CN208034673U - A kind of crusing robot - Google Patents
A kind of crusing robot Download PDFInfo
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- CN208034673U CN208034673U CN201820248170.5U CN201820248170U CN208034673U CN 208034673 U CN208034673 U CN 208034673U CN 201820248170 U CN201820248170 U CN 201820248170U CN 208034673 U CN208034673 U CN 208034673U
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- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 238000012360 testing method Methods 0.000 claims abstract description 24
- 230000001105 regulatory effect Effects 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 239000000758 substrate Substances 0.000 claims description 35
- 230000008450 motivation Effects 0.000 claims description 2
- 238000007689 inspection Methods 0.000 description 10
- 238000001514 detection method Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
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- 238000005259 measurement Methods 0.000 description 1
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Abstract
The utility model provides a kind of crusing robot, including testing agency, the front driving mechanism for driving the testing agency and rear drive mechanism, the preceding elevation regulating mechanism for adjusting the front driving mechanism vertical height, the rear elevation regulating mechanism for adjusting the rear drive mechanism vertical height and the auxiliary balance mechanism for adjusting testing agency's balance.Crusing robot provided by the utility model can neatly up/down steps, the electric substation for adapting to different geographic basis use, and using the data that wirelessly real-time Transmission detects, more flexible.
Description
Technical field
The utility model is related to robot field, specifically a kind of crusing robot.
Background technology
For a long time, it mostly uses manual type to the work of the inspection security protection of community street to carry out, traditional manual inspection
That there is only labor intensity is big for mode, working efficiency is low, detection mass-dispersion, the deficiencies of means are single place, and subsequent
The data manually detected can not be accurately and timely transmitted in management information system for being used in work.
With the popularization of unattended pattern, incident is that security protection inspection workload is increasing, cyclic in-position measuring rate,
Promptness is more unable to get guarantee.Especially in not stable enough geographical conditions, or such as strong wind, greasy weather ice and snow, hail, thunderstorm
Etc. after extreme weathers occur, cause manually can not timely inspection, and inspection subject to conditions is there are larger personnel safety risk,
One and contingency occurs in community at this time, policymaker often affects adversely most preferably because can not obtain intuitive field data in time
The opportunity of process accident causes the great accidents such as unnecessary economic loss even casualties.
In recent years, with the development of science and technology, the appearance of security protection inspection intelligent robot, realization are automatically performed the daily ring in community
The work such as equipment state inspection before and after border tour, infrared measurement of temperature, operation, to substantially increase the working efficiency and matter of tour
Amount reduces personnel labor intensity and work risk.
Existing security protection crusing robot is the basis as action mostly using a walking dolly, although very square
Just, it but there are a deficiency, exactly is difficult to be climbed when encountering step, has seriously affected the big of region of patrolling and examining
It is small, there is inconvenience when use more.
Utility model content
In view of this, in order to solve the above technical problems, the utility model provides a kind of crusing robot, can neatly on
It gets out of a predicament or an embarrassing situation, the security protection inspection for adapting to the community or street of different geographic basis uses, and is passed using wirelessly real-time
The defeated data detected, it is more flexible.
In order to solve the above technical problems, the utility model adopts the following technical solution is：
A kind of crusing robot, including testing agency, the front driving mechanism for driving the testing agency and rear driving
Mechanism, the preceding elevation regulating mechanism for adjusting the front driving mechanism vertical height hang down for adjusting the rear drive mechanism
The rear elevation regulating mechanism of straight height and the auxiliary balance mechanism balanced for adjusting the testing agency；Testing agency's packet
Horizontally disposed support plate is included, supporting rod is vertically installed in the support plate, the upper end of the supporting rod is rotationally provided with
Camera；The front driving mechanism includes the front-wheel group substrate being arranged below the support plate, the front wheels substrate rotating
Connection is further fixedly arranged on the forerunner for driving two front walking wheels there are two front walking wheel on the front-wheel group substrate
Dynamic motor；The rear drive mechanism includes the trailing wheel group substrate being arranged below the support plate, the rear wheels substrate rotating
Connection is further fixedly arranged on the rear-guard for driving two rear walking wheels there are two rear walking wheel on the trailing wheel group substrate
Dynamic motor；The preceding elevation regulating mechanism includes that the preceding elevation being fixed in the support plate adjusts cylinder, high before described
The output shaft of journey tune displacements of cylinders is fixedly connected after being passed down through the support plate with the front-wheel group substrate；Elevation is adjusted after described
Mechanism includes that the rear elevation being fixed in the support plate adjusts cylinder, and the output shaft that the rear elevation adjusts cylinder is downward
It is fixedly connected with the trailing wheel group substrate after the support plate；The auxiliary balance mechanism includes being fixed at the branch
The output shaft of assistant cylinder on fagging, the assistant cylinder is passed down through the support plate.
