CN114102638B - Intelligent inspection robot for library - Google Patents
Intelligent inspection robot for library Download PDFInfo
- Publication number
- CN114102638B CN114102638B CN202210084025.9A CN202210084025A CN114102638B CN 114102638 B CN114102638 B CN 114102638B CN 202210084025 A CN202210084025 A CN 202210084025A CN 114102638 B CN114102638 B CN 114102638B
- Authority
- CN
- China
- Prior art keywords
- plate
- buffer
- robot
- rod
- fixedly connected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the application provides library's intelligence patrols and examines robot relates to the library field. Library's intelligence patrols and examines robot includes: patrol and examine robot subassembly, protective assembly and anticollision subassembly. Patrol and examine robot assembly and include the robot body and patrol and examine the equipment body. When the high definition digtal camera on the equipment body is patrolled and examined in needs protection with during infrared imaging detector, start first flexible actuating lever, first flexible actuating lever promotes first otic placode, and first otic placode drives the connecting plate and around articulated swing, the connecting plate drive the protective cover to put down cover high definition digtal camera with infrared imaging detector, through the protective cover protection high definition digtal camera with infrared imaging detector reduces intelligence and patrols and examines the robot at night or the during non-operation that charges, high definition digtal camera with infrared imaging detector is infected with the dust easily, also reduces the unexpected striking of foreign object simultaneously and causes high definition digtal camera with the condition that infrared imaging detector damaged.
Description
Technical Field
The application relates to the technical field of libraries, particularly, relate to library's intelligence and patrol and examine robot.
Background
In the related technology, the inspection robot can perform actions such as self-positioning, path planning, intelligent sensing, face recognition, video monitoring and the like, can assist in completing monitoring and patrolling security work in a shop, realizes dynamic inspection, dead-angle-free monitoring and abnormal early warning, and effectively avoids various defects of manual inspection.
Generally, library's intelligence is patrolled and examined robot and is carried out patrolling and examining of surrounding environment through high definition digtal camera and infrared imaging detector, but high definition digtal camera and infrared imaging detector lack corresponding protection architecture and be in naked state, and intelligence is patrolled and examined the robot and is being in night or charge no during operation, is infected with the dust easily, and the unexpected striking of foreign object also causes the damage easily simultaneously.
Disclosure of Invention
The present application is directed to solving at least one of the problems in the prior art. For this reason, this application provides library's intelligence and patrols and examines robot, library's intelligence is patrolled and examined the robot and is had the protection on it high definition digtal camera with infrared imaging detector's effect.
Robot is patrolled and examined to library's intelligence according to this application embodiment includes: patrol and examine robot subassembly, protective assembly and anticollision subassembly.
The inspection robot assembly comprises a robot body and an inspection equipment body, wherein the inspection equipment body consists of a high-definition camera and an infrared imaging detector, the protection assembly comprises a protection piece and a first driving piece, the protection piece comprises a protection cover and a connecting plate, the connecting plate is fixedly connected with the side wall at one end of the protection cover, the connecting plate is hinged to the top end of the inspection equipment body, the protection cover can cover the high-definition camera and the infrared imaging detector, the first driving piece comprises a first telescopic driving rod, a first ear plate, a second ear plate and a hinged part, the first ear plate is fixedly connected to the top end of the inspection equipment body, the second ear plate is fixedly connected to the outer wall of the connecting plate, the first telescopic driving rod is hinged to the first ear plate and the second ear plate through the hinged part, and the anti-collision assembly is arranged into a plurality of groups, the multiple groups of anti-collision assemblies are arranged on the periphery of the robot body.
According to some embodiments of the application, the protective cover inner wall is provided with sealed the pad, sealed pad can cover high definition digtal camera with infrared imaging detector, sealed pad sets up to clean sponge.
According to some embodiments of the application, the articulated portion includes an articulated screw and a limit nut, the limit nut is in threaded sleeve joint with the end portion of the articulated screw, and both ends of the first telescopic driving rod are hinged to the first ear plate and the second ear plate through the articulated screw.
According to some embodiments of the application, the outer wall of one end of the hinge screw and the outer wall of the limit nut are both provided with anti-slip strips.
According to some embodiments of the application, it is provided with the locating part to patrol and examine equipment body top, the locating part can support the connecting plate outer wall.
According to some embodiments of the application, the stopper comprises a stopper rod and a cushion pad, the cushion pad is fixedly connected to the top end of the stopper rod.
According to some embodiments of the application, the gag lever post upper end is provided with the mounting groove, the blotter lower extreme is provided with the mounting bar, the mounting bar is fixed peg graft in the mounting groove.
According to some embodiments of the application, the mounting groove side wall is in threaded connection with a connecting bolt, and the connecting bolt penetrates through the mounting strip.
According to some embodiments of the present application, the cushion pad is provided as a polyurethane pad.
According to some embodiments of the application, equipment body lateral wall fixedly connected with locating piece patrols and examines, the locating piece can block the protective cover.
