CN116713969A - Intelligent robot capable of monitoring inspection site in real time - Google Patents

Abstract

The invention discloses an intelligent robot capable of monitoring a patrol site in real time, and particularly relates to the technical field of monitoring robots, which comprises a robot bottom frame, wherein four corners of the robot bottom frame are respectively provided with a stride mechanism, and driving mechanisms matched with the four stride mechanisms are arranged in the robot bottom frame.

Description

Intelligent robot capable of monitoring inspection site in real time

Technical Field

The invention relates to the technical field of monitoring robots, in particular to an intelligent robot capable of monitoring a patrol site in real time.

Background

The transformer substation is a place for converting voltage and current, receiving electric energy and distributing electric energy in the electric power system. The transformer station in the power plant is a boosting transformer station, the transformer station is used for boosting the electric energy generated by the generator and then feeding the electric energy into a high-voltage power grid, a plurality of electric devices are arranged in the transformer station and are divided into primary devices and secondary devices, the primary devices mainly comprise transformers, high-voltage circuit breakers, isolating switches, buses, lightning arresters, capacitors, reactors and the like, the secondary devices mainly comprise devices for measuring, monitoring, controlling and protecting the operation conditions of the primary devices and the system, and the secondary devices mainly comprise relay protection devices, automatic devices, measurement and control devices, metering devices, automatic systems and direct current devices for providing power for the secondary devices;

in order to ensure the normal operation of a transformer substation, a patrol personnel needs to go to the transformer substation to carry out on-site patrol, manual patrol is easy to cause missed detection, an electric energy device and a monitoring device receipt need to be manually recorded and transmitted to a terminal to be processed, and early warning can not be effectively carried out on the transformer substation.

Disclosure of Invention

The invention aims to provide an intelligent robot capable of monitoring a patrol site in real time so as to solve the problems in the background technology.

In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides an intelligent robot that can patrol and examine scene real time monitoring, includes the robot underframe, the four corners department of robot underframe all is equipped with strides and moves the mechanism, be equipped with in the robot underframe and four drive mechanism that strides and move the mechanism cooperation and use, the top fixed mounting of robot underframe has the robot roof frame, the outside fixed mounting of robot underframe has the crashproof frame, the outside fixed mounting of robot roof frame has millimeter radar probe, the top one side fixed mounting of robot roof frame has visible light camera, one side fixed mounting that the visible light camera was kept away from on the robot roof frame top has infrared camera, the top fixed mounting of robot roof frame has laser navigation locater.

Preferably, the shifting mechanism comprises a shifting middle cylinder, three connecting frames distributed in an annular array are integrally formed on the outer side of the shifting middle cylinder, shifting end cylinders are integrally formed on one end parts of the connecting frames, which are far away from the shifting middle cylinder, of the shifting end cylinders, movable shafts are rotatably mounted in the middle of the shifting end cylinders, movable wheels are fixedly mounted on the outer sides of the shifting end cylinders in an extending mode, rotary cylinders are fixedly mounted in the middle of the side ends of the shifting middle cylinder, the rotary cylinders are rotatably mounted on a bottom frame of the robot through bearings, a common driving shaft is rotatably mounted in the middle of the rotary cylinders, the end parts of the common driving shaft penetrate through the rotary cylinders and extend into the shifting middle cylinder, a belt pulley transmission group is fixedly sleeved on the end parts of the common driving shaft and the outer sides of the corresponding movable shafts, each belt pulley transmission group comprises two belt pulleys and a transmission belt movably sleeved on the outer sides of the two belt pulleys, and the two belt pulleys are fixedly sleeved on the end parts of the corresponding common driving shaft and the outer sides of the movable shaft respectively.

Preferably, one end of the rotating cylinder far away from the shifting middle cylinder extends into the robot underframe, one end of the rotating cylinder far away from the shifting middle cylinder is fixedly sleeved with a first worm wheel, the top of the first worm wheel is connected with a first worm in a meshed mode, one side, close to the first worm, of the inner wall of the robot underframe is fixedly provided with a first motor, and the driving end of the first motor and the end portion corresponding to the first worm are coaxially and fixedly arranged.

Preferably, one end of the common driving shaft passes through the corresponding rotating cylinder and extends into the robot bottom frame.

