CN111559437A

CN111559437A - Mobile chassis mechanism and inspection robot comprising same

Info

Publication number: CN111559437A
Application number: CN202010317199.6A
Authority: CN
Inventors: 张奎刚; 敖奇; 王福闯; 刘甲宾; 李超; 杨子赫; 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: 2020-04-21
Filing date: 2020-04-21
Publication date: 2020-08-21
Anticipated expiration: 2040-04-21
Also published as: CN111559437B

Abstract

The invention provides a mobile chassis mechanism and an inspection robot comprising the same, wherein the mobile chassis mechanism comprises: a chassis unit; the battery storage unit is arranged above the chassis unit and used for storing batteries; and the hardware module fixing unit is arranged above the battery storage unit and used for fixedly mounting the hardware module. The mobile chassis mechanism with the three-layer structure is arranged on the inspection robot, so that the purposes of reserving sufficient space for the arrangement of hardware equipment such as a battery driver and the like, physically isolating expensive equipment such as a controller, a main control board and the like from a dangerous source such as a battery, ensuring safety and facilitating the reduction of the gravity center of a heavy object placed on a bottom layer are achieved through the three-layer structure; meanwhile, the three rows of wheel structures arranged on the chassis unit can achieve the effect of turning in situ, so that the inspection robot can move conveniently and rotate in the direction, and the operation range of the inspection robot is further enlarged.

Description

Mobile chassis mechanism and inspection robot comprising same

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a movable chassis mechanism and an inspection robot comprising the same.

Background

The actual working environment of the inspection robot is variable, and an important index for judging the performance of the inspection robot is the working range. In actual conditions, the robot needs to lift the mechanical arm to a higher position for operation, the common inspection robot is within 1m of the diameter of a chassis and within 150kg of the weight, and besides an observation type inspection robot only lifting a camera, no inspection robot capable of operating well to a height of more than 2m exists in the market. The inspection robot in the prior art cannot achieve the main limiting factors of more than 2m of operation height, namely the anti-overturning capacity of the inspection robot, the stability of a lifting structure and the system rigidity during operation.

When the inspection robot works to more than 2m, the diameter of the chassis of the inspection robot is large, generally more than 1.5m, so that the stability is improved, but the passing capacity of the robot is limited due to the overlarge chassis, and the applicable working condition of the robot is limited in turn. For working conditions with narrow passageways and high operation heights, such as a railway signal machine room, the passageway is 0.8m wide, the highest button position is 2.2m, and the lowest button position is 0.2 m; there are a large amount of automation to patrol and examine and the operation demand under this operating mode, but have not solved the robot of patrolling and examining of this demand in the current product temporarily.

Disclosure of Invention

In view of the above problems, the present invention provides a mobile chassis mechanism for an inspection robot, including:

a chassis unit;

the battery storage unit is arranged above the chassis unit and used for storing batteries;

and the hardware module fixing unit is arranged above the battery storage unit and used for fixedly mounting the hardware module.

Preferably, the chassis unit comprises:

the universal wheel driving device comprises a chassis plate, universal wheels, universal wheel connecting pieces and driving wheel sets;

the chassis plate is symmetrically provided with two groups of mounting ends, each group of mounting ends respectively comprises two fixing points, each fixing point is respectively and fixedly provided with a universal wheel connecting piece, each universal wheel connecting piece is respectively and fixedly connected with a universal wheel, the chassis plate is provided with a group of driving wheel groups, one group of driving wheel groups comprises two hub motors, and the driving wheel groups are located between the two groups of mounting ends.

Preferably, a height adjusting groove is formed in the mounting position of the hub motor on the chassis plate.

Preferably, the battery storage unit includes:

a battery chassis;

the two groups of supporting and fixing pieces are arranged on the battery bottom plate at intervals;

the two sliding rails are respectively connected to each group of the supporting and fixing parts and are arranged close to the two groups of the supporting and fixing parts;

and the battery fixing frames are respectively connected to one sides, close to the two sliding rails, of the sliding rails and used for placing batteries.

The invention also provides an inspection robot, comprising the mobile chassis mechanism and the execution assembly according to the claims 1-4;

the movable chassis mechanism is used for bearing the movement of the inspection robot body;

the executing assembly is arranged above the moving chassis mechanism;

wherein the execution component comprises:

the bracket is fixedly arranged on the chassis plate;

the sliding module is vertically arranged and is arranged on the bracket;

the mechanical arm is connected to the sliding module in a sliding mode through a mechanical arm fixing piece;

and the wireless AP is fixedly arranged on the sliding module.

