CN209478171U - Indoor robot of patrolling and examining of omnidirectional movement - Google Patents

Abstract

The utility model discloses an omnidirectional mobile indoor inspection robot, which comprises a control device and a mobile device electrically connected with the control device, a rotating device and a lifting device. The omnidirectional moving mechanism includes a shaft frame and mecanum wheels symmetrically arranged on both sides of the shaft frame. The mecanum wheels are connected with a drive unit. The rotating device includes a rotating platform set on the box. The lifting device is installed On the rotating platform, the lifting device is equipped with a camera unit, and one side of the box is equipped with a laser navigator. The utility model realizes the omnidirectional rotation and movement of the robot. At the same time, it is convenient to carry out camera inspections on the substation equipment with a narrow space. Finally, the laser navigator is installed on the box body, so that the process of the robot reaching the substation equipment for maintenance is easier. Accuracy and efficiency are higher.

Description

An omnidirectional mobile indoor inspection robot

technical field

The utility model relates to the technical field of power transformation equipment inspection, in particular to an omnidirectional mobile indoor inspection robot.

Background technique

With the advancement of science and technology, robots have been widely used and are gradually moving towards intelligence and informationization. During the use of substations, it is often necessary to inspect the substation equipment. Generally, these inspections are highly repetitive and low-tech. Therefore, many substations have introduced robots for inspections, but many substations have The structure of the equipment is relatively compact and the space is relatively narrow. The general robot needs a large space to move and turn during the inspection process. Therefore, the existing inspection robot is not suitable for the inspection of the substation equipment with a relatively narrow space; The inspection of some inspection robots generally navigates through guide rails, which has poor flexibility and high navigation costs.

Utility model content

The technical problem to be solved by the utility model is to provide an omnidirectional mobile indoor inspection robot that can carry out inspection operations in a relatively narrow space, and at the same time has a high degree of navigation flexibility and a low cost.

In order to solve the above technical problems, the utility model provides an omnidirectional mobile indoor inspection robot, including: a control device and a mobile device electrically connected to the control device, a rotating device and a lifting device, the mobile device includes a box, the The bottom of the box is provided with two sets of omnidirectional moving mechanisms arranged in parallel. The omnidirectional moving mechanism includes a shaft frame and mecanum wheels symmetrically arranged on both sides of the shaft frame. The mecanum wheels are connected to drive unit, the rotating device includes a rotating platform arranged on the box, the lifting device is installed on the rotating platform, the lifting device is provided with a camera unit, and a laser navigator is provided on one side of the box.

Wherein, the Mecanum wheel is connected to the shaft frame through a support assembly, the support assembly includes a mounting plate and four connecting rods, and the mounting plate includes a mounting plate and a pair of mounting plates extending vertically from both ends of the mounting plate. Side plates, the two installation side plates are respectively connected to the shaft frame through two connecting rods, the drive unit and the Mecanum wheel are respectively installed on both sides of the installation plate, the drive unit and the Mecanum wheel wheel drive connection.

Wherein, buffer assemblies are respectively connected to both sides of the shaft frame, and the buffer assembly includes a spring, a hinge and a connecting column, one end of the spring is hinged to the shaft frame through a hinge, and the other end is rotatably connected to the connecting column, so Both ends of the connecting column are respectively connected with the connecting rod.

Wherein, the box includes a chassis, the chassis is equipped with columns, the rotating device also includes a rotating motor, the rotating platform includes a base and a rotating table, the rotating table is installed on the base, and the base Installed on the column, the rotating motor is driven and installed on the base for driving the rotating table to rotate and is electrically connected with the control device, and the lifting device is installed on the rotating table.

Wherein, the lifting device includes a lifting column, a lifting motor and a lifting guide rail, the lifting column is connected with the rotating platform, the lifting guide rail is fixed on the lifting column, and the lifting motor is installed at one end of the lifting guide rail Used to drive the rotary table to rotate and electrically connected with the control device, the lifting guide rail is slidably provided with a lifting slider, and the camera unit is installed on the lifting slider.

Wherein, the camera unit includes a mount and a camera, and the camera is rotatably connected to the mount.

Wherein, a groove is arranged on one side of the box, and the laser navigator is arranged in the groove.

