CN212828769U

CN212828769U - Inspection robot

Info

Publication number: CN212828769U
Application number: CN202021765532.1U
Authority: CN
Inventors: 张奎刚; 杨子赫; 王福闯; 刘甲宾; 李超; 王明晰; 王腾飞; 敖奇; 呼延鹏
Original assignee: CRSC Research and Design Institute Group Co Ltd
Current assignee: CRSC Research and Design Institute Group Co Ltd
Priority date: 2020-08-21
Filing date: 2020-08-21
Publication date: 2021-03-30
Anticipated expiration: 2030-08-21

Abstract

The utility model provides an inspection robot, which comprises a vehicle body, a driving wheel, universal wheels and a bracket; the driving wheel and the universal wheel are arranged on the vehicle body; the bracket is arranged on the vehicle body; the action wheel gives patrols and examines robot power so that patrols and examines the robot and remove, and the universal wheel is used for adjusting the moving direction who patrols and examines the robot, can realize less radial turn operation, does not have dry friction between action wheel and universal wheel and the ground, can realize positioning accuracy's promotion and tire life's extension.

Description

Inspection robot

Technical Field

The utility model belongs to the robot field, in particular to patrol and examine robot.

Background

The inspection robot is widely applied to outdoor transformer substations, factories and other fields, and is used for replacing a person to work repeatedly, observably and even operationally. At present, the work development of the above-mentioned fields mainly takes manual work, the human efficiency is high, but long-term repetitive work is easy to cause fatigue, and further the work accuracy and reliability are influenced, for example, parameters of instruments and meters are checked and recorded. And people can not work normally in special weather. The inspection robot has become a trend to replace manual operation, the reliability is high, and operations which cannot be completed by people, such as infrared temperature measurement, harmful gas detection and the like, can be completed by carrying a special sensor. At present, most of outdoor robots adopt a four-wheel full-drive mode, the power is strong, the cross-country capacity is strong, but the number of drive units is large, and the cost is high. Under the condition of not adding a steering mechanism, the steering can only be realized through four-wheel differential steering, the tire is seriously worn, and the accurate positioning is not facilitated.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems, the utility model provides an inspection robot, which comprises a vehicle body, a driving wheel, universal wheels and a bracket;

the driving wheel and the universal wheel are arranged on the vehicle body;

the bracket is arranged on the vehicle body.

Preferably, the inspection robot further comprises a power unit, a bearing seat and an axle flange, and the vehicle body comprises a chassis;

the bearing seat is arranged on the chassis;

the wheel shaft flange is rotatably arranged on the bearing seat;

the power unit is arranged on the chassis and connected with the wheel shaft flange to drive the wheel shaft flange to rotate;

the driving wheel is arranged on the wheel shaft flange.

Preferably, the inspection robot further comprises a protective shell, and the protective shell is enclosed outside the power unit.

Preferably, the vehicle body comprises a chassis;

the inspection robot further comprises a first fixing plate and a bolt, the first fixing plate is mounted on the chassis and provided with a plurality of first through holes;

the universal wheel is equipped with the second fixed plate, and the second fixed plate is equipped with a plurality of second through-holes, and the bolt cooperation is in first through-hole and second through-hole.

Preferably, the vehicle body further comprises a transition plate, the transition plate is mounted on the chassis and located above the chassis, and the bracket is mounted on the transition plate.

Preferably, the vehicle body further comprises a routing protective cover, the protective cover is provided with a threading groove, and the threading groove extends from the edge of the protective cover to the middle of the protective cover;

the transition plate is provided with a threading hole, and the protective cover is matched in the threading hole.

Preferably, the vehicle body further comprises a frame body, the frame body is fixed on the transition plate, and the frame body and the transition plate form an enclosure box;

the automobile body still includes hardware equipment, and hardware equipment installs in the bounding box.

Preferably, the frame is provided with a heat dissipation fan.

Preferably, the vehicle body further comprises a framework mounted on the chassis and enclosed outside the enclosure.

Preferably, the inspection robot further comprises a storage battery and a sliding frame;

the sliding frame is arranged in the enclosure box, a sliding groove is formed in the sliding frame, a blocking piece is arranged on the sliding frame, and the blocking piece is located at the first end of the sliding groove;

the battery is equipped with sliding part, and sliding part slidable ground cooperates in the spout, and the spout second end is equipped with the retaining member that is used for locking the battery.

Preferably, the inspection robot further comprises a hardware support, the hardware support is installed in the enclosure box and surrounds the storage battery, and the hardware equipment is installed on the hardware support.

Preferably, the inspection robot further comprises a radar, and the radar is mounted on the vehicle body.

Preferably, the inspection robot further comprises an obstacle avoidance sensor, and the obstacle avoidance sensor is installed on the vehicle body.

Preferably, the inspection robot further comprises a distance measuring sensor, and the distance measuring sensor is installed on the vehicle body.

Preferably, the inspection robot further comprises a falling-prevention sensor, and the falling-prevention sensor is installed on the vehicle body.

The utility model discloses a patrol and examine robot, the action wheel gives and patrols and examines robot power so that patrol and examine the robot and remove, and the universal wheel is used for adjusting the moving direction who patrols and examines the robot, can realize less radial turn operation, does not have dry friction between action wheel and universal wheel and the ground, can realize positioning accuracy's promotion and tire life's extension.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 shows a schematic diagram of an inspection robot in an embodiment of the present invention;

fig. 2 shows a schematic view of a driving wheel, a universal wheel and a chassis in an embodiment of the present invention;

fig. 3 shows a schematic view of a chassis in an embodiment of the invention;

fig. 4 shows an explosion diagram of the driving wheel, the universal wheel and the chassis transition plate in the embodiment of the invention;

fig. 5 shows a schematic view of a protective cover in an embodiment of the invention;

fig. 6 shows an exploded view of a vehicle body in an embodiment of the invention;

fig. 7 shows a schematic view of a bracket in an embodiment of the invention;

fig. 8 shows a schematic view of a battery and a sledge in an embodiment of the invention;

figure 9 shows a schematic view of a carriage in an embodiment of the invention;

fig. 10 shows a schematic diagram of a hardware support in an embodiment of the present invention.

In the figure, 1-vehicle body, 21-driving wheel, 22-universal wheel, 23-chassis, 24-power unit, 25-bearing seat, 26-wheel shaft flange, 27-protective shell, 28-first fixing plate, 29-second fixing plate, 281-first through hole, 291-second through hole, 3-transition plate, 31-protective cover, 32-threading groove, 41-obstacle avoidance sensor, 42-distance measurement sensor, 43-anti-falling sensor, 44-radar, 51-frame body, 52-cooling fan, 53-framework, 6-camera support, 7-support, 71-connecting part, 72-support part, 81-storage battery, 82-carriage, 83-first rolling part, 84-locking hole, 85-stop, 86-battery back cover, 9-hardware support, 91-first plate, 92-second plate, 93-third plate, 94-second rollover, 10-hardware device.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1, the embodiment of the utility model provides an inspection robot, inspection robot in this embodiment is applicable to the open air, also is applicable to indoorly. The inspection robot comprises a vehicle body 1, two driving wheels 21 and two universal wheels 22. The driving wheel 21 and the universal wheels 22 are installed on the vehicle body 1, the two driving wheels 21 are front wheels of the inspection robot, the two universal wheels 22 are rear wheels of the inspection robot, and the diameter of the driving wheel 21 is larger than that of the universal wheels 22. The driving wheel 21 has a driving force to drive the inspection robot to move, the universal wheel 22 has no driving force, and the universal wheel 22 is used for adjusting the traveling direction of the inspection robot.

Referring to fig. 2 and 3, the vehicle body 1 includes a chassis 23, and the chassis 23 has a rectangular frame structure. In order to realize the rotation of the driving wheel 21, the inspection robot further comprises two power units 24, two bearing seats 25 and two wheel shaft flanges 26, wherein the power units 24 in the embodiment are motors, and can also be gasoline engines, diesel engines and the like. Referring to fig. 3, taking one of the power units 24, a bearing seat 25 and an axle flange 26 as an example, the bearing seat 25 is installed at the lower side of the chassis 23, the axle flange 26 is rotatably installed on the bearing seat 25, and a first end of the axle flange 26 is provided with a bevel gear. The power unit 24 is also installed at the lower side of the chassis 23, and the bevel gear is installed at the output shaft of the power unit 24, and the bevel gear at the output shaft of the power unit 24 is engaged with the bevel gear at the wheel axle flange 26, so that the wheel axle flange 26 is rotated synchronously when the output shaft of the power unit 24 is rotated. The second end of the wheel axle flange 26 is a flange, the driving wheel 21 is mounted on the flange, and when the wheel axle flange 26 rotates, the wheel axle flange 26 drives the driving wheel 21 to rotate synchronously. The two power units 24, the two bearing seats 25 and the two wheel shaft flanges 26 are respectively and symmetrically arranged, the two driving wheels 21 are respectively and independently driven to rotate by the two power units 24, and when the driving direction needs to be adjusted, the rotating speeds of the two driving wheels 21 are adjusted to be different, so that the adjustment of the driving direction can be realized.

In this embodiment, action wheel 21 gives and patrols and examines robot power so that it removes to patrol and examine the robot, and universal wheel 22 is used for adapting to the moving direction who patrols and examines the robot, can realize less radial turn operation, does not have sliding friction between action wheel 21 and universal wheel 22 and the ground, only has rolling friction, can realize positioning accuracy's promotion and tire life's extension. In the four-wheel differential four-wheel drive type in the prior art, the requirement of differential control on the consistency of a driving motor is high, the responsiveness of the motor cannot be completely consistent, the four tires cannot be completely consistent due to abrasion and factory parameters, even if the motors are completely consistent, the differential steering angle can be caused by the inconsistency of the tires, and the differential steering angle has an error with the resolving angle, so that the positioning is not accurate. The inspection robot in the embodiment has no problem and is accurate in positioning.

Since the power unit 24 is close to the ground, in order to prevent water on the ground from splashing into the power unit 24 and scraping the ground from the power unit 24, referring to fig. 2 and 4, the inspection robot further comprises a protective shell 27, and the protective shell 27 surrounds the outside of the power unit 24 and the connecting position of the power unit 24 and the axle flange 26 and plays a role in protecting the power unit 24 and the connecting position of the power unit 24 and the axle flange 26.

Referring to fig. 3, the inspection robot further includes two first fixing plates 28, the two first fixing plates 28 are installed at the lower side of the chassis 23, each of the two first fixing plates 28 has a rectangular structure, and four corner positions of the first fixing plate 28 are respectively provided with first through holes 281. Referring to fig. 4, the two universal wheels 22 are respectively provided with a second fixing plate 29, the two second fixing plates 29 are mounted on the lower side of the chassis 23, the two second fixing plates 29 are both rectangular, and four corner positions of the second fixing plates 29 are respectively provided with a second through hole 291. Taking one of the first fixing plate 28 and the second fixing plate 29 as an example, the first fixing plate 28 and the second fixing plate 29 are attached to each other, the four first through holes 281 and the four second through holes 291 are coaxial with each other, bolts are respectively fitted into the first through holes 281 and the second through holes 291, nuts on the bolts are tightened, and the first fixing plate 28 and the second fixing plate 29 are fixed together, so that the universal wheel 22 is mounted on the chassis 23.

In another design, the number of the driving wheel 21 and the universal wheels 22 is not limited to that provided in the embodiment, and the number of the driving wheel 21 and the universal wheels 22 may be greater than two or less than two.

Referring to fig. 4, the vehicle body 1 further includes a transition plate 3, the transition plate 3 is mounted on the chassis 23 and located above the chassis 23, the chassis 23 is completely covered by the transition plate 3, and other components are mounted on the transition plate 3, so that a plurality of mounting holes are formed in the transition plate 3.

Two threading holes are formed in the transition plate 3 and used for electric wires for connecting the power unit 24 and the hardware equipment 10 above the transition plate 3 to pass through. Wire one end has the undetachable DB9 electric appliance head, and is bulky, consequently need set up great through wires hole at cab apron 3 and let DB9 head pass, and great through wires hole exists and leads to patrolling and examining the waterproof dirt resistance of robot poor, need plug up the through wires hole on the cab apron 3. Therefore, the protective covers 31 are installed at the two threading holes, the protective covers 31 are in a waist-shaped structure as shown in fig. 5, the protective covers 31 are corresponding to the threading holes, the protective covers 31 are provided with two threading grooves 32, the threading grooves 32 extend from the edges of the protective covers 31 to the middle of the protective covers 31, and the number of the threading grooves 32 is two. The width that threading groove 32 is located protective cover 31 middle position equals the diameter size of the electric wire that passes, and the width that threading groove 32 is located protective cover 31 middle position is greater than threading groove 32 other positions, is located the position at protective cover 31 middle part at threading groove 32 when the electric wire cooperation, because the width that threading groove 32 is located protective cover 31 middle position is greater than threading groove 32 other positions, and the electric wire is blocked in threading groove 32. One side of the protective cover 31 is abutted against the transition plate 3, a boss is arranged on one side of the protective cover 31 close to the transition plate 3, and the boss is embedded in the threading hole, so that a better sealing effect is achieved. In addition, the protecting cover 31 is provided with four mounting holes in which screws are fitted to fix the protecting cover 31 to the transition plate 3.

Referring to fig. 4, the inspection robot further includes an obstacle avoidance sensor 41, two distance measurement sensors 42, and two anti-falling sensors 43. The obstacle avoidance sensor 41 is installed at the edge of the transition plate 3 and positioned at the front part of the vehicle body 1, and the obstacle avoidance sensor 41 is used for guiding the inspection robot to avoid obstacles. Two distance measuring sensors 42 are installed on the chassis 23 and located on two sides of the front portion of the chassis 23, and the distance measuring sensors 42 are used for measuring the distance of the front obstacle, so that the inspection robot is prevented from colliding with the obstacle. Two anti-falling sensors 43 are installed on the chassis 23 and are positioned on two sides of the rear part of the chassis 23, and when the inspection robot retreats, the anti-falling sensors 43 can detect pits, steps and the like at the rear part, so that the inspection robot is prevented from suddenly falling. The communication lines of the hardware device 10 connected with the two distance measuring sensors 42 and the two falling prevention sensors 43 pass through the threading holes.

Referring to fig. 6, a schematic view of the components above the transition plate 3 is shown. Specifically, the frame 51 is rectangular, the frame 51 is formed by connecting four plates end to end, the frame 51 is fixed on the transition plate 3, specifically, the frame 51 is connected with the edge of the transition plate 3, and the frame 51 and the transition plate 3 form an enclosure box. Patrol and examine robot still includes radar 44, and radar 44 passes through the radar support mounting at framework 51 outside and be located framework 51 front portion, and radar 44 is used for composition of picture to the place, is convenient for patrol and examine robot perception surrounding environment, keeps away the barrier and navigates. Two heat dissipation fans 52 are further mounted on the frame body 51, and the two heat dissipation fans 52 are used for dissipating heat in the enclosure box.

The vehicle body 1 further includes a framework 53, and the framework 53 is mounted on the chassis 23 and enclosed outside the enclosure. Specifically, skeleton 53 includes a plurality of member bars, and a plurality of member bars interconnect, a plurality of member bars are located near a plurality of edges of bounding box respectively, also can increase more member bars. The skeleton 53 is used to reinforce the enclosure box.

The inspection robot carries a camera to collect images, and the camera in the prior art usually adopts a lifting mode and a non-lifting mode. The height of the non-liftable camera is fixed and unchanged, the observation of the target objects with different heights is carried out by adjusting the pitch angle of the camera, the liftable observation range is larger, the initial height value of the lifting mechanism body is larger, the height of the lifting mechanism body with the lifting amplitude of 1m is larger than 1m generally, the camera is limited to the higher initial height, and the observation of the low target is not facilitated. In the embodiment, the support 7 is arranged on the transition plate 3 and positioned in the enclosure box, the support 7 is used for mounting the non-liftable camera support 6 or the liftable camera support 6 thereon, and the non-liftable camera support 6 or the liftable camera support 6 is detachably connected with the support 7, so that the camera can be replaced by a fixed type or a liftable type to adapt to different working condition requirements.

The structure of the bracket 7 is as shown in fig. 7, the bracket 7 includes a connecting portion 71 and two support portions 72 having the same shape and structure, the bottom of the support portion 72 is provided with a mounting hole, a bolt is fitted in the mounting hole at the bottom of the support portion 72 to fix the support portion 72 on the transition plate 3, the upper portion of the support portion 72 is provided with a mounting hole, a bolt is fitted in the mounting hole at the upper portion of the support portion 72 to fix the camera support 6 on the support portion 72, and the upper portions of the two support portions 72 are connected by the connecting portion 71. The connecting portion 71 and the supporting portion 72 are integrally formed in this embodiment.

In order to supply power to the power unit 24, referring to fig. 8 and 9, the inspection robot further includes a storage battery 81, a carriage 82, and a locking member (locking member not shown). The section of the carriage 82 is in a rectangular wave shape, a plurality of mounting holes are formed in the recessed position of the carriage 82, the carriage 82 is fixed on the transition plate 3 through the mounting holes, the carriage 82 is located in the enclosure box, and the edge of the carriage 82 is turned upwards to form a sliding groove. In addition, a stopper 85 is disposed on the carriage 82, and the stopper 85 is located at the first end of the sliding chute. A portion of the carriage 82 where the edge is turned up is named as a first turning portion 83, and a locking hole 84 is provided at a position of the first turning portion 83 at the second end of the chute, and a locking member can be fitted in the locking hole 84. The two sides of the battery 81 are respectively provided with a sliding part which can be in sliding fit in the sliding groove, when the battery 81 slides in place, the sliding part abuts against the stop part 85 to prevent the battery 81 from continuously sliding, and then the locking part is matched in the locking hole 84 of the first turnover part 83 to lock the battery 81, so that the battery 81 is locked on the sliding frame 82. The locking member in this embodiment is a screw, and the inner wall of the locking hole 84 of the first rolled portion 83 is provided with a thread, and the screw can be fitted into the locking hole 84 of the first rolled portion 83, thereby locking the battery 81.

Further, in order to facilitate the installation and removal of the storage battery 81, one of the plates of the frame 51 is detachably connected to the other plate and the transition plate 3, for example, the plate is connected to the other plate and the transition plate 3 by screws, the plate is named as a battery back cover 86, and the storage battery 81 can be drawn out of the carriage 82 or the storage battery 81 can be fed into the carriage 82 by removing the battery back cover 86 and the locking member.

Referring to fig. 10, the inspection robot further includes a hardware support 9, the hardware support 9 being

In this shape, the hardware support 9 is formed by sequentially connecting three plates, two plates at the edge are referred to as a first plate 91 and a third plate 93, a plate at the middle position is referred to as a second plate 92, the edge of the first plate 91 and the edge of the third plate 93 far away from the second plate 92 are turned to form a second turning part 94, and the second turning part 94 is provided with a mounting hole. The first plate 91, the second plate 92 and the third plate 93 are respectively provided with a reinforcing rib. The second rolled portion 94 is mounted on the transition plate 3, and a bolt is screwed into a mounting hole of the second rolled portion 94 to fix the hardware support 9 on the transition plate 3, and after the hardware support 9 is mounted, the hardware support 9 surrounds the outside of the storage battery 81, wherein the second plate 92 is located above the storage battery 81.

The hardware device 10 is mounted on the second board 92 and located within the enclosure, such as an integrated circuit board, signaling components, etc. mounted on the second board 92.

Although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. An inspection robot is characterized by comprising a vehicle body (1), a driving wheel (21), universal wheels (22) and a support (7);

the driving wheel (21) and the universal wheel (22) are arranged on the vehicle body (1);

the bracket (7) is arranged on the vehicle body (1).

2. The inspection robot according to claim 1, further comprising a power unit (24), a bearing block (25) and an axle flange (26), the body (1) including a chassis (23);

the bearing seat (25) is arranged on the chassis (23);

the wheel shaft flange (26) is rotatably arranged on the bearing seat (25);

the power unit (24) is arranged on the chassis (23), and the power unit (24) is connected with the wheel shaft flange (26) and used for driving the wheel shaft flange (26) to rotate;

the driving wheel (21) is arranged on the wheel shaft flange (26).

3. The inspection robot according to claim 2, further including a protective shell (27), the protective shell (27) surrounding the power unit (24).

4. The inspection robot of claim 1,

the vehicle body (1) comprises a chassis (23);

the inspection robot further comprises a first fixing plate (28) and bolts, wherein the first fixing plate (28) is installed on the chassis (23), and the first fixing plate (28) is provided with a plurality of first through holes (281);

the universal wheel (22) is provided with a second fixing plate (29), the second fixing plate (29) is provided with a plurality of second through holes (291), and bolts are fitted in the first through holes (281) and the second through holes (291).

5. The inspection robot according to any one of claims 2-4, wherein the body (1) further includes a transition plate (3), the transition plate (3) is mounted on the chassis (23) and positioned above the chassis (23), and the bracket (7) is mounted on the transition plate (3).

6. The inspection robot of claim 5,

the vehicle body (1) further comprises a routing protective cover (31), the protective cover (31) is provided with a threading groove (32), and the threading groove (32) extends from the edge of the protective cover (31) to the middle of the protective cover (31);

the transition plate (3) is provided with a threading hole, and the protective cover (31) is matched in the threading hole.

7. The inspection robot according to the claim 5, characterized in that the vehicle body (1) further comprises a frame body (51), the frame body (51) is fixed on the transition plate (3), and the frame body (51) and the transition plate (3) form an enclosure box;

the vehicle body (1) further comprises hardware equipment (10), and the hardware equipment (10) is installed in the enclosure box.

8. The inspection robot according to claim 7, wherein the frame (51) is provided with a heat dissipation fan (52).

9. The inspection robot according to claim 7 or 8, wherein the body (1) further includes a skeleton (53), the skeleton (53) being mounted on the chassis (23) and surrounding outside the enclosure.

10. The inspection robot according to claim 7 or 8, further including a battery (81) and a carriage (82);

the sliding frame (82) is installed in the surrounding box, a sliding groove is formed in the sliding frame (82), a blocking piece (85) is arranged on the sliding frame (82), and the blocking piece (85) is located at the first end of the sliding groove;

the battery (81) is provided with a sliding part which is slidably matched in the sliding groove, and the second end of the sliding groove is provided with a locking part used for locking the battery (81).

11. The inspection robot according to claim 7 or 8, further comprising a hardware bracket (9), the hardware bracket (9) being mounted within the enclosure and enclosing the battery (81), the hardware device (10) being mounted on the hardware bracket (9).

12. The inspection robot according to any one of claims 1-4 and 6-8, wherein the inspection robot further includes a radar (44), the radar (44) being mounted on the vehicle body (1).

13. The inspection robot according to any one of claims 1-4 and 6-8, wherein the inspection robot further comprises an obstacle avoidance sensor (41), and the obstacle avoidance sensor (41) is mounted on the vehicle body (1).

14. The inspection robot according to any one of claims 1-4 and 6-8, wherein the inspection robot further includes a ranging sensor (42), the ranging sensor (42) being mounted on the vehicle body (1).

15. The inspection robot according to any one of claims 1-4 and 6-8, wherein the inspection robot further includes a drop-prevention sensor (43), the drop-prevention sensor (43) being mounted on the vehicle body (1).