Preferably, the bracket comprises a bracket bottom plate, a bracket vertical plate and a bracket side plate;

the support bottom plate is connected with the support vertical plate at a certain included angle, one side of the support side plate is connected with one side face of the support vertical plate, and one end of the support side plate is connected with the support bottom plate.

Preferably, the support bottom plate is fixedly connected with the chassis plate, the support vertical plate is vertically connected to the support bottom plate, and the support side plate is vertically connected to the support bottom plate and connected to the support vertical plate.

Preferably, the support side plate is further provided with an obstacle avoidance device.

Preferably, a wireless charger is further arranged on the bracket side plate.

Preferably, the top of the sliding module is provided with a pan-tilt camera.

According to the mobile chassis mechanism and the inspection robot comprising the same, the mobile chassis mechanism with the three-layer structure is arranged for the inspection robot, so that the purposes of reserving sufficient space for the arrangement of hardware equipment such as a battery driver and the like, physically isolating expensive equipment such as a controller and a main control board and the like from a dangerous source such as a battery to ensure safety and facilitating the placement of heavy objects on a bottom layer to reduce the gravity center are achieved; meanwhile, the three rows of wheel structures arranged on the chassis unit can achieve the effect of turning in situ, so that the inspection robot can move conveniently and rotate in the direction, and the operation range of the inspection robot is further enlarged. 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 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 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 those skilled in the art can also obtain other drawings according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a mobile chassis mechanism according to an embodiment of the invention;

FIG. 2 shows a schematic structural diagram of a chassis unit of an embodiment of the present invention;

FIG. 3 is a schematic diagram of a battery storage unit according to an embodiment of the present invention;

fig. 4 shows a schematic structural diagram of the inspection robot according to the embodiment of the invention;

fig. 5 shows a schematic structural diagram of an executing component of the inspection robot according to the embodiment of the invention;

fig. 6 shows a schematic view of a support structure of the inspection robot according to the embodiment of the invention;

fig. 7 shows a schematic view of the working state of the inspection robot according to the embodiment of the invention.

In the figure: 1-moving the chassis mechanism; 11-a chassis unit; 111-a chassis plate; 112-universal wheels; 113-universal wheel connection; 114-a hub motor; 115-hub motor fixing ring; 116-height adjustment slots; 12-a battery storage unit; 121-a battery; 122-battery backplane; 123-supporting fixing piece; 124-sliding rails; 125-battery holder; 13-hardware module fixing unit; 131-hardware module; 2-an execution component; 21-a scaffold; 22-a sliding module; 23-a robotic arm; 24-a robot arm mount; 25-a wireless AP; 26-obstacle avoidance device; 27-a wireless charger; 28-pan-tilt camera.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be 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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1, fig. 1 shows a schematic structural diagram of a mobile chassis mechanism according to an embodiment of the present invention, and as shown in fig. 1, the mobile chassis mechanism for an inspection robot disclosed in the present invention is a three-layer structure. The method specifically comprises the following steps: a chassis unit 11 disposed on the bottom layer; a battery storage unit 12 disposed above the chassis unit 11 for storing a battery 121; and a hardware module fixing unit 13 disposed above the battery storage unit 12 for fixedly mounting the hardware module 131. The hardware module 131 includes a driver and/or a controller.

The three-layer mobile chassis structure designed by the invention solves the problems that: the floor type heavy object storage device has the advantages that sufficient space is reserved for arrangement of hardware devices such as battery drivers, expensive devices such as a controller and a main control board are physically isolated from a dangerous source such as a battery, safety is guaranteed, and the floor type structure is beneficial to placing heavy objects on the bottom layer to achieve gravity center reduction.

Specifically, referring to fig. 2, fig. 2 shows a structural schematic diagram of a chassis unit mechanism according to an embodiment of the present invention, and as shown in fig. 2, the chassis unit 11 includes a chassis plate 111, a universal wheel 112, a universal wheel connector 113, and a driving wheel set; illustratively, the chassis unit 11 has the following dimensions: when viewed from a top view of the chassis unit 11, the size of the chassis plate 111 may be within a range where a center of the top view of the chassis unit 11 is a circular point and 40cm is a radius. The chassis plate 111 is symmetrically provided with two groups of mounting ends, each group of mounting ends respectively comprises two fixing points, each fixing point is respectively and fixedly provided with a universal wheel connecting piece 113, each universal wheel connecting piece 113 is respectively and fixedly connected with a universal wheel 112, a group of driving wheel groups are arranged between the two groups of mounting ends, and each driving wheel group comprises two in-wheel motors 114.