Wherein, the box body is provided with ultrasonic detectors all around.

Wherein, a depth camera is provided on one side of the box.

The beneficial effect of the embodiment of the utility model is that: the utility model uses the mecanum wheel, and each mecanum wheel is connected to the drive unit separately, and the output speed of each drive unit is controlled by the control device to realize the omnidirectional rotation and rotation of the robot. At the same time, through the lifting device and the rotating device, the camera unit connected to the lifting device can take pictures in various directions and heights, which is convenient for the camera inspection of the substation equipment with narrow space. Finally, the box is equipped with a laser The navigator uses the collimation and non-divergence of the laser to accurately locate the position of the robot and navigate the direction of progress. It can also navigate accurately in the dark, and it is convenient to change the route for navigation, reducing navigation costs and making the robot The process of reaching the substation equipment for maintenance is more precise and efficient.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are only some embodiments of the utility model, and those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is a three-dimensional structural schematic diagram of an omnidirectional mobile indoor inspection robot according to an embodiment of the present invention.

Fig. 2 is a structural schematic diagram of the omnidirectional moving mechanism in the embodiment of the utility model.

Fig. 3 is a partial enlarged view of the assembly of the camera unit and the lifting guide rail in Fig. 1;

Fig. 4 is a schematic diagram of the installation of the rotating device and the box in the embodiment of the utility model.

Explanation of reference signs:

1. Mobile device, 11. Box body, 111. Groove, 112. Chassis, 113. Column, 2. Rotating device, 21. Rotating platform, 22. Rotating table, 23 Base, 24. Rotating motor, 3. Lifting Device, 31. Lifting column, 32. Lifting motor, 33. Lifting guide rail, 34. Lifting slider, 4. Omnidirectional moving mechanism, 41. Pedestal, 42. Mecanum wheel, 43. Drive unit, 44. Support Assembly, 441, mounting plate, 442, connecting rod, 45, buffer assembly, 451, spring, 452, hinge, 453, connecting column, 5, camera unit, 51, mount, 52, camera, 6, laser navigator, 7. Ultrasonic detector, 8. Depth camera.

Detailed ways

The descriptions of the following embodiments are with reference to the accompanying drawings to illustrate the specific embodiments that the present utility model can be used to implement. The direction and position terms mentioned in the present invention, such as "up", "down", "front", "back", "left", "right", "inside", "outside", "top", " "Bottom", "side", etc., are only referring to the direction or position of the drawings. Therefore, the terms used in direction and position are used to explain and understand the utility model, rather than to limit the protection scope of the utility model.

Referring to Figures 1 to 4, this embodiment provides an omnidirectional mobile indoor inspection robot, including a control device and a mobile device 1 electrically connected to the control device, a rotating device 2 and a lifting device 3, and the mobile device 1 includes a box body 11. There are two sets of omnidirectional moving mechanisms 4 arranged in parallel at the bottom of the box body 11. The omnidirectional moving mechanism 4 includes a shaft frame 41 and mecanum wheels 42 symmetrically arranged on both sides of the shaft frame 41. The mecanum wheels 42 are Connected with a drive unit 43, the rotating device 2 includes a rotating platform 21 arranged on the box body 11, the lifting device 3 is installed on the rotating platform 21, the lifting device 3 is provided with a camera unit 5, and a laser navigator 6 is provided on one side of the box body 11 .

The utility model uses the mecanum wheel 42, and each mecanum wheel 42 is separately connected to the drive unit 43, and the output speed of each drive unit 43 is controlled by the control device to realize the omnidirectional rotation and movement of the inspection robot. At the same time, Through the lifting device 3 and the rotating device 2, the camera unit 5 connected to the lifting device 3 can take pictures in various directions and heights, which is convenient for carrying out camera inspections on substation equipment with narrow space. Finally, the box body 11 is equipped with Laser navigator 6 uses the collimation and non-divergence of the laser to accurately locate the position of the robot and navigate the direction of progress. It can also accurately navigate in the dark, and it is convenient to change the route for navigation, reducing navigation costs. Make the process of the inspection robot arrive at the substation equipment for maintenance more accurate and efficient.

