CN112298393B - Intelligent robot for security patrol - Google Patents
Intelligent robot for security patrol Download PDFInfo
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- CN112298393B CN112298393B CN202011211933.7A CN202011211933A CN112298393B CN 112298393 B CN112298393 B CN 112298393B CN 202011211933 A CN202011211933 A CN 202011211933A CN 112298393 B CN112298393 B CN 112298393B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
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Abstract
The invention belongs to the technical field of robots, in particular to an intelligent robot for security patrol, which comprises a shell, a motor and rollers, wherein the shell is provided with a plurality of rollers; a rotating column is rotatably connected to the position, close to the lower surface of the shell, in the shell; the front end surface and the rear end surface of the rotating column are fixedly connected with planetary supports; the surfaces of the planet supports are all rotatably connected with rollers which are uniformly distributed; a fixed plate is fixedly connected inside the shell; the rear side surface of the fixed plate is fixedly connected with a motor; mounting holes are formed in the surfaces of the rollers at the left side; suction plates are arranged inside the mounting holes; the invention effectively realizes that the roller can be automatically adsorbed on the ground of the stairs when the roller of the intelligent security patrol robot is in extrusion contact with the stairs, improves the ground gripping fastness between the intelligent security patrol robot and the ground of the stairs, reduces the risk of skidding and even backward skidding of the roller, and improves the ability and the safety of the robot for climbing the stairs.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an intelligent robot for security patrol.
Background
Along with the development of society, population is intensively transferred to cities, the population density of the cities is higher and higher, land resources are in shortage, in order to more fully utilize land resources, the existing buildings are higher and higher, new problems are brought to the high buildings, such as up-down moving of goods or people, the elevators are basically adopted at present, up-down moving inside the buildings is realized, but when power failure occurs, the elevators break down or fire occurs, stairs still need to be climbed to ensure up-down moving safety, but in the existing corridor, a plurality of main users can place personal articles privately, normal co-operation is blocked, escape passing under emergency is threatened, in the prior art, monitoring equipment is arranged inside the stair corridor, the cost is higher, and due to more dead view angles of the stair corridor, a plurality of areas cannot be monitored in an all-directional mode, in order to make patrol work in the corridor areas, the corridor is ensured to be smooth and the corridor is ensured to be safe to check, and the intelligent robot for security patrol can be arranged.
According to CN104443093A, the unmanned stair climbing robot realizes climbing between flat ground and stairs, avoids unstable phenomenon in the process of robot advancing, effectively improves stability, safety and reliability in the process of climbing, and is finally beneficial to realizing automation of the stair climbing robot.
However, in the prior art, most patrol robots can only travel on a flat bottom and cannot climb stairs, and in order to solve the problem, a plurality of robots capable of climbing stairs appear, the robots are roughly divided into a planetary wheel type and a crawler wheel type, when climbing stairs, the stair is damaged greatly by a wheel type structure of a crawler, the traveling process is unstable, and due to the adoption of the planetary wheel type, in the climbing process, if the surface of the stairs is smooth or the ground has more impurities, the phenomena of slipping, insufficient forward power, even backward slipping, great risk of climbing stairs and the like easily occur.
In view of the above, the present invention provides an intelligent robot for security patrol, which solves the above technical problems.
Disclosure of Invention
In order to solve the problems that most patrol robots can only travel on a flat bottom and cannot climb stairs in the prior art, a plurality of robots capable of climbing stairs appear, the robots are roughly divided into a planetary wheel type and a crawler wheel type, the wheel type structure of a crawler has large damage to the stairs when climbing the stairs and the traveling process is unstable, and due to the adoption of the planetary wheel type, in the climbing process, if the surface of a corridor is smooth or the ground has more impurities, the walking is easy to slip so that the advancing power is insufficient, even the walking back phenomenon occurs, the risk of climbing the stairs is high, and the like.
