CN208068248U - A kind of crusing robot - Google Patents
A kind of crusing robot Download PDFInfo
- Publication number
- CN208068248U CN208068248U CN201820150619.4U CN201820150619U CN208068248U CN 208068248 U CN208068248 U CN 208068248U CN 201820150619 U CN201820150619 U CN 201820150619U CN 208068248 U CN208068248 U CN 208068248U
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- pedestal
- crusing robot
- switch board
- executing agency
- mechanical arm
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Abstract
The utility model provides a kind of crusing robot, is related to robotic technology field.A kind of crusing robot, including switch board, executing agency and pedestal.The direction of plane where being parallel to pedestal is relatively arranged on pedestal to switch board with executing agency.Switch board is used to control the movement locus of executing agency.Executing agency and switch board are mounted in the same panel on pedestal, make the load distribution of pedestal more uniformly.The balance that can further improve crusing robot entirety improves the job stability of crusing robot to reduce the probability that crusing robot is toppled over during the work time.Executing agency's installation site is relatively low, but also executing agency can carry out operation in the space closer to ground, considerably increases the effective working space of crusing robot, makes the testing result of crusing robot more fully, accurately.
Description
Technical field
The utility model is related to robotic technology fields, in particular to a kind of crusing robot.
Background technology
With the continuous development of science and technology, robot replaces being accomplished manually the trend that various tasks are a certainty.Machine
Device people carries out inspection task dangerous, that repeatability is high, has inspection accurate, extends working hour, safe and efficient, low-cost spy
Point.Existing crusing robot operating position is limited larger, and inspection process is unstable.
Utility model content
The purpose of this utility model is to provide a kind of crusing robot, operating position has larger alternative,
And course of work stability is stronger.
What the embodiments of the present invention were realized in：
A kind of crusing robot, including switch board, executing agency and pedestal.Switch board and executing agency edge are parallel to bottom
The direction of plane is relatively arranged on pedestal where seat.Switch board is used to control the movement locus of executing agency.
In a kind of embodiment of the utility model, executing agency is located at crusing robot direction of travel with switch board
Both sides.
In a kind of embodiment of the utility model, executing agency includes mechanical arm and detection sensor.Mechanical arm one end
It is connect with pedestal, the other end is connect with detection sensor in a manner of retractable.
In a kind of embodiment of the utility model, mechanical arm has 6 degree of freedom.
In a kind of embodiment of the utility model, traveling wheel group and motor is arranged in pedestal, and motor is for driving traveling wheel
Group rotation.
In a kind of embodiment of the utility model, traveling wheel group includes driving wheel and driven wheel, and motor is for driving master
Wheel rotation, driven wheel are universal wheel.
In a kind of embodiment of the utility model, clump weight is set between driven wheel and the connecting plate of pedestal.
In a kind of embodiment of the utility model, switch board is detachably connected with pedestal.
In a kind of embodiment of the utility model, switch board is connected with pedestal by support column.Distinguish at support column both ends
Equipped with the first threaded hole and the second threaded hole.First threaded hole is matched with the first bolt thread of switch board, the second threaded hole with
Second bolt thread of pedestal matches.
A kind of crusing robot, including switch board, executing agency and pedestal.Switch board is respectively arranged in executing agency
It pedestal and corresponds in the horizontal direction.Switch board is used to control the movement locus of executing agency.
The utility model embodiment at least has the following advantages that or advantageous effect：
The utility model embodiment provides a kind of crusing robot, includes mainly switch board, executing agency and pedestal,
It can be applied to a variety of occasions, such as power station inspection, chemical plant inspection, vehicle detection etc..Switch board is for controlling executing agency
Movement locus enables executing agency to carry out inspection according to desired guiding trajectory, to grasp the working condition in each place.Wherein, it controls
The direction of plane where being parallel to pedestal is relatively arranged on pedestal to cabinet processed with executing agency, i.e. executing agency and switch board is pacified
Loaded in the same panel on pedestal, the specific location on the panel can be selected as the case may be, can make bottom
The load distribution of seat is more uniformly.After the load distribution uniformity of pedestal improves, you can improve crusing robot entirety
Balance improves the job stability of crusing robot to reduce the probability that crusing robot is toppled over during the work time.By
It is directly mounted on pedestal in by executing agency, greatly reduces the center of gravity of executing agency, it is right when executing agency is moved
Weaken significantly in the balance influence of crusing robot.Executing agency's installation site is relatively low, but also executing agency can more connect
Subaerial space carries out operation, considerably increases the effective working space of crusing robot, makes the detection knot of crusing robot
Fruit is more fully, accurately.