Referring to Fig. 2, further, in this embodiment, on the one hand, the mecanum wheel 42 is connected to the shaft frame 41 through the support assembly 44, the support assembly 44 includes a mounting plate 441 and four connecting rods 442, the mounting plate 441 includes a mounting The flat plate 4410 and a pair of installation side plates 4411 vertically extending from both ends of the installation plate 4410, the two installation side plates 4411 are respectively connected to the shaft frame 41 through two connecting rods 442, and the shaft frame 41 and the mounting plate 441 are connected through the connecting rods 442 , which helps to buffer the impact force transmitted by the mounting plate 441 through the connecting rod 442. On the other hand, the drive unit 43 and the mecanum wheel 42 are respectively installed on both sides of the mounting plate 4410 to balance the stress on both sides of the mounting plate 4410. At the same time, it is convenient to connect the driving unit 43 and the mecanum wheel 42 through the transmission shaft, so as to improve the force transmission efficiency of the driving unit 43 .

Specifically, buffer assemblies 45 are respectively connected to both sides of the shaft frame 41. The buffer assembly 45 includes a spring 451, a hinge 452 and a connecting post 453. One end of the spring 451 is hinged to the shaft frame 41 through the hinge 452, and the other end is rotatably connected to the connecting post 453. The two ends of the connecting column 453 are respectively connected with the connecting rod 442, further improving the buffering effect of the force transmitted from the mounting plate 441 to the axle frame 41, reducing the stress on the axle frame 41, and improving the service life of the omnidirectional moving mechanism 4.

Referring to FIG. 1 , a groove 111 is arranged on one side of the box body 11 of the present embodiment, and the laser navigator 6 is arranged in the groove 111 , which is convenient for protecting the laser navigator 6 and improving the service life of the laser navigator 6 .

Further, ultrasonic detectors 7 are arranged around the box body 11 to detect obstacles around the inspection robot through the ultrasonic detectors 7, prevent the inspection robot from hitting obstacles and cause damage, and improve the stability and safety of the inspection robot's movement .

One side of the box body 11 of the present embodiment is provided with a depth camera 8, which is used to detect the distance between the inspection robot and the substation equipment, so as to keep the inspection robot at a suitable distance to perform camera maintenance on the substation equipment, and improve the maintenance efficiency. efficiency and accuracy.

With reference to Fig. 4, wherein, casing 11 comprises chassis 112, and chassis 112 is equipped with column 113, and rotating device 2 also comprises rotating motor 24, and rotating platform 21 comprises base 22 and rotating table 23, and rotating table 23 is installed on the base 22 , the base 22 is installed on the column 113, the rotating motor 24 is installed on the base 22 for driving the rotation of the rotary table 23 and is electrically connected with the control device, the lifting device 3 is installed on the rotary table 23, on the one hand, the rotation is controlled by the control device The motor 24 drives the rotating table 23 to rotate, thereby driving the lifting device 3 installed on the rotating table 23 to rotate, so as to realize the change of the direction in which the camera unit 5 takes pictures; On, the stability of the installation of the rotating device 2 is improved.

Wherein, lifting device 3 comprises lifting column 31, lifting motor 32 and lifting guide rail 33, and lifting motor 32 is installed on lifting guide rail 33 one ends, and lifting guide rail 33 is fixed on lifting column 31, and lifting guide rail 33 is provided with lifting slide block 34, camera The unit 5 is installed on the lifting slider 34, so that the camera unit 5 passes through the lifting slider 34, and the control device controls the lifting motor 32 to drive the lifting slider 34 to slide on the lifting guide rail 33, and moves up and down along the lifting guide rail 33, so that the camera unit 5 Cameras can be adjusted according to the height of the substation equipment, and the use is more flexible.

With reference to Fig. 1 and Fig. 3, specifically, camera unit 5 comprises mounting base 51 and camera 52, and camera 52 is rotatably connected to mounting base 51, makes camera 52 can rotate relatively mounting base 51, has further improved camera 52 in the photographing process. Moderate flexibility, which is convenient for more accurate judgment on the condition of substation equipment.