According to some embodiments of the present application, the anti-collision assembly includes a buffer member, an anti-collision member, an air-discharge member and a sliding member, the buffer member includes a buffer housing, a retainer ring, a buffer rod and a first compression spring, the retainer ring is fixedly connected to the inner wall of the buffer housing, the retainer ring divides the interior of the buffer housing into a buffer cavity and an air cavity, the buffer cavity is communicated with the air cavity, the side wall of the air cavity is provided with a mounting hole, one end of the buffer housing is connected to the periphery of the inspection device body, the buffer rod is slidably connected to the buffer cavity, one end of the buffer rod extends out of the buffer housing, two ends of the first compression spring are respectively compressed against the retainer ring and the buffer rod, the anti-collision member includes an anti-collision plate, a fixing plate, a connecting rod and a sliding sleeve, the fixing plate is fixedly connected to two ends of the anti-collision plate, the connecting rod is fixedly connected to the inner wall of the fixing plate, the sliding sleeve is fixedly connected with the end part of the connecting rod, the end part of the buffer rod extending out of one end of the buffer shell is fixedly connected with the inner wall of the anti-collision plate, the exhaust part comprises an exhaust sleeve, a positioning ring, a piston plate, a positioning rod, a fixing support and a second compression spring, the exhaust sleeve is fixedly inserted in the mounting hole, the positioning ring is fixedly connected inside the exhaust sleeve, the positioning rod is fixedly connected with one side of the piston plate, the fixing support is fixedly connected with the inner wall of the end part of the exhaust sleeve, the positioning rod penetrates through the fixing support in a sliding manner, the second compression spring is sleeved on the positioning rod, the piston plate is tightly pressed on the positioning ring by the second compression spring, the piston plate can seal the air holes, and the piston plate is provided with air holes, the air vent with the bleeder vent intercommunication, the slider includes first mounting panel, second mounting panel and slide bar, first mounting panel with second mounting panel fixed connection in the slide bar both ends, first mounting panel with second mounting panel fixed connection in buffer housing outer wall, sliding sleeve slip cup joint in the slide bar.
According to some embodiments of the application, the buffer rod comprises a rod body and two sliding plates, two sliding plates are fixedly connected to one end of the rod body, and two sliding plates are slidably connected to the buffer cavity.
According to some embodiments of the application, the piston plate is kept away from locating lever one side is provided with the sealing ring, the piston plate will the sealing ring compress tightly in the bleeder vent is peripheral.
According to some embodiments of the application, a first base is fixedly connected to the periphery of the inspection equipment body, a third lug plate is fixedly connected to one end, away from the buffer rod, of the buffer shell, the third lug plate is hinged to the first base, a fourth lug plate is fixedly connected to the outer wall, close to one end of the third lug plate, of the buffer shell, a mounting frame is fixedly connected to the upper side of the inspection equipment body, the mounting frame comprises two vertical plates and two hinged sleeves, the two vertical plates are fixedly connected to the upper side of the inspection equipment body, the two hinged sleeves are fixedly connected to the side walls at the upper ends of the two vertical plates, a second driving piece is arranged between the two hinged sleeves and comprises a second telescopic driving rod, a hinged rod and a second base, the hinged rod is fixedly connected to the outer wall of the second telescopic driving rod, and the hinged rod is hinged to the hinged sleeve, the second base is fixedly connected to the output end of the second telescopic driving rod, the second base is hinged to the fourth ear plate, a rolling portion is arranged on the lower side of the outer wall of the anti-collision plate and comprises a third base and a roller, and the roller is rotatably connected to the third base.
According to some embodiments of the application, be provided with the reinforcing plate between the riser lateral wall with the equipment body upside of patrolling and examining.
The beneficial effect of this application is: when the high definition digtal camera on the equipment body is patrolled and examined in needs protection with during infrared imaging detector, start first flexible actuating lever, first flexible actuating lever promotes first otic placode, and first otic placode drives the connecting plate and around articulated swing, the connecting plate drive the protective cover to put down cover high definition digtal camera with infrared imaging detector, through the protective cover protection high definition digtal camera with infrared imaging detector reduces intelligence and patrols and examines the robot at night or the during non-operation that charges, high definition digtal camera with infrared imaging detector is infected with the dust easily, also reduces the unexpected striking of foreign object simultaneously and causes high definition digtal camera with the condition that infrared imaging detector damaged.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
FIG. 1 is a schematic perspective view of a library intelligent inspection robot according to an embodiment of the application;
FIG. 2 is a perspective view of a shield assembly according to an embodiment of the present application;
FIG. 3 is a perspective view of a protective shield according to an embodiment of the present application;
FIG. 4 is a perspective view of a first driver according to an embodiment of the present application;
figure 5 is a perspective view of a hinge according to an embodiment of the present application;
fig. 6 is a schematic perspective view of a limiting member according to an embodiment of the present application;
FIG. 7 is a perspective view of a bumper assembly according to an embodiment of the present application;
fig. 8 is a schematic perspective view of a buffer according to an embodiment of the present application;
fig. 9 is a schematic perspective view of a bumper according to an embodiment of the present application;
FIG. 10 is a perspective view of a vent according to an embodiment of the present application;
FIG. 11 is a perspective view of a slider according to an embodiment of the present application;
FIG. 12 is a perspective view of a mounting bracket according to an embodiment of the present application;
FIG. 13 is a perspective view of a second driver according to an embodiment of the present application;
fig. 14 is a schematic perspective view of a rolling part according to an embodiment of the present application.
