console 1202 is fixedly installed at the top of the supporting rod 1201, and a panoramic camera 1203 is movably installed at the bottom of the control console 1202.
Further, can support panoramic camera 1203 through branch 1201, make panoramic camera 1203 visual angle bigger, can control the camera position of panoramic camera 1203 through utilizing control cloud platform 1202, panoramic camera 1203 can help operating personnel to survey the surrounding environment better when the operation of marcing.
As shown in fig. 2 and 4, the surfaces of the track wheels 2 and the obstacle crossing track 302 are provided with insulating layers 17, and an insulating member 18 is fixedly mounted at the end of the mechanical arm 10.
Further, the insulating layer 17 and the insulating member 18 can prevent the current from causing electric shock damage to the internal electric components of the robot during traveling or working.
The invention provides a movable obstacle-crossing live working robot, which improves the grip force and the obstacle-crossing capability by arranging a wheel pulley at the bottom of a machine body 1 for walking, can enhance the obstacle-crossing capability by separately arranging obstacle-crossing front wheels by using obstacle-crossing components, can prevent the vehicle body from turning backwards due to overlarge gradient when the obstacle-crossing is carried out by arranging anti-toppling at the rear of the running of the machine body 1, can supply power by using a power supply device 5, arranges a heavier power supply device 5 at the bottom of the whole machine body 1, optimizes the whole layout structure, reduces the gravity center of the vehicle body to ensure that the vehicle body is not easy to topple when the obstacle-crossing is carried out, can lift up a mechanical arm 10 by using a lifting component 7 to ensure that the mechanical arm 10 can work at a high position, enables a walking camera component 12 to be started when a crawler wheel 2 walks to provide a running picture for walking, and arranges a working camera component 11 at the mechanical arm 10, the working picture is provided, the mechanical arm 10 works more accurately, the advancing front end of the obstacle crossing crawler 302 can be driven by the telescopic cylinder 301 to carry out lifting control, the advancing front end of the obstacle crossing crawler 302 can be lifted or lowered according to the shape of an obstacle, the obstacle crossing capability is stronger, the machine body 1 is not easy to topple in the obstacle crossing process, the crawler body 3021 rotates by providing power by a power system of a driving wheel 3022 abutting against a crawler wheel 2, the sleeve 3024 part of a driven wheel 3023 is connected with the telescopic cylinder 301, the crawler body 3021 is lined by the driven wheel 3023 and parts thereof, the driven wheel 3023 part is driven by the telescopic cylinder 301 to lift or lower, the rear wheel 404 can prevent the machine body from retroverting, the rear wheel 404 can be buffered by a buffer spring 405, and the rear wheel 404 can still advance slowly after contacting the ground, the guide rod 403 can play a supporting and guiding role in the movement of the sleeve 402, the storage battery 501 can supply power to an electric appliance in the operation process, the controller 503 controls the electric appliance, the switching plugboard 502 can switch the power supply of the electric appliance at the top of the top platform 8 by the storage battery 501 to prevent wires from being disordered and damaged in the lifting process of the lifting assembly 7, the wireless remote control module 504 remotely controls the electric components of the robot by the existing wireless remote control technology, the scissor-type arm support 701 is driven to lift by the lifting bidirectional hydraulic cylinder 702 to lift the top platform 8, when the lifting assembly is retracted, the frame body of the scissor-type arm support 701 is closed at the top of the top platform 8, the occupied area is small, the gravity center reducing effect is good, when the scissor-type arm support 701 is lifted, one sliding block slides in the first sliding rail 13, the second sliding block 16 slides in the second sliding rail 15, make scissor type cantilever crane 701 can go up and down, focus camera 1102 through the high definition and can remotely provide the picture at arm 10 during operation, it is more convenient to make operating personnel operate, utilize range radar 1101 can monitor the distance of work, thereby can assist operating personnel, make operating personnel operate more accurately, can support panoramic camera 1203 through branch 1201, make panoramic camera 1203 visual angle bigger, can control the camera position of panoramic camera 1203 through utilizing control cloud platform 1202, panoramic camera 1203 can help operating personnel to observe the surrounding environment better when the operation of marcing, insulating layer 17 and insulating part 18 can prevent to advance or electric current causes the electric shock destruction to this robot's inside electric component in the course of the work.