The technical scheme adopted by the invention for solving the technical problems is as follows: the intelligent robot for security patrol comprises a shell, a motor and rollers; a rotating column is rotatably connected to the position, close to the lower surface of the shell, in the shell; the front end surface and the rear end surface of each of the two rotating columns are fixedly connected with a planetary support; the surfaces of the planet supports are all rotatably connected with rollers which are uniformly distributed; a fixed plate is fixedly connected inside the shell; the rear side surface of the fixed plate is fixedly connected with a motor; mounting holes are formed in the surfaces of the rollers at the left side; a supporting block is arranged inside the mounting hole; the lower surface of the supporting block is vertically and slidably connected with a control block, and a first spring is fixedly connected between the control block and the supporting block; the left and the right of the surface of the supporting block are respectively provided with an air inlet hole and an air outlet hole; the lower surface of the control block is fixedly connected with a suction plate; the surfaces of the suction plates are provided with suction grooves; an air inlet channel and an air outlet channel are jointly and respectively arranged between the suction plate and the control block on the left and right; the left and right sides of the inner surface of the shell are fixedly connected with an air pressure tank and a negative pressure tank respectively; the surfaces of the air pressure tank and the negative pressure tank are fixedly connected with pressure release valves; when the escape way works, along with the development of society, people are intensively transferred to cities, the population density of the cities is higher and higher, the land resources are in shortage, in order to more fully utilize the land resources, the existing buildings are higher and higher, new problems are brought to the high buildings, such as up-down moving of goods or people, the elevators are basically adopted to realize up-down moving in the buildings, but when power failure occurs, the elevators break down or fire occurs, the stairs still need to be climbed to ensure the up-down moving safety, but in the existing corridor, a plurality of main users can place personal articles privately to prevent normal co-operation, and escape passing under emergency conditions is threatened, in the prior art, monitoring equipment is arranged in the staircase channel, the cost is higher, and because the staircase channel has more visual field dead angles, and a plurality of areas can not be monitored in an all-round way, in order to make patrol work in corridor areas, ensure corridor smoothness and corridor safety inspection work, a security patrol intelligent robot is arranged, in the prior art, most patrol robots can only travel on a flat bottom and cannot climb stairs, in order to solve the problem, a plurality of robots capable of climbing stairs are provided, the robots are roughly divided into a planetary wheel type robot and a crawler wheel type robot, when a wheel type structure of a crawler climbs the stairs, the damage to the stairs is large, the traveling process is unstable, and due to the adoption of the planetary wheel type robot, in the climbing process, if the surface of the corridor is smooth or the ground has more impurities, the problems that the power is insufficient due to slipping, even the phenomenon of sliding backwards occurs, the risk of climbing the stairs is large and the like easily occur, and the security patrol intelligent robot provided by the invention adopts a planetary wheel type structure, the intelligent robot for security patrol drives the robot to move by rotating the motor, the suction plate is communicated with the negative pressure tank, when the suction plate is pressed to the ground, the suction plate can upwards extrude the control block, the air outlet hole is communicated with the air outlet channel, and the adsorption effect of the suction plate on the ground is realized.
Preferably, a first transmission column is rotatably connected in front of the fixing plate; the surface of the first transmission column is fixedly connected with a first gear; the surface of the rotating column at the left side position is fixedly connected with a second gear; a second transmission column is rotatably connected inside the shell; the surface of the first transmission column is fixedly connected with a third gear; the surface of the second transmission column is fixedly connected with a fourth gear; the surface of the second transmission column is fixedly connected with a first rotating disc; a second rotating disc is rotatably connected inside the shell; a transmission belt is connected between the second rotating disc and the first rotating disc; the front end face of the second rotating disc is fixedly connected with a first power column; the surface of the first power column is rotatably connected with a first connecting rod; a first cylinder is fixedly connected inside the shell; a first piston is connected inside the first cylinder in a vertical sliding manner; when the pneumatic air pressure tank works, the motor can drive the first transmission column to rotate, the first transmission column can drive the first gear to rotate, the first gear can drive the second gear to rotate in a meshing mode, the second gear can drive the rotating column at the left side to rotate, the rotating column can drive the planetary supports at the front position and the rear position to rotate, the planetary supports can drive the rollers on the surfaces of the planetary supports to rotate, and quick climbing is realized. When the robot moves, the robot can be automatically adsorbed on the ground, linkage is realized, and power sources are reduced.
Preferably, a third rotating disc is rotatably connected to the right side of the second rotating disc in the machine shell, and the third rotating disc is connected with the first rotating disc and the second rotating disc through a transmission belt; the front end surface of the third rotating disc is fixedly connected with a second power column at a position close to the side surface of the third rotating disc; the surface of the second power column is rotatably connected with a second connecting rod; a second cylinder is fixedly connected to the position right above the second connecting rod in the shell; a second piston is connected inside the second cylinder in a vertical sliding mode, and the second piston is hinged with a second connecting rod; during operation, through setting up the second cylinder, the drive belt can drive the third rolling disc and rotate, the third rolling disc can drive the second power post and rotate, the second power post can drive the second connecting rod and rotate, the second connecting rod can drive the inside motion at the second cylinder of second piston, because second power post and first power post position are different, when first piston upward movement, the second piston can downstream, realize that the inside of atmospheric pressure jar and negative pressure jar is continuous aerifys and bleeds, the inside negative pressure fluctuation problem of negative pressure jar has been avoided.