Preferably, the driving mechanism comprises a second worm wheel, the second worm wheel is provided with four corresponding to the striding mechanism, the second worm wheel is fixedly sleeved at the end part of the corresponding common driving shaft, the top of the second worm wheel is connected with a second worm in a meshed mode, the end part of the second worm is rotatably provided with a first rotating frame, and the first rotating frame is fixedly arranged on the inner side wall of the robot bottom frame.

Preferably, the driving mechanism further comprises two first supporting frames which are symmetrically distributed, the first supporting frames are respectively and fixedly arranged on two inner side walls of the robot underframe, first bearings are fixedly arranged at opposite ends of the first supporting frames, auxiliary driving inner shafts are arranged on middle fixing clamps of the first bearings, auxiliary driving outer cylinders are respectively and slidably sleeved at two end parts of the auxiliary driving inner shafts, first sliding frames are movably sleeved on outer side of the auxiliary driving outer cylinders, the first sliding frames are fixedly arranged on inner side walls of the robot underframe, driving bosses are fixedly arranged at opposite ends of the two auxiliary driving outer cylinders, driven frames matched with the driving bosses are fixedly arranged at opposite ends of the second worm, a plurality of anti-slip protruding bars which are uniformly distributed are arranged on the outer surfaces of the driving bosses, driving grooves matched with the driving bosses are formed in one side, far away from the second worm, of the driven frames, and the driving bosses can be movably clamped in the corresponding driving grooves.

Preferably, a translation driving frame is arranged at one end part of the auxiliary driving outer cylinder, which is close to the driving boss, a second bearing is fixedly arranged at the bottom of the translation driving frame, the auxiliary driving outer cylinder is fixedly arranged in the middle of the second bearing, a first fixing seat is fixedly arranged at one side, which is close to the translation driving frame, of the inner side wall of the robot bottom frame, a telescopic cylinder is fixedly arranged at one end part of the first fixing seat, and the driving end of the telescopic cylinder and the top of the corresponding translation driving frame are fixedly arranged.

Preferably, the outside of assisting the internal shaft that drives all fixed cover is equipped with first sprocket, two the outside meshing of first sprocket is connected with drive chain, drive chain's middle part meshing is connected with the second sprocket, the middle part fixed mounting of second sprocket has the sprocket shaft, the outside rotation of sprocket shaft installs the second rotating frame, second rotating frame fixed mounting is at the interior lower wall of robot underframe, the side fixed mounting of second rotating frame has the second motor, the coaxial fixed mounting of drive end and the tip of sprocket shaft of second motor.

Preferably, the intelligent robot comprises an intelligent robot system, wherein the intelligent robot system comprises a centralized control layer, a base station layer and a terminal layer; the centralized control layer comprises an electronic map module, a video, an infrared image display module, a display module of robot state data and power equipment state data, a remote teleoperation module, a patrol module, an early warning analysis module and a report production module; the base station layer comprises a wireless communication module; the terminal layer comprises a robot navigation positioning module, a robot body fault diagnosis and self-protection module and a power equipment monitoring module;

the intelligent robot system is divided into a perception layer, an edge calculation layer, a network layer and an application layer according to data; the sensing layer mainly comprises an infrared thermal imager, a laser navigation module, a laser ditch detection module, a pickup, a robot, a high-definition camera, an ultrasonic radar, a communication antenna, a cradle head and a charging room; the edge computing layer mainly comprises an AI deep learning algorithm, a scheduling decision algorithm, a visual icon algorithm and a data encryption algorithm; the network layer is formed by the mainstream Internet of things such as WIFI, NB-IOT, 5G/4G and the like and the Internet technology; the application layer mainly comprises various application requirements, and the main modules are as follows: the system comprises a patrol board module, a real-time monitoring module, a remote management module, a patrol task module, a patrol report module, an early warning analysis module and the like.

Compared with the prior art, the invention has the beneficial effects that:

1. through setting up four and striding and moving the mechanism, the cooperation uses actuating mechanism, but both synchronous drive four stride and move three removal wheel in the mechanism and rotate, drive the robot and stabilize the four corners and remove, and can drive wherein one side strides and move three removal wheel in the mechanism and rotate, the opposite side is strided and is moved three removal wheels in the mechanism and do not rotate, can turn to opposite direction one side, thereby promote the result of use of whole robot, and be convenient for overturn alone or overturn jointly a plurality of strides and move the mechanism, change the position that corresponds three removal wheel, be convenient for the robot four corners to stride the barrier alone and stride the barrier in step, and then promoted the result of use of whole robot.