Icon: 100-inspection robot components; 110-a robot body; 120-routing inspection equipment body; 200-a guard assembly; 210-a guard; 211-protective cover; 212-a connecting plate; 213-a gasket; 220-a first drive member; 221-a first telescoping drive rod; 222-a first ear plate; 223-a second ear plate; 224-a hinge; 2241-hinge screw; 2242-a limit nut; 2243-antislip strip; 230-a stop; 231-a limiting rod; 232-a buffer pad; 233-mounting groove; 234-mounting bar; 235-connecting bolts; 240-positioning block; 300-a collision avoidance component; 310-a buffer; 311-a buffer housing; 312-a retaining ring; 313-a buffer chamber; 314-an air cavity; 315-mounting holes; 316-buffer rod; 3161-a rod body; 3162-a slide plate; 317-a first compression spring; 318-third ear panel; 319-fourth ear panel; 320-a bumper; 321-a crash-proof plate; 322-a fixed plate; 323-connecting rod; 324-a sliding sleeve; 325-rolling part; 3251-third base; 3252-roller; 330-exhaust; 331-an exhaust sleeve; 332-a positioning ring; 333-piston plate; 334-positioning rods; 335-a fixed support; 336-a second compression spring; 337-vent holes; 338-a sealing ring; 340-a slide; 341-a first mounting plate; 342-a second mounting plate; 343-a slide bar; 350-a first base; 360-a mounting frame; 361-vertical plate; 362-hinge sleeve; 363-a reinforcing plate; 370-a second driver; 371-second telescopic drive rod; 372-a hinge rod; 373-second base.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art without any inventive work based on the embodiments in the present application are within the scope of protection of the present application.
The following describes a library intelligent inspection robot according to an embodiment of the present application with reference to the accompanying drawings.
As shown in fig. 1 to 14, the library intelligent inspection robot according to the embodiment of the present application includes: patrol and examine robot assembly 100, protective component 200 and anticollision subassembly 300, patrol and examine robot assembly 100 and be used for patrolling and examining in the library, protective component 200 is used for the protection to patrol and examine high definition digtal camera and the infrared imaging detector on robot assembly 100, and anticollision subassembly 300 is used for reducing the striking of patrolling and examining between robot assembly 100 and the bookshelf.
As shown in fig. 2, the inspection robot assembly 100 includes a robot body 110 and an inspection apparatus body 120, and the inspection apparatus body 120 is composed of a high-definition camera and an infrared imaging detector. The specific arrangement between the high-definition camera, the infrared imaging detector and the robot body 110 is known to those skilled in the art and will not be described in detail here.
As shown in fig. 3, the shielding assembly 200 includes a shielding member 210 and a first driving member 220, and the shielding member 210 includes a shielding cover 211 and a connection plate 212. The connecting plate 212 is fixedly connected to a side wall of one end of the protecting cover 211, wherein the connecting plate 212 and the protecting cover 211 are of an integrated structure. Connecting plate 212 articulates in patrolling and examining equipment body 120 top, and high definition digtal camera and infrared imaging detector can be covered to protective cover 211. The protective cover 211 inner wall is provided with sealed the pad 213, and sealed pad 213 can cover high definition digtal camera and infrared imaging detector, and sealed pad 213 sets up to clean sponge. The high-definition camera and the infrared imaging detector are protected by the cleaning sponge, and dust falling on the high-definition camera and the infrared imaging detector is reduced. The side wall of the inspection equipment body 120 is fixedly connected with a positioning block 240, and the positioning block 240 can block the protective cover 211. The angle of the protective cover 211 swinging down is limited through the positioning block 240, so that the protective cover 211 protects the high-definition camera and the infrared imaging detector and reduces the pressure loss of the protective cover 211 on the high-definition camera and the infrared imaging detector.
As shown in fig. 4, the first driving member 220 includes a first telescopic driving rod 221, a first ear plate 222, a second ear plate 223, and a hinge portion 224. The first ear plate 222 is fixedly connected to the top end of the inspection device body 120, and the second ear plate 223 is fixedly connected to the outer wall of the connection plate 212. The first telescopic driving levers 221 are both hinged to the first and second ear plates 222 and 223 through hinge parts 224. When needing the protection to patrol and examine high definition digtal camera and the infrared imaging detector on the equipment body 120, start first flexible drive lever 221, first flexible drive lever 221 promotes first otic placode 222, and first otic placode 222 drives connecting plate 212 around articulated department swing, and connecting plate 212 drives protective cover 211 and puts down and cover high definition digtal camera and infrared imaging detector. Protect high definition digtal camera and infrared imaging detector through protective cover 211, reduce the intelligence and patrol and examine the robot and at night or charge no during operation, high definition digtal camera and infrared imaging detector are infected with the dust easily, also reduce the unexpected striking of foreign object simultaneously and cause the condition that high definition digtal camera and infrared imaging detector damaged.
As shown in fig. 5, the hinge portion 224 includes a hinge screw 2241 and a limit nut 2242, the limit nut 2242 is screwed on the end portion of the hinge screw 2241, and both ends of the first telescopic driving rod 221 are hinged to the first ear plate 222 and the second ear plate 223 through the hinge screw 2241. The limiting nut 2242 is screwed down from the hinge screw 2241, so that the hinge screw 2241 can be pulled out from the first lug plate 222, the second lug plate 223 and the first telescopic driving rod 221, the hinging at the two ends of the first telescopic driving rod 221 is removed, and the first telescopic driving rod 221 can be replaced and maintained conveniently. The outer wall of the one end of the hinged screw 2241 and the outer wall of the limiting nut 2242 are provided with anti-slip strips 2243. The hinged screw 2241 and the limiting nut 2242 are convenient to rotate through the anti-slip strips 2243.