Preferably, the testing agency further includes the control cabinet being fixed in the support plate, on the control cabinet
Be further fixedly arranged on antenna, the camera, the preceding driving motor, it is described after driving motor, the preceding elevation adjust cylinder,
Elevation adjusts cylinder after described and the assistant cylinder is electrically connected with the control cabinet.
Preferably, the testing agency further includes the steering motor for being fixed at the post upper, the steering
Motor is electrically connected with the control cabinet, and the output shaft of the steering motor is arranged vertically upward, the camera and the steering
The output shaft of motor is fixedly connected.
Preferably, the preceding power supply for powering to the preceding driving motor is further fixedly arranged on the front-wheel group substrate.
Preferably, rectangular through-hole there are one being opened up on the front-wheel group substrate, two of the rectangular through-hole
Front axle is equipped between short-bore wall, two front walking wheels fix the both ends for being set in the front axle respectively, before described
The output shaft of driving motor is connected by a transmission mechanism with the front axle.
Preferably, the transmission mechanism uses chain drive or V belt translation.
Preferably, the rear power supply for powering to the rear driving motor is further fixedly arranged on the trailing wheel group substrate.
According to above-mentioned technical solution, it is recognised that the crusing robot of the utility model, including testing agency, it is used for
Drive the front driving mechanism and rear drive mechanism, the preceding height for adjusting the front driving mechanism vertical height of the testing agency
Journey regulating mechanism, the rear elevation regulating mechanism for adjusting the rear drive mechanism vertical height and for adjusting the detection machine
The auxiliary balance mechanism of structure balance can be used neatly in up/down steps, the community or street for adapting to different geographic basis, and
It is more flexible and using the data that wirelessly real-time Transmission detects.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, other drawings may also be obtained based on these drawings.
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the front driving mechanism schematic diagram of the utility model.
Reference numeral：1- support plates, elevation adjusts cylinder before 2-, 3- control cabinets, 4- antennas, 5- supporting rods, and 6- turns to electricity
Machine, 7- cameras, elevation adjusts cylinder after 8-, power supply after 9-, 10- trailing wheel group substrates, 11- rear walking wheels, and electricity is driven after 12-
Machine, power supply before 13-, driving motor before 14-, 15- front-wheel group substrates, 16- front walking wheels, 17- front axles, 18- are rectangular logical
Hole, 19- transmission mechanisms, 20- assistant cylinders.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Please refer to Fig.1 with 2, Fig. 1 be the utility model overall structure diagram, Fig. 2 is the preceding driving of the utility model
Structural scheme of mechanism.
As shown in Figure 1, a kind of crusing robot, including testing agency, for drive the front driving mechanism of testing agency with
It is rear drive mechanism, the preceding elevation regulating mechanism for adjusting front driving mechanism vertical height, vertical for adjusting rear drive mechanism
The rear elevation regulating mechanism of height and the auxiliary balance mechanism balanced for adjusting detection mechanism.
