CN211032070U - Air-ground inspection robot - Google Patents
Air-ground inspection robot Download PDFInfo
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- CN211032070U CN211032070U CN201922199011.8U CN201922199011U CN211032070U CN 211032070 U CN211032070 U CN 211032070U CN 201922199011 U CN201922199011 U CN 201922199011U CN 211032070 U CN211032070 U CN 211032070U
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Abstract
The utility model relates to an air-ground inspection robot, including aircraft main part, power and subassembly, rotor mechanism, camera mechanism, four-wheel car main part, automatic control mainboard (10), motor mechanism, steering wheel steering mechanism based on single chip processor, automatic control mainboard (10), power and its subassembly, four rotor mechanisms, camera mechanism based on single chip processor are all installed in the aircraft main part, motor mechanism, steering wheel steering mechanism all with four-wheel car body connection, aircraft main part, four-wheel car main part are connected by four support copper post (12) and scalable pillar (9). Compared with the prior art, the utility model discloses have ground simultaneously and travel and flight function, dependable performance, duration are strong, degree of automation is high, can be applied to the row and explode, and anti-terrorism rescues, transports the medicine, trails fields such as shooting.
Description
Technical Field
The utility model belongs to the technical field of the robot and specifically relates to an air-ground inspection robot is related to.
Background
With the development of science and technology and the progress of society, people develop various tools to facilitate industrial production and life, and a robot is one of the tools. Robots are machine devices that automatically perform work and their task is to free up labor, assist or replace humans in dangerous work or work in areas where humans cannot reach. The robot has good application in military and civil fields due to flexibility, simple structure and higher operating performance in complex operating environment.
At present, most of existing robots are robots with single functions designed for solving a certain specific problem, however, in actual life, people often need robots capable of simultaneously performing multiple tasks, such as accident rescue, forest fire prevention, emergency medicine transportation and the like. The existing flying robot has the problems of high power consumption, low cruising ability, low cost and the like; traditional land robot receives the influence of topography factor great, and at the in-process that actual task was carried out, not only work efficiency is difficult to promote, and a lot of complicated region robots can't reach moreover, limits the working range of robot.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an air-ground inspection robot in order to overcome the defect that above-mentioned prior art exists, it is limited to have solved among the prior art robot application, technical problem that work efficiency is not high.
The purpose of the utility model can be realized through the following technical scheme:
the utility model provides an air-ground patrols and examines robot, by intelligent vehicle and four-axis gyroplane combination design, adopts the autopilot system, is independent operation under unmanned driving mode promptly. In actual operation, a camera of the land-air inspection robot detects the road surface, and when no obstacle exists, the intelligent vehicle moves according to a preset track; when an obstacle exists, the camera mechanism is matched with the rotor wing mechanism to work, and the vehicle continues to travel along the ground track after crossing the obstacle. Meanwhile, the multifunctional mobile robot has the functions of land driving and air flying, and can be used for occasions such as forest fire prevention, medicine transportation, mountain rescue, special monitoring and the like.
The specific structure of the land-air inspection robot comprises an aircraft body, a power supply and components thereof, a rotor wing mechanism, a camera mechanism, a four-wheel vehicle body, an automatic control mainboard based on a single-chip processor, a motor mechanism and a steering mechanism of a steering engine,
the automatic control main board based on the single chip processor, the power supply and the components thereof, the four rotor wing mechanisms and the camera mechanism are all arranged on the aircraft main body,
the motor mechanism and the steering mechanism of the steering engine are both connected with the four-wheel vehicle body,
the aircraft main body and the four-wheel vehicle main body are connected by four supporting copper columns and telescopic supporting columns.
The aircraft main body comprises two aircraft trays, four wing supports, an electric control module supporting column and eight tray fixing frames,
the eight tray fixing frames are oppositely connected through every two grooves to support two aircraft trays, the inner side ends of the wing supports are placed in the middle grooves and locked through bolt clamps, and the four electric control module supporting columns are connected with the aircraft trays to fix the electric control modules.