Through the chassis unit 11 that this embodiment was confirmed, three row pair wheel structures in front, middle and back are constituteed jointly to universal wheel 112 and drive wheelset, and 6 move the form that the wheel wherein contains 2 drive wheels promptly, can reach the effect of pivot turn, and then improve the working range of patrolling and examining the robot.

Preferably, each set of the fixing points is symmetrically disposed about the chassis plate 111, and exemplarily, the fixing points are symmetrically disposed about the chassis plate 111.

Preferably, two of the hub motors 114 are symmetrically arranged with respect to the chassis plate 111, and exemplarily, two of the hub motors 114 are symmetrically arranged with respect to the chassis plate 111 from left to right, and the symmetry manner in the present design includes but is not limited to bilateral symmetry, and also can be centrally symmetrically arranged or axially symmetrically arranged according to actual needs.

Furthermore, in-wheel motor 114 passes through in-wheel motor fixed ring 115 fixed mounting and in on the chassis board 111, at the in-process of carrying out in-wheel motor 114's installation and dismantlement, only need install and dismantle to in-wheel motor fixed ring 115, just can reach the purpose of quick installation and tearing off in-wheel motor 114 to improve the efficiency of installation and maintenance protection.

Preferably, a height adjusting slot 116 is formed at the mounting position of the hub motor 114 on the chassis plate 111.

In the driving mode of the three-row pair wheel structure in this embodiment, that is, the driving wheel is in the middle, and the front and the rear are driven wheels, there are often situations that the mounted tires are unstable, the universal wheels 112 are worn and worn during long-time running, and the driving wheel set is overhead, so that the inspection robot cannot move. The height adjusting groove 116 is formed in the mounting position of the hub motor 114 on the chassis plate 111, so that the tire contact degree of the hub motor 114 can be adjusted, the contact degree of the tire of the hub motor 114 and the ground surface can be adjusted again after the conditions of processing or mounting errors, tire abrasion and the like occur, effective driving is further guaranteed, and the inspection robot can work normally.

For example, referring to fig. 3, fig. 3 shows a schematic structural diagram of a battery storage unit according to an embodiment of the present invention, and as shown in fig. 3, the battery storage unit 12 includes:

a battery bottom plate 122, two sets of supporting and fixing members 123, two sliding rails 124 and a battery fixing frame 125.

Specifically, two sets of the supporting and fixing members 123 are arranged on the battery bottom plate 122 at intervals, the supporting and fixing members 123 are fixedly connected with the battery bottom plate 122 through bolts, and the other ends of the supporting and fixing members 123 are fixedly connected with the hardware module fixing unit 13 through bolts; the two slide rails 124 are respectively and fixedly connected to each set of the supporting and fixing members 123 through bolts, the two slide rails 124 are disposed at the side close to the two sets of the supporting and fixing members 123, and the supporting and fixing members 123 and the slide rails 124 are fixedly connected through bolts; one side of each of the two adjacent sliding rails 124 is fixedly connected to a battery holder 125, and the two battery holders 125 together form a support frame for placing the battery 121. The above-mentioned connection means include, but are not limited to, fixing the connection by bolts. Among the prior art, the work of patrolling and examining the robot requires the duration to be more strict, consequently patrolling and examining the battery 121 that the robot was equipped with itself heavier, and battery 121 needs frequent change as the existence of key maintenance again, through setting up slide rail 124 in this embodiment, realizes that the pull structure is favorable to taking out battery 121 from patrolling and examining the robot body fast conveniently, carries out maintenance, has further improved the efficiency of work.

The invention also provides an inspection robot comprising the mobile chassis mechanism 1, and the specific structure of the inspection robot refers to fig. 4, fig. 4 shows a structural schematic diagram of the inspection robot according to the embodiment of the invention, and as shown in fig. 4, the inspection robot further comprises an execution assembly 2. The mobile chassis mechanism 1 is used for supporting and bearing the inspection robot body to move; and the executing assembly 2 is arranged above the moving chassis mechanism 1.

For example, referring to fig. 5, fig. 5 shows a schematic structural diagram of an execution component according to an embodiment of the present invention, and as shown in fig. 5, the execution component 2 includes: support 21, slide module 22, robotic arm 23 and wireless AP 25.