2. Through setting up millimeter radar probe, visible light camera, infrared camera and laser navigation locator, whole intelligent robot adopts laser navigation location technique, vision location technique to carry out trackless navigation, realizes patrolling and examining regional all-round, autonomous, intelligent the patrolling and examining, can build real-time map certainly when intelligent robot carries out the task to realize high accuracy navigation and obstacle avoidance.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Figure 1 is a schematic diagram of the structure of the present invention,

figure 2 is a schematic diagram of the structural connection of the robot base frame, the striding mechanism and the driving mechanism,

figure 3 is a schematic view of the structure of the shifting mechanism of the present invention,

figure 4 is a schematic diagram of the structural connection of the striding mechanism and the driving mechanism in the invention,

figure 5 is an enlarged view of the invention at a in figure 4,

figure 6 is an enlarged view of the invention at B in figure 4,

figure 7 is an enlarged view of figure 4 at C of the present invention,

figure 8 is a schematic view of the structure of the driving boss and the driven frame in the present invention,

fig. 9 is a schematic block diagram of the intelligent robot system according to the present invention.

In the figure: 1. a robot bottom frame; 2. a stride-over mechanism; 3. a driving mechanism; 4. a robot top frame; 5. an anti-collision frame; 6. a millimeter radar probe; 7. a visible light camera; 8. an infrared camera; 9. a laser navigation locator; 21. a middle tube is moved in a striding way; 22. a connection frame; 23. a shifting end cylinder; 24. a movable shaft; 25. a moving wheel; 26. a rotary drum; 27. a common drive shaft; 28. a pulley drive set; 29. a first worm wheel; 210. a first motor; 211. a first worm; 31. a second worm wheel; 32. a second worm; 321. a first rotating frame; 33. a first support frame; 331. a first bearing; 34. an auxiliary drive inner shaft; 35. an auxiliary driving outer cylinder; 351. a first carriage; 36. a driving boss; 361. an anti-slip raised line; 310. a driven frame; 362. a driving groove; 37. a translation driving frame; 371. a second bearing; 38. a telescopic cylinder; 381. a first fixing seat; 39. a first sprocket; 391. a drive chain; 392. a second sprocket; 393. chain wheel shaft; 394. a second turret; 395. and a second motor.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Examples: as shown in fig. 1-9, the invention provides an intelligent robot capable of monitoring a patrol site in real time, which comprises a robot bottom frame 1, wherein the four corners of the robot bottom frame 1 are respectively provided with a moving mechanism 2, a driving mechanism 3 matched with the four moving mechanisms 2 is arranged in the robot bottom frame 1, the top end of the robot bottom frame 1 is fixedly provided with a robot top frame 4, the outer side of the robot bottom frame 1 is fixedly provided with an anti-collision frame 5, the outer side of the robot top frame 4 is fixedly provided with a millimeter radar probe 6, the anti-collision frame 5 and the millimeter radar probe 6 are arranged, the robot bottom frame 1 is prevented from being damaged by collision, one side of the top end of the robot top frame 4 is fixedly provided with a visible light camera 7, one side of the top end of the robot top frame 4 far away from the visible light camera 7 is fixedly provided with an infrared camera 8, the top end of the robot top frame 4 is fixedly provided with a laser navigation locator 9, and the intelligent robot navigation technology is realized by arranging the visible light camera 7, the infrared navigation locator 8 and the intelligent navigation robot navigation technology, and the intelligent navigation robot navigation technology can be carried out in an autonomous navigation map, and the intelligent navigation technology can realize the realization of the real-time and the intelligent navigation.