Preferably, a fixed block is fixedly connected between the left rotating column and the right rotating column on the lower surface of the machine shell; a cavity is formed in the fixed block and is communicated with the air pressure tank; the surfaces of the fixed blocks are fixedly connected with uniformly arranged air nozzles which are communicated with the cavities; the during operation links firmly the jet-propelled head of evenly arranging through the lower surface that sets up the fixed block, all communicates each other between cavity and the atmospheric pressure jar through the jet-propelled head, has realized that the jet-propelled head is continuous outwards jet-propelled, because the jet-propelled head is located the place ahead position of suction disc, can clear up the ground in suction disc the place ahead through jet-propelled head spun gas, reduces the absorption fastness that ground foreign matter influences the suction disc to ground.
Preferably, the supporting blocks are rotatably connected to the insides of the corresponding mounting holes; second springs are correspondingly fixedly connected between the left side surface and the right side surface of the supporting block and the left side surface and the right side surface of the corresponding mounting hole; during operation, through rotating between supporting shoe and the mounting hole and being connected, when roll connection between gyro wheel and the ground, the gyro wheel when will take off the ground, the control block still receives the upper pressure, the suction disc keeps adsorbing ground, influenced the quick break-away between gyro wheel and the ground, through setting up the second spring, when the gyro wheel takes off the ground, the suction disc still does not break away from ground, the suction disc can receive advancing direction's side direction effort and upper and lower pulling force simultaneously, in order to reduce suction disc side direction and pull, lead to the suction disc to damage the problem, in the in-process of gyro wheel forward motion, the suction disc can automatic rotation regulation, guarantee suction disc venthole and air outlet channel intercommunication, suction disc and ground are automatic to break away from, avoid the friction between suction disc and the ground to pull, improve the life of suction disc.
Preferably, the surface of the suction plate is fixedly connected with an elastic membrane at a position close to the notch of the corresponding suction groove; during operation, the elastic membrane is arranged at the suction groove opening of the suction plate, when the suction groove negative pressure of the suction plate is adsorbed on the ground, the normal adsorption of the suction plate is ensured through the elastic deformation and the sealing separation of the elastic membrane, and meanwhile, impurities such as ground dust and the like are prevented from entering the suction groove to block the air outlet hole or the air outlet channel.
Preferably, the upper surface of the casing is provided with a fixing hole; the inside of the fixing hole is fixedly connected with a connecting block; an adjusting groove is formed in the connecting block; the inner part of the adjusting groove is fixedly connected with an arc-shaped plate; an adjusting rod is rotatably connected inside the adjusting groove; the lower end surface of the adjusting rod is fixedly connected with a gravity column at the position of the upper surface of the arc-shaped plate, the surface of the gravity column is rotatably connected with a rotating ring, and the rotating ring is in rolling connection with the surface of the arc-shaped plate; the upper surface of the adjusting rod is fixedly connected with a camera; the during operation, through setting up the gravity post, when this robot climbs stair, the slope can appear in the robot, robot top camera can slope, different stair inclination angle also can be different simultaneously, normal shooting of erectting has been influenced, through the action of gravity post, the gravity post can be at the upper surface motion of arc, realize erectting the regulation to the automation of regulating lever, through the regulation of adjusting the pole, guaranteed that the camera remains throughout and erects the state, guarantee the image or the image quality of control.
Preferably, a fourth rotating disc is rotatably connected to the right side of the third rotating disc in the casing, and the fourth rotating disc is connected with the first rotating disc, the second rotating disc and the third rotating disc through a transmission belt; the front end surface of the fourth rotating disc is fixedly connected with a third power column at a position close to the side surface of the fourth rotating disc; the surface of the third power column is rotatably connected with a third connecting rod; a third cylinder is fixedly connected to the position right above the third connecting rod in the shell; a third piston is connected inside the third cylinder in a vertical sliding mode, and the third piston is hinged with a third connecting rod; a guide plate is fixedly connected to the lower surface of the shell at the right side of the fixed block; the lower surface of the guide plate is provided with a guide groove; a moving block is connected in the guide groove in a front-back sliding manner; the lower surface of the moving block is fixedly connected with cleaning strips which are uniformly arranged; during operation, through setting up the third cylinder, it rotates to drive the fourth rolling disc through the drive belt, the fourth rolling disc can drive the rotation of third power post, third power post can drive the rotation of third connecting rod, the third connecting rod can drive the third piston and slide from top to bottom in the inside of third cylinder, power effect through the third cylinder, it slides around the guide slot of movable block inside to have realized, the movable block and then drives clearance strip back-and-forth movement, realize the clearance to the ground of left side gyro wheel right side direction of advance position, avoid ground to have major possession debris, the unable effectual clearance of jet-propelled head spun gas, influence the normal movement of gyro wheel.