As shown in fig. 6, a limiting member 230 is disposed at the top end of the inspection equipment body 120, and the limiting member 230 can support the outer wall of the connection plate 212. The limiting member 230 supports the connecting plate 212 to limit the position of the second ear plate 223, so that the second ear plate 223 is prevented from being attached to the top end of the inspection device body 120, and the situation that the first telescopic driving rod 221 cannot push the connecting plate 212 is reduced. The position-limiting member 230 includes a position-limiting rod 231 and a cushion 232, and the cushion 232 is fixedly connected to the top end of the position-limiting rod 231. Wear between the stopper rod 231 and the connecting plate 212 is reduced by the cushion pad 232. The gag lever post 231 upper end is provided with mounting groove 233, and the blotter 232 lower extreme is provided with mounting bar 234, and mounting bar 234 is fixed pegging graft in mounting groove 233. Reducing slippage between the cushion pad 232 and the gag lever post 231. The side wall of the mounting groove 233 is in threaded connection with a connecting bolt 235, and the connecting bolt 235 penetrates through the mounting strip 234. Through connecting bolt 235 be convenient for fixed mounting strip 234, during the dismantlement, remove connecting bolt 235, take mounting strip 234 out mounting groove 233 again, and then take off blotter 232. The cushion pad 232 is provided as a polyurethane pad. The polyurethane cushion has good chemical resistance, rebound resilience and mechanical property, and also has smaller compression deformability.
As shown in fig. 7, the collision avoidance modules 300 are arranged in multiple groups, and the multiple groups of collision avoidance modules 300 are arranged around the robot body 110. In this embodiment, the collision avoidance modules 300 are provided in four groups and are respectively disposed on two sides and front and rear ends of the robot body 110.
If fig. 8 shows, library's intelligence patrols and examines peripheral crashproof subassembly 300 of robot and many cushion through the spring among the correlation technique, but the spring is compressed the back, still can reply fast, causes library's intelligence to patrol and examine the robot and is rebounded fast, produces great impact force, also causes library's intelligence to patrol and examine the robot and hit remaining article and produce to damage or library's intelligence to patrol and examine the robot unbalance and slope easily, causes the liftoff condition of partial tire.
Therefore, the inventor has long-term practical research to solve the technical problem. Specifically, the bumper assembly 300 includes a bumper 310, a bumper 320, a vent 330, and a slider 340, the bumper 310 including a bumper housing 311, a retainer 312, a bumper bar 316, and a first compression spring 317. The retainer 312 is fixedly connected to the inner wall of the buffer housing 311, wherein the retainer 312 is fixed to the inner wall of the buffer housing 311 by welding or by an integral method. The retainer 312 divides the inside of the buffer housing 311 into a buffer chamber 313 and an air chamber 314, and the buffer chamber 313 and the air chamber 314 are communicated. The side wall of the air cavity 314 is provided with a mounting hole 315, and one end of the buffer housing 311 is connected to the periphery of the inspection equipment body 120. The buffer rod 316 is slidably connected to the buffer chamber 313, one end of the buffer rod 316 extends out of the buffer housing 311, and two ends of the first compression spring 317 are respectively pressed against the retainer ring 312 and the buffer rod 316. The buffer rod 316 includes a rod body 3161 and two sliding plates 3162, wherein the two sliding plates 3162 are fixedly connected to one end of the rod body 3161, and the two sliding plates 3162 are slidably connected to the buffer chamber 313. The stability of the sliding of the rod 3161 is maintained by the sliding connection of the two sliding plates 3162 to the buffer chamber 313.
As shown in fig. 9, the bumper 320 includes a bumper 321, a fixing plate 322, a connecting rod 323, and a sliding sleeve 324, the fixing plate 322 is fixedly connected to two ends of the bumper 321, and specifically, the fixing plate 322 and the bumper 321 are of an integrated structure. The connecting rod 323 is fixedly connected to the inner wall of the fixing plate 322, and specifically, the connecting rod 323 is fixedly connected to the inner wall of the fixing plate 322 by welding. The sliding sleeve 324 is fixedly connected to the end of the connecting rod 323, and in the present embodiment, the sliding sleeve 324 is fixedly connected to the end of the connecting rod 323 by welding. The end of the buffer rod 316 extending out of one end of the buffer housing 311 is fixedly connected to the inner wall of the bumper 321, and if necessary, the buffer rod 316 is fixed to the inner wall of the bumper 321 by bolts or welding.
As shown in fig. 10, the exhaust member 330 includes an exhaust sleeve 331, a positioning ring 332, a piston plate 333, a positioning rod 334, a fixing bracket 335, and a second compression spring 336. Exhaust sleeve 331 is fixed pegging graft in mounting hole 315, and holding ring 332 is fixed connection inside exhaust sleeve 331, is provided with the bleeder vent on the holding ring 332, and locating lever 334 is fixed connection in piston plate 333 one side, and wherein, locating lever 334 passes through screw thread fixed connection in piston plate 333 one side. The fixing bracket 335 is fixedly connected to an inner wall of an end portion of the exhaust sleeve 331, and specifically, the fixing bracket 335 and the exhaust sleeve 331 are of an integrated structure. The positioning rod 334 slidably penetrates through the fixing bracket 335, the second compression spring 336 is sleeved on the positioning rod 334, and the piston plate 333 is pressed against the positioning ring 332 by the second compression spring 336. The piston plate 333 can seal the air holes, the piston plate 333 is provided with air holes 337, and the air holes 337 are communicated with the air holes. When the anti-collision plate 321 collides with the bookshelf or the wall, the collision force pushes the anti-collision plate 321 and the buffer rod 316 to slide along the buffer housing 311, and the air pressure in the air cavity 314 increases. The air pressure in the air chamber 314 pushes the piston plate 333 away from the positioning ring 332, and the air in the air chamber 314 is rapidly discharged through the gap between the piston plate 333 and the discharge sleeve 331 and the vent hole 337. When the anti-collision plate 321 is restored under the elastic force of the first compression spring 317, the air pressure in the air cavity 314 is reduced, the piston plate 333 is restored under the elastic force of the second compression spring 336, and the external air slowly enters the air cavity 314 through the vent hole 337 to balance the air pressure, thereby slowing down the speed of restoring the first compression spring 317. The first compression spring 317 drives the buffer rod 316 and the crash pad 321 to be slowly restored. Reduce library's intelligence and patrol and examine the robot and be rebounded by the spring fast, produce great impact force, cause library's intelligence to patrol and examine the robot and hit remaining article and produce damage or library's intelligence and patrol and examine the robot and lose balance and slope, cause the liftoff condition of partial tire. The piston plate 333 is provided with a sealing ring 338 on the side away from the positioning rod 334, the piston plate 333 presses the sealing ring 338 on the periphery of the air hole, and the sealing performance between the piston plate 333 and the air hole is improved through the sealing ring 338.
As shown in fig. 11, the sliding member 340 includes a first mounting plate 341, a second mounting plate 342, and a sliding rod 343, the first mounting plate 341 and the second mounting plate 342 are fixedly connected to two ends of the sliding rod 343, the first mounting plate 341 and the second mounting plate 342 are fixedly connected to an outer wall of the buffer housing 311, and the sliding sleeve 324 is slidably sleeved on the sliding rod 343. When the bumper plate 321 and the buffer rod 316 slide along the buffer shell 311, the sliding sleeve 324 synchronously slides along the sliding rod 343, the sliding rod 343 limits the rotation of the bumper plate 321 and the buffer rod 316, so as to keep the bumper plate 321 in a horizontal balanced state and reduce the rotation dragging of the bumper plate 321, and meanwhile, the sliding rod 343 and the buffer rod 316 are supported by the buffer shell 311 to form a single supporting point to keep the sliding sleeve 324 and the buffer rod 316 sliding and limit the rotation of the bumper plate 321.
As shown in fig. 12, library's intelligence inspection robot has anticollision subassembly 300 among the correlation technique, and at the striking of self or personnel's collision, cause library's intelligence to patrol and examine the robot and lose balance slope, cause some tire liftoff, anticollision subassembly and all the other tires support library's intelligence inspection robot, and the library's intelligence inspection robot of slope is not convenient for return the condition that some tire supported library's intelligence inspection robot.
In order to solve the above problems, the specific setting mode of the invention is as follows: patrol and examine equipment body 120 peripheral fixedly connected with first base 350, buffer shell 311 keeps away from buffer pole 316 one end fixedly connected with third otic placode 318, and is concrete, and third otic placode 318 and buffer shell 311 are through welding or integral type fixed connection. The third ear plate 318 is hinged to the first base 350, the buffer shell 311 is fixedly connected with a fourth ear plate 319 close to the outer wall of one end of the third ear plate 318, and the upper side of the inspection device body 120 is fixedly connected with a mounting frame 360. Mounting bracket 360 includes two risers 361 and two articulated sleeves 362, and two risers 361 fixed connection are in patrolling and examining equipment body 120 upside, and is preferred, and two risers 361 pass through bolt fixed connection in patrolling and examining equipment body 120 upside. Two hinge sleeves 362 are fixedly connected to the sidewalls of the upper ends of the two vertical plates 361. A reinforcing plate 363 is arranged between the side wall of the vertical plate 361 and the upper side of the inspection equipment body 120, and the strength of the vertical plate 361 is improved through the reinforcing plate 363.
As shown in fig. 13, a second driving member 370 is disposed between the two hinge sleeves 362, and the second driving member 370 includes a second telescopic driving rod 371, a hinge rod 372 and a second base 373. The hinge rod 372 is fixedly connected to the outer wall of the second telescopic driving rod 371, the hinge rod 372 is hinged to the hinge sleeve 362, the second base 373 is fixedly connected to the output end of the second telescopic driving rod 371, and the second base 373 is hinged to the fourth ear plate 319.
As shown in fig. 14, a rolling portion 325 is provided on a lower side of an outer wall of the impact prevention plate 321, the rolling portion 325 includes a third base 3251 and a roller 3252, and the roller 3252 is rotatably connected to the third base 3251. When the intelligent inspection robot in the library loses balance and inclines to cause a part of tires to be off the ground, the second telescopic driving rod 371 is started, the second telescopic driving rod 371 pushes the buffer shell 311 to swing, the buffer shell 311 drives the anti-collision plate 321 to swing towards the ground, the anti-collision plate 321 drives the roller 3252 to fall to the ground, and the robot body 110 is supported through the roller 3252. Support robot 110 through crashproof board 321, buffer lever 316 and buffer shell 311, make robot 110 reply balanced state, buffer lever 316 can play the cushioning effect simultaneously, reduces robot 110 and is blocked when unable great position that risees, and the flexible actuating lever 371 driving force of second is too big, causes the condition that robot 110 damaged. The supporting legs are formed by the anti-collision plate 321, the buffer rod 316 and the buffer shell 311 on the anti-collision assembly 300, so that the self balance state of the robot body 110 is adjusted, and the robot body 110 is restored to the balance state from the state of being inclined due to the loss of balance caused by external force and continues to work.
Specifically, this library's intelligence patrols and examines robot's theory of operation: when needing the protection to patrol and examine high definition digtal camera and the infrared imaging detector on the equipment body 120, start first flexible drive lever 221, first flexible drive lever 221 promotes first otic placode 222, and first otic placode 222 drives connecting plate 212 around articulated department swing, and connecting plate 212 drives protective cover 211 and puts down and cover high definition digtal camera and infrared imaging detector. Protect high definition digtal camera and infrared imaging detector through protective cover 211, reduce the intelligence and patrol and examine the robot and at night or charge no during operation, high definition digtal camera and infrared imaging detector are infected with the dust easily, also reduce the unexpected striking of foreign object simultaneously and cause the condition that high definition digtal camera and infrared imaging detector damaged.
