CN209648713U - A kind of multiple degrees of freedom can across broken rail crusing robot - Google Patents
A kind of multiple degrees of freedom can across broken rail crusing robot Download PDFInfo
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- CN209648713U CN209648713U CN201920264206.3U CN201920264206U CN209648713U CN 209648713 U CN209648713 U CN 209648713U CN 201920264206 U CN201920264206 U CN 201920264206U CN 209648713 U CN209648713 U CN 209648713U
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Abstract
The utility model provide a kind of multiple degrees of freedom can across broken rail crusing robot, which is made of robot body, driving unit, control unit, power unit, sensor unit and audio-video collection unit.Power unit is made of rechargeable battery, is mounted on inside robot body；Driving unit is connect with robot body, and is hung and driven robot body to walk in orbit in orbit.Sensor unit and audio-video collection unit are mounted on robot body, are responsible for collecting work environmental information, and control unit controls the work of entire crusing robot.The robot can directly cross over the track disconnected and the track with angle, increase the adaptability of crusing robot working environment, and structure is simple, reliable operation.
Description
Technical field
The utility model belongs to crusing robot field, and specifically a kind of multiple degrees of freedom can across broken rail crusing robot.
Background technique
Current city integrated piping lane crusing robot wide market, and existing pipe gallery crusing robot is generally all
It is to be run on continuous orbit.According to regulation in " the city integrated piping lane engineering legislation " for living to build portion's publication in 2015: " day
Right feed channel cabin and accommodate power cable cabin should noninflammability wall every 200m using fire endurance not less than 3.0h into
Row fire separation.Door at fire separation should use first class fire resistant doorsets, and traversing pipe line fireproof partition position should be using fire retardant package etc.
Fireproof blocking measure is tightly blocked." continuous orbit when encountering fire-proof wall, needs to pacify on the installation wall of fire resistant doorsets
A small fire resistant doorsets being filled, and hollow out goes out the shape of inspection robot track, when crusing robot passes through, small fire resistant doorsets are opened,
It is closed by rear small fire resistant doorsets.It is opened for convenience of small fire resistant doorsets, fire resistant doorsets and interorbital cannot be made into completely generally there are gap
Sealing, therefore it is unsatisfactory for the requirement of technical specification.In order to guarantee the sealing of fire resistant doorsets, track should be in disconnection at fire resistant doorsets
State, but make troubles again to crusing robot.
Summary of the invention
In order to solve the above technical problems, the utility model provide a kind of multiple degrees of freedom can across broken rail crusing robot, should
Robot does not need individually to open small fire resistant doorsets, can be directly across the broken rail at fire resistant doorsets, and structure is simple, reliable operation.Together
When, which can also walk on the track with angle.
The technical solution adopted in the utility model is: a kind of multiple degrees of freedom can across broken rail crusing robot, the robot by
Robot body, driving unit, control unit, power unit, sensor unit and audio-video collection unit composition.The power
Unit is made of rechargeable battery, is mounted on inside robot body；The driving unit is connect with power unit and robot sheet
Body connection, hangs and drives robot body to walk in orbit in orbit.Sensor unit and the installation of audio-video collection unit
On robot body, control unit is mounted on inside robot body, and is adopted with driving unit, sensor unit and audio-video
Collect unit electrical connection.
The driving unit is made of left driving unit and right driving unit two parts, and is symmetrically mounted on robot body
On.Left driving unit and right driving unit are by translation mechanism, elevating mechanism, swing mechanism, bottom support wheel assembly, opening-closing machine
Structure and walking mechanism composition.
The translation mechanism is connected in bottom, elevating mechanism with translation mechanism, and translation mechanism drives elevating mechanism can
To move left and right；Swing mechanism is mounted on the upper surface of elevating mechanism, and bottom support wheel assembly is mounted on the top of swing mechanism, with
The connection of open-and-close mechanism hinge, walking mechanism are made of driving wheel and driven wheel, are mounted on above open-and-close mechanism.Driving wheel and driven
Wheel is located at the two sides of track, when driving wheel and driven wheel grip track, provides walking power by driving wheel, drives robot body
Orbital motion.When the gap between driving wheel and driven wheel is greater than track width, walking mechanism can de-orbit, by rising
Descending mechanism drives walking mechanism to move down.
The audio-video collection unit includes: visible camera, infrared video camera, sound pick-up and audio converter, sound
Video acquisition unit is mounted on robot body；
The sensor unit include: flame sensor, gas sensor, illuminance sensor, ultrasonic sensor and
Temperature sensor, sensor unit are mounted on the robot body；Described control unit is made of built-in industrial control machine.
The beneficial effects of the utility model are: the crusing robot utilizes two groups of driving units, it not only can be continuous
Normal walking on straight track, and may be implemented across straight broken rail or walk on the track for have angle, it considerably increases
The flexibility of crusing robot walking is particularly suitable for the inspection work of the city integrated piping lane with fire resistant doorsets.The survey monitor
Device people has the characteristics that reasonable in design, driving force is strong, reliable operation.
Detailed description of the invention
Fig. 1 is the utility model overall structure main view.
Fig. 2 is the utility model overall structure top view.
Fig. 3 be the utility model by the broken rail that has angle when main view.
Fig. 4 be the utility model by the broken rail that has angle when top view.
Specific embodiment
The utility model is described further with reference to the accompanying drawings and examples.
As shown in Figure 1 and Figure 2, a kind of multiple degrees of freedom can across broken rail crusing robot, the robot by robot body 10,
Driving unit, control unit, power unit, sensor unit and audio-video collection unit composition.The power unit is by charging
Battery is constituted, and is mounted on inside robot body 10；The driving unit is connect with power unit and robot body 10 connects,
Driving unit hanging drives robot body 10 to walk in orbit in orbit.Sensor unit and audio-video collection unit peace
On robot body 10, control unit is mounted on inside robot body 10, and with driving unit, sensor unit and sound
Video acquisition unit electrical connection.
The driving unit is made of left driving unit and right driving unit two parts, and is symmetrically mounted on robot body
On 10.Left driving unit and right driving unit by translation mechanism 6, elevating mechanism 5, swing mechanism 4, bottom support wheel assembly 3,
Open-and-close mechanism 2 and walking mechanism 1 form.
The translation mechanism 6 is connected in bottom, elevating mechanism 5 with translation mechanism 6, and translation mechanism 6 drives elevator
Structure 5 can move left and right；Swing mechanism 4 is mounted on the upper surface of elevating mechanism 5, and bottom support wheel assembly 3 is mounted on swing mechanism 4
Top, connect with 2 hinge of open-and-close mechanism, walking mechanism 1 is made of driving wheel and driven wheel, is mounted on above open-and-close mechanism 2.
Driving wheel and driven wheel are located at the two sides of track, under the action of open-and-close mechanism 2, can make driving wheel and driven wheel grip track or
Far from track.When driving wheel and driven wheel grip track, walking power is provided by driving wheel, drives robot body 10 along rail
Road movement.When the gap between driving wheel and driven wheel is greater than track width, elevating mechanism 5 can be driven under walking mechanism 1
It moves, walking mechanism 1 is made to de-orbit.
The audio-video collection unit includes: visible camera, infrared video camera, sound pick-up and audio converter, sound
Video acquisition unit is mounted on robot body 10；Audio-video collection unit is used for the image harmony message of collecting work environment
Breath.
The sensor unit include: flame sensor, gas sensor, illuminance sensor, ultrasonic sensor and
Temperature sensor, sensor unit are mounted on the robot body 10, the letter such as gas, temperature for collecting work environment
Breath, and send control unit to and handled；Described control unit is made of built-in industrial control machine.
The utility model realizes that the course of work across broken rail at fire resistant doorsets is: with left driving unit in robot body 10
For before moving direction.When crusing robot is gone to before fire resistant doorsets, fire resistant doorsets are opened, and control unit passes through control two first
The movement of a translation mechanism 6 adjusts the spacing between left driving unit and right driving unit, guarantees to be greater than fire resistant doorsets width, i.e.,
Greater than the width of broken rail.Then the open-and-close mechanism 2 of left driving unit pulls open the distance of driving wheel and driven wheel to more than track
Width.Next, open-and-close mechanism 2 and walking mechanism 1 are moved downward to lower than fire resistant doorsets by the elevating mechanism 5 of left driving unit
Then the lower plane of upper door frame provides power drive machine human body by the walking mechanism 1 of right driving unit and moves forward, to a left side
The walking mechanism 1 of driving unit crosses fire resistant doorsets arrival when having the position of track, and the elevating mechanism 5 of left driving unit is by vehicle with walking machine
Structure 1 is promoted to orbit altitude, then the driving wheel and driven wheel grip track of walking mechanism 1 are driven by open-and-close mechanism 2.
Next, similarly with the above process, the open-and-close mechanism 2 of right driving unit is by the driving wheel of walking mechanism 1 and driven
The distance of wheel is pulled open to more than track width, and open-and-close mechanism 2 and walking mechanism 1 are moved downward to lower than anti-by elevating mechanism 5
The lower plane of vent upper door frame, robot body 10 continue to be moved to the left.When crusing robot is entirely across fire resistant doorsets, by the right side
After walking mechanism 1 is risen to orbit altitude by the elevating mechanism 5 of driving unit, open-and-close mechanism 2 drive walking mechanism 1 driving wheel and
Driven wheel grip track, to complete the process for once crossing over fire resistant doorsets.
As shown in Figure 3, Figure 4, the utility model by have angle track when its course of work be: with crusing robot
For track two is transformed to from track one.When crusing robot needs the track by having angle, firstly, left driving unit
Open-and-close mechanism 2 distance of driving wheel and driven wheel is pulled open to more than track width, the elevating mechanism 5 of left driving unit will be opened
It closes mechanism 2 and walking mechanism 1 is moved downward to the lower plane lower than track two, then swing mechanism 4 rotates, and makes robot body
10 rotate to two direction of track.Then, the translation mechanism 6 of mobile left driving unit, is moved to walking mechanism 1 under track two
Side, then swing mechanism 4 is moved, it is placed in track two between the driving wheel and driven wheel of walking mechanism 1.Then elevating mechanism 5 will
Walking mechanism 1 rises to two height of track, and open-and-close mechanism 2 drives the driving wheel of walking mechanism 1 and driven wheel mobile to track two,
And step up track two.It is now in position shown in Fig. 3.Next, the open-and-close mechanism 2 of right driving unit drives walking mechanism 1
Far from track one, elevating mechanism 5 drives open-and-close mechanism 2 and walking mechanism 1 to drop below track one for driving wheel and driven wheel
Position.The walking mechanism 1 of left driving unit drives robot body 10 to continue to move along at this time, the turn-around machine of right driving unit
Structure 4 rotates, and keeps right driving unit parallel with track two.It is right when the walking mechanism 1 of right driving device is in the lower section of track two
Walking mechanism 1 is promoted to the height of track two by the elevating mechanism 5 of driving device, and open-and-close mechanism 2 drives the driving of walking mechanism 1
Wheel and driven wheel grip track, then crusing robot continues normal forward, to complete passing through for the track with angle.
Claims (4)
1. a kind of multiple degrees of freedom can across broken rail crusing robot, it is characterised in that: the robot is by robot body (10), driving
Unit, control unit, power unit, sensor unit and audio-video collection unit composition；The power unit is by rechargeable battery
It constitutes, it is internal to be mounted on robot body (10)；The driving unit is connect with power unit, driving unit and robot body
(10) it connects, driving unit hanging in orbit, and drives robot body (10) to walk in orbit；Sensor unit and sound
Video acquisition unit is mounted on robot body (10), and it is internal that control unit is mounted on robot body (10), and with driving
Unit, sensor unit and the electrical connection of audio-video collection unit.
2. a kind of multiple degrees of freedom can across broken rail crusing robot according to claim 1, it is characterised in that: the driving unit
It is made of, and is symmetrically mounted on robot body (10) left driving unit and right driving unit two parts；Left driving unit and
Right driving unit supports wheel assembly (3), open-and-close mechanism by translation mechanism (6), elevating mechanism (5), swing mechanism (4), bottom
(2) it is formed with walking mechanism (1)；The translation mechanism (6) is connected in bottom, elevating mechanism (5) with translation mechanism (6),
Translation mechanism (6) drives elevating mechanism (5) can move left and right；Swing mechanism (4) is mounted on the upper surface of elevating mechanism (5), bottom
Portion's support wheel assembly (3) is mounted on the top of swing mechanism (4), connect with open-and-close mechanism (2) hinge, walking mechanism (1) is by driving
Driving wheel and driven wheel composition, are mounted on open-and-close mechanism (2) above；Driving wheel and driven wheel are located at the two sides of track, in opening-closing machine
Under the action of structure (2), driving wheel and driven wheel grip track can be made or far from track.
3. a kind of multiple degrees of freedom can across broken rail crusing robot according to claim 1, it is characterised in that: the audio-video is adopted
Collecting unit includes: visible camera, infrared video camera, sound pick-up and audio converter, and audio-video collection unit is mounted on machine
On device human body (10).
4. a kind of multiple degrees of freedom can across broken rail crusing robot according to claim 1, it is characterised in that: the sensor list
Member includes: flame sensor, gas sensor, illuminance sensor, ultrasonic sensor and temperature sensor, sensor unit
It is mounted on the robot body (10), the information such as gas, temperature for collecting work environment, and sends control unit to
It is handled；Described control unit is made of built-in industrial control machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920264206.3U CN209648713U (en) | 2019-03-02 | 2019-03-02 | A kind of multiple degrees of freedom can across broken rail crusing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920264206.3U CN209648713U (en) | 2019-03-02 | 2019-03-02 | A kind of multiple degrees of freedom can across broken rail crusing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209648713U true CN209648713U (en) | 2019-11-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920264206.3U Active CN209648713U (en) | 2019-03-02 | 2019-03-02 | A kind of multiple degrees of freedom can across broken rail crusing robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112783168A (en) * | 2020-12-30 | 2021-05-11 | 中国计量大学 | Inspection robot |
| CN112878117A (en) * | 2021-01-11 | 2021-06-01 | 合肥拉塞特机器人科技有限公司 | Automatic lifting rail without external power |
| CN114770553A (en) * | 2022-05-20 | 2022-07-22 | 中国矿业大学 | Intelligent inspection robot for cable tunnel |
-
2019
- 2019-03-02 CN CN201920264206.3U patent/CN209648713U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112783168A (en) * | 2020-12-30 | 2021-05-11 | 中国计量大学 | Inspection robot |
| CN112783168B (en) * | 2020-12-30 | 2023-08-11 | 中国计量大学 | Inspection robot |
| CN112878117A (en) * | 2021-01-11 | 2021-06-01 | 合肥拉塞特机器人科技有限公司 | Automatic lifting rail without external power |
| CN114770553A (en) * | 2022-05-20 | 2022-07-22 | 中国矿业大学 | Intelligent inspection robot for cable tunnel |
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