The rotor wing mechanism comprises a propeller, a rotating motor, a motor tray and a motor tray fixing frame,
the motor tray is connected with the motor tray fixing frame, the two motor tray fixing frames are connected through bolts in a penetrating mode and installed at the outer side end of the wing support of the aircraft main body, the rotating motor is fixed on the motor tray, and the propeller is in interference connection with the motor output shaft of the rotating motor.
Camera mechanism includes double-end camera, camera support column, camera support, the double-end camera with camera leg joint, camera support fix on the camera support column, contain a degree of freedom, drive double-end camera luffing motion, realize that the camera patrols and examines robot front end barrier to the land and air and detects.
The four-wheel vehicle main body comprises a chassis, four wheels arranged on the chassis, an anti-collision rod and an objective table.
The automatic control mainboard based on the single chip microcomputer processor comprises a K60 single chip microcomputer, an upper computer, a serial port module and a wireless module, and is installed on the four-wheel vehicle main body.
The motor mechanism comprises a motor and a speed reducer, the motor is fixed on a chassis of the four-wheel vehicle main body, an output shaft of the motor is connected with the speed reducer, and an output end of the speed reducer is connected with rear wheels of the four-wheel vehicle main body, so that the speed of the robot is controlled when the robot walks on land.
The steering engine steering mechanism comprises a steering engine, a steering engine support frame, a front wheel rotating shaft and a universal coupling, the steering engine support frame fixes the steering engine and is connected with a chassis of the four-wheel vehicle main body, the output end of the steering engine is connected with the rotating shaft of a front wheel through the universal coupling, the other end of the front wheel rotating shaft is connected with the front wheel, and steering of the wheel is controlled by controlling the steering engine.
The land-air inspection robot gives consideration to land navigation operation, can drive the vehicle body to move forward, move backward and steer, and can realize various actions such as hovering, advancing, moving backward and other flight actions by changing the speeds of the four propellers. When the vehicle runs on the ground, the vehicle body motor mechanism drives and drives the rear wheels, the steering engine drives the steering mechanism, and the trolley is controlled by the single chip microcomputer to move; during the flight function in the air, the singlechip gathers gesture detection sensor (gyroscope, accelerometer and magnetometer) data, fuses the analysis organism gesture, drives screw motor rotational speed through control algorithm, and then controls four rotor mechanism and realizes various flight actions.
Compared with the prior art, the utility model discloses an amphibious motion robot of technical scheme, the motion mode includes that land long-distance goes and aerial short-distance flight. When the automobile runs on land, the function of the automobile is equal to that of an intelligent automobile, and the movement states of automatic steering, acceleration and deceleration and the like can be realized; when an obstacle occurs, the vehicle is detected by a camera on the aircraft, and the lifting motion can be automatically realized by transmitting information through the single chip microcomputer, so that the land-air combination has stronger terrain adaptability, and the vehicle has ground running and air short-distance flight capabilities. The robot has low operation height, can hover in the air, does not need a special take-off and landing airport, is easy to maintain, and has low use and maintenance cost, high automation degree and high working efficiency.
Drawings
Fig. 1 is a schematic structural diagram of the present invention in the embodiment;
FIG. 2 is a schematic structural view of an aircraft body;
FIG. 3 is a schematic structural view of a rotor mechanism;
FIG. 4 is a schematic structural diagram of a camera mechanism;
FIG. 5 is a schematic structural view of the four-wheeled vehicle body;
FIG. 6 is a schematic structural view of the motor mechanism;
FIG. 7 is a schematic structural view of a rear wheel drive mechanism;
FIG. 8 is a schematic structural diagram of a steering engine mechanism;
fig. 9 is a schematic structural diagram of a steering engine and a steering mechanism thereof.
In the figure, 1-wing bracket, 2-rotating motor, 3-motor tray, 4-tray fixing frame, 5-wheel, 6-motor, 7-reducer, 8-objective table, 9-telescopic supporting column, 10-automatic control mainboard, 11-vehicle tray, 12-supporting copper column, 13-front wheel rotating shaft, 14-steering engine, 15-bumper bar, 16-camera supporting column, 17-motor tray fixing frame, 18-propeller, 19-double-head camera, 20-camera bracket, 21-electric control module, 22-aircraft tray, 23-rear wheel main shaft, 24-front wheel positioning frame, 25-universal coupling, 26-steering engine fixing frame, 27-steering engine output pull rod, 28-electric control module supporting column, 29-vehicle main shaft supporting plate, 30-reduction gear, 31-encoder, 32-steering engine output gear shaft and 33-steering engine supporting column.