In summary, the utility model realizes the omnidirectional movement of the robot during the inspection process, and is suitable for maintenance work with small moving space in the substation equipment. At the same time, through the lifting device 3 and the rotating device 2, the camera unit 5 can be more flexible The camera can be moved to the position where the camera needs to be taken, and the accuracy of the judgment of the inspection of the substation equipment can be improved.

It can be seen from the above description that the beneficial effect of the embodiment of the utility model is that the utility model uses the mecanum wheel, and each mecanum wheel is connected to the drive unit separately, and the output speed of each drive unit is controlled by the control device to realize the robot. At the same time, through the lifting device and the rotating device, the camera unit connected to the lifting device can take pictures in various directions and heights, which is convenient for the camera inspection of the substation equipment with a narrow space. Finally, The box is equipped with a laser navigator, which uses the collimation and non-divergence of the laser to accurately locate the position of the robot and navigate the direction of progress. It can also navigate accurately in the dark, and it is convenient to change the route for navigation, reducing the navigation cost. cost, and at the same time make the process of robots reaching substation equipment for maintenance more accurate and efficient.

What is disclosed above is only a preferred embodiment of the utility model, and of course it cannot limit the scope of rights of the utility model. Therefore, equivalent changes made according to the claims of the utility model still fall within the scope of the utility model.

Claims (9)

1. crusing robot in a kind of Omni-mobile room characterized by comprising control device and be electrically connected with control device Mobile device, rotating device and lifting device, the mobile device includes cabinet, the bottom of box be equipped with two groups of parallel cloth The Omni-mobile mechanism set, the Omni-mobile mechanism include pedestal and the Mecanum for being symmetrically arranged in the pedestal two sides Wheel, the Mecanum wheel are respectively connected with driving unit, and the rotating device includes the rotating platform being set on cabinet, described Lifting device is installed on the rotating platform, and the lifting device is equipped with camera unit, and the cabinet side is equipped with laser navigation Instrument.

2. crusing robot in Omni-mobile room according to claim 1, which is characterized in that the Mecanum wheel passes through Support component is connect with pedestal, and the support component includes mounting plate and four connecting rods, the mounting plate include installation plate and From vertically extending a pair of of the installation side plate in the installation plate both ends, two installation side plates pass through two connecting rods and institute respectively Pedestal connection is stated, the driving unit and Mecanum wheel are respectively arranged in the two sides of the installation plate, the driving unit It is drivingly connected with Mecanum wheel.

3. crusing robot in Omni-mobile room according to claim 2, which is characterized in that the pedestal two sides connect respectively It is connected to Buffer Unit, the Buffer Unit includes spring, hinge and connecting column, and the spring one end is cut with scissors by hinge and pedestal It connects, the other end is pivotably coupled to the connecting column, and the both ends of the connecting column are connect with the connecting rod respectively.

4. crusing robot in Omni-mobile room according to claim 1, which is characterized in that the cabinet includes chassis, The chassis is equipped with column, and the rotating device further includes rotating electric machine, and the rotating platform includes pedestal and turntable, institute Turntable is stated to be installed on pedestal, the pedestal is installed on column, rotating electric machine driving be installed on pedestal and with control Device electrical connection, the lifting device are installed on turntable.

5. crusing robot in Omni-mobile room according to claim 4, which is characterized in that the lifting device includes rising Drop column, lifting motor and riser guide, the lifting column are connected with the rotating platform, and the riser guide is fixed on the liter Column drops, and the lifting motor is installed in described riser guide one end and is used to that turntable to be driven to rotate and is electrically connected with control device, The riser guide is slidably equipped with lifting slider, and the camera unit is installed on the lifting slider.

6. crusing robot in Omni-mobile room according to claim 1, which is characterized in that the camera unit includes peace Dress seat and camera, the camera are rotatably connected at the mounting base.

7. crusing robot in Omni-mobile room according to claim 1, which is characterized in that the cabinet side is provided with Groove, the laser navigation equipment are arranged in the groove.

8. crusing robot in Omni-mobile room according to claim 1, which is characterized in that the cabinet surrounding is equipped with Ultrasonic detector.

9. crusing robot in Omni-mobile room according to claim 1, which is characterized in that the cabinet side is equipped with deep Spend camera.