AP, Access Point, wireless Access node, session Point or Access bridge) is a generic name that includes not only a simple wireless Access Point (wireless AP), but also a generic name of wireless router (including wireless gateway and wireless bridge).

The wireless AP is also called a wireless access point, and is an access point of a wireless network, which is commonly called a "hot spot". The integrated device executes access and routing work, the pure access device is only responsible for access of a wireless client, the pure access device is usually used as a wireless network extension and connected with other APs or a main AP to expand a wireless coverage range, and the integrated device is generally the core of the wireless network.

Specifically, the bracket 21 is fixedly mounted on the chassis plate 111; the sliding module 22 is vertically arranged and is installed on the bracket 21; the mechanical arm 23 is connected to the sliding module 22 in a sliding manner through a mechanical arm fixing part 24; the wireless AP25 is fixedly mounted on the sliding module 22. The wireless AP25 is conveniently located at a higher position because it needs to receive a command signal, so the wireless AP25 is selected to be located on the sliding module 22.

Further, referring to fig. 6, fig. 6 shows a schematic view of a bracket structure of the embodiment of the present invention, and as shown in fig. 6, the bracket 21 includes a bracket bottom plate 211, a bracket vertical plate 212, and a bracket side plate 213. The bracket bottom plate 211 is connected with the bracket vertical plate 212 at a certain included angle, one side of the bracket side plate 213 is connected with one end of the bracket vertical plate 212, and one end of the bracket side plate 213 is connected with the bracket bottom plate 211. Illustratively, the bracket bottom plate 211 is fixedly connected to the bottom plate 111, the bracket vertical plate 212 is vertically connected to the bracket bottom plate 211, and the bracket side plate 213 is vertically connected to the bracket bottom plate 211 and connected to the bracket vertical plate 212. The connection relationship among the bracket bottom plate 211, the bracket vertical plate 212, the bracket side plate 213 and the chassis plate 111 includes, but is not limited to, bolt fastening connection.

Furthermore, the bracket side plate 213 is further provided with an obstacle avoidance device 26.

The obstacle avoidance device 26 is used for detecting whether an obstacle exists behind when the inspection robot backs up, and therefore, the obstacle avoidance device 26 is arranged facing the rear direction, that is, away from the direction in which the mechanical arm 23 is installed, and at the same time, a certain height is required to be away from the ground to make the scanning range larger, so that the obstacle avoidance device 26 is arranged on the support side plate 213 to achieve a better effect, but the obstacle avoidance device 26 is not limited to be arranged on the support side plate 213, and for example, the obstacle avoidance device 26 is arranged on the support upright plate 212.

Further, a wireless charger 27 is further provided on the cradle side plate 213.

In the process of the inspection robot in actual use, since the inspection robot is backward close to the wireless discharge module when charging, it is preferable that the wireless charger 27 is selectively set toward the rear, i.e., in a direction away from the robot arm 23, so as to be paired with the paired wireless discharge module placed at the indoor fixed position for charging.

Preferably, the obstacle avoidance device 26 and the wireless charger 27 may be further disposed on the sliding module 22, and the wireless AP25, the obstacle avoidance device 26 and the wireless charger 27 are disposed on the sliding module 22, so that height adjustment in the same direction can be facilitated, because the sliding module 22 has a nut groove of a profile, a nut can slide in the nut groove, and the three components are matched with the nut through a bolt, and the sliding of the nut drives the components to slide, so that height adjustment of each component can be achieved according to requirements of actual working conditions, and height adjustment of the components can be achieved after installation, so as to seek an optimal signal receiving position and a disassembly and installation position according with ergonomics.

Further, a pan-tilt camera 28 is installed on the top of the sliding module 22, and preferably, the pan-tilt camera 28 is an omni-directional pan-tilt camera for video shooting, temperature detection, image recognition, audio acquisition, and the like.

Specifically, there are two cameras on the revolving stage of cloud platform camera 28, and one of them is infrared camera, and infrared camera possesses the temperature measurement function, consequently utilizes it to carry out temperature detection, and another is high definition digtal camera for video acquisition and audio acquisition and image recognition.

Referring to fig. 7, fig. 7 is a schematic diagram illustrating a working state of the inspection robot according to the embodiment of the present invention, as shown in fig. 7, when the inspection robot of the present invention is used in an actual working condition, the sliding module 22 of the inspection robot drives the mechanical arm 23 to perform a large-scale lifting motion, and in addition, the operation range of the mechanical arm 23 itself makes the limited operation range reach 0-2.5m in a vertical direction. Various chucks (not shown) are applied to the robot arm 23 to accomplish different work tasks.