The straddle mechanism 2 comprises a straddle middle cylinder 21, wherein three connecting frames 22 distributed in an annular array are integrally formed on the outer side of the straddle middle cylinder 21, a straddle end cylinder 23 is integrally formed on one end part of each connecting frame 22 far away from the straddle middle cylinder 21, a movable shaft 24 is rotatably arranged in the middle of each straddle end cylinder 23, movable wheels 25 are fixedly arranged on the end parts of the movable shafts 24, two movable wheels 25 at the bottom are in contact with the ground when the intelligent robot moves, the stability of the movement of the robot is improved, a rotary cylinder 26 is fixedly arranged in the middle of the side end of the straddle middle cylinder 21, and the rotary cylinder 26 is rotatably arranged on the robot bottom frame 1 through a bearing; one end of the rotating cylinder 26, which is far away from the shifting middle cylinder 21, extends into the robot bottom frame 1, a first worm wheel 29 is fixedly sleeved at one end of the rotating cylinder 26, which is far away from the shifting middle cylinder 21, the top of the first worm wheel 29 is connected with a first worm 211 in a meshed manner, a first motor 210 is fixedly arranged at one side of the inner wall of the robot bottom frame 1, which is close to the first worm 211, and the driving end of the first motor 210 and the end part of the corresponding first worm 211 are fixedly arranged coaxially;

the middle part of the rotary cylinder 26 is rotatably provided with a common driving shaft 27, the end part of the common driving shaft 27 penetrates through the rotary cylinder 26 and extends into the shifting middle cylinder 21, the end part of the common driving shaft 27 and the outer side of the corresponding shifting shaft 24 are fixedly sleeved with a belt pulley transmission group 28, the belt pulley transmission group 28 comprises two belt pulleys and a transmission belt movably sleeved on the outer sides of the two belt pulleys, the two belt pulleys are fixedly sleeved on the end part of the corresponding common driving shaft 27 and the outer side of the shifting shaft 24 respectively, the common driving shaft 27 in the corresponding shifting mechanism 2 is driven to rotate, and the belt pulley transmission group 28 is matched to synchronously drive the three shifting shafts 24 to synchronously rotate, so as to synchronously drive the three shifting wheels 25 in the shifting mechanism 2 to rotate;

the robot can be driven to move in four stable corners by synchronously driving three moving wheels 25 in the four striding mechanisms 2 to rotate;

when one side of the robot is driven to rotate by the three moving wheels 25 in the moving mechanism 2, the other side of the robot is driven to rotate by the three moving wheels 25 in the moving mechanism 2, and the robot can turn to one side in the opposite direction, so that the using effect of the whole robot is improved.

One end of the common driving shaft 27 passes through the corresponding rotating cylinder 26 and extends into the robot bottom frame 1; the driving mechanism 3 comprises a second worm wheel 31, the second worm wheel 31 is provided with four corresponding to the striding mechanism 2, the second worm wheel 31 is fixedly sleeved at the end part of the corresponding common driving shaft 27, the top of the second worm wheel 31 is connected with a second worm 32 in a meshed mode, the end part of the second worm 32 is rotatably provided with a first rotating frame 321, the first rotating frame 321 is fixedly arranged on the inner side wall of the robot bottom frame 1, the second worm 32 corresponding to the position of the striding mechanism 2 is driven to rotate, the corresponding second worm wheel 31 and the common driving shaft 27 are driven to rotate, the belt pulley transmission group 28 is matched, the three moving shafts 24 are synchronously driven to synchronously rotate, and the three moving wheels 25 in the striding mechanism 2 are synchronously driven to rotate.

The driving mechanism 3 further comprises two first supporting frames 33 which are symmetrically distributed, the first supporting frames 33 are respectively and fixedly arranged on two inner side walls of the robot underframe 1, the opposite ends of the first supporting frames 33 are fixedly provided with first bearings 331, the middle parts of the first bearings 331 are fixedly clamped with auxiliary inner driving shafts 34 which are convenient for the rotation of the auxiliary inner driving shafts 34, the two end parts of the auxiliary inner driving shafts 34 are respectively and slidably sleeved with auxiliary outer driving shafts 35, the auxiliary outer driving shafts 35 can slide at the end parts of the auxiliary inner driving shafts 34, and when the auxiliary inner driving shafts 34 rotate, the two end parts of the auxiliary outer driving shafts 35 are synchronously driven to rotate, the outer side of the auxiliary outer driving shafts 35 are movably sleeved with first sliding frames 351, the first sliding frames 351 are fixedly arranged on the inner side walls of the robot underframe 1, the stability of the rotary translation of the auxiliary outer driving shafts 35 is increased, the opposite ends of the two auxiliary outer driving shafts 35 are fixedly provided with driving bosses 36, the opposite ends of the second worm 32 are fixedly provided with driven frames 310 which are matched with the driving bosses 36, the outer surfaces of the driving bosses 361 are uniformly distributed, the outer driving bosses 36 can slide at the outer surfaces of the corresponding driving bosses 36, the outer driving bosses 362 are correspondingly provided with a plurality of driving bosses 362, and the second worm shafts 36 are correspondingly contacted with the driving bosses 36, and the second driving bosses 362 are correspondingly arranged in the opposite grooves 36, and can be in a rotary motion mode, and can move along with the driving bosses 362, and the corresponding driving bosses 36, and one side of the driving bosses 362 are in a mode of the opposite driving bosses 32, and can move along with the driving bosses 362, and one side of the driving bosses and one side 32, and can move correspondingly, and can move along the driving bosses;