Description of the drawings
It, below will be to required use in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the structural schematic diagram for the crusing robot that the utility model embodiment provides；
Fig. 2 is the A direction views of Fig. 1；
Fig. 3 is the structural schematic diagram for the pedestal that the utility model embodiment provides；
Fig. 4 is the enlarged diagram at IV position of Fig. 3.
Icon：100- crusing robots；110- switch boards；130- executing agencies；132- mechanical arms；134- detection sensings
Device；150- pedestals；152- traveling wheel groups；154- driving wheels；156- driven wheels；158- bolts；160- connecting plates.
Specific implementation mode
It is new below in conjunction with this practicality to keep the purpose, technical scheme and advantage of the utility model embodiment clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Usually here described in attached drawing and
The component of the utility model embodiment shown can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiments of the present invention to providing in the accompanying drawings is not intended to limit requirement below
The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained without creative efforts, all
Belong to the range of the utility model protection.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the utility model embodiment, it should be noted that if there is term "upper", "lower", "left", "right"
The orientation or positional relationship of equal instructions is to be based on the orientation or positional relationship shown in the drawings or the utility model product uses
When the orientation or positional relationship usually put, be merely for convenience of describing the present invention and simplifying the description, rather than indicate or
It implies that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as
Limitations of the present invention.In addition, term " first ", " second " etc. be only used for distinguish description, and should not be understood as instruction or
Imply relative importance.
If in addition, there is term " parallel ", "horizontal" is not offered as requiring component absolute parallel or horizontal, but can be slightly
Low dip.
In the description of the utility model embodiment, it is also necessary to which explanation is unless specifically defined or limited otherwise, if
Appearance term " setting ", " installation ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, can also be
It is detachably connected, or is integrally connected；It can be mechanical connection, can also be electrical connection；It can be directly connected, can also lead to
It crosses intermediary to be indirectly connected, can be the connection inside two elements.It for the ordinary skill in the art, can be with
Concrete condition understands the concrete meaning of above-mentioned term in the present invention.
Embodiment
Fig. 1 is please referred to, Fig. 1 show the structural schematic diagram of crusing robot 100.The present embodiment provides a kind of inspection machines
People 100, can be used for a variety of occasions, such as power station inspection, rail polling, chemical plant inspection, tire inspection etc..
Crusing robot 100 includes mainly switch board 110, executing agency 130 and pedestal 150.Switch board 110 executes
Mechanism 130 is mounted on pedestal 150.The A direction views of Fig. 1 can be shown with further reference to Fig. 2, Fig. 2.As shown in Fig. 2, control
Cabinet 110, executing agency 130 are relatively arranged on along the direction for being parallel to 150 place plane of pedestal on pedestal 150, and the two is in water
It square corresponds upwards.Under the setting, executing agency 130, switch board 110 are located at the left side in 150 same panel of pedestal
Right both sides.It is to be appreciated that the description of the left and right sides is only for situation shown in Fig. 2, under other visual angles, it is also assumed that holding
Row mechanism 130 and switch board 110 are context, and the two is located at the different location on 150 panel of pedestal, and reaching makes inspection machine
The better purpose of balance of people 100.
Under above-mentioned set-up mode, 130 installation site of executing agency is relatively low, keeps its center of gravity relatively low, when executing agency 130 carries out
When moving inspection, the balance influence to crusing robot 100 can be reduced, reduces the probability that crusing robot 100 is toppled over；Separately
Outside, but also executing agency 130 can carry out operation in the space closer to ground, increase effective work of executing agency 130
Space increases the detection range of executing agency 130, improves the accuracy and validity of inspection result.Survey monitor traditional at present
Executing agency is generally partially installed on above switch board by device people so that executing agency increases at a distance from ground, makes execution machine
Structure can not reach the position work closer apart from ground, substantially reduce the ability to work near the ground of executing agency, eventually lead to biography
Crusing robot unite there are larger inspection dead angle, the reliability of inspection result is greatly reduced.
Under above-mentioned set-up mode, the left and right distribution of executing agency 130 and switch board 110 also improves the load-carrying of pedestal 150
Uniformity makes the balance of the entirety of crusing robot 100 improve, and topples over when further decreasing the work of crusing robot more than 100
Rate.Switch board 110 can play the role of balancing the center of gravity of crusing robot 100, and switch board 110 is mainly used for controlling execution machine
The movement locus (detecting track) of structure 130 is being controlled when larger distance is stretched out during inspection by executing agency 130
Under the action of cabinet 110, crusing robot 100 can preferably keep stable, improve the job stability of crusing robot 100.
