CN212287619U

CN212287619U - Automatic inspection robot

Info

Publication number: CN212287619U
Application number: CN202020764405.3U
Authority: CN
Inventors: 贾振鹏
Original assignee: Henan Zhuoqi Electronic Technology Co ltd
Current assignee: Henan Zhuoqi Electronic Technology Co ltd
Priority date: 2020-05-11
Filing date: 2020-05-11
Publication date: 2021-01-05
Anticipated expiration: 2030-05-11

Abstract

The utility model discloses an automatic inspection robot, which comprises a robot chassis and a robot body arranged on the robot chassis; the robot chassis comprises a mounting bracket, wheels respectively arranged at four corners of the mounting bracket, and a bottom plate fixedly arranged above the mounting bracket and used for mounting the robot body; the robot body comprises a gripping device arranged on a bottom plate, a storage box matched with the gripping device and a controller arranged on the bottom plate, and a panoramic camera is arranged on the controller through a telescopic frame; a plurality of infrared sensors are arranged on the side surface of the bottom plate; balancing devices are respectively arranged at the front end and the rear end of the inner side of the travelling mechanism on the lower surface of the bottom plate, and supporting devices are respectively arranged at the middle positions of the two outer sides of the bottom plate; the controller is respectively electrically connected with the grabbing device, the panoramic camera, the balancing device and the supporting device. The utility model discloses stability is strong, and difficult emergence is turned on one's side, but the number of real-time supervision deposit incasement article, convenient to use.

Description

Automatic inspection robot

Technical Field

The utility model relates to an automation equipment technical field, concretely relates to automatic patrol and examine robot.

Background

The robot is more and more ubiquitous and in our life, and the robot can replace people to do some repeated and tedious work, and work efficiency is high, therefore, people also more and more rely on the robot, and the requirement to the robot is also more and more high. If there is special caddie for picking up ball before the golf course, but because the system limit of human, pick up the ball inefficiency, along with the popularization of intellectuality, there is automatic patrolling robot for picking up ball in the present course too. However, due to the fact that the ground of the court is uneven, the robot is prone to rollover during ball picking, and cannot independently complete the remote ball picking task.

Disclosure of Invention

The to-be-solved technical problem of the utility model is to provide an automatic inspection robot that stability is strong, difficult emergence is turned on one's side, solve the problem that current robot turns on one's side easily, walking poor stability.

In order to solve the technical problem, the utility model adopts the following technical scheme:

an automatic inspection robot comprises a robot chassis and a robot body arranged on the robot chassis; the robot chassis comprises a mounting bracket, wheels respectively arranged at four corners of the mounting bracket, and a bottom plate fixedly arranged above the mounting bracket and used for mounting a robot body; the robot body comprises a gripping device arranged on the bottom plate, a storage box matched with the gripping device and a controller arranged on the bottom plate, and a panoramic camera is erected on the controller through a telescopic frame; a plurality of infrared sensors are arranged on the side surface of the bottom plate; balancing devices are respectively arranged at the front end and the rear end of the inner side of the wheel on the lower surface of the bottom plate, and supporting devices are respectively arranged at the middle positions of the two outer sides of the bottom plate; the controller is respectively electrically connected with the grabbing device, the panoramic camera, the balancing device and the supporting device.

To above-mentioned technical scheme, infrared sensor is used for the response scattered object to give the controller with sensor signal transmission, pick up the object that senses by controller control grabbing device, and place and deposit the case. The surrounding environment is recorded through the panoramic camera, so that the surrounding environment can be monitored and recorded conveniently; the wheels are adopted to make the whole robot more portable, and the wheels can be driven by the motor to rotate.

The balancing device is arranged below the bottom plate and used for assisting the balance of the robot in the walking process, so that the phenomenon that wheels turn over when walking in a sunken area is avoided, and when the wheels walk in the sunken area or the wheels at two sides are positioned in sunken areas with different depths, the balancing device is used for ensuring the height consistency of two sides of a chassis of the robot and keeping the balance of the robot; the supporting device plays a supporting role when the robot turns on one side, and provides the robot with an upward oblique thrust, so that the stability of the whole robot is ensured, and the robot is effectively prevented from turning on one side.

Preferably, the gripping device comprises a rotary table arranged on the bottom plate and a gripper hinged to the rotary table through a mechanical arm, and the mechanical arm comprises a first connecting arm hinged to the rotary table, a second connecting arm hinged to the first connecting arm, and a third connecting arm hinged to the second connecting arm; the turntable is connected with the first connecting arm, the first connecting arm is connected with the second connecting arm, and the second connecting arm is connected with the third connecting arm through hydraulic cylinders; and a counting sensor is arranged inside the hand grip.

The rotation of the rotary table drives the mechanical arm and the gripper to rotate simultaneously, so that the rotation of the rotary hand is more flexible, and the rotary hand can realize the gripping action in each direction; the position of the hand grip is controlled by the mutual matching of the hydraulic cylinder and the connecting arm, so that the hand grip is more stable when gripping objects. When the gripper grabs an object, the object can be in contact with the counting sensor, the counting sensor counts the object when the object is in contact at each time, when the counting reaches a set value, the robot returns to take out the object stored in the storage box, and the object stored in the storage box is prevented from overflowing.

Preferably, the balancing device comprises a distance sensor and a balancing mechanism which are arranged below the bottom plate, and the distance sensor is arranged in front of the balancing mechanism; the balance mechanism comprises a screw rod motor vertically and fixedly arranged below the bottom plate, a fixed block connected with the output end of the screw rod motor, and a universal wheel arranged at the bottom of the fixed block.

The distance sensor is used for measuring the distance between the bottom plate and the ground, when the distance between the bottom plate and the ground exceeds a set value, the lead screw motor drives the fixed block and the universal wheels to move downwards, the universal wheels temporarily replace corresponding wheels to move, and when the distance between the fixed block and the universal wheels is within a set value interval, the lead screw motor drives the universal wheels to move upwards, keep away from the ground and enable the wheels to continue to move; the stability of the robot is effectively guaranteed.

Preferably, the supporting device comprises a servo motor obliquely fixed at the bottom of the bottom plate, a connecting rod connected with the output end of the servo motor, and a roller arranged at the bottom of the connecting rod. The servo motor is obliquely arranged, so that an oblique upward force can be conveniently applied to the robot chassis, and the robot is effectively prevented from side turning.

Preferably, the bottom end of the connecting rod is also provided with a detection mechanism, and the plane of the bottom of the detection mechanism is higher than the plane of the bottom of the roller; the detection mechanism comprises a support plate fixedly arranged on the connecting rod, and a pressing mechanism and an induction mechanism which are arranged below the support plate, wherein the induction mechanism comprises a proximity switch fixedly connected with the support plate through a guide rod; the pressing mechanism comprises a connecting rod fixedly mounted at the bottom of the supporting plate and an elastic sheet arranged at the bottom end of the connecting rod, and the elastic sheet is in contact connection with the proximity switch.

The detection mechanism is used for detecting the contact condition of the roller and the ground, when the robot turns over, the servo motor drives the roller and the detection mechanism to move downwards simultaneously, the elastic sheet is extruded by the ground to move upwards to be contacted with the proximity switch when the pressing mechanism is contacted with the ground, the servo motor stops working when the proximity switch is contacted with the elastic sheet, the roller is contacted with the ground and moves simultaneously with the wheel to provide the support force for the upward inclination of the chassis of the robot, the stability of the chassis is ensured, meanwhile, the local side pressure between the wheel and the ground is decomposed, and the service life of the wheel is prolonged.

Preferably, a butt joint groove is formed in the position, corresponding to the proximity switch, of the elastic sheet, a sponge layer is arranged in the butt joint groove, and the butt joint groove is used for clamping the proximity switch; the free end of the elastic sheet is rolled upwards to form a hook angle. The butt joint groove has a protection effect on the proximity switch, prevents sundries from damaging the proximity switch, increases the accuracy of induction and prevents misleading of the proximity switch; the sponge layer plays a role in buffering and also plays a role in protecting the proximity switch.

Preferably, the guide rod comprises a spring, and a first guide rod and a second guide rod which are respectively fixedly connected with two ends of the spring. Add the spring and make proximity switch play certain cushioning effect when receiving ascending external force in the guide bar, avoid the too big damage that causes proximity switch of external force, extension proximity switch's life.

Preferably, the expansion bracket is including being used for fixing panoramic camera's fixed plate and setting are in the guide of fixed plate bottom both sides, and set up two step motor between the guide, step motor's flexible end with the bottom fixed connection of fixed plate.

Preferably, through holes are respectively formed in two sides of the fixing plate, and the guide piece is sleeved in the through holes and movably connected along the through holes. The guide piece reciprocates along the through hole, and the through hole plays spacing effect, and the fixed plate is driven by step motor and is reciprocated to increased panoramic camera's the scope of finding a view, made the scope that panoramic camera covered wider.

Preferably, the guide member is of a sleeve type structure and comprises a first sleeve fixedly arranged on the controller and a second sleeve sleeved in the first sleeve, and the top of the second sleeve is fixedly connected with the bottom of the fixing plate. The guide part is designed into a complete set of barrel type, so that dead-angle-free shooting of the panoramic camera can be realized, shielding of the guide part on the panoramic camera is avoided, and the guide part is always located below the fixed plate.

The front side plate of the bottom plate is provided with a lighting lamp. The robot is used for illumination, so that the robot can adapt to work in a dark environment.

The utility model has the advantages that: the stability of the robot is ensured by arranging the balancing device and the supporting device, and the condition that the robot turns on one side when walking in uneven zones is effectively prevented; the height of the balancing device and the height of the supporting device can be more accurately controlled by arranging the detection mechanism and the distance sensor, so that the optimal supporting and balancing effects are achieved. The positions of the grippers can be flexibly adjusted by arranging the mechanical arm and the rotary table, so that articles in all directions can be conveniently grabbed; through the panoramic camera, background personnel can know the moving range and the surrounding conditions of the robot in real time.

The utility model discloses stability is strong, and difficult emergence is turned on one's side, but the number of real-time supervision deposit incasement article, convenient to use.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

FIG. 2 is a side view of a robot chassis;

FIG. 3 is an enlarged view of part A;

fig. 4 is a partially enlarged view of the portion B.

In the figure: the device comprises a mounting bracket 1, a bottom plate 2, wheels 3, a distance sensor 4, a screw motor 5, a fixed block 6, a universal wheel 7, a servo motor 8, a connecting rod 9, a counting sensor 10, rollers 11, a supporting plate 12, a connecting rod 13, a spring plate 14, a first guide rod 15, a supporting device 16, a spring 17, a second guide rod 18, a proximity switch 19, a butt joint groove 20, a hook angle 21, a rotary table 22, a first connecting arm 23, a second connecting arm 24, a third connecting arm 25, a hydraulic cylinder 26, a storage box 27, a controller 28, a first sleeve 29, a second sleeve 30, a stepping motor 31, a panoramic camera 32, an infrared sensor 33 and a lighting lamp 34.

Detailed Description

The following examples are provided to illustrate the present invention in detail and should not be construed as limiting the scope of the present invention in any way.

Example 1

As shown in fig. 1 to 4, an automatic inspection robot includes a robot chassis and a robot body disposed on the robot chassis. The robot chassis comprises a mounting bracket 1, wheels 3 respectively arranged at four corners of the mounting bracket 1, and a bottom plate 2 fixedly arranged above the mounting bracket 1 and used for mounting a robot body; an illumination lamp 34 is provided on the front side plate of the base plate 2. The transmission connection of the wheels 3 is designed in the prior art and can be driven by a motor to rotate, and the description is not repeated.

The robot body comprises a gripping device arranged on the bottom plate 2, a storage box 27 matched with the gripping device and a controller 28 arranged on the bottom plate 2, and a panoramic camera 32 is erected on the controller 28 through a telescopic frame; a plurality of infrared sensors 33 are arranged on the side surface of the bottom plate 2; balancing devices are respectively arranged at the front end and the rear end of the inner side of the wheel on the lower surface of the bottom plate 2, and a supporting device 16 is respectively arranged at the middle position of the two outer sides of the bottom plate 2; the controller 28 is electrically connected to the grasping apparatus, the panoramic camera 32, the balancing apparatus, and the supporting apparatus 16, respectively.

The gripping device comprises a rotary table 22 arranged on the bottom plate 2 and a gripper hinged with the rotary table 22 through a mechanical arm, a counting sensor 10 is arranged inside the gripper, the gripper is designed in the prior art, and the control mode of the gripper is the conventional mode. The mechanical arm comprises a first connecting arm 23 hinged with the rotary table 22, a second connecting arm 24 hinged with the first connecting arm 23, and a third connecting arm 25 hinged with the second connecting arm 24; the connection between the turntable 22 and the first link arm 23, the connection between the first link arm 23 and the second link arm 24, and the connection between the second link arm 24 and the third link arm 25 are respectively made by hydraulic cylinders 26.

The balance device comprises a distance sensor 4 and a balance mechanism which are arranged below the bottom plate 2, and the distance sensor 4 is arranged in front of the balance mechanism; the balance mechanism comprises a screw rod motor 5 vertically and fixedly arranged below the bottom plate 2, a fixed block 6 connected with the output end of the screw rod motor 5, and a universal wheel 7 arranged at the bottom of the fixed block 6.

The supporting device 16 comprises a servo motor 8 fixed at the bottom of the bottom plate 2 in an inclined mode, a connecting rod 9 connected with the output end of the servo motor 8, and a roller 11 arranged at the bottom of the connecting rod 9.

A detection mechanism is further arranged at the bottom end of the connecting rod 9, and the plane of the bottom of the detection mechanism is higher than the plane of the bottom of the roller 11; the detection mechanism comprises a support plate 12 fixedly arranged on the connecting rod 9, and a pressing mechanism and an induction mechanism which are arranged below the support plate 12. The sensing mechanism comprises a proximity switch 19 fixedly connected with the supporting plate 12 through a guide rod; the guide rod comprises a spring 17, and a first guide rod 15 and a second guide rod 18 which are fixedly connected with two ends of the spring 17 respectively.

The pressing mechanism comprises a connecting rod 13 fixedly mounted at the bottom of the supporting plate 12 and a spring plate 14 arranged at the bottom end of the connecting rod 13, and the free end of the spring plate 14 is upwards rolled to form a hook angle 21. A butt joint groove 20 is arranged on the elastic sheet 14 at a position corresponding to the proximity switch 19, a sponge layer is arranged in the butt joint groove 20, and the butt joint groove 20 is used for clamping the proximity switch 19; the elastic sheet 14 is in contact connection with the proximity switch 19.

The expansion bracket is including being used for fixing panorama camera 32's fixed plate and setting are in the guide of fixed plate bottom both sides, and set up two step motor 31 between the guide, step motor 31's flexible end with the bottom fixed connection of fixed plate. Through holes are respectively formed in two sides of the fixing plate, and the guide piece is sleeved in the through holes and movably connected along the through holes.

The controller 28 is electrically connected with the clamping device, the panoramic camera 32, the stepping motor 31, the infrared sensor 33, the proximity switch 19, the rotary table 22, the screw rod motor 5, the distance sensor 4, the hydraulic cylinder 26 and the servo motor 8 respectively.

Example 2

As shown in fig. 1 to 4, the difference of the present embodiment from embodiment 1 is that the structure of the guide is different, specifically: the guide part is of a sleeve type structure and comprises a first sleeve 29 fixedly arranged on the controller 28 and a second sleeve 30 sleeved in the first sleeve 29, and the top of the second sleeve 30 is fixedly connected with the bottom of the fixing plate. Under the drive of step motor 31, first sleeve 29 reciprocates along second sleeve 30, and the guide of this structure is located the below of fixed plate 14 all the time, ensures that panorama camera 32 is not sheltered from, guarantees to shoot the effect.

The controller 28, the panoramic camera 32, the stepping motor 31, the infrared sensor 33, the proximity switch 19, the lead screw motor 5, the distance sensor 4, the hydraulic cylinder 26, the servo motor 8, the turntable 22, the gripper, the hydraulic cylinder 26 and the like are all designed conventionally if no special description is provided, and the connection mode and the control mode between the controller 28 and the gripper are conventional.

The utility model discloses a theory of operation: if the robot picks up a ball in a golf course, the infrared sensor detects the surrounding environment during the movement of the robot, when a golf ball is detected, the controller 28 controls the robot arm and the turntable 22 to adjust the position of the gripper so that the gripper can accurately grip the detected ball, and then places the gripped ball in the storage box 27 while the proximity switch 19 counts when the ball comes into contact with the gripper to record the number of balls in the storage box 27. The robot is in a stable state all the time through mutual adjustment and matching of the balance device and the supporting device 16 in the walking process, and the robot is effectively prevented from side turning. The panoramic camera 32 is used for recording the investigation region in an all-round manner, and the position height of the panoramic camera 32 is adjusted by controlling the stepping motor, so that dead angles of shooting are avoided. The illumination lamp 34 is used for illumination in a dark environment.

The utility model discloses operation method that the chassis was prevented turning on one's side: when the robot works, in the process that the robot body moves along with the robot chassis, the distance detector is used for detecting the distance between the bottom plate 2 and the ground, transmitting corresponding data to the controller and comparing the data with a numerical range set in the controller, when the numerical value is larger than a set value, the robot turns over inside, the lead screw motor 5 is started to drive the universal wheels 7 to move downwards to be in contact with the ground, and at the moment, the universal wheels 7 temporarily replace corresponding wheels to move, so that the stability of the robot is kept; when the detected value is within the set value range, the screw motor 5 drives the universal wheel 7 to move upwards, and the wheel continues to move forwards. When the detected value is smaller than the set value, the servo motor 8 is started to drive the connecting rod 9 to move downwards, when the proximity switch 19 is in contact with the butt joint groove 20 on the elastic sheet 14, the proximity switch 19 transmits a related signal to the controller, the controller controls the servo motor 8 to stop moving, the roller 11 is in contact with the ground and moves together with the crawler system 3, and the stability of the robot is effectively guaranteed; when the proximity switch 19 is separated from the elastic sheet 14 and the detection value is not greater than the set value, the controller controls the servo motor 8 to retract, and the roller 11 moves upwards. The robot is always kept in a stable state in the working process through the cooperation of the supporting device 16 and the balancing device, and the side turning condition of the robot is avoided.

The present invention has been described in detail with reference to the embodiments, but those skilled in the art will understand that the specific parameters in the embodiments can be changed without departing from the spirit of the present invention to form a plurality of specific embodiments, which are the common variation range of the present invention, and the detailed description is omitted here.

Claims

1. The utility model provides an automatic inspection robot which characterized in that: the robot comprises a robot chassis and a robot body arranged on the robot chassis; the robot chassis comprises a mounting bracket, wheels respectively arranged at four corners of the mounting bracket, and a bottom plate fixedly arranged above the mounting bracket and used for mounting a robot body; the robot body comprises a gripping device arranged on the bottom plate, a storage box matched with the gripping device and a controller arranged on the bottom plate, and a panoramic camera is erected on the controller through a telescopic frame; balancing devices are respectively arranged at the front end and the rear end of the inner side of the wheel on the lower surface of the bottom plate, and supporting devices are respectively arranged at the middle positions of the two outer sides of the bottom plate; the controller is respectively electrically connected with the grabbing device, the panoramic camera, the balancing device and the supporting device.

2. The automatic inspection robot according to claim 1, wherein: the grabbing device comprises a rotary table arranged on the bottom plate and a hand which is hinged with the rotary table through a mechanical arm, wherein the mechanical arm comprises a first connecting arm hinged with the rotary table, a second connecting arm hinged with the first connecting arm and a third connecting arm hinged with the second connecting arm; the turntable is connected with the first connecting arm, the first connecting arm is connected with the second connecting arm, and the second connecting arm is connected with the third connecting arm through hydraulic cylinders; and a counting sensor is arranged inside the hand grip.

3. The automatic inspection robot according to claim 1, wherein: the balancing device comprises a distance sensor and a balancing mechanism which are arranged below the bottom plate, and the distance sensor is arranged in front of the balancing mechanism; the balance mechanism comprises a screw rod motor vertically and fixedly arranged below the bottom plate, a fixed block connected with the output end of the screw rod motor, and a universal wheel arranged at the bottom of the fixed block.

4. The automatic inspection robot according to claim 2, wherein: the supporting device comprises a servo motor obliquely fixed at the bottom of the bottom plate, a connecting rod connected with the output end of the servo motor, and a roller arranged at the bottom of the connecting rod.

5. The automatic inspection robot according to claim 4, wherein: the bottom end of the connecting rod is also provided with a detection mechanism, and the plane of the bottom of the detection mechanism is higher than the plane of the bottom of the roller; the detection mechanism comprises a support plate fixedly arranged on the connecting rod, and a pressing mechanism and an induction mechanism which are arranged below the support plate, wherein the induction mechanism comprises a proximity switch fixedly connected with the support plate through a guide rod; the pressing mechanism comprises a connecting rod fixedly mounted at the bottom of the supporting plate and an elastic sheet arranged at the bottom end of the connecting rod, and the elastic sheet is in contact connection with the proximity switch.

6. The automatic inspection robot according to claim 5, wherein: a butt joint groove is formed in the position, corresponding to the proximity switch, of the elastic sheet, a sponge layer is arranged in the butt joint groove, and the butt joint groove is used for clamping the proximity switch; the free end of the elastic sheet is rolled upwards to form a hook angle.

7. The automatic inspection robot according to claim 5, wherein: the guide rod comprises a spring, and a first guide rod and a second guide rod which are fixedly connected with the two ends of the spring respectively.

8. The automatic inspection robot according to claim 1, wherein: the telescopic frame comprises a fixing plate and guide pieces, wherein the fixing plate is used for fixing the panoramic camera, the guide pieces are arranged on two sides of the bottom of the fixing plate, the step motor is arranged between the guide pieces, and the telescopic end of the step motor is fixedly connected with the bottom of the fixing plate.

9. The automatic inspection robot according to claim 8, wherein: through holes are respectively formed in two sides of the fixing plate, and the guide piece is sleeved in the through holes and movably connected along the through holes.

10. The automatic inspection robot according to claim 8, wherein: the guide part is of a sleeve type structure and comprises a first sleeve fixedly arranged on the controller and a second sleeve sleeved in the first sleeve, and the top of the second sleeve is fixedly connected with the bottom of the fixing plate.