Testing agency includes horizontally disposed support plate 1, is vertically installed with supporting rod 5 in support plate 1, supporting rod 5 it is upper
End is rotationally provided with camera 7, and the specific set-up mode that rotates is to be fixedly installed steering motor 6 in 5 upper end of supporting rod, is turned
It is electrically connected to motor 6 with control cabinet 3, the output shaft of steering motor 6 is arranged vertically upward, the output of camera 7 and steering motor 6
Axis is fixedly connected.Testing agency further includes the control cabinet 3 being fixed in support plate 1, and day is further fixedly arranged on control cabinet 3
Line 4 is provided with processor, wireless communication module, cylinder driver and motor driver etc. in control cabinet 3, is existing
Technology, details are not described herein, and wherein wireless communication module is electrically connected with antenna 4.
As shown in Fig. 2, front driving mechanism includes the front-wheel group substrate 15 being arranged below support plate 1, front-wheel group substrate 15
Rotation connection is there are two front walking wheel 16, before being further fixedly arranged on front-wheel group substrate 15 for driving two front walking wheels 16
Driving motor 14 is further fixedly arranged on the preceding power supply 13 for driving forwards the power supply of motor 14, front wheels on front-wheel group substrate 15
It is opened up on substrate 15 there are one rectangular through-hole 18, front axle is equipped between two short-bore walls of rectangular through-hole 18
17, the fixed both ends for being set in front axle 17, the output shaft of preceding driving motor 14 are passed two front walking wheels 16 by one respectively
Motivation structure 19 is connected with front axle 17, transmission mechanism 19 using chain drive either V belt translation using chain carry out transmission or
It is driven using conveyer belt, transmission mechanism 19 is prior-art devices, and which is not described herein again.
Rear drive mechanism includes the trailing wheel group substrate 10 being arranged below support plate 1, and trailing wheel group substrate 10 is rotatably connected to
Two rear walking wheels 11 are further fixedly arranged on the rear driving motor for driving two rear walking wheels 11 on trailing wheel group substrate 10
12, the rear power supply 9 for back-driving the power supply of motor 12 is further fixedly arranged on trailing wheel group substrate 10, rear driving motor 12 drives
The mode of two rear walking wheels 11 is identical as front driving mechanism, repeats no more.
Preceding elevation regulating mechanism includes that the preceding elevation being fixed in support plate 1 adjusts cylinder 2, and preceding elevation adjusts cylinder
2 output shaft is fixedly connected after being passed down through support plate 1 with front-wheel group substrate 15.Elevation regulating mechanism includes being fixed at afterwards
Rear elevation in support plate 1 adjusts cylinder 8, and the output shaft that rear elevation adjusts cylinder 8 is passed down through after support plate 1 and rear wheels base
Plate 10 is fixedly connected.Auxiliary balance mechanism includes the assistant cylinder 20 being fixed in support plate 1, the output of assistant cylinder 20
Axis is passed down through support plate 1.
Camera 7, preceding driving motor 14, rear driving motor 12, preceding elevation adjust cylinder 2, rear elevation adjusts cylinder 8 and auxiliary
It helps cylinder 20 to be electrically connected with control cabinet 3, is controlled by each driving device by processor.
When robot advances on level land, preceding elevation adjusts cylinder 2 and the stroke of rear elevation adjusting cylinder 8 is retracted to
More than the degree of half stroke, and the stroke of assistant cylinder 20 then narrows down to minimum level, to make front walking wheel 16 and rear row
It walks wheel 11 to fall on the ground, and makes support plate 1 at horizontality, then preceding driving motor 14 and rear driving motor 12 drive respectively
Dynamic front walking wheel 16 and rear walking wheel 11, to drive robot to move.