The above descriptions are only examples of the present invention, and common general knowledge of known specific structures, characteristics, and the like in the schemes is not described herein too much, and it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Without departing from the invention, several changes and modifications can be made, which should also be regarded as the protection scope of the invention, and these will not affect the effect of the invention and the practicality of the patent.
Claims (10)
1. The movable obstacle-crossing live working robot is characterized by comprising a machine body (1), wherein a crawler wheel (2) is fixedly mounted at the bottom of the machine body (1), obstacle-crossing devices (3) are arranged on the front surface and the back surface of the crawler wheel (2), an anti-toppling assembly (4) is fixedly mounted on the right side of the machine body (1), a power supply device (5) is fixedly mounted inside the machine body (1), a base (6) is fixedly mounted at the top of the machine body (1), a lifting assembly (7) is fixedly mounted at the top of the base (6), a top table (8) is fixedly mounted at the top of the lifting assembly (7), a containing bin (9) is formed in the top of the top table (8), two groups of containing bins (9) are arranged, a mechanical arm (10) is movably connected to the bottom of the inner wall of the containing bin (9), and a working camera shooting assembly (11) is fixedly mounted on the arm surface of the mechanical arm (10), and a walking camera shooting assembly (12) is fixedly mounted at the top of the top platform (8).
2. The movable type obstacle crossing electric working robot according to claim 1, wherein the obstacle crossing device (3) comprises a telescopic cylinder (301) and an obstacle crossing crawler (302), one end of the telescopic cylinder (301) is hinged on the front and back of the body (1), and the other end of the telescopic cylinder (301) is hinged on the inner side of the obstacle crossing crawler (302).
3. The movable obstacle crossing electric working robot as recited in claim 2, characterized in that the obstacle crossing crawler (302) comprises a crawler body (3021), a driving wheel (3022) and a driven wheel (3023), the driving wheel (3022) and the driven wheel (3023) are arranged inside the crawler body (3021), the driving wheel (3022) is driven by a wheel body of the crawler wheel (2), a sleeve shaft (3024) is rotatably connected to the inner side of the driven wheel (3023), and the telescopic cylinder (301) is hinged on the sleeve shaft (3024).
4. The movable obstacle crossing live working robot according to claim 1, wherein the anti-toppling assembly (4) comprises a fixed plate (401), the fixed plate (401) is fixedly installed on the right side of the front surface and the right side of the back surface of the machine body (1), a sleeve (402) is fixedly installed on the right side of the fixed plate (401), a guide rod (403) is movably connected inside the sleeve (402), a rear wheel (404) is rotatably connected to the end of the guide rod (403), a buffer spring (405) is fixedly installed on the rod body of the guide rod (403), and the end of the buffer spring (405) is fixedly installed on the right side of the fixed plate (401).
5. The movable obstacle crossing live working robot according to claim 1, wherein the power supply device (5) comprises a storage battery (501) and a switching plugboard (502), the storage battery (501) is fixedly installed in the machine body (1), the switching plugboard (502) is fixedly installed on the front surface of the top platform (8), the switching plugboard (502) is electrically connected with the storage battery (501) through a lead, a controller (503) is fixedly installed on one side of the storage battery (501), and a wireless remote control module (504) is fixedly installed inside the controller (503).
6. The movable obstacle-crossing live working robot according to claim 1, wherein the lifting assembly (7) comprises a scissor type arm support (701), the top of the scissor type arm support (701) is movably mounted at the bottom of the top platform (8), the bottom of the scissor type arm support (701) is movably mounted at the top of the base (6), and a lifting bidirectional hydraulic cylinder (702) is fixedly mounted on the body of the scissor type arm support (701).
7. The movable obstacle crossing electric operating robot as recited in claim 6, characterized in that a first slide rail (13) is fixedly mounted on the bottom right side of the top table (8), a first slide block (14) is fixedly mounted on the top right side of the scissor type arm support (701), the first slide block (14) slides in the first slide rail (13), a second slide rail (15) is fixedly mounted on the top right side of the base (6), a second slide block (16) is fixedly mounted on the bottom right side of the scissor type arm support (701), and the second slide block (16) slides in the second slide rail (15).
8. The movable obstacle crossing live working robot according to claim 1, wherein the working camera assembly (11) comprises a range radar (1101) and a high-definition focusing camera (1102), and the range radar (1101) and the high-definition focusing camera (1102) are fixedly installed on one side of the end portion of the mechanical arm (10).
9. The movable obstacle-crossing live working robot according to claim 1, wherein the walking camera assembly (12) comprises a supporting rod (1201), the supporting rod (1201) is fixedly installed at the top of the top platform (8), a control cloud deck (1202) is fixedly installed at the top of the supporting rod (1201), and a panoramic camera (1203) is movably installed at the bottom of the control cloud deck (1202).
10. The movable obstacle crossing live working robot according to claim 2, wherein the surfaces of the crawler wheels (2) and the obstacle crossing crawler (302) are each provided with an insulating layer (17), and an insulating member (18) is fixedly mounted to an end of the robot arm (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110574459.2A CN113427463A (en) | 2021-05-25 | 2021-05-25 | Movable obstacle-crossing live working robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110574459.2A CN113427463A (en) | 2021-05-25 | 2021-05-25 | Movable obstacle-crossing live working robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113427463A true CN113427463A (en) | 2021-09-24 |
Family
ID=77803035
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110574459.2A Pending CN113427463A (en) | 2021-05-25 | 2021-05-25 | Movable obstacle-crossing live working robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113427463A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114590298A (en) * | 2022-02-24 | 2022-06-07 | 国网浙江省电力有限公司金华供电公司 | Outdoor portable safety measure case |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104816300A (en) * | 2015-02-16 | 2015-08-05 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Swing arm type track explosive-handling robot and walking method thereof |
| CN106379436A (en) * | 2016-11-24 | 2017-02-08 | 国网山东省电力公司电力科学研究院 | Wheel type obstacle crossing mechanism of transformer substation, robot and method of obstacle crossing mechanism |
| CN107297757A (en) * | 2017-08-27 | 2017-10-27 | 刘哲 | A kind of mobile robot |
| CN108216400A (en) * | 2016-12-21 | 2018-06-29 | 深圳市博铭维智能科技有限公司 | Crawler type specialized robot and its system |
| CN108908284A (en) * | 2018-07-27 | 2018-11-30 | 中国科学院自动化研究所 | Packaged type obstacle detouring hot line robot |
| CN109460033A (en) * | 2018-12-14 | 2019-03-12 | 杭州申昊科技股份有限公司 | A kind of intelligent inspection robot |
| CN109968317A (en) * | 2019-05-06 | 2019-07-05 | 杭州道盈信息科技有限公司 | A kind of indoor substation intelligent measurement repairing robot |
| CN209095546U (en) * | 2018-10-23 | 2019-07-12 | 广东博智林机器人有限公司 | A kind of omni-directional moving mechanism having obstacle crossing function and robot system |
| CN209395912U (en) * | 2018-12-30 | 2019-09-17 | 杭州白泽新能科技有限公司 | Cterpillar drive and barrier-surpassing robot |
| CN209885081U (en) * | 2019-03-28 | 2020-01-03 | 李岱峰 | Track fire-fighting robot platform convenient to obstacle-crossing and maintenance |
| CN210361283U (en) * | 2019-06-19 | 2020-04-21 | 中科开创（广州）智能科技发展有限公司 | Be applied to cable channel's crawler-type robot |
| CN111496759A (en) * | 2020-03-18 | 2020-08-07 | 李海峰 | Anti-collision obstacle-crossing line inspection robot based on remote control system |
| CN111571610A (en) * | 2020-05-22 | 2020-08-25 | 重庆吉尔尼科技有限责任公司 | Automatic inspection robot for power distribution room |
| CN111775134A (en) * | 2020-07-30 | 2020-10-16 | 嘉兴学院 | Inspection robot with obstacle crossing climbing mechanism and use method thereof |
| CN212812854U (en) * | 2020-08-21 | 2021-03-30 | 仲恺农业工程学院 | Fruit picking robot |
-
2021
- 2021-05-25 CN CN202110574459.2A patent/CN113427463A/en active Pending