Preferably, the diameter of the third gear is smaller than that of the fourth gear; during operation, the diameter of the third gear is designed to be smaller than that of the fourth gear, when the third gear drives the fourth gear to rotate, the rotating speed of the third gear is larger than that of the fourth gear, speed reduction processing is achieved, the situation that the up-and-down movement frequency of the third piston in the third cylinder is high, and then the moving block moves left and right quickly, and the problem that dust on the stair ground is raised in a large amount is solved.
The invention has the following beneficial effects:
1. according to the intelligent robot for the security patrol, the shell, the motor and the rollers are arranged, the motor is arranged in the shell and drives the rollers to rotate, the suction plates are uniformly arranged on the surfaces of the rollers, the rollers can be automatically adsorbed on the ground of the stairs when the rollers of the intelligent robot for the security patrol are in extrusion contact with the stairs, the ground gripping firmness between the intelligent robot for the security patrol and the ground of the stairs is improved, the risk of slipping and even sliding of the rollers is reduced, and the stair climbing capacity and safety of the robot are improved.
2. According to the intelligent robot for the security patrol, the adjusting rod, the arc-shaped plate and the gravity column are arranged, when the robot climbs stairs, the robot can incline, the camera at the top of the robot can incline, meanwhile, the inclination angles of different stairs are different, normal vertical shooting is influenced, the gravity column can move on the upper surface of the arc-shaped plate under the gravity action of the gravity column, automatic vertical adjustment of the adjusting rod is achieved, the camera is guaranteed to be always kept in a vertical state through adjustment of the adjusting rod, and monitored images or image quality is guaranteed.
Drawings
The invention will be further explained with reference to the drawings.
FIG. 1 is an external view of the present invention;
FIG. 2 is a perspective view of the present invention;
FIG. 3 is a top view of the present invention;
FIG. 4 is a cross-sectional view A-A of FIG. 3;
FIG. 5 is an enlarged partial view at B in FIG. 4;
in the figure: the device comprises a machine shell 1, a motor 2, rollers 3, a rotating column 4, a planet support 5, a first transmission column 6, a first gear 7, a second gear 8, a fixed plate 9, a second transmission column 10, a third gear 11, a fourth gear 12, a first rotating disc 13, a transmission belt 14, a first air cylinder 15, a supporting block 16, a control block 17, a first spring 18, a suction plate 19, a second rotating disc 20, a third rotating disc 21, a second air cylinder 22, a fixed block 23, an air nozzle 24, a second spring 25, an elastic membrane 26, a connecting block 27, an arc-shaped plate 28, an adjusting rod 29, a gravity column 30, a camera 31, a fourth rotating disc 32, a third air cylinder 33, a guide plate 34, a moving block 35 and a cleaning strip 36.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1 to 5, the intelligent robot for security patrol comprises a housing 1, a motor 2 and rollers 3; a rotating column 4 is rotatably connected to the position, close to the lower surface of the machine shell 1, in the machine shell 1; the front end surface and the rear end surface of each of the two rotating columns 4 are fixedly connected with a planetary support 5; the surfaces of the planet supports 5 are all rotatably connected with rollers 3 which are uniformly arranged; a fixed plate 9 is fixedly connected inside the machine shell 1; the rear side surface of the fixed plate 9 is fixedly connected with a motor 2; mounting holes are formed in the surfaces of the rollers 3 at the left side; a supporting block 16 is arranged in the mounting hole; the lower surface of the supporting block 16 is vertically and slidably connected with a control block 17, and a first spring 18 is fixedly connected between the control block 17 and the supporting block 16; the left and right sides of the surface of the supporting block 16 are respectively provided with an air inlet hole and an air outlet hole; the lower surface of the control block 17 is fixedly connected with a suction plate 19; the surfaces of the suction plates 19 are provided with suction grooves; an air inlet channel and an air outlet channel are jointly and respectively arranged between the suction plate 19 and the control block 17 on the left and right; the left side and the right side of the inner surface of the shell 1 are fixedly connected with an air pressure tank and a negative pressure tank respectively; the surfaces of the air pressure tank and the negative pressure tank are fixedly connected with pressure release valves; when the escape way works, along with the development of society, people are intensively transferred to cities, the population density of the cities is higher and higher, the land resources are in shortage, in order to more fully utilize the land resources, the existing buildings are higher and higher, new problems are brought to the high buildings, such as up-down moving of goods or people, the elevators are basically adopted to realize up-down moving in the buildings, but when power failure occurs, the elevators break down or fire occurs, the stairs still need to be climbed to ensure the up-down moving