When needing top bar, 20 stroke of assistant cylinder increases, and the output shaft of assistant cylinder 20 is made to be grounded, thus with
For carrying out Auxiliary support to support plate 1, then preceding elevation adjusts 2 stroke of cylinder and shrinks the cooperation of rear walking wheel 11, makes front wheels
Substrate 15 is lifted upwards, and then front walking wheel 16 is driven to be lifted upwards, until the minimum point of front walking wheel 16 is concordant with step surface,
Then driving motor 12 drives rear walking wheel 11 to rotate after, so that robot is moved forward, to make front walking wheel 16 entirely fall within
On step surface.During robot moves, the output shaft of assistant cylinder 20 can rub with ground, in order to be protected to it
Universal wheel can be arranged in its lower end in shield.20 stroke of subsequent assistant cylinder reduces, until the lower end of the output shaft of assistant cylinder 20
Concordant with step surface, then front driving mechanism and rear drive mechanism act on simultaneously, and driving robot moves forward, until assistant cylinder
20 output shaft is entirely fallen on step surface, to be assisted jointly support plate 1 by assistant cylinder 20 and front walking wheel 16
Support keeps its level.Next elevation adjusts 8 stroke of cylinder and reduces after, drives rear walking wheel 11 to be lifted upwards, until rear row
The minimum point for walking wheel 11 is concordant with step surface, then is moved forward by front driving mechanism driving robot, rear walking wheel 11 is made to fall
On step surface, so far robot completes the action of top bar.Last assistant cylinder 20, preceding elevation adjust cylinder 2 and rear elevation tune
The stroke of displacements of cylinders 8 is restored to state when robot is located at level land, and robot can continue normal forward.
When needing to get out of a predicament or an embarrassing situation, action is similar to the action of top bar, is no longer described in detail.
After robot reaches test point, steering motor 6 drives camera 7 towards the target to be detected, by camera 7
It is taken pictures or recorded video, subsequent photo and video is wirelessly transferred to control cabinet 3, wirelessly communicates here
The mode of the low-power consumption such as bluetooth may be used in mode.And then by control cabinet 3 wirelessly by photo or transmission of video
To the master control room of electric substation, is analyzed taking photo or video, detected by the powerful master control room of computing capability
The concrete condition of point improves the efficiency of detection so as to reduce the calculating task amount of robot itself, wirelessly communicates here
The big mode of the coverage areas such as wifi may be used in mode, and antenna 4 can reinforce signal, ensures the speed and stabilization of transmission
Property, the detection process of a test point is so far completed, to achieve the effect that security protection inspection.
The travelling route of entire robot can be previously set, and navigation module is then arranged in control cabinet 3, leads
Model plane block can be that Beidou navigation module can also be GPS navigation module, and robot can be pressed according to real-time navigation information
It is moved according to pre-set route, and all test points is detected.
In conclusion crusing robot provided by the utility model, can neatly up/down steps, adapt to different geographical feelings
The community of condition or street security protection inspection use, and the data that wirelessly real-time Transmission detects may be used, more
Flexibly.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use this practicality new
Type.Various modifications to these embodiments will be apparent to those skilled in the art, and determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The widest range consistent with features of novelty.
Claims (7)
1. a kind of crusing robot, it is characterised in that：Front driving mechanism including testing agency, for driving the testing agency
Preceding elevation regulating mechanism with rear drive mechanism, for adjusting the front driving mechanism vertical height, for adjusting the rear-guard
The rear elevation regulating mechanism of motivation structure vertical height and the auxiliary balance mechanism balanced for adjusting the testing agency；
The testing agency includes horizontally disposed support plate (1), and supporting rod (5), institute are vertically installed on the support plate (1)
The upper end for stating supporting rod (5) is rotationally provided with camera (7)；
The front driving mechanism includes the front-wheel group substrate (15) being arranged below the support plate (1), the front-wheel group substrate
(15) rotation connection is further fixedly arranged on for driving two institutes on the front-wheel group substrate (15) there are two front walking wheel (16)
State the preceding driving motor (14) of front walking wheel (16)；
The rear drive mechanism includes the trailing wheel group substrate (10) being arranged below the support plate (1), the trailing wheel group substrate
(10) rotation connection is further fixedly arranged on for driving two institutes on the trailing wheel group substrate (10) there are two rear walking wheel (11)
State the rear driving motor (12) of rear walking wheel (11)；
The preceding elevation regulating mechanism includes that the preceding elevation being fixed in the support plate (1) adjusts cylinder (2), before described
The output shaft of elevation adjusting cylinder (2) is passed down through the support plate (1) and is fixedly connected afterwards with the front-wheel group substrate (15)；
Elevation regulating mechanism includes that the rear elevation being fixed in the support plate (1) adjusts cylinder (8) after described, after described
The output shaft of elevation adjusting cylinder (8) is passed down through the support plate (1) and is fixedly connected afterwards with the trailing wheel group substrate (10)；
The auxiliary balance mechanism includes the assistant cylinder (20) being fixed in the support plate (1), the assistant cylinder
(20) output shaft is passed down through the support plate (1).
