CN210678723U - Patrol robot - Google Patents
Patrol robot Download PDFInfo
- Publication number
- CN210678723U CN210678723U CN201920981532.6U CN201920981532U CN210678723U CN 210678723 U CN210678723 U CN 210678723U CN 201920981532 U CN201920981532 U CN 201920981532U CN 210678723 U CN210678723 U CN 210678723U
- Authority
- CN
- China
- Prior art keywords
- moving
- driving
- driver
- camera
- moving mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a tour robot, including moving mechanism and tour mechanism. Moving mechanism can remove for the bottom surface, should patrol the mechanism and include at least one leading camera that is located the moving mechanism front side, be used for with leading camera is connected to moving mechanism's leading drive structure, at least one are located the overhead camera of moving mechanism upside and be used for with the overhead camera is connected to moving mechanism's overhead drive structure, the utility model provides a patrol the robot sets up leading camera through the front side at moving mechanism, has solved the problem at the existence tour dead angle of tour the robot in the tour process.
Description
Technical Field
The utility model belongs to the technical field of the robot, more specifically say, relate to a tour robot.
Background
The robot is a machine device which can automatically execute work, can receive the command of human beings, can run a pre-programmed program, and has the task of assisting or replacing the work of the human beings, wherein, the inspection robot is widely applied in the scenes (factories, campuses and warehouses) which need to be unattended, and the existing inspection robot has the following defects: the inspection robot can only inspect scenes at a far distance generally, and has inspection dead angles for scenes at a near position at the front end of the inspection robot.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a tour robot to solve the tour robot that exists among the prior art and there is the problem at tour dead angle at the tour in-process.
In order to achieve the above object, the utility model adopts the following technical scheme: provided is a patrol robot including: a moving mechanism capable of moving relative to the ground;
a tour mechanism including at least one front camera located in front of the moving mechanism, a front driving structure for connecting the front camera to the moving mechanism, at least one top camera located on the upper side of the moving mechanism, and a top driving structure for connecting the top camera to the moving mechanism, wherein the front driving structure can drive each front camera to rotate around a first rotation axis, the extending direction of the first rotation axis extends along the left-right direction, the top driving structure includes a first driver installed on the moving mechanism and a second driver connected to the first driver and connected to each top camera, the first driver is used for driving the second driver to reciprocate up and down and is also used for driving the second driver to rotate around a second rotation axis, the extending direction of the second rotating axis is along the up-down direction, the second driver is used for driving each overhead camera to rotate around a third rotating axis, and the extending direction of the third rotating axis is parallel to the horizontal plane.
Further, the moving mechanism comprises a moving body, moving wheels which are installed outside the moving body and bear the moving body, and a power mechanism for driving the moving wheels to rotate, wherein the number of the moving wheels is at least three, and the moving wheels are used for driving the moving body to move on the ground.
Further, the movable main body is provided with an installation groove on the front side, the extending direction of the installation groove is the vertical direction and is arranged in a penetrating manner, and the front camera is installed in the installation groove.
Further, each of the moving wheels includes two mecanum wheels capable of sliding in multiple directions.
Furthermore, the power mechanism at least comprises three driving motors which are arranged in the moving main body and are respectively used for driving one moving wheel to rotate.
Further, the number of the driving motors is at least four.
Further, the inspection robot further comprises an illuminating device arranged in front of the first driver for illumination.
Further, the lighting device comprises a lamp body and a distance sensor embedded in the lamp body.
The utility model provides a tour robot's beneficial effect lies in: compared with the prior art, the utility model provides a patrol robot sets up leading camera through the front side at moving mechanism to this camera is connected with leading drive structure, thereby surveys the scene that terminal surface is close before the patrol robot through the leading camera luffing motion of this leading drive structure drive, has avoided patrol robot to exist the problem at patrol dead angle, and patrol robot is at the patrol in-process, and the scope of patrolling is bigger.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive labor.
Fig. 1 is a schematic view of an overall structure of an inspection robot according to an embodiment of the present invention;
fig. 2 is an explosion structure diagram of an inspection robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a moving mechanism of a patrol robot according to an embodiment of the present invention.
Wherein, in the figures, the respective reference numerals:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 10 | |
||
| 11 | Movable |
12 | |
| 13 | Mounting groove | ||
| 20 | |
||
| 21 | |
22 | Front-mounted |
| 23 | |
24 | Top-mounted |
| 240 | |
||
| 2400 | |
2410 | |
| 2420 | |
||
| 241 | |
||
| 30 | Power mechanism | ||
| 31 | Driving motor |
Detailed Description
In order to make the technical problem, technical solution and advantageous effects to be solved by the present invention more clearly understood, the following description is given in conjunction with the accompanying drawings and embodiments to illustrate the present invention in further detail. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, which are only for convenience of description and simplicity of description, and thus are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Referring to fig. 1 to fig. 3, a patrol robot according to the present invention will now be described. The patrol robot comprises a moving mechanism 10 and a patrol mechanism 20.