Detailed Description
The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.
Examples
A land-air inspection robot is structurally shown in figure 1. The four-wheel vehicle comprises an aircraft body, a four-wheel vehicle body, a rotor wing mechanism, a camera mechanism, a motor mechanism, a steering engine steering mechanism and other components, wherein the aircraft body and the four-wheel vehicle body are connected by four supporting copper columns 12 and a telescopic strut 9.
The structure of aircraft main part is shown in fig. 2, by two aircraft trays 22, four wing supports 1, four electric control module support columns 28, eight tray mount 4 are constituteed, every two carry out the recess and connect relatively in eight tray mount 4, no recess one side is through M4 countersunk head bolt and aircraft tray 22 through connection for support two aircraft trays 22, during wing support 1 one end inserted tray mount recess, through bolt locking, fix the wing support. The four electric control module support columns 28 are connected with the aircraft tray at the downward ends through M2 flat-head bolts, and are connected with the fixed electric control module 21 at the upward ends to fix the electric control module.
The structure of rotor mechanism is as shown in fig. 3, links to each other with wing support 1 one end, and rotor mechanism includes screw 18, rotating electrical machines 2, motor tray 3 and motor tray mount 17, and two relative bolt through connections that use of motor tray mount recess, motor tray 3 and motor tray mount 17 through countersunk head bolted connection, and rotating electrical machines 2 fixes on motor tray 3, and screw 18 and motor output shaft interference are connected.
The structure of camera mechanism is as shown in fig. 4, by double-end camera 19, camera support column 16, camera support 20 constitutes, double-end camera 19 is connected with camera support 20, camera support 20 is fixed on camera support column 16, and camera support 20 contains a degree of freedom, can realize double-end camera 19's luffing motion, sense front end obstacle when detecting when double-end camera 19, give the singlechip with signal transmission, realize functions such as flight driving through master controller analysis calculation control, such as take-off perpendicularly, hover, horizontal advance and retreat, flexible landing. The sensors of the inspection robot for detecting the flight attitude mainly comprise a gyroscope, an accelerometer and a magnetometer. Wherein, the gyroscope is used as a main attitude angle measuring device to provide the rotation angular velocity of the body for calculating the relative angle; the accelerometer is used for measuring an absolute included angle between the body and the gravity acceleration and carrying out fusion correction on the calculation error of the gyroscope; the magnetometer measures the absolute angle between the body and the geomagnetic field, and can also correct the error of the gyroscope.
The structure of the four-wheel vehicle main body is shown in figure 5, and comprises a chassis 11, four wheels 5, an anti-collision rod 15, an object stage 8, a rear wheel main shaft 23, a front wheel positioning frame 24 and the like, wherein one end of the front wheel positioning frame 24 is connected with the chassis 11 through a flat head bolt, the front wheel positioning frame 24 takes the bolt as a center and can rotate for 360 degrees, and a foundation is laid for realizing the synchronous rotation of the front wheels subsequently, the other end of the front wheel positioning frame L is connected with a front wheel shaft hole bolt, the front wheels are fixed on the front wheel positioning frame, the rear wheel main shaft 23 is connected with a motor support 29 in a motor mechanism in a penetrating way and fixed through a gasket, the two ends of the main shaft are connected with the two rear wheels, and the anti-collision rod 15 is fixedly arranged at the front end of the four-wheel vehicle.
The automatic control mainboard 10 based on the single chip microcomputer processor comprises a K60 single chip microcomputer, an upper computer, a serial port module and a wireless module which are all arranged on a four-wheel vehicle main body.
The structure of the motor mechanism is shown in figure 6, and the motor mechanism comprises a motor 6, a speed reducer 7 and a motor bracket 29, wherein the motor bracket 29 is fixed on a chassis 11 of a four-wheel vehicle main body, the motor 6 and the speed reducer 7 are installed on the motor bracket 29, an output shaft of the motor is connected with the speed reducer 7, the speed reducer is formed by two-stage speed reducing gears 30 in a transmission mode, the speed reducing ratio is 12.4:1, and in addition, an encoder 31 is also connected and installed on the speed reducing gears 30. One output end of the reducer 7 is connected with a rear wheel spindle 23 of the four-wheel vehicle main body and is fixed through a vehicle spindle supporting plate 29, as shown in fig. 7, the reducer is used as a main drive when the robot walks on the land, and the advance, retreat and direction control of the trolley is realized by matching with an electric control system during work.
The structure of the steering engine mechanism and the steering mechanism thereof is shown in figures 8-9, and comprises a steering engine 14, a steering engine support frame 26, a front wheel rotating shaft 13, a universal coupling 25, a steering engine output gear shaft 32 and a steering engine support column 33, wherein the steering engine support frame 26 is connected with a chassis 11 of a four-wheel vehicle main body, the steering engine support frame 26 is used for fixing the steering engine 14, the output end of the steering engine is connected with a steering engine output pull rod 27 through a flat head bolt, two support legs of the steering engine output pull rod are connected with one end of the front wheel rotating shaft 13 through the universal coupling 25, and the front wheel rotating shaft 13 is connected with a front. When the electric control system outputs a steering command, the output end of the steering engine rotates at a corresponding angle according to the input duty ratio, and two front wheels are controlled to realize the road surface driving steering function of the intelligent vehicle through the traction action of the front wheel rotating shaft 13.
The utility model discloses strong topography adaptability has. The air-ground inspection robot can self-start the rotor wing device when encountering obstacles no matter what kind of conditions on the ground, and the vehicle body of the intelligent vehicle is taken away from the ground when facing the obstacles which cannot be crossed, so that the air-ground combination is realized to have stronger terrain adaptability, and the controllability under the intensive environment of the obstacles is higher.
Additionally, the utility model discloses still have good duration. The land-air inspection robot mainly realizes long-time operation on the ground and short-distance flight in the air, and overcomes the defects that an unmanned aerial vehicle cannot operate in the air for a long time, the endurance time is short, and the round trip distance is limited.
Thirdly, the utility model discloses good mechanical properties has. The aircraft can automatically land when the single propeller fails in a vertical take-off and landing state, the performance of the aircraft can be affected due to insufficient lift force generated by the wings in the tilting process, the loading space is large, the aircraft body is short, the size of the aircraft body is small, and the cost is low because the wing supporting rods are made of carbon fiber pipes. The number and the types of the parts are less, and the interchangeability is better.
In the description of the present invention, it is to be understood that the terms "above," "bottom," "middle," and the like are used for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the components or elements so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description herein, references to the description of "one embodiment," "an example," "a specific example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The embodiments described above are intended to facilitate the understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention according to the disclosure of the present invention.
Claims (8)
1. A land-air inspection robot is characterized by comprising an aircraft body, a power supply and components thereof, a rotor wing mechanism, a camera mechanism, a four-wheel vehicle body, an automatic control main board (10) based on a single-chip processor, a motor mechanism and a steering mechanism of a steering engine,
the automatic control main board (10) based on the single chip processor, the power supply and the components thereof, the four rotor wing mechanisms and the camera mechanism are all arranged on the aircraft main body,
the motor mechanism and the steering mechanism of the steering engine are both connected with the four-wheel vehicle body,
the aircraft main body and the four-wheel vehicle main body are connected by four supporting copper columns (12) and telescopic supporting columns (9).
2. A land and air patrol robot according to claim 1, wherein the aircraft body comprises two aircraft trays (22), four wing supports (1), an electronic control module support column (28), eight tray fixing frames (4),
eight tray mounts (4) are connected through two liang of recesses relatively, support two aircraft trays (22), and the medial extremity of wing support (1) is placed in middle recess, presss from both sides locking through the bolt, and four electric control module support columns (28) are connected with aircraft tray (22), fixed electric control module (21).
3. A land and air patrol robot according to claim 2, wherein the rotor mechanism comprises a propeller (18), a rotating motor (2), a motor tray (3) and a motor tray fixing frame (17),
the motor tray (3) is connected with the motor tray fixing frame (17), the two motor tray fixing frames (17) are connected through bolts and installed at the outer side end of the wing support (1) of the aircraft main body, the rotating motor (2) is fixed on the motor tray (3), and the propeller (18) is in interference connection with a motor output shaft of the rotating motor (2).
4. The air-ground inspection robot according to claim 1, wherein the camera mechanism comprises a double-head camera (19), a camera support column (16) and a camera support (20), the double-head camera (19) is connected with the camera support (20), and the camera support (20) is fixed on the camera support column (16) and has a degree of freedom to drive the double-head camera (19) to swing up and down.
5. The air-ground inspection robot according to claim 1, wherein the four-wheel vehicle body comprises a chassis (11), four wheels (5) mounted on the chassis (11), an anti-collision rod (15) and an object stage (8).
6. The air-ground inspection robot according to claim 1 or 5, wherein the automatic control main board (10) based on the single-chip microcomputer processor comprises a K60 single-chip microcomputer, an upper computer, a serial port module and a wireless module, and is mounted on the four-wheel vehicle main body.
7. A land and air patrol robot according to claim 5, wherein the motor mechanism comprises a motor (6) and a speed reducer (7), the motor is fixed on a chassis (11) of the body of the four-wheel vehicle, an output shaft of the motor (6) is connected with the speed reducer (7), and an output end of the speed reducer (7) is connected with a rear wheel of the body of the four-wheel vehicle.
8. The air-ground inspection robot according to claim 5, wherein the steering engine steering mechanism comprises a steering engine (14), a steering engine support frame (26), a front wheel rotating shaft (13) and a universal coupling (25), the steering engine (14) is fixed on the steering engine support frame (26) and is connected with a chassis (11) of the four-wheel vehicle body, the output end of the steering engine (14) is connected with the rotating shaft of the front wheel through the universal coupling (25), and the other end of the front wheel rotating shaft is connected with the front wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922199011.8U CN211032070U (en) | 2019-12-10 | 2019-12-10 | Air-ground inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922199011.8U CN211032070U (en) | 2019-12-10 | 2019-12-10 | Air-ground inspection robot |
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| Publication Number | Publication Date |
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| CN211032070U true CN211032070U (en) | 2020-07-17 |
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| CN201922199011.8U Expired - Fee Related CN211032070U (en) | 2019-12-10 | 2019-12-10 | Air-ground inspection robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112498681A (en) * | 2020-12-14 | 2021-03-16 | 中国人民解放军国防科技大学 | Water, land and air triphibian robot |
| CN112722301A (en) * | 2021-01-25 | 2021-04-30 | 中国南方电网有限责任公司超高压输电公司贵阳局 | Unmanned aerial vehicle's mounting mechanism is patrolled and examined with electric wire netting |
| CN113753154A (en) * | 2021-09-14 | 2021-12-07 | 国网河南省电力公司洛阳供电公司 | Transformer substation intelligent inspection system based on 5G and artificial intelligence |
-
2019
- 2019-12-10 CN CN201922199011.8U patent/CN211032070U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112498681A (en) * | 2020-12-14 | 2021-03-16 | 中国人民解放军国防科技大学 | Water, land and air triphibian robot |
| CN112498681B (en) * | 2020-12-14 | 2022-04-05 | 中国人民解放军国防科技大学 | Water, land and air triphibian robot |
| CN112722301A (en) * | 2021-01-25 | 2021-04-30 | 中国南方电网有限责任公司超高压输电公司贵阳局 | Unmanned aerial vehicle's mounting mechanism is patrolled and examined with electric wire netting |
| CN113753154A (en) * | 2021-09-14 | 2021-12-07 | 国网河南省电力公司洛阳供电公司 | Transformer substation intelligent inspection system based on 5G and artificial intelligence |
| CN113753154B (en) * | 2021-09-14 | 2022-06-28 | 国网河南省电力公司洛阳供电公司 | Transformer substation intelligent inspection system based on 5G and artificial intelligence |
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Granted publication date: 20200717 Termination date: 20211210 |
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