Referring again to Fig. 1, in the present embodiment, executing agency 130 further comprises mechanical arm 132 and detection sensor 134.
As shown in Figure 1,132 one end of mechanical arm is connect with pedestal 150, the other end is connect with detection sensor 134 in a manner of retractable.
Detection sensor 134 can relative mechanical arm 132 carry out stretching motion, the stretching motion can be mechanical arm 132 itself realization
It is flexible, can also be individually to connect scalable component in 132 end of mechanical arm, mechanical arm 132 made to pass through scalable component and detection
Sensor 134 connects, and scalable component drives detection sensor 134 to carry out stretching motion.Two kinds of stretch modes can be selected arbitrarily,
The present embodiment is not especially limited.110 control machinery arm 132 of switch board is moved, and mechanical arm 132 drives detection sensor
134 are moved to complete to detect.The scalable connection type of detection sensor 134 makes which further increases detections can
Up to range and detectivity.
Mechanical arm 132 can be bolted with pedestal 150, facilitate the replacement, installation and dismounting of mechanical arm 132.
Detection sensor 134 is used to be detected specified place or specified article, can be with according to specific detection demand
Using different detection sensors 134, for example, temperature detection sensor, Detection of Air Quality sensor, liquid level detecting sensor,
Tire checking sensor etc..
Mechanical arm 132 can be directly purchased in market, according to specific testing requirements, may be selected suitably, with certain space position tune
The mechanical arm 132 of energy saving power.In the present embodiment, mechanical arm 132 have 6 degree of freedom, i.e., mechanical arm 132 can X, Y,
Z is moved and is rotated respectively on tri- directions, and mechanical arm 132 is made to have larger adjustability.According to specific test position
It is detected it is required that mechanical arm 132 drives detection sensor 134 to reach designated position.The installation site of mechanical arm 132 and adjustable
Characteristic makes detection sensor 134 have more effective working spaces, can be examined to designated position with more angles
It surveys, makes testing result more comprehensively, accurately.Certainly, according to specific detection demand, mechanical arm 132 can also be oneself of other quantity
By spending, such as 2 degree of freedom, 4 degree of freedom.
Sensor is generally fixed on holder by existing crusing robot, and the restriction of sensor mounting location keeps it right
The larger ideal space in some spaces is checked, and some non-ideal space such as galleries can not then be carried out preferably
Inspection.For example, it is desired to when the tire crown to vehicle checks, not only time-consuming and exists very for traditional crusing robot
The detection zone more being unable to reach, detection efficiency is low and accuracy of detection is relatively low.It is patrolled using what the utility model embodiment provided
Inspection robot 100 is when being checked, since the adjustable extent of mechanical arm 132 is larger, considerably increase detection sensor 134 can
Up to position range, the detectivity of detection sensor 134 is improved, detection sensor 134 can reach traditional crusing robot
The detection zone that can not be reached greatly improves the accuracy of inspection result.In addition, due to detection sensor 134 and switch board 110
Positioned at opposite both sides so that mechanical arm 132 has very effective working space, enables mechanical arm 132 closer to ground
Carry out operation.If mechanical arm 132 has larger extended length, while vehicle width itself is slightly smaller, and crusing robot 100 may be used also
With only the detection to vehicle all tire can be completed in walking in the side of vehicle, the detection of crusing robot 100 is greatly improved
Efficiency.
In the present embodiment, switch board 110 is detachably connected with pedestal 150, convenient for being overhauled to crusing robot 100.
Further, switch board 110 is connected with pedestal 150 by support column (not shown).Distinguish at support column both ends
Equipped with the first threaded hole and the second threaded hole.First threaded hole and the first bolt (not shown) spiral shell on switch board 110
Line matches, and the second threaded hole is matched with the second bolt (not shown) screw thread on pedestal 150.By the way that support column is torn open
It unloads and switch board 110 can be detached with pedestal 150.
Switch board 110 can be that mechanical arm 132 presets moving line, and mechanical arm 132 is made to be carried out according to predetermined paths
Movement, to reach expected detection result.Switch board 110 can to the specific control mode of each parts in crusing robot 100
With reference to the control mode of traditional crusing robot, the present embodiment is not especially limited.
