CN113581319A - Intelligent inspection robot advancing mechanism - Google Patents
Intelligent inspection robot advancing mechanism Download PDFInfo
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- CN113581319A CN113581319A CN202110724791.2A CN202110724791A CN113581319A CN 113581319 A CN113581319 A CN 113581319A CN 202110724791 A CN202110724791 A CN 202110724791A CN 113581319 A CN113581319 A CN 113581319A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 107
- 238000007689 inspection Methods 0.000 title claims abstract description 13
- 230000017105 transposition Effects 0.000 claims abstract description 27
- 238000001125 extrusion Methods 0.000 claims description 9
- 230000000903 blocking effect Effects 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 239000012634 fragment Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 4
- 230000009194 climbing Effects 0.000 abstract description 2
- 230000007423 decrease Effects 0.000 abstract description 2
- 230000000630 rising effect Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000002243 precursor Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels
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Abstract
The invention provides an advancing mechanism of an intelligent inspection robot, and relates to the field of robots. This robot advancing mechanism is patrolled and examined to intelligence, including the loading board, loading board lower surface fixedly connected with leads to the body frame, leads to body frame inside groove sliding connection and has the collision board, and reset spring has cup jointed on the collision board surface, and reset spring is at the body frame inside groove that leads to, and collision board left end fixedly connected with rack plate, rack plate upper end meshing has first gear, and one side fixedly connected with second gear that first gear is close to each other, and second gear surface meshing has transposition mechanism. This robot mechanism of marcing forward is patrolled and examined to intelligence provides power through the power wheel and drives the mechanism and go forward, makes the mechanism at first touch the step when meetting the step, through control power wheel rising and decline, makes the mechanism can realize the function of climbing the step under the cooperation that has the directive wheel, has reached the effect that can climb different mounting platforms in the motor room, has solved the problem that the right angle platform can't be climbed to the mechanism of marcing.
Description
Technical Field
The invention relates to the field of robots, in particular to an advancing mechanism of an intelligent inspection robot.
Background
In order to improve the automation degree of patrol of the switch cabinet of the switch room in the substation, solve the unattended process of the switch cabinet of the switch room in the substation, partially replace people to detect visible light, infrared light, sound and the like of outdoor equipment of the switch cabinet of the switch room in the substation, compare and trend analyze patrol data, and introduce robots for timely finding accident potential and failure precursor of power grid operation.
Due to the requirement of a working environment, a large number of cables and equipment installation platforms with different heights exist in the interior of a substation room, and under the influence of the environment, a general robot advancing mechanism is difficult to advance in the rugged environment, so that the robot advancing mechanism which can be used for the special environment is urgently needed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an advancing mechanism of an intelligent inspection robot, which solves the problems that the advancing mechanism cannot climb a right-angle platform, cannot smoothly pass through a mechanism when facing steps with different heights and is blocked on a higher step edge.
In order to achieve the purpose, the invention is realized by the following technical scheme: an advancing mechanism of an intelligent inspection robot comprises a bearing plate, wherein a whole body frame is fixedly connected to the lower surface of the bearing plate, a collision plate is slidably connected to the inner groove of the whole body frame, a reset spring is sleeved on the outer surface of the collision plate and is arranged in the inner groove of the whole body frame, a rack plate is fixedly connected to the left end of the collision plate, a first gear is meshed at the upper end of the rack plate, a second gear is fixedly connected to one side, close to each other, of the first gear, a transposition mechanism is meshed on the outer surface of the second gear, a power wheel is rotatably connected to the lower end of the transposition mechanism, a stop plate is rotatably connected to the upper end of the transposition mechanism and is in contact connection with the rack plate, a jacking mechanism is slidably connected to the lower end of the stop plate, a connecting support rod is fixedly connected to the lower end of the jacking mechanism, a lifting sleeve is rotatably connected to the inner groove at one end, far away from the jacking mechanism, of the connecting support spring is sleeved on the lifting sleeve, a steering shaft is slidably connected to the upper end of the lifting sleeve, the lower end of the lifting sleeve is connected with a connecting rotating shaft in a sliding mode, the lower end of the connecting rotating shaft is connected with a steering wheel in a rotating mode, the two sides of the circumferential surface of the connecting rotating shaft are fixedly connected with a rotating assisting mechanism, the rotating assisting mechanism is in contact connection with a transposition mechanism, the rotating assisting mechanism is connected with the bearing plate in a rotating mode, the lower end of the baffle plate is fixedly connected with a support, the support is fixedly connected with the bearing plate, and one end of the support, away from the baffle plate, is fixedly connected with a backward moving mechanism.