in contrast, by controlling the auxiliary driving outer cylinder 35 at the position of the shifting mechanism 2 to move reversely, the driving boss 36 is driven to translate reversely, so that the driving boss 36 is separated from the corresponding driving groove 362, and when the auxiliary driving outer cylinder 35 rotates, the driving boss 36, the corresponding driven frame 310 and the second worm 32 are not driven to rotate synchronously.

The auxiliary driving outer cylinder 35 is provided with a translation driving frame 37 near one end of the driving boss 36, a second bearing 371 is fixedly arranged at the bottom of the translation driving frame 37, the auxiliary driving outer cylinder 35 is fixedly arranged in the middle of the second bearing 371, a first fixing seat 381 is fixedly arranged on one side, near the translation driving frame 37, of the inner side wall of the robot bottom frame 1, a telescopic cylinder 38 is fixedly arranged at the end of the first fixing seat 381, the driving end of the telescopic cylinder 38 and the top of the corresponding translation driving frame 37 are fixedly arranged, and the telescopic cylinder 38 at the position of the corresponding translation driving frame 37 is controlled to be opened to drive the corresponding translation driving frame 37 and the auxiliary driving outer cylinder 35 to move, and the second bearing 371 is matched and arranged so as not to influence the rotation of the auxiliary driving outer cylinder 35.

The outside of assisting in driving interior axle 34 all fixed cover is equipped with first sprocket 39, two the outside meshing of first sprocket 39 is connected with drive chain 391, drive chain 391's middle part meshing is connected with second sprocket 392, the middle part fixed mounting of second sprocket 392 has sprocket shaft 393, the outside rotation of sprocket shaft 393 installs second rotating frame 394, second rotating frame 394 fixed mounting is at the interior lower wall of robot underframe 1, the side fixed mounting of second rotating frame 394 has second motor 395, the coaxial fixed mounting of drive end of second motor 395 and the tip of sprocket shaft 393, during the use, control opens second motor 395, drives sprocket shaft 393, second sprocket 392 to drive the transmission of second sprocket 392, thereby drive both sides first sprocket 39, assisting in driving interior axle 34 and rotate in step.

The intelligent robot comprises an intelligent robot system, wherein the intelligent robot system comprises a centralized control layer, a base station layer and a terminal layer; the centralized control layer comprises an electronic map module, a video, an infrared image display module, a display module of robot state data and power equipment state data, a remote teleoperation module, a patrol module, an early warning analysis module and a report production module;

the centralized control layer operates on a computer of a transformer substation control room and has the main function of monitoring the condition of a patrol site;

and the electronic map module is used for: the electronic map can be used for calibrating the tour route track of the robot according to the task, and the task progress should be reflected in real time in the task. The regulation and control center software displays the working process of the inspection robot according to the drawn electronic map of the transformer substation;

video and infrared image display module: the video image information and the infrared image information acquired by the robot are transmitted to a regulation center through a network, the regulation center software can display the video image and the infrared image in corresponding windows, and workers can monitor the working condition of the site and the running condition of equipment through the two windows;

the display module of robot state data and power equipment state data: the regulation and control center software can receive the body state data and the power equipment state data returned by the robot and display the body state data and the power equipment state data in a window. Thus, the staff can timely know the on-site inspection condition;

and a remote teleoperation module: the regulation and control center software allows a worker to implement remote teleoperation on the robot body, the camera and the thermal infrared imager through an operation panel provided by the software, so that not only can the robot travel be controlled remotely, but also the holder, the focal length and the like of the camera and the thermal infrared imager can be controlled;