2. crusing robot as described in claim 1, it is characterised in that：The testing agency further include be fixed at it is described
Control cabinet (3) in support plate (1), is further fixedly arranged on antenna (4) on the control cabinet (3), the camera (7), described
Preceding driving motor (14), the rear driving motor (12), the preceding elevation adjusts cylinder (2), the rear elevation adjusts cylinder (8)
It is electrically connected with the control cabinet (3) with the assistant cylinder (20).
3. crusing robot as claimed in claim 2, it is characterised in that：The testing agency further include be fixed at it is described
The steering motor (6) of supporting rod (5) upper end, the steering motor (6) are electrically connected with the control cabinet (3), the steering motor
(6) output shaft is arranged vertically upward, and the camera (7) is fixedly connected with the output shaft of the steering motor (6).
4. crusing robot as described in claim 1, it is characterised in that：It is further fixedly arranged on the front-wheel group substrate (15)
Preceding power supply (13) for powering to the preceding driving motor (14).
5. crusing robot as claimed in claim 4, it is characterised in that：It is long there are one being opened up on the front-wheel group substrate (15)
Rectangular through-hole (18) is equipped with front axle (17) between two short-bore walls of the rectangular through-hole (18), described in two
The fixed both ends for being set in the front axle (17), the output shaft of the preceding driving motor (14) pass through front walking wheel (16) respectively
One transmission mechanism (19) is connected with the front axle (17).
6. crusing robot as claimed in claim 5, it is characterised in that：The transmission mechanism (19) include chain-drive mechanism or
Person's tape handler.
7. crusing robot as described in claim 1, it is characterised in that：It is further fixedly arranged on the trailing wheel group substrate (10)
Rear power supply (9) for powering to the rear driving motor (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820248170.5U CN208034673U (en) | 2018-02-11 | 2018-02-11 | A kind of crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820248170.5U CN208034673U (en) | 2018-02-11 | 2018-02-11 | A kind of crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208034673U true CN208034673U (en) | 2018-11-02 |
Family
ID=63953092
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820248170.5U Expired - Fee Related CN208034673U (en) | 2018-02-11 | 2018-02-11 | A kind of crusing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208034673U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664311A (en) * | 2018-12-28 | 2019-04-23 | 深圳市优必选科技有限公司 | Automatic inspection robot |
| CN109849805A (en) * | 2019-02-27 | 2019-06-07 | 中国矿业大学 | A kind of mining crusing robot camera balancing device |
| CN111660310A (en) * | 2020-06-14 | 2020-09-15 | 湖南三湘银行股份有限公司 | Voice robot suitable for bank |
-
2018
- 2018-02-11 CN CN201820248170.5U patent/CN208034673U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109664311A (en) * | 2018-12-28 | 2019-04-23 | 深圳市优必选科技有限公司 | Automatic inspection robot |
| CN109849805A (en) * | 2019-02-27 | 2019-06-07 | 中国矿业大学 | A kind of mining crusing robot camera balancing device |
| CN109849805B (en) * | 2019-02-27 | 2021-04-30 | 中国矿业大学 | Mining inspection robot camera balancing unit |
| CN111660310A (en) * | 2020-06-14 | 2020-09-15 | 湖南三湘银行股份有限公司 | Voice robot suitable for bank |
| CN111660310B (en) * | 2020-06-14 | 2021-09-28 | 湖南三湘银行股份有限公司 | Voice robot suitable for bank |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181102 |