The moving mechanism 10 can move relative to the ground, and in particular, the moving mechanism 10 is applied to some unattended scenes, such as factories, warehouses, campuses, and the like, in which the moving mechanism 10 can move back and forth and perform multi-directional inspection, instead of human power.
The patrol mechanism 20 includes at least one front camera 21 located at the front side of the moving mechanism 10, a front driving structure 22 for connecting the front camera 21 to the moving mechanism 10, at least one overhead camera 23 located at the upper side of the moving mechanism 10, and an overhead driving structure 24 for connecting the overhead camera 23 to the moving mechanism 10, the front driving structure 22 being capable of driving each front camera 21 to rotate about a first rotation axis, the extending direction of the first rotation axis extending in the left-right direction, the overhead driving structure 24 including a first driver 240 mounted to the moving mechanism 10 and a second driver 241 connected to the first driver 240 and to each overhead camera 23, the first driver 240 being for driving the second driver 241 to reciprocate up and down and also for driving the second driver 241 to rotate about a second rotation axis, the extending direction of the second rotation axis being in the up-down direction, the second driver 241 is used for driving each overhead camera to rotate around a third rotation axis, and the extension direction of the third rotation axis is parallel to the horizontal plane.
The utility model provides a tour robot, compare with prior art, tour robot among the prior art generally only sets up the camera on tour robot's up end, and this camera can only be tourd to the scene of tour robot distant place front end, and has the problem of tour the dead angle to the scene of tour robot preceding terminal surface near. This inspection robot is through setting up leading camera 21 in the front side of moving mechanism 10 to this camera is connected with leading drive structure 22, thereby surveys the near scene of inspection robot front end face through leading drive structure 22 drive leading camera 21 luffing motion, has avoided the inspection robot to exist the problem at inspection dead angle, and inspection robot is at the inspection in-process, and the scope of inspection is bigger.
Referring to fig. 1 and fig. 2, in the present embodiment, the moving mechanism 10 includes a moving body 11, moving wheels 12 installed outside the moving body 11 and carrying the moving body 11, and a power mechanism 30 for driving the moving wheels 12 to rotate, wherein at least three moving wheels 12 are provided, and each moving wheel 12 is used for driving the moving body 11 to move on the ground. Specifically, the mobile body 11 is used for carrying the patrol mechanism 20, the front camera 21, the front driving structure 22, the overhead camera 23 and the overhead driving structure 24 are all mounted on the mobile body 11, and the cross section of the mobile body 11 is rectangular or other shapes which meet the normal aesthetic beauty of the robot. The patrol robot is driven by each moving wheel 12, and the following effects are achieved: make the inspection robot at removal inspection in-process functioning speed faster, move wheel 12 and touch the barrier or the inspection robot meets the highway section that needs go on climbing and have enough power to accomplish the inspection to the highway section that has set for in advance, this inspection robot's inspection efficiency is higher, and the completion degree of inspection task is higher.
Referring to fig. 1 and 2, in the embodiment of the present invention, a mounting groove 13 is formed on the front side of the moving body 11, the extending direction of the mounting groove 13 is a vertical direction, and the front camera 21 is mounted in the mounting groove 13. By providing the mounting groove 13 at the front end of the moving body 11, when the inspection robot inspects the inspection, the front camera 21 is mounted in the mounting groove 13, so that the following situations are avoided: when the inspection robot inspects on a preset route, an obstacle appears at the front side of the inspection robot, and the inspection robot does not detect the obstacle and continues to move forward, the obstacle may touch and damage the front camera 21, which affects the normal inspection work of the inspection robot.
Please refer to fig. 1 to 3, each moving wheel 12 adopts two mecanum wheels capable of sliding in multiple directions, a plurality of small rollers are distributed on the rim of the mecanum wheels, and based on the mecanum wheel technology, the inspection robot can realize various motion modes such as forward movement, transverse sliding, oblique movement, etc., the mecanum wheels have compact structure and flexible motion, and the inspection robot has a plurality of novel wheels for combination, so that the omnibearing moving function can be realized more flexibly and conveniently, and the flexibility of the inspection direction of the inspection robot is improved.
Referring to fig. 3, the power mechanism 30 at least includes three driving motors 31 disposed in the moving body 11 and respectively driving one moving wheel 12 to rotate, so that the moving wheel 12 of the inspection robot is in a four-wheel drive mode, each moving wheel 12 has an active driving force, and the inspection robot has sufficient moving power and higher flexibility.
Further, the number of the driving motors 31 is four, and each driving motor 31 is connected with one moving wheel 12, so that a four-wheel-drive four-rotation power mode of the inspection robot is ensured, and the moving efficiency and stability of the inspection robot are further enhanced.
Referring to fig. 1 to 2, the first driver 240 further includes an illumination cavity 2400 opened on the front surface of the first driver 240, an illumination device 2410 for the inspection robot to perform night illumination is installed in the illumination cavity 2400, and by installing the illumination device 2410 in the illumination cavity 2400, a light source is provided for a camera of the inspection robot, so that the inspection robot not only has a night illumination function, but also can perform inspection at night, and the inspection robot is also suitable for scenes in which night inspection is required.