and (3) a patrol module: setting various types of inspection tasks such as routine inspection, special inspection and the like, wherein the robot can automatically inspect according to task parameters; automatically generating a report according to the inspection task, and checking specific information of each inspection point;

early warning analysis module: analyzing parameters such as meter reading, equipment temperature and the like acquired by a robot, and timely finding out fault linkage early warning;

and a report production module: the system automatically generates equipment defect reports, inspection task reports and the like, provides a temperature history curve display function, and has the functions of inquiring, printing and the like;

the base station layer comprises a wireless communication module;

the base station layer is responsible for communication between the central software and the inspection robot, the wireless network requires high bandwidth, high reliability and low delay, video data and other data can be stably transmitted, and the error rate is low in the data transmission process;

the terminal layer comprises a robot navigation positioning module, a robot body fault diagnosis and self-protection module and a power equipment monitoring module;

the terminal layer mainly bears the task of equipment inspection and uploads the acquired equipment state data and other data to the regulation and control center;

and the robot navigation and positioning module is used for: the robot can tour along the tour inspection route and can position the power equipment at the same time;

robot body fault diagnosis and self preservation protects the module: the robot body software system detects hardware, and once a fault is found, the system sends out alarm information and takes corresponding measures to perform self-protection;

the power equipment monitoring module: the robot monitors the power equipment through a camera and a thermal infrared imager carried by the robot, and uploads the acquired image data and infrared data to a regulation and control center.

The intelligent robot system is divided into a perception layer, an edge calculation layer, a network layer and an application layer according to data; the sensing layer mainly comprises an infrared thermal imager, a laser navigation module, a laser ditch detection module, a pickup, a robot, a high-definition camera, an ultrasonic radar, a communication antenna, a cradle head and a charging room;

the sensing layer is mainly responsible for sensing environment, collecting information, establishing communication and energy functions;

the edge computing layer mainly comprises an AI deep learning algorithm, a scheduling decision algorithm, a visual icon algorithm and a data encryption algorithm;

the edge computing layer is a core zone for data processing and is mainly responsible for intelligent fusion and processing of data acquired by each sensor of the sensing layer;

the network layer is formed by the mainstream Internet of things such as WIFI, NB-IOT, 5G/4G and the like and the Internet technology; the network layer is mainly responsible for the data interaction function of the application layer and the edge calculation layer; the application layer mainly comprises various application requirements, and the main modules are as follows: the system comprises a patrol board module, a real-time monitoring module, a remote management module, a patrol task module, a patrol report module, an early warning analysis module and the like.

Working principle: when the intelligent robot walks, the second motor 395 is controlled to be started, the sprocket shaft 393 and the second sprocket 392 are driven to rotate, so that the second sprocket 392 is driven to drive, the first sprocket 39 and the auxiliary driving inner shaft 34 at two sides are driven to synchronously rotate, and the two end auxiliary driving outer cylinders 35 are synchronously driven to rotate;

the telescopic cylinder 38 at the position of the shifting mechanism 2 is controlled to be opened, so that the corresponding translation driving frame 37 and the auxiliary driving outer cylinder 35 can be driven to move, the driving boss 36 is driven to translate, the driving boss 36 is movably clamped in the driving groove 362 in the corresponding driven frame 310, the plurality of anti-skid raised strips 361 are in close contact with the corresponding driving groove 362, and the auxiliary driving outer cylinder 35 rotates to drive the driving boss 36, the corresponding driven frame 310 and the second worm 32 to synchronously rotate;

conversely, by controlling the auxiliary driving outer cylinder 35 at the position of the shifting mechanism 2 to reversely move, the driving boss 36 is driven to reversely translate, so that the driving boss 36 is separated from the corresponding driving groove 362, and when the auxiliary driving outer cylinder 35 rotates, the driving boss 36, the corresponding driven frame 310 and the second worm 32 are not driven to synchronously rotate;

the second worm 32 corresponding to the position of the shifting mechanism 2 is driven to rotate, the corresponding second worm wheel 31 and the common driving shaft 27 are driven to rotate, the belt pulley transmission group 28 is matched, the three shifting shafts 24 are synchronously driven to synchronously rotate, and the three shifting wheels 25 in the shifting mechanism 2 are synchronously driven to rotate;

the robot can be driven to move in four stable corners by synchronously driving three moving wheels 25 in the four striding mechanisms 2 to rotate;