Preferably, the shape of the whole body frame is N-shaped, the upper end of the whole body frame is fixedly connected with the bearing plate, the two sides of the lower end of the whole body frame are fixedly connected with the circular cylinders, and the circular cylinders are connected with the collision plate in a sliding mode.
Preferably, the lower end of the transposition mechanism is a wheel carrier, the left side of the wheel carrier is fixedly connected with an arc-shaped rack, the arc-shaped rack is meshed with the second gear, and the upper end of the wheel carrier is fixedly connected with an L-shaped positioning groove.
Preferably, the upper end of the blocking plate is a square containing top plate, the containing top plate is in sliding connection with the top position mechanism, the containing top plate is in contact connection with the transposition mechanism, and the lower end of the containing top plate is a supporting frame.
Preferably, the rotation assisting mechanism comprises a connecting belt, a belt wheel and an extrusion wheel, the connecting belt is fixedly connected to two sides of the belt wheel, one end, far away from the belt wheel, of the connecting belt is fixedly connected with the rotating shaft, the end face of the belt wheel is fixedly connected with the extrusion wheel, and the extrusion wheel is in heart-shaped contact connection with the transposition mechanism.
Preferably, the backward movement mechanism is by main even board, traction area, remove the wheel, return the shell fragment, strike the shell, coupling spring and universal wheel are constituteed, and main even board upper end is the connecting plate for turning to a lower extreme, and the connecting plate passes through coupling spring with the striking shell to be connected, and the piece of kick-backing is fixed in the connecting plate both sides, and the piece of kick-backing is at main even between board and the striking shell, and removal wheel and main even board rotate to be connected, traction area one end and striking shell fixed connection, the other end with remove wheel fixed connection, main even board lower extreme fixedly connected with universal wheel.
Compared with the prior art, the invention has the following beneficial effects:
1. this robot mechanism of marcing forward is patrolled and examined to intelligence provides power through the power wheel and drives the mechanism and go forward, makes the mechanism at first touch the step when meetting the step, through control power wheel rising and decline, makes the mechanism can realize the function of climbing the step under the cooperation that has the directive wheel, has reached the effect that can climb different mounting platforms in the motor room, has solved the problem that the right angle platform can't be climbed to the mechanism of marcing.
2. This robot advancing mechanism is patrolled and examined to intelligence promotes the rack board through the collision board and removes, makes mechanism touch behind the step second gear can rotate and promote the power wheel and rotate, through too high mechanism rear steering wheel of power wheel reachs the step top after, the collision board power wheel that resets follows and resets, makes the mechanism be suitable for not platform of co-altitude, need not to adjust the effect of automatic adjustment according to the step height when having reached the platform of co-altitude, has solved the problem that the mechanism can't pass through smoothly when facing the step of co-altitude.
3. This robot advancing mechanism is patrolled and examined to intelligence connects main even board and striking shell through the installation traction band, can utilize the shrink drive of striking shell to remove the wheel and turn to when making the backward movement mechanism hit the step, turns to through removing the wheel and can adjust backward movement mechanism and rotate to a little, prevents that the mechanism card from dying on higher step arris, has reached and has avoided the dead effect of rear wheel card, has solved the dead problem on higher step arris of mechanism card.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a bottom view of the present invention;
FIG. 3 is a schematic view of a single-sided advancement configuration of the present invention;
FIG. 4 is a schematic view of the rearward movement mechanism of the present invention;
FIG. 5 is a schematic view of a height conversion structure according to the present invention;
FIG. 6 is a schematic view of the internal structure of the present invention.