The lighting device 2410 comprises a lamp body and a distance sensor 2420 embedded in the lamp body, wherein the distance sensor 2420 can sense the distance from an obstacle to the lighting device 2410, so that the operation safety of the inspection robot in the inspection process is ensured.
The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. A patrol robot, comprising:
a moving mechanism capable of moving relative to the ground;
a tour mechanism including at least one front camera located in front of the moving mechanism, a front driving structure for connecting the front camera to the moving mechanism, at least one top camera located on the upper side of the moving mechanism, and a top driving structure for connecting the top camera to the moving mechanism, wherein the front driving structure can drive each front camera to rotate around a first rotation axis, the extending direction of the first rotation axis extends along the left-right direction, the top driving structure includes a first driver installed on the moving mechanism and a second driver connected to the first driver and connected to each top camera, the first driver is used for driving the second driver to reciprocate up and down and is also used for driving the second driver to rotate around a second rotation axis, the extending direction of the second rotating axis is along the up-down direction, the second driver is used for driving each overhead camera to rotate around a third rotating axis, and the extending direction of the third rotating axis is parallel to the horizontal plane.
2. The patrol robot of claim 1, wherein the moving mechanism comprises a moving body, moving wheels mounted on the outer side of the moving body and carrying the moving body, and a power mechanism for driving each moving wheel to rotate, wherein the number of the moving wheels is at least three, and each moving wheel is used for driving the moving body to move on the ground.
3. The patrol robot according to claim 2, wherein the moving body is provided with an installation groove at a front side thereof, the installation groove extends in an up-down direction and is provided therethrough, and the front camera is installed in the installation groove.
4. The patrol robot of claim 2, wherein each of the moving wheels comprises two mecanum wheels capable of sliding in multiple directions.
5. The patrol robot of claim 2, wherein the power mechanism comprises at least three driving motors disposed in the movable body and respectively used for driving one of the movable wheels to rotate.
6. The patrol robot of claim 5, wherein the drive motors are at least four in number.
7. A patrol robot as claimed in any one of claims 1 to 6, further comprising an illumination device provided on a front side of the first driver for illumination.
8. The patrol robot according to claim 7, wherein the illumination device comprises a lamp body and a distance sensor embedded inside the lamp body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920981532.6U CN210678723U (en) | 2019-06-26 | 2019-06-26 | Patrol robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920981532.6U CN210678723U (en) | 2019-06-26 | 2019-06-26 | Patrol robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210678723U true CN210678723U (en) | 2020-06-05 |
Family
ID=70892160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920981532.6U Active CN210678723U (en) | 2019-06-26 | 2019-06-26 | Patrol robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210678723U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112128512A (en) * | 2020-09-30 | 2020-12-25 | 深圳信息职业技术学院 | Pipeline robot and pipeline inspection equipment |
-
2019
- 2019-06-26 CN CN201920981532.6U patent/CN210678723U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112128512A (en) * | 2020-09-30 | 2020-12-25 | 深圳信息职业技术学院 | Pipeline robot and pipeline inspection equipment |
| CN112128512B (en) * | 2020-09-30 | 2021-12-21 | 深圳信息职业技术学院 | Pipeline robot and pipeline inspection equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108382591B (en) | Ground-air inspection detection robot system applied to complex environment and operation method | |
| CN111216092A (en) | Composite wheel type hanging rail inspection robot | |
| CN206200973U (en) | A kind of intelligent barrier avoiding detects robot | |
| CN211083546U (en) | AGV vehicle-mounted camera | |
| CN209859002U (en) | Outdoor pedestrian following robot control system | |
| CN210678723U (en) | Patrol robot | |
| CN210148093U (en) | Omnidirectional movement double-arm robot | |
| CN112589796A (en) | GIS cavity internal maintenance robot and maintenance method | |
| CN214352456U (en) | GIS cavity internal overhaul maintenance robot | |
| CN109118777B (en) | Road condition monitoring vehicle monitoring method based on unmanned driving | |
| CN111496759A (en) | Anti-collision obstacle-crossing line inspection robot based on remote control system | |
| CN110371218A (en) | A kind of modular multifunctional AGV | |
| CN211319395U (en) | Hanging video parking stall detector | |
| CN210115909U (en) | Intelligent omnidirectional mobile robot | |
| CN209748704U (en) | Infrared device based on electric power detects | |
| CN211040732U (en) | L ED intelligent street lamp capable of monitoring road parking | |
| CN210823833U (en) | Intelligent sanitation robot | |
| CN207889470U (en) | A kind of air-ground patrol robot | |
| CN215548636U (en) | Crawler-type intelligent transfer robot | |
| CN210618307U (en) | Electrically driven carrying platform | |
| CN113911044B (en) | Intelligent alarm automobile front mark | |
| CN205201499U (en) | Intelligence sniffing robot | |
| CN214772045U (en) | Mobile robot | |
| CN214187202U (en) | All-round no dead angle patrols and examines robot that patrols and examines | |
| CN219115314U (en) | Inspection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |