CN218213891U

CN218213891U - Automatic patrol and keep away barrier robot

Info

Publication number: CN218213891U
Application number: CN202222752842.5U
Authority: CN
Inventors: 李亚鹏; 赵恒喆; 王梦帆; 刘奕博; 张玉立; 高乐; 王志硕
Original assignee: Henan University of Science and Technology
Current assignee: Henan University of Science and Technology
Priority date: 2022-10-19
Filing date: 2022-10-19
Publication date: 2023-01-03
Anticipated expiration: 2032-10-19

Abstract

The utility model discloses an automatic inspection obstacle avoidance robot, which comprises a walking mechanism, a protection mechanism, an identification mechanism and a control mechanism; the protection mechanism comprises a cylinder, a support rod and a protection cover, the height of the cylinder is equal to that of the support rod, a first motor is arranged in the support rod, and the output end of the first motor is connected with the protection cover; a push rod motor is arranged in the cylinder, and a limit flange and a mounting seat are arranged on a push rod of the push rod motor in an interference manner; the identification mechanism comprises a radar monitoring component and a camera; after the identification mechanism acquires the information of the barrier, the protection mechanism drives the identification mechanism mounted on the protection mechanism to move downwards into the cylinder under the action of the control mechanism, and then the protection cover is controlled by the first motor to seal the cylinder. The device has the advantages that the obstacle can be automatically avoided intelligently and efficiently, and the device can be protected conveniently.

Description

Automatic patrol and keep away barrier robot

Technical Field

The utility model relates to a patrol and examine and keep away the barrier robot field, especially relate to an automatic patrol and examine and keep away barrier robot.

Background

The robot has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the work efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings.

With the development of science and technology, the existing robots have various forms, some existing robots for fire scene information detection are prone to being paralyzed or unusable at messy fire scenes due to lack of obstacle avoidance devices, and meanwhile, due to the fact that the temperature of the fire scenes is high, equipment carried on the detection robots are prone to being damaged.

Therefore, it is necessary to provide an automatic inspection obstacle avoidance robot.

SUMMERY OF THE UTILITY MODEL

The utility model provides an automatic patrol and examine and keep away barrier robot to solve current patrol and examine the robot and do not have the high-efficient intelligent obstacle-keeping equipment at the conflagration current, do not have the effectual problem of carrying out the device protected to self equipment simultaneously.

In order to achieve the above object, the utility model discloses a concrete scheme does:

an automatic inspection obstacle avoidance robot comprises a walking mechanism, a protection mechanism, an identification mechanism and a control mechanism;

the protection mechanism comprises a cylinder vertically fixed on the travelling mechanism, a support rod arranged on one side of the cylinder in parallel and a protective cover arranged at the top of the support rod, the center of the protective cover deviates from the center of the support rod, the height of the cylinder is equal to that of the support rod, a first motor is arranged in the support rod, the output end of the first motor is connected with the protective cover, and the protective cover can be rotated to abut against the top end of the cylinder through the first motor so as to seal the cylinder; a push rod motor is arranged in the cylinder, and a limit flange and a mounting seat are arranged on a push rod of the push rod motor in an interference fit manner;

the identification mechanism comprises a radar monitoring assembly which is arranged on the mounting seat and can rotate circumferentially relative to the mounting seat and a camera which is rotatably connected with the free end of the push rod motor;

the control mechanism comprises a display control screen and a controller connected with the display control screen, the control mechanism is arranged above the travelling mechanism, and the control mechanism controls the travelling mechanism, the identification mechanism and the protection mechanism to perform cooperative action; after the identification mechanism acquires the information of the barrier, the protection mechanism drives the identification mechanism mounted on the protection mechanism to move downwards into the cylinder under the action of the control mechanism, and then the protection cover is controlled by the first motor to seal the cylinder.

Furthermore, the radar monitoring assembly comprises a radar obstacle avoidance unit rotationally sleeved on the outer side surface of the mounting seat through a bearing, a first gear connected with the inner wall of the radar obstacle avoidance unit, a second motor fixed on the mounting seat and a second gear connected with the output end of the second motor, and the second gear is meshed with the first gear.

Furthermore, a pair of U-shaped plates used for installing the display control screen are fixed on the traveling mechanism, the display control screen is installed in a U-shaped groove of the U-shaped plates, and a strip-shaped groove is formed in the top wall of each U-shaped plate.

Further, the left and right sides of drum all is equipped with the bracket of H type structure, and the bracket includes the connecting rod that two parallel arrangement's the diaphragm that is connected with the drum outer wall and links to each other with two parallel diaphragms, and the cover is equipped with the cardboard about two connecting rods, be equipped with on the cardboard with bar groove complex stopper, the stopper passes the bar groove and cooperatees with the display control screen, and then carries on spacingly to the display control screen.

Furthermore, two concave strips which can be matched with the limiting blocks are arranged on two sides of the display control screen in parallel.

Furthermore, the springs are sleeved on the left connecting rod and the right connecting rod above the clamping plate.

Furthermore, the two clamping plates are connected through a connecting plate.

Further, running gear includes the casing and locates the track subassembly of casing left and right sides, protection mechanism locates on the casing.

Furthermore, the mount pad is including wearing to locate the circular ring portion on the push rod motor push rod and the cylinder portion that the top is connected with the periphery wall of circular ring portion.

Furthermore, the middle part of the cylinder is provided with two communicated circular grooves with different diameters, wherein the diameter of the upper circular groove is smaller; the limiting flange comprises an upper cylinder and a lower cylinder which are connected and matched with the two circular grooves respectively.

Compared with the prior art, the utility model provides an automatic patrol and examine obstacle avoidance robot has following beneficial effect:

1) The utility model provides an automatic patrol and examine and keep away barrier robot, rotation through the second motor, and it rotates to drive the radar and keep away the barrier unit, carry out omnidirectional inspection and survey to the environment around with the convenience, simultaneously when detecting there is the barrier, can rotate through the control camera, and then carry out audio-visual shooting judgement to the barrier direction, with the information of the barrier of accurate acquisition, and judge the trafficability characteristic of self, also can conveniently pass through the shrink of control push rod motor like this, and then drive radar and keep away barrier subassembly and camera and move down in the drum, then rotate through the control visor, and then seal the upper end of drum, it can effectually protect the equipment of carrying on it when serious or other adverse circumstances factors through the condition of a fire to guarantee to patrol and examine the robot.

2) The utility model provides an automatic patrol and examine and keep away barrier robot, the stopper that will promote both sides through the spring moves down to the bar inslot, display control screen to installation in the U template carries on spacingly, and when dismantling display control screen, only need lift up the cardboard of the left and right sides synchronous through the connecting plate, and then cancel between bar groove and the stopper spacing can, made things convenient for and changed display control screen, carry out nimble tear open to trade to display control screen and overhaul, and then the convenience is updated the maintenance to display control screen.

Drawings

Fig. 1 is a schematic structural diagram of the robot of the present invention (a display control screen is not shown).

Fig. 2 is a bottom view of fig. 1.

Fig. 3 is a cross-sectional view of the robot according to the present invention.

Fig. 4 is a second cross-sectional view of the robot according to the present invention.

The graphic symbols are: 1. the device comprises a shell, 2, a crawler assembly, 3, a cylinder, 4, a bracket, 5, a U-shaped plate, 6, a clamping plate, 7, a limiting block, 8, a camera, 9, a radar obstacle avoidance assembly, 901, a radar obstacle avoidance unit, 902, a first gear, 903, a second motor, 904, a second gear, 10, a spring, 11, a protective cover, 12, a supporting rod, 13, a mounting seat, 14, a display control screen, 15, a push rod motor, 16, a limiting flange, 17 and a first motor.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to specific embodiments, and it should be understood that the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Referring to fig. 1 to 4, an automatic inspection obstacle avoidance robot includes a traveling mechanism, a protection mechanism, an identification mechanism, and a control mechanism;

the protection mechanism comprises a cylinder 3 vertically fixed on the traveling mechanism, a support rod 12 arranged on one side of the cylinder 3 in parallel and a protective cover 11 arranged at the top of the support rod 12, the center of the protective cover 11 deviates from the center of the support rod 12, the height of the cylinder 3 is equal to that of the support rod 12, a first motor 17 is arranged in the support rod 12, the output end of the first motor 17 is connected with the protective cover 11, and the protective cover 11 can be rotated to abut against the top end of the cylinder 3 through the first motor 17 so as to seal the cylinder 3; a push rod motor 15 is arranged in the cylinder 3, and a limit flange 16 and a mounting seat 13 are arranged on a push rod of the push rod motor 15 in an interference manner;

the identification mechanism comprises a radar monitoring component 9 which is arranged on the mounting seat 13 and can rotate circumferentially relative to the mounting seat 13, and a camera 8 which is rotatably connected with the free end of a push rod motor 15;

the control mechanism controls the travelling mechanism, the recognition mechanism and the protection mechanism to perform cooperative action; after the identification mechanism acquires the information of the obstacle, under the action of the control mechanism, the protection mechanism drives the identification mechanism mounted on the protection mechanism to move downwards into the cylinder 3, and then the protection cover 11 is controlled by the first motor 17 to seal the cylinder 3.

The radar monitoring assembly 9 comprises a radar obstacle avoidance unit 901 rotatably sleeved on the outer side surface of the mounting base 13 through a bearing, a first gear 902 connected with the inner wall of the radar obstacle avoidance unit 901, a second motor 903 fixed on the mounting base 13, and a second gear 904 connected with the output end of the second motor 903, wherein the second gear 904 is meshed with the first gear 902. Can be through the rotation of second motor 903 like this, and it rotates to drive radar obstacle avoidance unit 901, in order to make things convenient for the environment around to carry out the inspection of qxcomm technology and survey, simultaneously when detecting there is the barrier, can rotate through control camera 8, and then carry out audio-visual shooting judgement to the barrier direction, with the information of the barrier of accurate acquisition, and judge the trafficability characteristic of self, also can conveniently pass through the shrink of control push rod motor 15 like this, and then drive radar obstacle avoidance subassembly 9 and camera 8 and move down in drum 3, then rotate through control visor 11, and then seal drum 3's top, in order to guarantee to patrol and examine the robot and can effectually protect the equipment of carrying on it when serious or other adverse circumstances factors through the condition of a fire.

In detail, the camera 8 is a 360 ° depth camera.

Control mechanism includes display control screen 14 and the controller that is connected with display control screen 14, be fixed with a pair of U template 5 that is used for installing display control screen 14 on the running gear, display control screen 14 is installed in the U type inslot of U template 5, is equipped with the bar groove on the roof of U template 5.

The left and right sides of drum 3 all is equipped with bracket 4 of H type structure, and bracket 4 includes two parallel arrangement's the diaphragm that is connected with drum 3 outer wall and the connecting rod that links to each other with two parallel diaphragms, and the cover is equipped with cardboard 6 on controlling two connecting rods, be equipped with on the cardboard 6 with bar groove complex stopper 7, stopper 7 passes the bar groove and cooperatees with display control screen 14, and then carries on spacingly to display control screen 14.

Two concave strips which can be matched with the limiting block 7 are arranged on two sides of the display control screen 14 in parallel.

As a preferred scheme of the utility model, it is equipped with spring 10 all to overlap in the top of cardboard 6 on two connecting rods about. Thus, the springs 10 can push the clamping plates 6 on the two sides to move downwards into the strip-shaped grooves, and the display control screen 14 installed in the U-shaped plate 5 is limited. Be connected through the connecting plate between two cardboard 6, when dismantling display control screen 14, only need lift up the connecting plate can lift up the cardboard 6 of the left and right sides is synchronous, and then cancel between cardboard 6 and the bar groove spacing can, made things convenient for and changed display control screen 14 to the convenience carries out nimble tearing open to trade maintenance to display control screen 14, and then conveniently updates the maintenance to display control screen 14.

The walking mechanism comprises a shell 1 and crawler assemblies 2 arranged on the left side and the right side of the shell 1, and the protection mechanism is arranged on the shell 1.

The mounting base 13 comprises a circular ring part penetrating through the push rod of the push rod motor 15 and a cylindrical part with the top end connected with the outer peripheral wall of the circular ring part, and the second motor 903 is fixed on the bottom wall of the circular ring part.

The middle part of the cylinder 3 is provided with two communicated circular grooves with different diameters, wherein the diameter of the upper circular groove is smaller; the limiting flange 16 comprises an upper cylinder and a lower cylinder which are respectively matched with the two circular grooves and connected with each other, so that the limiting flange 16 is guaranteed to slide and is limited and arranged in the cylinder 3.

The foregoing is illustrative of the preferred embodiments of the present invention and is not to be construed as limiting the invention in any way. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. An automatic inspection obstacle avoidance robot is characterized by comprising a walking mechanism, a protection mechanism, an identification mechanism and a control mechanism;

the protection mechanism comprises a cylinder (3) vertically fixed on the traveling mechanism, a support rod (12) parallelly arranged on one side of the cylinder (3) and a protective cover (11) arranged at the top of the support rod (12), the center of the protective cover (11) deviates from the center of the support rod (12), the heights of the cylinder (3) and the support rod (12) are equal, a first motor (17) is arranged in the support rod (12), the output end of the first motor (17) is connected with the protective cover (11), and the protective cover (11) can be rotated to abut against the top end of the cylinder (3) through the first motor (17) so as to seal the cylinder (3); a push rod motor (15) is arranged in the cylinder (3), and a limit flange (16) and a mounting seat (13) are arranged on a push rod of the push rod motor (15) in an interference manner;

the identification mechanism comprises a radar monitoring component (9) which is arranged on the mounting seat (13) and can rotate circumferentially relative to the mounting seat (13), and a camera (8) which is rotatably connected with the free end of a push rod motor (15);

the control mechanism comprises a display control screen (14) and a controller connected with the display control screen (14), the control mechanism is arranged above the travelling mechanism, and the control mechanism controls the travelling mechanism, the recognition mechanism and the protection mechanism to perform cooperative action; after the identification mechanism acquires the information of the obstacle, under the action of the control mechanism, the protection mechanism drives the identification mechanism mounted on the protection mechanism to move downwards into the cylinder (3), and then the protection cover (11) is controlled by the first motor (17) to seal the cylinder (3).

2. The robot for automatic inspection and obstacle avoidance according to claim 1, wherein the radar monitoring assembly (9) comprises a radar obstacle avoidance unit (901) rotatably sleeved on the outer side surface of the mounting base (13) through a bearing, a first gear (902) connected with the inner wall of the radar obstacle avoidance unit (901), a second motor (903) fixed on the mounting base (13), and a second gear (904) connected with the output end of the second motor (903), and the second gear (904) is meshed with the first gear (902).

3. The automatic inspection and obstacle avoidance robot according to claim 1, wherein a pair of U-shaped plates (5) for mounting the display control screen (14) are fixed on the traveling mechanism, the display control screen (14) is mounted in a U-shaped groove of the U-shaped plates (5), and a strip-shaped groove is formed in the top wall of each U-shaped plate (5).

4. The automatic inspection obstacle avoidance robot according to claim 3, wherein brackets (4) of H-shaped structures are arranged on the left side and the right side of the cylinder (3), each bracket (4) comprises two parallel transverse plates connected with the outer wall of the cylinder (3) and connecting rods connected with the two parallel transverse plates, clamping plates (6) are sleeved on the left connecting rod and the right connecting rod, limiting blocks (7) matched with the strip-shaped grooves are arranged on the clamping plates (6), and the limiting blocks (7) penetrate through the strip-shaped grooves to be matched with the display control screen (14) so as to limit the display control screen (14).

5. The automatic inspection obstacle avoidance robot according to claim 4, wherein two concave strips capable of being matched with the limiting block (7) are arranged on two sides of the display control screen (14) in parallel.

6. The automatic inspection robot according to claim 4, wherein springs (10) are sleeved on the left connecting rod and the right connecting rod above the clamping plate (6).

7. The automatic inspection obstacle avoidance robot according to claim 4, wherein the two clamping plates (6) are connected through a connecting plate.

8. The automatic inspection and obstacle avoidance robot according to claim 1, wherein the traveling mechanism comprises a shell (1) and crawler assemblies (2) arranged on the left side and the right side of the shell (1), and the protection mechanism is arranged on the shell (1).

9. The automatic inspection obstacle avoidance robot according to claim 1, wherein the mounting base (13) comprises a circular ring portion penetrating the push rod of the push rod motor (15) and a cylindrical portion with the top end connected with the outer circumferential wall of the circular ring portion.

10. The automatic inspection and obstacle avoidance robot according to claim 1, wherein the middle part of the cylinder (3) is provided with two communicated circular grooves with different diameters, wherein the diameter of the upper circular groove is smaller; the limiting flange (16) comprises an upper cylinder and a lower cylinder which are matched with the two circular grooves and connected with each other.