When the anti-collision plate 321 collides with the bookshelf or the wall, the collision force pushes the anti-collision plate 321 and the buffer rod 316 to slide along the buffer housing 311, and the air pressure in the air cavity 314 increases. The air pressure in the air chamber 314 pushes the piston plate 333 away from the positioning ring 332, and the air in the air chamber 314 is rapidly discharged through the gap between the piston plate 333 and the discharge sleeve 331 and the vent hole 337. When the anti-collision plate 321 is restored under the elastic force of the first compression spring 317, the air pressure in the air cavity 314 is reduced, the piston plate 333 is restored under the elastic force of the second compression spring 336, and the external air slowly enters the air cavity 314 through the vent hole 337 to balance the air pressure, thereby slowing down the speed of restoring the first compression spring 317. The first compression spring 317 drives the buffer rod 316 and the crash pad 321 to be slowly restored. Reduce library's intelligence and patrol and examine the robot and be rebounded by the spring fast, produce great impact force, cause library's intelligence to patrol and examine the robot and hit remaining article and produce damage or library's intelligence and patrol and examine the robot and lose balance and slope, cause the liftoff condition of partial tire.
When the bumper plate 321 and the buffer rod 316 slide along the buffer shell 311, the sliding sleeve 324 synchronously slides along the sliding rod 343, the sliding rod 343 limits the rotation of the bumper plate 321 and the buffer rod 316, so as to keep the bumper plate 321 in a horizontal balanced state and reduce the rotation dragging of the bumper plate 321, and meanwhile, the sliding rod 343 and the buffer rod 316 are supported by the buffer shell 311 to form a single supporting point to keep the sliding sleeve 324 and the buffer rod 316 sliding and limit the rotation of the bumper plate 321.
When the intelligent inspection robot in the library loses balance and inclines to cause a part of tires to be off the ground, the second telescopic driving rod 371 is started, the second telescopic driving rod 371 pushes the buffer shell 311 to swing, the buffer shell 311 drives the anti-collision plate 321 to swing towards the ground, the anti-collision plate 321 drives the roller 3252 to fall to the ground, and the robot body 110 is supported through the roller 3252. Support robot 110 through crashproof board 321, buffer lever 316 and buffer shell 311, make robot 110 reply balanced state, buffer lever 316 can play the cushioning effect simultaneously, reduces robot 110 and is blocked when unable great position that risees, and the flexible actuating lever 371 driving force of second is too big, causes the condition that robot 110 damaged. The supporting legs are formed by the anti-collision plate 321, the buffer rod 316 and the buffer shell 311 on the anti-collision assembly 300, so that the self balance state of the robot body 110 is adjusted, and the robot body 110 is restored to the balance state from the state of being inclined due to the loss of balance caused by external force and continues to work.
It should be noted that the specific model specifications of the high-definition camera, the infrared imaging detector, the first telescopic driving rod 221 and the second telescopic driving rod 371 need to be determined by type selection according to the actual specification of the device, and the specific type selection calculation method adopts the prior art in the field, so detailed burdens are not needed.
The power supply and the principle of the high definition camera, the infrared imaging detector, the first telescopic driving rod 221 and the second telescopic driving rod 371 are clear to those skilled in the art, and will not be described in detail herein.
The above embodiments are merely examples of the present application and are not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Claims (10)
1. Robot is patrolled and examined to library's intelligence, its characterized in that includes:
the inspection robot assembly (100) comprises a robot body (110) and an inspection equipment body (120), wherein the inspection equipment body (120) consists of a high-definition camera and an infrared imaging detector;
a guard assembly (200), the guard assembly (200) comprising a guard (210) and a first driver (220), the protection piece (210) comprises a protection cover (211) and a connecting plate (212), the connecting plate (212) is fixedly connected with the side wall at one end of the protection cover (211), the connecting plate (212) is hinged at the top end of the inspection equipment body (120), the protective cover (211) can cover the high-definition camera and the infrared imaging detector, the first driving piece (220) comprises a first telescopic driving rod (221), a first ear plate (222), a second ear plate (223) and a hinge part (224), the first ear plate (222) is fixedly connected to the top end of the inspection equipment body (120), the second ear plate (223) is fixedly connected with the outer wall of the connecting plate (212), the first telescopic driving rods (221) are hinged to the first ear plate (222) and the second ear plate (223) through the hinge parts (224);