In the process of realizing stable operation, the inspection robot provided by the invention keeps low gravity center not by adding a balance weight, but by effectively and reasonably controlling and accurately distributing the quality of structural parts. The inspection robot has the advantages that the tail end executing mechanism of the mechanical arm has high load under the maximum working height (2.5m), the load is 15kg, and the absolute stability of the whole inspection robot can be still kept. The tail end of the mechanical arm is not vibrated due to the reduction of the rigidity of the whole machine caused by the extension of the arm and the load of the tail end, and the control precision of the tail end of the mechanical arm can still be controlled within 5 wires; the overturning resistant moment of the whole inspection robot reaches 500Nm, namely the whole inspection robot can bear more than 20 kilograms of thrust at the height of 2.5 meters without overturning.

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

Claims

1. The utility model provides a remove chassis mechanism for patrolling and examining robot which characterized in that includes:

a chassis unit (11);

a battery storage unit (12) disposed above the chassis unit (11) for storing a battery (121);

and the hardware module fixing unit (13) is arranged above the battery storage unit (12) and is used for fixedly mounting the hardware module (131).

2. The mobile chassis mechanism for inspection robots according to claim 1, characterized in that the chassis unit (11) comprises:

the device comprises a chassis plate (111), universal wheels (112), universal wheel connecting pieces (113) and driving wheel sets;

the chassis plate is characterized in that two groups of mounting ends are symmetrically arranged on the chassis plate (111), each group of mounting ends respectively comprises two fixing points, each fixing point is respectively and fixedly provided with a universal wheel connecting piece (113), each universal wheel connecting piece (113) is respectively and fixedly connected with a universal wheel (112), a group of driving wheel groups are arranged on the chassis plate (111) and comprise two in-wheel motors (114), and the driving wheel groups are located between the two groups of mounting ends.

3. The mobile chassis mechanism for the inspection robot according to claim 2, wherein a height adjustment groove (116) is provided at a mounting position of the hub motor (114) on the chassis plate (111).

4. The mobile chassis mechanism for inspection robots according to any one of claims 1 to 3, characterized in that the battery storage unit (12) comprises:

a battery backplane (122);

two groups of supporting and fixing pieces (123) are arranged on the battery bottom plate (122) at intervals;

the two sliding rails (124) are respectively connected to each group of the supporting and fixing pieces (123), and the two sliding rails (124) are arranged on the side close to the two groups of the supporting and fixing pieces (123);

and the battery fixing frame (125) is respectively connected to one side of the two sliding rails (124) close to each other and used for placing the battery (121).

5. Inspection robot, characterized in that it comprises a mobile chassis mechanism (1) according to claims 1-4 and an execution assembly (2);

the mobile chassis mechanism (1) is used for bearing the movement of the inspection robot body;

the execution assembly (2) is arranged above the moving chassis mechanism (1);

wherein the execution component (2) comprises:

the bracket (21) is fixedly arranged on the chassis plate (111);

the sliding module (22) is vertically arranged and is arranged on the bracket (21);

the mechanical arm (23) is connected to the sliding module (22) in a sliding mode through a mechanical arm fixing piece (24);

and the wireless AP (25) is fixedly arranged on the sliding module (22).

6. The inspection robot according to claim 5, wherein the stand (21) includes a stand bottom plate (211), a stand upright plate (212), and a stand side plate (213);

the support base plate (211) is connected with the support vertical plate (212) at a certain included angle, one side of the support side plate (213) is connected with one side face of the support vertical plate (212), and one end of the support side plate (213) is connected with the support base plate (211).

7. The inspection robot according to claim 6, wherein the support base plate (211) is fixedly connected with the base plate (111), the support vertical plate (212) is vertically connected to the support base plate (211), and the support side plate (213) is vertically connected to the support base plate (211) and connected to the support vertical plate (212).

8. The inspection robot according to claim 7, wherein the bracket side plate (213) is further provided with an obstacle avoidance device (26).

9. The inspection robot according to the claim 8, characterized in that a wireless charger (27) is further provided on the stand side plate (213).

10. The inspection robot according to any one of claims 5-9, wherein a pan-tilt camera (28) is mounted on top of the sliding module (22).