when the three moving wheels 25 in one side of the moving mechanism 2 are driven to rotate, the three moving wheels 25 in the other side of the moving mechanism 2 do not rotate, and the robot can turn to one side in the opposite direction, so that the using effect of the whole robot is improved;

when the intelligent robot moves, the two bottom moving wheels 25 are in contact with the ground, so that the moving stability of the robot is improved;

wherein, drive first worm gear 29 rotation through individual control every first motor 210 drive first worm 211 to drive rotary drum 26, stride and move well section of thick bamboo 21, three connection frame 22 and stride and move end section of thick bamboo 23 and overturn, thereby upset corresponds three removal wheel 25, changes the position that corresponds three removal wheel 25, is convenient for the robot to stride the barrier, wade, because every is strided and is moved mechanism 2 individual upset, is convenient for the robot four corners to stride barrier alone and synchronous and stride the barrier, and then promoted the result of use of whole robot.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (9)

1. The utility model provides an intelligent robot that can patrol and examine scene real time monitoring, includes robot underframe (1), its characterized in that: the four corners department of robot underframe (1) all is equipped with strides and moves mechanism (2), be equipped with in robot underframe (1) and four drive mechanism (3) that stride and move mechanism (2) cooperation and use, the top fixed mounting of robot underframe (1) has robot roof frame (4), the outside fixed mounting of robot underframe (1) has crashproof frame (5), the outside fixed mounting of robot roof frame (4) has millimeter radar probe (6), the top one side fixed mounting of robot roof frame (4) has visible light camera (7), one side fixed mounting that visible light camera (7) was kept away from on robot roof frame (4) top has infrared camera (8), the top fixed mounting of robot roof frame (4) has laser navigation locater (9).

2. The intelligent robot capable of monitoring a patrol field in real time according to claim 1, wherein: the device comprises a straddle mechanism (2), wherein the straddle mechanism comprises a straddle middle cylinder (21), three connecting frames (22) distributed in an annular array are integrally formed on the outer side of the straddle middle cylinder (21), one end part of each connecting frame (22) far away from the straddle middle cylinder (21) is integrally formed with a straddle end cylinder (23), a movable shaft (24) is rotatably arranged in the middle of each straddle end cylinder (23), the end part of each movable shaft (24) extends out of the outer side of the straddle end cylinder (23) and is fixedly provided with a movable wheel (25), a rotary cylinder (26) is fixedly arranged in the middle of the side end of the straddle middle cylinder (21), each rotary cylinder (26) is rotatably arranged on a robot bottom frame (1) through a bearing, the middle part of each rotary cylinder (26) is rotatably provided with a common driving shaft (27), the end part of each common driving shaft (27) penetrates through the rotary cylinder (26) and extends into the straddle middle cylinder (21), the end part of each common driving shaft (27) and the outer side of the corresponding movable shaft (24) are fixedly sleeved with a belt pulley set, and each belt pulley set (28) is fixedly sleeved on the outer sides of the two corresponding belt pulleys (24), and each belt pulley set comprises two transmission belt pulleys (28) and two transmission belt pulleys (24) are fixedly sleeved on the outer sides of the belt pulleys.

3. The intelligent robot capable of monitoring a patrol field in real time according to claim 2, wherein: one end of a rotating cylinder (26) far away from a shifting middle cylinder (21) extends into a robot underframe (1), one end of the rotating cylinder (26) far away from the shifting middle cylinder (21) is fixedly sleeved with a first worm wheel (29), the top of the first worm wheel (29) is connected with a first worm (211) in a meshed mode, one side, close to the first worm (211), of the inner wall of the robot underframe (1) is fixedly provided with a first motor (210), and the driving end of the first motor (210) and the end portion corresponding to the first worm (211) are coaxially and fixedly arranged.

4. The intelligent robot capable of monitoring a patrol field in real time according to claim 2, wherein: one end of the common driving shaft (27) passes through the corresponding rotating cylinder (26) and extends into the robot bottom frame (1).

5. The intelligent robot capable of monitoring a patrol field in real time according to claim 4, wherein: the driving mechanism (3) comprises a second worm wheel (31), the second worm wheel (31) is provided with four corresponding to the striding mechanism (2), the second worm wheel (31) is fixedly sleeved at the end part corresponding to the common driving shaft (27), the top of the second worm wheel (31) is connected with a second worm (32) in a meshed mode, the end part of the second worm (32) is rotatably provided with a first rotating frame (321), and the first rotating frame (321) is fixedly arranged on the inner side wall of the robot bottom frame (1).