the robot comprises a robot body (110), the collision-prevention assemblies (300) are arranged into multiple groups, the multiple groups of collision-prevention assemblies (300) are arranged on the periphery of the robot body (110), each collision-prevention assembly (300) comprises a buffer piece (310), a collision-prevention piece (320), an exhaust piece (330) and a sliding piece (340), each buffer piece (310) comprises a buffer shell (311), a check ring (312), a buffer rod (316) and a first compression spring (317), each check ring (312) is fixedly connected to the inner wall of each buffer shell (311), the inner part of each buffer shell (311) is divided into a buffer cavity (313) and an air cavity (314) by the check ring (312), each buffer cavity (313) is communicated with the air cavity (314), a mounting hole (315) is formed in the side wall of the air cavity (314), one end of each buffer shell (311) is connected to the periphery of the inspection equipment body (120), and each buffer rod (316) is connected to the corresponding buffer cavity (313) in a sliding manner, one end of the buffer rod (316) extends out of the buffer shell (311), two ends of the first compression spring (317) are respectively pressed on the retainer ring (312) and the buffer rod (316), the anti-collision part (320) comprises an anti-collision plate (321), a fixing plate (322), a connecting rod (323) and a sliding sleeve (324), the fixing plate (322) is fixedly connected with two ends of the anti-collision plate (321), the connecting rod (323) is fixedly connected with the inner wall of the fixing plate (322), the sliding sleeve (324) is fixedly connected with the end part of the connecting rod (323), the end part of the buffer rod (316) extending out of one end of the buffer shell (311) is fixedly connected with the inner wall of the anti-collision plate (321), the exhaust part (330) comprises an exhaust sleeve (331), a positioning ring (332), a piston plate (333), a positioning rod (334), a fixing bracket (335) and a second compression spring (336), exhaust sleeve (331) fixed peg graft in mounting hole (315), holding ring (332) fixed connection in inside exhaust sleeve (331), be provided with the bleeder vent on holding ring (332), locating lever (334) fixed connection in piston plate (333) one side, fixed bolster (335) fixed connection in the inner wall of exhaust sleeve (331) tip, locating lever (334) slide run through in fixed bolster (335), second compression spring (336) cup joint in locating lever (334), second compression spring (336) will piston plate (333) compress tightly in holding ring (332), piston plate (333) can seal the bleeder vent, air vent (337) have been seted up on piston plate (333), air vent (337) with the bleeder vent intercommunication, slider (340) include first mounting panel (341) The buffer structure comprises a second mounting plate (342) and a sliding rod (343), wherein the first mounting plate (341) and the second mounting plate (342) are fixedly connected to two ends of the sliding rod (343), the first mounting plate (341) and the second mounting plate (342) are fixedly connected to the outer wall of the buffer shell (311), and the sliding sleeve (324) is sleeved on the sliding rod (343) in a sliding mode.
2. The robot is patrolled and examined to library's intelligence of claim 1, characterized in that, protective cover (211) inner wall is provided with sealed pad (213), sealed pad (213) can cover high definition digtal camera with infrared imaging detector, sealed pad (213) set up to clean sponge.
3. The robot for intelligent routing inspection in libraries according to claim 1, wherein the hinge part (224) comprises a hinge screw (2241) and a limit nut (2242), the limit nut (2242) is threaded onto the end of the hinge screw (2241), and both ends of the first telescopic driving rod (221) are hinged to the first ear plate (222) and the second ear plate (223) through the hinge screw (2241).
4. The intelligent inspection robot according to claim 3, wherein the outer wall of one end of the hinged screw (2241) and the outer wall of the limiting nut (2242) are provided with anti-slip strips (2243).
5. The intelligent inspection robot for libraries according to claim 1, wherein a stopper (230) is disposed on the top of the inspection equipment body (120), and the stopper (230) can support the outer wall of the connection board (212).
6. The intelligent library inspection robot according to claim 5, wherein the limiting member (230) comprises a limiting rod (231) and a cushion (232), and the cushion (232) is fixedly connected to the top end of the limiting rod (231).
7. The intelligent inspection robot for the library according to claim 6, wherein a mounting groove (233) is formed in the upper end of the limiting rod (231), a mounting bar (234) is arranged at the lower end of the cushion pad (232), and the mounting bar (234) is fixedly inserted into the mounting groove (233).
8. The intelligent library inspection robot according to claim 7, wherein a connecting bolt (235) is threadedly connected to a side wall of the mounting groove (233), and the connecting bolt (235) penetrates through the mounting bar (234).
9. The library intelligent inspection robot according to claim 7, wherein the bumper pad (232) is provided as a polyurethane pad.
10. The intelligent inspection robot for libraries according to claim 1, wherein a positioning block (240) is fixedly connected to the side wall of the inspection equipment body (120), and the positioning block (240) can block the protective cover (211).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210084025.9A CN114102638B (en) | 2022-01-25 | 2022-01-25 | Intelligent inspection robot for library |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210084025.9A CN114102638B (en) | 2022-01-25 | 2022-01-25 | Intelligent inspection robot for library |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114102638A CN114102638A (en) | 2022-03-01 |
| CN114102638B true CN114102638B (en) | 2022-04-08 |
Family
ID=80360867
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210084025.9A Active CN114102638B (en) | 2022-01-25 | 2022-01-25 | Intelligent inspection robot for library |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114102638B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6174931A (en) * | 1984-09-17 | 1986-04-17 | Hitachi Ltd | Vibration preventive device |
| CN2911317Y (en) * | 2006-02-23 | 2007-06-13 | 东风汽车有限公司 | External buffer of cylinder |