The device comprises a bearing plate-1, a whole body frame-2, a collision plate-3, a return spring-4, a rack plate-5, a first gear-6, a second gear-7, a transposition mechanism-8, a power wheel-9, a stop plate-10, a top mechanism-11, a connecting support rod-12, a lifting sleeve-13, a support spring-14, a steering shaft-15, a connecting rotation shaft-16, a rotating auxiliary mechanism-17, a steering wheel-18, a support-19, a rear moving mechanism-20, a main connecting plate-201, a traction belt-202, a moving wheel-203, a rebound sheet-204, a collision shell-205, a connecting spring-206 and a universal wheel-207.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-6, the intelligent inspection robot advancing mechanism comprises a bearing plate 1, wherein a whole body frame 2 is fixedly connected to the lower surface of the bearing plate 1, the whole body frame 2 is N-shaped in appearance, the upper end of the whole body frame 2 is fixedly connected with the bearing plate 1, round cylinders are fixedly connected to two sides of the lower end of the whole body frame 2 and are in sliding connection with a collision plate 3, and the whole body frame 2 can enable the collision plate 3 to move along a fixed direction after collision and contraction.
2 inside groove sliding connection of entire body frame has collision board 3, collision board 3 surface has cup jointed reset spring 4, reset spring 4 is in 2 inside grooves of entire body frame, 3 left end fixedly connected with rack plate 5 of collision board, the meshing of rack plate 5 upper end has first gear 6, one side fixedly connected with second gear 7 that first gear 6 is close to each other, 7 surface meshing of second gear have transposition mechanism 8, 8 lower extremes of transposition mechanism are the wheel carrier, wheel carrier left side fixedly connected with arc rack, arc rack is connected with 7 meshing of second gear, wheel carrier upper end fixedly connected with "L" type constant head tank, transposition mechanism 8 can support power wheel 9 and prop up and put down and stride across the step of co-altitude.
The lower end of the transposition mechanism 8 is rotatably connected with a power wheel 9, the upper end of the transposition mechanism 8 is rotatably connected with a blocking plate 10, the blocking plate 10 is in contact connection with the rack plate 5, the lower end of the blocking plate 10 is slidably connected with a jacking mechanism 11, the upper end of the blocking plate 10 is a square storage roof, the storage roof is in sliding connection with the jacking mechanism 11, the storage roof is in contact connection with the transposition mechanism 8, the lower end of the storage roof is a support frame, and the upper end of the blocking plate 10 can limit the rotating angle of the transposition mechanism 8 and can provide a storage space for the jacking mechanism 11.
The lower end of the top mechanism 11 is fixedly connected with a connecting supporting rod 12, one end of the connecting supporting rod 12, far away from the top mechanism 11, is rotatably connected with a lifting sleeve 13, a supporting spring 14 is sleeved in an inner groove of the lifting sleeve 13, the upper end of the lifting sleeve 13 is slidably connected with a steering shaft 15, the lower end of the lifting sleeve 13 is slidably connected with a connecting shaft 16, the lower end of the connecting shaft 16 is rotatably connected with a steering wheel 18, two sides of the peripheral surface of the connecting shaft 16 are fixedly connected with a rotating mechanism 17, the rotating mechanism 17 is provided with a connecting belt, a belt wheel and an extrusion wheel, the connecting belt is fixedly connected to two sides of the belt wheel, one end of the connecting belt, far away from the belt wheel, is fixedly connected with the connecting shaft 16, the end face of the belt wheel is fixedly connected with the extrusion wheel, the appearance of the extrusion wheel is heart-shaped and is in contact connection with the transposition mechanism 8, and the rotating mechanism 17 can ensure that the steering wheel 18 and the power wheel 9 are kept on the same level to effectively turn when the advancing mechanism turns.
The auxiliary rotating mechanism 17 is in contact connection with the transposition mechanism 8, the auxiliary rotating mechanism 17 is in rotary connection with the bearing plate 1, the lower end of the baffle plate 10 is fixedly connected with a support 19, the support 19 is fixedly connected with the bearing plate 1, one end of the support 19 far away from the baffle plate 10 is fixedly connected with a rear moving mechanism 20, the rear moving mechanism 20 is composed of a main connecting plate 201, a traction belt 202, a moving wheel 203, a return spring sheet 204, an impact shell 205, a connecting spring 206 and a universal wheel 207, the upper end of the main connecting plate 201 is a connecting plate, the lower end of the steering block is arranged at the upper end of the main connecting plate 201, the connecting plate is connected with the impact shell 205 through the connecting spring 206, the return spring sheet 204 is fixed at two sides of the connecting plate, the return sheet 204 is arranged between the main connecting plate 201 and the impact shell 205, the moving wheel 203 is in rotary connection with the main connecting plate 201, one end of the traction belt 202 is fixedly connected with the impact shell 205, the other end is fixedly connected with the moving wheel 203, the universal wheel 207 is fixedly connected with the lower end of the main connecting plate 201, the rear moving mechanism 20 can cross over steps in the front device, prevent that the rear wheel card can collide thing on the step and rotate by oneself a little angle.
When the mechanism is used, the power wheel 9 provides power to drive the mechanism to move forwards, when the collision plate 3 is not contacted with things, the mechanism can easily stride across, when the collision plate 3 is contacted with a step, the collision plate 3 extrudes the reset spring 4 to push the rack plate 5 to move along the whole body frame 2 in an internal control mode, the rack plate 5 pushes the first gear 6 to rotate, the first gear 6 drives the second gear 7 to rotate, the second gear 7 rotates to push the transposition mechanism 8 to rotate, the top position mechanism 11 is supported on the transposition mechanism 8 and the stop position plate 10 by pressure to prevent bending, the front end of the mechanism integrally moves upwards, when the collision plate 3 crosses the step, the collision plate is pushed by the reset spring 4 to reset, the steering wheel 18 is contacted with the upper surface of the step to drive the top position mechanism 11 to move upwards, the power wheel 9 is folded and contracted, the front end of the mechanism integrally crosses the step, the rear movement mechanism 20 is contacted with the step, the collision shell 205 firstly tilts through the traction belt 202 to drive the movement wheel 203 to tilt at the same angle, the bottom end of the universal wheel 207 is a ball body which can directly roll, and the moving wheel 203 is driven by the traction belt 202 to rotate at different angles so as to prevent the clamping from being carried by the power wheel 9.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The utility model provides an intelligence inspection robot mechanism of advancing, includes loading board (1), its characterized in that: the lower surface of the bearing plate (1) is fixedly connected with a whole body frame (2), an inner groove of the whole body frame (2) is connected with a collision plate (3) in a sliding manner, the outer surface of the collision plate (3) is sleeved with a reset spring (4), the reset spring (4) is arranged in the inner groove of the whole body frame (2), the left end of the collision plate (3) is fixedly connected with a rack plate (5), the upper end of the rack plate (5) is meshed with a first gear (6), one side of the first gear (6) close to each other is fixedly connected with a second gear (7), the outer surface of the second gear (7) is meshed with a transposition mechanism (8), the lower end of the transposition mechanism (8) is rotatably connected with a power wheel (9), the upper end of the transposition mechanism (8) is rotatably connected with a stop plate (10), the stop plate (10) is in contact connection with the rack plate (5), the lower end of the stop plate (10) is slidably connected with a top mechanism (11), and the lower end of the top mechanism (11) is fixedly connected with a connecting support rod (12), one end of the connecting support rod (12) far away from the jacking mechanism (11) is rotatably connected with a lifting sleeve (13);
a supporting spring (14) is sleeved in an inner groove of the lifting sleeve (13), the upper end of the lifting sleeve (13) is connected with a steering shaft (15) in a sliding manner, the lower end of the lifting sleeve (13) is connected with a connecting rotating shaft (16) in a sliding manner, the lower end of the connecting rotating shaft (16) is connected with a steering wheel (18) in a rotating manner, auxiliary rotating mechanisms (17) are fixedly connected to two sides of the circumferential surface of the connecting rotating shaft (16), the auxiliary rotating mechanisms (17) are in contact connection with the transposition mechanism (8), and the auxiliary rotating mechanisms (17) are in rotating connection with the bearing plate (1);
the lower end of the baffle plate (10) is fixedly connected with a support (19), the support (19) is fixedly connected with the bearing plate (1), and one end, far away from the baffle plate (10), of the support (19) is fixedly connected with a backward moving mechanism (20).
2. The intelligent inspection robot advancing mechanism according to claim 1, wherein: the appearance of the whole body frame (2) is N-shaped, the upper end of the whole body frame (2) is fixedly connected with the bearing plate (1), the two sides of the lower end of the whole body frame (2) are fixedly connected with circular cylinders, and the circular cylinders are connected with the collision plate (3) in a sliding mode.
3. The intelligent inspection robot advancing mechanism according to claim 1, wherein: the lower end of the transposition mechanism (8) is a wheel carrier, the left side of the wheel carrier is fixedly connected with an arc-shaped rack, the arc-shaped rack is meshed with the second gear (7) and is connected with an L-shaped positioning groove.
4. The intelligent inspection robot advancing mechanism according to claim 1, wherein: the upper end of the position blocking plate (10) is a square storage top plate, the storage top plate is in sliding connection with the position pushing mechanism (11), the storage top plate is in contact connection with the transposition mechanism (8), and the lower end of the storage top plate is a supporting frame.
5. The intelligent inspection robot advancing mechanism according to claim 1, wherein: the rotating auxiliary mechanism (17) is composed of a connecting belt, belt wheels and extrusion wheels, the connecting belt is fixedly connected to two sides of each belt wheel, one end, far away from each belt wheel, of each connecting belt is fixedly connected with a rotating shaft (16), the end faces of the belt wheels are fixedly connected with the extrusion wheels, and the extrusion wheels are in heart-shaped contact connection with the transposition mechanism (8).
6. The intelligent inspection robot advancing mechanism according to claim 1, wherein: move mechanism (20) backward by main even board (201), traction area (202), remove wheel (203), kick-back piece (204), striking shell (205), coupling spring (206) and universal wheel (207) are constituteed, main even board (201) upper end is the connecting plate for turning to the piece lower extreme, the connecting plate is connected through coupling spring (206) with striking shell (205), it fixes in the connecting plate both sides to return shell fragment (204), it is between main even board (201) and striking shell (205) to return shell fragment (204), it is connected with main even board (201) rotation to remove wheel (203), traction area (202) one end and striking shell (205) fixed connection, the other end and removal wheel (203) fixed connection, main even board (201) lower extreme fixedly connected with universal wheel (207).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2021107024558 | 2021-06-23 | ||
| CN202110702455 | 2021-06-23 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113581319A true CN113581319A (en) | 2021-11-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110724791.2A Pending CN113581319A (en) | 2021-06-23 | 2021-06-28 | Intelligent inspection robot advancing mechanism |
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| JP2004182217A (en) * | 2002-07-29 | 2004-07-02 | Koichi Okamoto | Stairway climb up/down vehicle |
| US20120066846A1 (en) * | 2010-09-16 | 2012-03-22 | Jason Yan | Structural Improvement For Robotic Cleaner |
| CN104071251A (en) * | 2014-07-28 | 2014-10-01 | 东南大学 | Eight-wheel obstacle-crossing transporting robot |
| CN105109529A (en) * | 2015-09-08 | 2015-12-02 | 中国舰船研究设计中心 | Obstacle surmounting transport mechanism for warships |
| CN206528462U (en) * | 2017-03-01 | 2017-09-29 | 河海大学常州校区 | Device for aiding overpass obstacle for barrier-exceeding vehicle |
| CN110001817A (en) * | 2018-01-05 | 2019-07-12 | 福特汽车公司 | Auxiliary vehicle, mobile system and the method for unloading auxiliary vehicle |
| CN110329391A (en) * | 2019-08-09 | 2019-10-15 | 北京布科思科技有限公司 | A kind of Guo Zhang mechanism and its wheel undercarriage component and the application on crusing robot |
-
2021
- 2021-06-28 CN CN202110724791.2A patent/CN113581319A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004182217A (en) * | 2002-07-29 | 2004-07-02 | Koichi Okamoto | Stairway climb up/down vehicle |
| US20120066846A1 (en) * | 2010-09-16 | 2012-03-22 | Jason Yan | Structural Improvement For Robotic Cleaner |
| CN104071251A (en) * | 2014-07-28 | 2014-10-01 | 东南大学 | Eight-wheel obstacle-crossing transporting robot |
| CN105109529A (en) * | 2015-09-08 | 2015-12-02 | 中国舰船研究设计中心 | Obstacle surmounting transport mechanism for warships |
| CN206528462U (en) * | 2017-03-01 | 2017-09-29 | 河海大学常州校区 | Device for aiding overpass obstacle for barrier-exceeding vehicle |
| CN110001817A (en) * | 2018-01-05 | 2019-07-12 | 福特汽车公司 | Auxiliary vehicle, mobile system and the method for unloading auxiliary vehicle |
| CN110329391A (en) * | 2019-08-09 | 2019-10-15 | 北京布科思科技有限公司 | A kind of Guo Zhang mechanism and its wheel undercarriage component and the application on crusing robot |
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