Fig. 3 is please referred to, Fig. 3 show the structural schematic diagram of pedestal 150.Traveling wheel group 152 can be further arranged in pedestal 150
With motor (not shown), motor for drive traveling wheel group 152 rotate so that crusing robot 100 can automatically walk,
Improve the degree of automation of crusing robot 100.
Further, traveling wheel group 152 includes driving wheel 154 and driven wheel 156, and motor is for driving 154 turns of driving wheel
Dynamic, driven wheel 156 is universal wheel.As shown in figure 3, in the present embodiment, it is provided with 2 driving wheels, 154,4 driven wheels 156.It is main
The rotation of driving wheel 154, which is advanced, drives the rotation of driven wheel 156 to advance.The selection universal wheel of driven wheel 156 makes the fortune of crusing robot 100
It is dynamic more flexible.In conjunction with Fig. 2 it is found that in this implementation, executing agency 130 is located at 100 row of crusing robot with switch board 110
The both sides in direction are walked, but also having more effective working space when being detected to automobile tire.
Driving wheel 154 can move up and down in the short transverse of crusing robot 100, and driven wheel 156 can also patrol
It examines and is moved up and down in the short transverse of robot 100.In the present embodiment, walking process of the driving wheel 154 in crusing robot 100
In can with automatic controlled height so that crusing robot 100 in the process of walking always with ground keep it is good contact, such as
Elastic component (such as spring) can be set between driving wheel 154 and pedestal 150, you can realize 154 height of driving wheel from homophony
Section can also use a kind of more complicated mode of electrically control certainly, in other embodiment.In the present embodiment, driven wheel 156
The variation of height is using adjusting manually.The setting makes the height of crusing robot 100 have certain adjustable section, while
So that mechanical arm 132 has certain adjustable section at a distance from ground, the working space near the ground of mechanical arm 132 is made to have more
More selectivity.
Fig. 4 is please referred to, Fig. 4 show the enlarged diagram at IV position of Fig. 3.4 driven wheels 156 can pass through bolt
158 connect with the connecting plate 160 on pedestal 150, by adjusting the fixed position of driven wheel 156 and bolt 158, can adjust bottom
The height of seat 150.
Further, clump weight (not shown) can also be set between driven wheel 156 and connecting plate 160.Pass through
Adjusting driven wheel 156 and the fixed position of bolt 158 can achieve the effect that clump weight is fixed.The quality of clump weight can
To be selected according to specific requirements, when needing to make the center of gravity of crusing robot 100 to reduce more, it may be selected that quality is larger to match
Pouring weight.If executing agency 130 and the difference in quality of switch board 110 are larger so that the load distribution on pedestal 150 is not uniform enough,
Can it selectively install clump weight additional as the case may be on some or certain several driven wheels 156, make on pedestal 150
Load distribution is more uniformly distributed, and improves the balanced capacity of crusing robot 100.
In the present embodiment, other parts of crusing robot 100 are not introduced in more detail, do not introduce its
His component structural can refer to commercially available crusing robot.
The operation principle of crusing robot 100 is：
The present embodiment provides a kind of crusing robots 100, include mainly switch board 110, executing agency 130 and pedestal
150, inspection work can be carried out in a variety of places, especially had a clear superiority in the detection in vehicle tyre crown face.
Executing agency 130 can carry out operation in the space closer to ground, and the effective work for increasing executing agency 130 is empty
Between, increase the detection range of executing agency 130, improves the accuracy and validity of inspection result.Executing agency 130 and switch board
110 left and right distribution improves the load-carrying uniformity of pedestal 150, so that the balance of the entirety of crusing robot 100 is improved, further
Reduce the probability toppled over when crusing robot 100 works.Switch board 110 can play the center of gravity of balance crusing robot 100
Effect, switch board 110 is mainly used for controlling the movement locus (detecting track) of executing agency 130, when executing agency 130 is patrolling
When stretching out larger distance during inspection, under the action of switch board 110, crusing robot 100 can preferably keep stable,
Improve the job stability of crusing robot 100.The installation site and tunable characteristic of mechanical arm 132 make detection sensor 134
With more effective working spaces, designated position can be detected with more angles, make testing result more comprehensively, it is accurate
Really.