| CN104514831A (en) * | 2014-03-20 | 2015-04-15 | 罗成 | Repairable gas spring capable of being freely inflated and having overload automatic protection function |
| CN107598972A (en) * | 2017-10-24 | 2018-01-19 | 孙立民 | A kind of industrial robot anticollision gripping apparatus |
| CN108799400A (en) * | 2018-07-02 | 2018-11-13 | 张阳康 | A kind of mechanical equipment vibration absorber |
| CN110682269A (en) * | 2019-11-14 | 2020-01-14 | 代连朋 | Mobile robot chassis for underground coal mine |
| CN112628347A (en) * | 2020-12-26 | 2021-04-09 | 梅阵阵 | Engineering machinery shock absorber and shock absorption method thereof |
| CN113044100A (en) * | 2021-04-28 | 2021-06-29 | 舒城县乐启儿童用品有限公司 | Baby stroller with high buffering protection performance and working method thereof |
| CN113306731A (en) * | 2021-07-09 | 2021-08-27 | 浙江星空通用航空科技有限公司 | Buffer device with anti-collision function for unmanned helicopter |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104125380A (en) * | 2014-06-16 | 2014-10-29 | 常州市武进金阳光电子有限公司 | Automotive camera provided with protective cover plate |
| JP2016210297A (en) * | 2015-05-08 | 2016-12-15 | 株式会社村田製作所 | On-vehicle camera rain drop removal device |
| CN206674063U (en) * | 2017-02-17 | 2017-11-24 | 杭州海康威视数字技术股份有限公司 | A kind of CCTV camera |
| CN108156356A (en) * | 2017-12-28 | 2018-06-12 | 乐清市秋瑞软件开发有限公司 | A kind of video monitoring equipment protective device |
| CN209250739U (en) * | 2018-12-18 | 2019-08-13 | 山东睿联电子科技股份有限公司 | A kind of outdoor use monitoring camera shield |
| CN212120109U (en) * | 2020-04-22 | 2020-12-11 | 海盐通惠铸造有限公司 | High-strength broken circular moving cone casting |
| CN212541425U (en) * | 2020-07-03 | 2021-02-12 | 南京百吉得信息技术有限公司 | Automatic line inspection robot for license plate information collection |
| CN213177590U (en) * | 2020-08-18 | 2021-05-11 | 廊坊市远诚博瑞科技有限公司 | Digital vehicle detector convenient to adjust |
| CN214451432U (en) * | 2020-11-05 | 2021-10-22 | 山东亿佰智能科技股份有限公司 | Library of anticollision is with patrolling and examining robot |
| CN214490664U (en) * | 2020-11-27 | 2021-10-26 | 四川顺博扬科技有限公司 | Protective shell device for inspection robot |
| CN112720526A (en) * | 2020-12-25 | 2021-04-30 | 国网宁夏电力有限公司银川供电公司 | Inspection robot for power distribution station equipment |
| CN113799149A (en) * | 2021-09-03 | 2021-12-17 | 上海务进消防安全设备有限公司 | Intelligent inspection robot |
-
2022
- 2022-01-25 CN CN202210084025.9A patent/CN114102638B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6174931A (en) * | 1984-09-17 | 1986-04-17 | Hitachi Ltd | Vibration preventive device |
| CN2911317Y (en) * | 2006-02-23 | 2007-06-13 | 东风汽车有限公司 | External buffer of cylinder |
| CN104514831A (en) * | 2014-03-20 | 2015-04-15 | 罗成 | Repairable gas spring capable of being freely inflated and having overload automatic protection function |
| CN107598972A (en) * | 2017-10-24 | 2018-01-19 | 孙立民 | A kind of industrial robot anticollision gripping apparatus |
| CN108799400A (en) * | 2018-07-02 | 2018-11-13 | 张阳康 | A kind of mechanical equipment vibration absorber |
| CN110682269A (en) * | 2019-11-14 | 2020-01-14 | 代连朋 | Mobile robot chassis for underground coal mine |
| CN112628347A (en) * | 2020-12-26 | 2021-04-09 | 梅阵阵 | Engineering machinery shock absorber and shock absorption method thereof |
| CN113044100A (en) * | 2021-04-28 | 2021-06-29 | 舒城县乐启儿童用品有限公司 | Baby stroller with high buffering protection performance and working method thereof |
| CN113306731A (en) * | 2021-07-09 | 2021-08-27 | 浙江星空通用航空科技有限公司 | Buffer device with anti-collision function for unmanned helicopter |
Non-Patent Citations (1)
| Title |
|---|
| 张俊华.汽车前减震器压装机的系统设计与优化.《中国优秀硕士学位论文全文电子期刊》.2021, * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114102638A (en) | 2022-03-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP0705559A1 (en) | Floor scrubbing machine having impact energy absorption | |
| US20210237262A1 (en) | Waste sorting gantry robot | |
| CN114102638B (en) | Intelligent inspection robot for library | |
| CN113107235B (en) | Building construction safety device based on internet | |
| CN115837680A (en) | Cable channel hangs rail formula intelligence and patrols and examines robot based on buffering shock attenuation principle | |
| CN115123529A (en) | Geographic information survey and drawing is with unmanned aerial vehicle mapping equipment who has protect function | |
| CN111839366A (en) | Mobile robot with autonomous following and obstacle avoidance functions | |
| CN112808719B (en) | Air bubble pipeline dredging robot | |
| CN117047797A (en) | Construction site monitoring robot | |
| CN115817088A (en) | Automobile shock-absorbing dustproof suspension | |
| CN112158344B (en) | Anti-collision protection equipment for security protection unmanned aerial vehicle | |
| US7201429B1 (en) | Impact actuated animal deflector system | |
| CN218387636U (en) | Anti-collision monitoring camera | |
| CN213971234U (en) | A ready-package frame for harmful fruit discernment robot | |
| CN219312918U (en) | Dumping self-correcting park inspection robot | |
| CN216687349U (en) | Novel forklift oil cylinder damping structure | |
| CN220010110U (en) | Unmanned aerial vehicle camera protection device | |
| CN218377462U (en) | Dampproofing, antidetonation type fort machine based on network security maintains | |
| CN217006375U (en) | Active reset device for crash trolley speed reducing mechanism | |
| CN215341192U (en) | Intelligent inspection device | |
| CN220395480U (en) | Cash box with protection structure for banks | |
| CN212483515U (en) | Vinyl chloride sensor with gas buffering function | |
| CN214187162U (en) | Inspection robot with anti-toppling structure | |
| CN215807932U (en) | Protection device of gas equipment | |
| CN213414902U (en) | Packing box is used in stone carving transportation with shock-absorbing function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |