CN215810989U - Inspection robot with adjustable detection angle - Google Patents
Inspection robot with adjustable detection angle Download PDFInfo
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- CN215810989U CN215810989U CN202121962865.8U CN202121962865U CN215810989U CN 215810989 U CN215810989 U CN 215810989U CN 202121962865 U CN202121962865 U CN 202121962865U CN 215810989 U CN215810989 U CN 215810989U
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Abstract
The utility model relates to an inspection robot capable of adjusting a detection angle, which comprises a robot body, an angle adjusting device and a detection table, wherein the angle adjusting device comprises a fixed seat, a rotating body, a connecting column and a first driving piece, the fixed seat is connected to the robot body and is provided with a cavity, the fixed seat is provided with a through hole communicated with the cavity, the rotating body is rotatably arranged in the cavity, one end of the connecting column is movably penetrated through the through hole and is connected to the rotating body, the first driving piece is connected to the rotating body and is used for driving the rotating body to rotate relative to the cavity, and the detection table is connected to one end, far away from the rotating body, of the connecting column. The inspection robot capable of adjusting the inspection angle, provided by the utility model, has the advantages that the inspection table is arranged on the robot body by using the angle adjusting device, and the purpose that the angle of the inspection table can rotate relative to the robot body is realized.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a patrol robot capable of adjusting a detection angle.
Background
The reliable operation of the power grid cannot avoid the inspection of all levels of small chambers (such as a power distribution room, a switching station, a substation relay protection small chamber, a communication chamber and the like), and the inspection work has inspection pain points such as insufficient staff, uneven personnel quality, irregular and incomplete data records, untimely defect discovery, long emergency response time, high operation and maintenance cost and the like in daily inspection for a long time.
The secondary inspection system of the indoor robot is a novel unmanned indoor inspection solution. The scheme is based on an indoor intelligent inspection robot, the intelligent unmanned inspection system of the transformer substation taking multi-data-source fusion as a core is constructed, the key problems of unmanned inspection are solved from the aspects of multi-source data acquisition, autonomous identification, intelligent alarm and the like, and the aims of replacing manual inspection, reducing investment and improving inspection accuracy and reliability are fulfilled. The intelligent inspection robot can inspect necessary infrared inspection points in a room/screen cabinet, such as exposed cables, contacts, and rear terminal row cables of the screen cabinet in a small chamber.
Disclosed in patent document CN109500830A is a patrol robot, which comprises a robot body having an observation device connected with a recording device or a transmitting device, and is characterized in that: the robot is characterized in that four traveling devices are arranged below the robot, the four observing devices are respectively positioned on the front side, the rear side, the left side and the right side of the robot body, and a sensing device is also arranged in front of the robot body; the robot sets the observation devices on four sides of the robot, and when the robot observes and detects a target, the detection angle of the observation devices can be changed only through limited movement of the moving devices, so that the observation devices cannot be guaranteed to have multi-angle observation positions.
SUMMERY OF THE UTILITY MODEL
In view of the above, it is necessary to provide an inspection robot with adjustable inspection angle, so as to solve the problem in the prior art that the observation device of the robot is fixedly arranged relative to the robot body, and the angle of the observation device is not adjustable when the robot performs inspection.
The utility model provides an inspection robot capable of adjusting a detection angle, which comprises a robot body, an angle adjusting device and a detection table, wherein the angle adjusting device comprises a fixed seat, a rotating body, a connecting column and a first driving piece, the fixed seat is connected to the robot body, the fixed seat is provided with a cavity, the fixed seat is provided with a through hole communicated with the cavity, the rotating body is rotatably arranged in the cavity, one end of the connecting column is movably penetrated through the through hole and connected to the rotating body, the first driving piece is connected to the rotating body and used for driving the rotating body to rotate relative to the cavity, and the detection table is connected to one end, far away from the rotating body, of the connecting column.
Further, the cavity is square cavity, the rotor is square body, place in square body is rotatable square cavity.
Further, first driving piece includes carousel and driving motor, the carousel rotatable set up in the cavity, rotor fixed connection in the carousel, driving motor connect in the carousel, be used for the drive the carousel is relative the cavity rotates.
Furthermore, a soft gasket is arranged on the inner wall of the through hole, and the connecting column movably penetrates through the through hole and is abutted to the soft gasket.
Furthermore, a plurality of sensing pieces are installed on the detection table.
Further, the sensing part at least comprises a visible light camera, an infrared thermal imager, a temperature sensor and a smoke sensor.
Further, still include locking positioning assembly, locking positioning assembly includes locating lever and second driving piece, the rotor begins to have the constant head tank around its circumference, the locating lever has first state and second state, works as when the locating lever is in the first state, the activity of locating lever one end is worn to establish fixing base and butt in the constant head tank works as when the location is in the second state, the activity of the one end of locating lever is worn to establish the fixing base and with the constant head tank interval sets up, the second driving piece connect in locating lever and drive the locating lever is in the first state with switch between the second state.
Furthermore, the side wall of the fixing seat is provided with a positioning hole communicated with the cavity, and the positioning rod movably penetrates through the fixing seat through the positioning hole.
Furthermore, one end of the positioning rod, which is positioned in the cavity, is provided with an annular boss, and the size of the annular boss is larger than that of the positioning hole.
Further, the second driving piece is of a cylinder structure.
Compared with the prior art, the inspection robot capable of adjusting the inspection angle has the advantages that the inspection table is mounted on the robot body by using the angle adjusting device, the fixed seat is connected with the robot body, the inspection table is fixedly connected with the rotating body through the connecting column so as to be connected with the robot body, the rotating body is driven to rotate relative to the fixed seat through the first driving piece, the inspection table can rotate relative to the robot body, and the angle adjustability of the inspection table is realized.
The foregoing is a summary of the present invention, and in order to provide a clear understanding of the technical means of the present invention and to be implemented in accordance with the present specification, the following is a detailed description of the preferred embodiments of the present invention.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of an inspection robot capable of adjusting a detection angle provided by the utility model;
fig. 2 is a schematic structural view of the locking and positioning assembly in the second state according to the embodiment of the present invention.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the utility model and together with the description, serve to explain the principles of the utility model and not to limit the scope of the utility model.
As shown in fig. 1-2, an embodiment of the present invention provides an inspection robot capable of adjusting a detection angle, including a robot body 1, an angle adjusting device 2 and a detection table 3, where the angle adjusting device 2 includes a fixing seat 21, a rotating body 22, a connection column 23 and a first driving member 24, the fixing seat 21 is connected to the robot body 1, the fixing seat 21 has a cavity, the fixing seat 21 is provided with a through hole communicated with the cavity, the rotating body 22 is rotatably disposed in the cavity, one end of the connection column 23 is movably inserted into the through hole and connected to the rotating body 22, the first driving member 24 is connected to the rotating body 22 and is configured to drive the rotating body 22 to rotate relative to the cavity, and the detection table 3 is connected to one end of the connection column 23, which is far from the rotating body 22.
It should be noted that, through utilizing angle adjusting device 2 to install test table 3 on robot 1, wherein fixing base 21 is connected with robot 1, thereby test table 3 is connected with robot 1 indirectly through spliced pole 23 and rotor 22 fixed connection, drives rotor 22 through first driving piece 24 and rotates relative to fixing base 21, test table 3 can rotate relative to robot 1, has realized the angle adjustability that tests table 3.
It should be noted that, in this embodiment, the robot further includes an adjusting arm, the adjusting arm is installed between the robot body 1 and the angle adjusting device 2, the adjusting arm can change the height of the angle adjusting device 2, so as to change the height of the detection table 3, and through the combined action of the adjusting arm and the angle adjusting device 2, the robot can detect signals of different heights and also can detect signals of different angles.
It should be noted that, in this embodiment, the robot body 1, the angle adjusting device 2, and the detecting table 3 are sequentially distributed from bottom to top, and specifically, the through hole is formed in the upper end surface of the fixing seat 21; it is understood that, in other embodiments, other distribution manners may be adopted, the detection table 3 may be disposed in parallel with the robot body 1, and the through holes are correspondingly formed in the side wall of the fixing base 21.
As a preferred embodiment, the cavity is a square cavity, the rotating body 22 is a square body, and the square body is rotatably arranged in the square cavity.
It should be noted that in other embodiments, the rotor 22 and the cavity may have other shapes, as long as the rotor 22 can rotate in the cavity.
As a preferred embodiment, the first driving element 24 includes a rotating disc 241 and a driving motor 242, the rotating disc 241 is rotatably disposed in the cavity, the rotating body 22 is fixedly connected to the rotating disc 241, and the driving motor 242 is connected to the rotating disc 241 and is used for driving the rotating disc 241 to rotate relative to the cavity.
It should be noted that, by arranging the rotating disc 241 in the cavity, the rotating body 22 is detachably connected to the rotating disc 241, and the driving motor 242 drives the rotating disc 241 to rotate, so as to drive the rotating body 22 to rotate in the cavity; in this embodiment, the driving motor 242 is disposed in the cavity, and in other embodiments, the driving motor 242 may be disposed outside the cavity, and the driving motor 242 controls the opening and closing of the cavity through a control system of the robot.
In a preferred embodiment, a flexible gasket 4 is mounted on the inner wall of the through hole, and the connecting column 23 is movably inserted into the through hole and abuts against the flexible gasket 4.
It should be noted that, through setting up soft packing ring 4, spliced pole 23 wear to establish the through-hole when with soft packing ring 4 butt, can play the positioning action to spliced pole 23 promptly, avoid its relative through-hole to have the clearance, rotate the in-process and produce and rock, the detection precision of platform is examined in the influence, can also play dustproof effect, avoids impurity to get into the cavity, influences the rotation of carousel 241.
In a preferred embodiment, a plurality of sensors 31 are mounted on the inspection station 3.
It should be noted that the number and the type of the sensing elements 31 can be determined according to actual situations, and different data can be detected by installing a plurality of sensing elements 31 of different types on the detection table 3; in this embodiment, the sensing member 31 includes at least a visible light camera, an infrared thermal imager, a temperature sensor, and a smoke sensor.
As a preferred embodiment, the locking and positioning device further includes a locking and positioning assembly 5, the locking and positioning assembly 5 includes a positioning rod 51 and a second driving member 52, the rotating body 22 starts to have a positioning groove 221 around its circumference, the positioning rod 51 has a first state and a second state, when the positioning rod 51 is in the first state, one end of the positioning rod 51 movably penetrates through the fixing seat 21 and abuts against the positioning groove 221, when the positioning rod 51 is in the second state, one end of the positioning rod 51 movably penetrates through the fixing seat 21 and is spaced from the positioning groove 221, and the second driving member 52 is connected to the positioning rod 51 and drives the positioning rod 51 to switch between the first state and the second state.
It should be noted that, by providing the locking and positioning assembly 5, the rotating body 22 can be locked, and after the rotating body 22 drives the detection table 3 to rotate to the set position, the phenomenon that the rotating body 22 shakes to affect the detection precision when the sensing member 31 on the detection table 3 performs the detection operation is avoided.
It should be noted that, in the present embodiment, the second driving member 52 is an air cylinder, and it is understood that, in other embodiments, the second driving member 52 may have other structures, such as a driving motor; in this embodiment, the second driving element 52 is disposed outside the cavity and connected to the positioning rod 51, wherein the second driving element 52 is controlled by the control system to open and close.
When the stopper rod 51 is in the first state, the second driving member 52 drives the positioning rod 51 to abut against the positioning groove 221, the rotating body 22 is square, the positioning rod 51 abuts against the positioning groove to limit the rotation of the rotating body 22, and when the rotating body 22 needs to rotate, the second driving member 52 drives the positioning rod 51 to switch from the first state to the second state, at this time, the positioning rod 51 is separated from the positioning groove 221, and the rotating body 22 rotates on the driving member of the first driving member 24.
As a preferred embodiment, a positioning hole communicated with the cavity is formed in a side wall of the fixing seat 21, and the positioning rod 51 movably penetrates through the fixing seat 21 through the positioning hole.
It should be noted that the second driving element 52 is disposed outside the cavity, so that one end of the positioning rod 51 is located outside and connected to the second driving element 52, and the other end of the positioning rod extends into the cavity through the positioning hole; specifically, the positioning holes are formed in the side wall of the fixing base 21 and have the same height as the positioning grooves 221, and the positioning rods 51 are vertically distributed with the rotating body 22 through the positioning holes.
In a preferred embodiment, an annular boss 511 is disposed at one end of the positioning rod 51 located in the cavity, and the size of the annular boss 511 is larger than that of the positioning hole.
It should be noted that, by arranging the annular boss 511 and making the size of the annular boss larger than that of the positioning hole, the positioning rod 51 can be prevented from falling off from the cavity, which causes the problems of inaccurate positioning and the like.
In order to facilitate a better understanding of the embodiments of the present application, the following detailed description is provided for the use of the embodiments of the present application:
the robot moves the position of waiting to detect, the system detects the signal whether to aim at through judging all kinds of response pieces 31 on the platform 3, if do not aim at and wait to detect the signal, thereby it rotates to drive rotor 22 through control system control driving motor 242 drive carousel 241, the rotation through rotor 22 changes the angle of detecting the relative robot body 1 of platform 3, thereby the measurable angle of adjustment response piece 31, be convenient for response piece 31 realizes accurate detection, and simultaneously, it rotates to setting position after to detect platform 3, second driving piece 52 drive locating lever 51 and constant head tank 221 butt, prevent that the rotor from taking place the shake.
Compared with the prior art, the embodiment of the utility model has the advantages that the angle adjusting device is utilized to install the detection table on the robot body, the fixed seat is connected with the robot body, the detection table is fixedly connected with the rotating body through the connecting column so as to be connected with the robot body, the rotating body is driven to rotate relative to the fixed seat through the first driving piece, the detection table can rotate relative to the robot body, the angle adjustability of the detection table is realized, and the detection precision is prevented from being influenced by the shaking of the detection table during working through the arrangement of the locking positioning assembly and the abutting of the positioning rod and the positioning groove.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. The utility model provides an adjustable inspection angle's robot of patrolling and examining, a serial communication port, include robot, angle adjusting device and examine test table, angle adjusting device includes fixing base, rotor, spliced pole and first driving piece, the fixing base connect in the robot, the fixing base has a cavity, the fixing base seted up with the through-hole of cavity intercommunication, place in the rotor is rotatable the cavity, spliced pole one end activity is worn to establish the through-hole connect in the rotor, first driving piece connect in the rotor for the drive the rotor is relative the cavity rotates, examine test table connect in the spliced pole is kept away from the one end of rotor.
2. The inspection robot capable of adjusting the detection angle according to claim 1, wherein the cavity is a square cavity, the rotating body is a square body, and the square body is rotatably arranged in the square cavity.
3. The inspection robot capable of adjusting the detection angle according to claim 1, wherein the first driving member comprises a turntable and a driving motor, the turntable is rotatably arranged in the cavity, the rotating body is fixedly connected to the turntable, and the driving motor is connected to the turntable and used for driving the turntable to rotate relative to the cavity.
4. The inspection robot capable of adjusting the detection angle according to claim 1, wherein a soft gasket is mounted on the inner wall of the through hole, and the connecting column movably penetrates through the through hole and abuts against the soft gasket.
5. The inspection robot capable of adjusting the inspection angle according to claim 1, wherein a plurality of sensing pieces are mounted on the inspection table.
6. The inspection robot capable of adjusting the inspection angle according to claim 5, wherein the sensing members include at least a visible light camera, an infrared thermal imager, a temperature sensor and a smoke sensor.
7. The inspection robot capable of adjusting the detection angle according to claim 2, further comprising a locking and positioning assembly, wherein the locking and positioning assembly comprises a positioning rod and a second driving member, the rotating body is provided with a positioning groove around the circumference of the rotating body, the positioning rod has a first state and a second state, when the positioning rod is in the first state, one end of the positioning rod movably penetrates through the fixing seat and abuts against the positioning groove, when the positioning rod is in the second state, one end of the positioning rod movably penetrates through the fixing seat and is arranged at an interval with the positioning groove, and the second driving member is connected with the positioning rod and drives the positioning rod to be switched between the first state and the second state.
8. The inspection robot capable of adjusting the detection angle according to claim 7, wherein a positioning hole communicated with the cavity is formed in a side wall of the fixing seat, and the positioning rod movably penetrates through the fixing seat through the positioning hole.
9. The inspection robot capable of adjusting the detection angle according to claim 7, wherein an annular boss is arranged at one end of the positioning rod in the cavity, and the size of the annular boss is larger than that of the positioning hole.
10. The inspection robot capable of adjusting the detection angle according to claim 7, wherein the second driving member is a cylinder structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121962865.8U CN215810989U (en) | 2021-08-19 | 2021-08-19 | Inspection robot with adjustable detection angle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121962865.8U CN215810989U (en) | 2021-08-19 | 2021-08-19 | Inspection robot with adjustable detection angle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215810989U true CN215810989U (en) | 2022-02-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121962865.8U Active CN215810989U (en) | 2021-08-19 | 2021-08-19 | Inspection robot with adjustable detection angle |
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|---|---|
| CN (1) | CN215810989U (en) |
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2021
- 2021-08-19 CN CN202121962865.8U patent/CN215810989U/en active Active
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