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104816300A (en) * | 2015-02-16 | 2015-08-05 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Swing arm type track explosive-handling robot and walking method thereof |
| CN106379436A (en) * | 2016-11-24 | 2017-02-08 | 国网山东省电力公司电力科学研究院 | Wheel type obstacle crossing mechanism of transformer substation, robot and method of obstacle crossing mechanism |
| CN108216400A (en) * | 2016-12-21 | 2018-06-29 | 深圳市博铭维智能科技有限公司 | Crawler type specialized robot and its system |
| CN107297757A (en) * | 2017-08-27 | 2017-10-27 | 刘哲 | A kind of mobile robot |
| CN108908284A (en) * | 2018-07-27 | 2018-11-30 | 中国科学院自动化研究所 | Packaged type obstacle detouring hot line robot |
| CN209095546U (en) * | 2018-10-23 | 2019-07-12 | 广东博智林机器人有限公司 | A kind of omni-directional moving mechanism having obstacle crossing function and robot system |
| CN109460033A (en) * | 2018-12-14 | 2019-03-12 | 杭州申昊科技股份有限公司 | A kind of intelligent inspection robot |
| CN209395912U (en) * | 2018-12-30 | 2019-09-17 | 杭州白泽新能科技有限公司 | Cterpillar drive and barrier-surpassing robot |
| CN209885081U (en) * | 2019-03-28 | 2020-01-03 | 李岱峰 | Track fire-fighting robot platform convenient to obstacle-crossing and maintenance |
| CN109968317A (en) * | 2019-05-06 | 2019-07-05 | 杭州道盈信息科技有限公司 | A kind of indoor substation intelligent measurement repairing robot |
| CN210361283U (en) * | 2019-06-19 | 2020-04-21 | 中科开创（广州）智能科技发展有限公司 | Be applied to cable channel's crawler-type robot |
| CN111496759A (en) * | 2020-03-18 | 2020-08-07 | 李海峰 | Anti-collision obstacle-crossing line inspection robot based on remote control system |
| CN111571610A (en) * | 2020-05-22 | 2020-08-25 | 重庆吉尔尼科技有限责任公司 | Automatic inspection robot for power distribution room |
| CN111775134A (en) * | 2020-07-30 | 2020-10-16 | 嘉兴学院 | Inspection robot with obstacle crossing climbing mechanism and use method thereof |
| CN212812854U (en) * | 2020-08-21 | 2021-03-30 | 仲恺农业工程学院 | Fruit picking robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114590298A (en) * | 2022-02-24 | 2022-06-07 | 国网浙江省电力有限公司金华供电公司 | Outdoor portable safety measure case |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113247138B (en) | Multi-motion mode wheel-leg separated quadruped robot | |
| CN112176901A (en) | Automatic traffic cone winding and unwinding method and device | |
| CN111846001B (en) | Wheel-leg variable-structure robot | |
| CN113427463A (en) | Movable obstacle-crossing live working robot | |
| CN112644604A (en) | AGV robot and trade power station | |
| CN114696260A (en) | Ice observation robot for power transmission line and obstacle crossing method thereof | |
| CN210531967U (en) | Mobile shooting platform | |
| WO2021145154A1 (en) | Crawler travel device and work machine provided with said crawler travel device | |
| JP5353779B2 (en) | Battery charging warehouse | |
| AU2022250082B2 (en) | Tire handler having tire lay flat capability | |
| JP2012056557A (en) | Road rail working vehicle | |
| KR101685415B1 (en) | Apparatus for moving robot | |
| CN212577869U (en) | Welding device for hydraulic support bearing structural part | |
| CN212096375U (en) | Single-wheel robot | |
| JP3926520B2 (en) | Track work vehicle | |
| CN212740595U (en) | Self-lifting multifunctional trolley tool assembly | |
| CN114314433A (en) | AGV dolly with appearance function is transferred to multi freedom | |
| JP2022088776A (en) | Rail and land vehicle | |
| JP4190811B2 (en) | Aerial work platform | |
| JP6031307B2 (en) | Aerial work platform | |
| CN112238907A (en) | Intelligent robot capable of walking stably on multiple terrains | |
| JP2009256102A (en) | Mobile crane | |
| CN217060837U (en) | Four-support-arm crawler-type inspection robot | |
| JP6516394B1 (en) | Up and down traversing parking system with charging function | |
| CN219769658U (en) | AGV charging actuating mechanism |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210924 |