6. The intelligent robot capable of monitoring a patrol field in real time according to claim 5, wherein: the driving mechanism (3) further comprises two first supporting frames (33) which are symmetrically distributed, the first supporting frames (33) are respectively fixedly installed on two inner side walls of the robot underframe (1), first bearings (331) are fixedly installed at opposite ends of the first supporting frames (33), auxiliary driving inner shafts (34) are fixedly clamped in the middle of the first bearings (331), auxiliary driving outer cylinders (35) are respectively sleeved at two ends of the auxiliary driving inner shafts (34) in a sliding mode, a first sliding frame (351) is movably sleeved on the outer sides of the auxiliary driving outer cylinders (35), the first sliding frame (351) is fixedly installed on the inner side walls of the robot underframe (1), driving bosses (36) are fixedly installed at opposite ends of the two auxiliary driving outer cylinders (35), driven frames (310) which are matched with the driving bosses (36) are fixedly installed at opposite ends of the second worm (32), a plurality of anti-slip raised strips (362) which are uniformly distributed are arranged on the outer surfaces of the driving bosses (36), and the driven frames (361) are far away from the second worm (32) and are correspondingly connected with the driving bosses (36) in a driving mode, and the driving bosses (36) can be matched with the driving bosses (36).

7. The intelligent robot capable of monitoring a patrol field in real time according to claim 6, wherein: the auxiliary driving outer cylinder (35) is close to one end of the driving boss (36) and is provided with a translation driving frame (37), a second bearing (371) is fixedly arranged at the bottom of the translation driving frame (37), the auxiliary driving outer cylinder (35) is fixedly arranged in the middle of the second bearing (371), a first fixing seat (381) is fixedly arranged on one side, close to the translation driving frame (37), of the inner side wall of the bottom frame (1) of the robot, a telescopic cylinder (38) is fixedly arranged at the end of the first fixing seat (381), and the driving end of the telescopic cylinder (38) and the top of the corresponding translation driving frame (37) are fixedly arranged.

8. The intelligent robot capable of monitoring a patrol field in real time according to claim 6, wherein: the outside of assisting driving interior axle (34) is all fixed the cover and is equipped with first sprocket (39), two the outside meshing of first sprocket (39) is connected with drive chain (391), the middle part meshing of drive chain (391) is connected with second sprocket (392), the middle part fixed mounting of second sprocket (392) has sprocket shaft (393), second rotating frame (394) are installed in the outside rotation of sprocket shaft (393), second rotating frame (394) fixed mounting is at the interior lower wall of robot underframe (1), the side fixed mounting of second rotating frame (394) has second motor (395), the coaxial fixed mounting of drive end of second motor (395) and the tip of sprocket shaft (393).

9. The intelligent robot capable of monitoring a patrol field in real time according to claim 1, wherein: the intelligent robot comprises an intelligent robot system, wherein the intelligent robot system comprises a centralized control layer, a base station layer and a terminal layer; the centralized control layer comprises an electronic map module, a video, an infrared image display module, a display module of robot state data and power equipment state data, a remote teleoperation module, a patrol module, an early warning analysis module and a report production module; the base station layer comprises a wireless communication module; the terminal layer comprises a robot navigation positioning module, a robot body fault diagnosis and self-protection module and a power equipment monitoring module;

the intelligent robot system is divided into a perception layer, an edge calculation layer, a network layer and an application layer according to data; the sensing layer mainly comprises an infrared thermal imager, a laser navigation module, a laser ditch detection module, a pickup, a robot, a high-definition camera, an ultrasonic radar, a communication antenna, a cradle head and a charging room; the edge computing layer mainly comprises an AI deep learning algorithm, a scheduling decision algorithm, a visual icon algorithm and a data encryption algorithm; the network layer is formed by the mainstream Internet of things such as WIFI, NB-IOT, 5G/4G and the like and the Internet technology; the application layer mainly comprises various application requirements, and the main modules are as follows: the system comprises a patrol board module, a real-time monitoring module, a remote management module, a patrol task module, a patrol report module, an early warning analysis module and the like.