By taking vehicle tyre detects as an example：
Not only time-consuming and there is the detection zone being much unable to reach for traditional crusing robot, and detection efficiency is low and examines
It is relatively low to survey precision.When the crusing robot 100 provided using the utility model embodiment is checked, due to mechanical arm 132
Adjustable extent is larger, and (for example, the installation site ground proximity of mechanical arm 132,132 one end of mechanical arm can with detection sensor 134
It is telescopically connected), the reachable position range of detection sensor 134 is considerably increased, the detection energy of detection sensor 134 is improved
Power, detection sensor 134 can reach the detection zone that traditional crusing robot can not reach, and greatly improve the essence of inspection result
True property.The scalable connection performance of detection sensor 134 is so that it can which the adjustment position that moves linearly, that may be present to make up
The position error of robot origin and tire on tire axial.It, should when detection sensor 134 stretches into tire and vehicle shell gap
Flexible setting can reduce interfering for mechanical arm 132 and vehicle shell, keep detection process more smooth, while in two-ply tyre
In detection (such as the rear tyre of bus is typically all two), which makes detection sensor 134 be able to detect that
Inboard tire (can be realized in the case where robot is changed without walking position) in two-ply tyre.In addition, since detection passes
Sensor 134 is located at opposite both sides with switch board 110 so that mechanical arm 132 has very effective working space, makes mechanical arm
132 can carry out operation closer to ground.If mechanical arm 132 has larger extended length, while vehicle width itself is slightly smaller,
Crusing robot 100 can also only in the side of vehicle, the detection to vehicle all tire can be completed in walking, greatly improves and patrols
Examine the detection efficiency of robot 100.
The preferred embodiment that these are only the utility model, is not intended to limit the utility model, for this field
Technical staff for, various modifications and changes may be made to the present invention.Within the spirit and principle of the utility model,
Any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (10)
1. a kind of crusing robot, which is characterized in that including switch board, executing agency and pedestal, the switch board with it is described
Executing agency direction of plane where being parallel to the pedestal is relatively arranged on the pedestal, and the switch board is for controlling institute
State the movement locus of executing agency.
2. crusing robot according to claim 1, which is characterized in that position is distinguished with the switch board by the executing agency
In the both sides of the crusing robot direction of travel.
3. crusing robot according to claim 1, which is characterized in that the executing agency includes that mechanical arm and detection pass
Sensor, described mechanical arm one end are connect with the pedestal, and the other end is connect with the detection sensor in a manner of retractable.
4. crusing robot according to claim 3, which is characterized in that the mechanical arm has 6 degree of freedom.
5. crusing robot according to claim 1, which is characterized in that the pedestal setting traveling wheel group and motor, institute
Motor is stated for driving the traveling wheel group to rotate.
6. crusing robot according to claim 5, which is characterized in that the traveling wheel group includes driving wheel and driven
Wheel, for the motor for driving the driving wheel to rotate, the driven wheel is universal wheel.
7. crusing robot according to claim 6, which is characterized in that the connecting plate of the driven wheel and the pedestal it
Between clump weight is set.
8. according to claim 1-7 any one of them crusing robots, which is characterized in that the switch board can with the pedestal
Dismantling connection.
9. crusing robot according to claim 8, which is characterized in that the switch board passes through support column with the pedestal
It is connected, the support column both ends are respectively equipped with the first threaded hole and the second threaded hole, first threaded hole and the switch board
The matching of the first bolt thread, second threaded hole matches with the second bolt thread of the pedestal.
10. a kind of crusing robot, which is characterized in that including switch board, executing agency and pedestal, the switch board with it is described
Executing agency is respectively arranged in the pedestal and corresponds in the horizontal direction, and the switch board is for controlling the execution machine
The movement locus of structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820150619.4U CN208068248U (en) | 2018-01-29 | 2018-01-29 | A kind of crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820150619.4U CN208068248U (en) | 2018-01-29 | 2018-01-29 | A kind of crusing robot |
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| Publication Number | Publication Date |
|---|---|
| CN208068248U true CN208068248U (en) | 2018-11-09 |
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ID=64036459
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201820150619.4U Active CN208068248U (en) | 2018-01-29 | 2018-01-29 | A kind of crusing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108058157A (en) * | 2018-01-29 | 2018-05-22 | 西安优艾智合机器人科技有限公司 | A kind of crusing robot |
| CN111515917A (en) * | 2020-05-07 | 2020-08-11 | 中自机器人技术(安庆)有限公司 | Robot for inspecting underground pipeline |
-
2018
- 2018-01-29 CN CN201820150619.4U patent/CN208068248U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108058157A (en) * | 2018-01-29 | 2018-05-22 | 西安优艾智合机器人科技有限公司 | A kind of crusing robot |
| CN111515917A (en) * | 2020-05-07 | 2020-08-11 | 中自机器人技术(安庆)有限公司 | Robot for inspecting underground pipeline |
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