safety, but in the existing corridor, a plurality of main users can place personal articles privately to prevent normal co-operation, and escape passing under emergency conditions is threatened, in the prior art, monitoring equipment is arranged in the staircase channel, the cost is higher, and because the staircase channel has more visual field dead angles, and a plurality of areas can not be monitored in an all-round way, in order to make patrol work in corridor areas, ensure corridor smoothness and corridor safety inspection work, a security patrol intelligent robot is arranged, in the prior art, most patrol robots can only travel on a flat bottom and cannot climb stairs, in order to solve the problem, a plurality of robots capable of climbing stairs are provided, the robots are roughly divided into a planetary wheel type robot and a crawler wheel type robot, when a wheel type structure of a crawler climbs the stairs, the damage to the stairs is large, the traveling process is unstable, and due to the adoption of the planetary wheel type robot, in the climbing process, if the surface of the corridor is smooth or the ground has more impurities, the problems that the power is insufficient due to slipping, even the phenomenon of sliding backwards occurs, the risk of climbing the stairs is large and the like easily occur, and the security patrol intelligent robot provided by the invention adopts a planetary wheel type structure, the robot is driven to move by the rotation of the motor 2, the negative pressure tank is communicated with the suction plate 19, when the suction plate 19 presses the ground, the suction plate 19 can upwards extrude the control block 17, the air outlet hole is communicated with the air outlet channel, and the adsorption effect of the suction plate 19 on the ground is realized.
In one embodiment of the present invention, a first transmission column 6 is rotatably connected to the front of the fixed plate 9; the surface of the first transmission column 6 is fixedly connected with a first gear 7; the surface of the rotating column 4 at the left side position is fixedly connected with a second gear 8; a second transmission column 10 is rotatably connected inside the casing 1; the surface of the first transmission column 6 is fixedly connected with a third gear 11; the surface of the second transmission column 10 is fixedly connected with a fourth gear 12; the surface of the second transmission column 10 is fixedly connected with a first rotating disc 13; a second rotating disc 20 is rotatably connected inside the casing 1; a transmission belt 14 is connected between the second rotating disc 20 and the first rotating disc 13; the front end face of the second rotating disc 20 is fixedly connected with a first power column; the surface of the first power column is rotatably connected with a first connecting rod; a first cylinder 15 is fixedly connected inside the machine shell 1; a first piston is connected inside the first cylinder 15 in a vertical sliding manner; when the quick climbing stair climbing device works, the motor 2 can drive the first transmission column 6 to rotate, the first transmission column 6 can drive the first gear 7 to rotate, the first gear 7 can drive the second gear 8 to rotate in a meshing mode, the second gear 8 can drive the rotation column 4 at the left side position to rotate, the rotation column 4 can drive the planet supports 5 at the front position and the rear position to rotate, the planet supports 5 can drive the rollers 3 on the surfaces of the planet supports to rotate, quick climbing stairs is realized, when the first rotation column 4 rotates, the first rotation column 4 can drive the third gear 11 to rotate, the third gear 11 can drive the fourth gear 12 to rotate in a meshing mode, the fourth gear 12 can drive the second transmission column 10 to rotate, the second rotation column 4 can drive the first rotary disc to rotate, the first rotary disc drives the second rotary disc to rotate through the transmission belt 14, the second rotary disc can drive the first connecting rod to rotate, the first piston can be driven by the first connecting rod to move up and down in the first air cylinder 15, aerify and breathe in the inside of atmospheric pressure jar and negative pressure jar through first cylinder 15 realization for during the motion of this robot, can adsorb in ground automatically, realize the linkage, reduce the power supply.
As an embodiment of the present invention, a third rotating disk 21 is rotatably connected to the inside of the housing 1 at a right position of the second rotating disk 20, and the third rotating disk 21 is connected to the first rotating disk 13 and the second rotating disk 20 through a transmission belt 14; the front end surface of the third rotating disc 21 is fixedly connected with a second power column at a position close to the side surface of the third rotating disc 21; the surface of the second power column is rotatably connected with a second connecting rod; a second cylinder 22 is fixedly connected to the position right above the second connecting rod in the machine shell 1; a second piston is connected inside the second cylinder 22 in a vertical sliding manner, and the second piston is hinged with a second connecting rod; during operation, through setting up second cylinder 22, drive belt 14 can drive third rolling disc 21 and rotate, third rolling disc 21 can drive the rotation of second power post, the second power post can drive the rotation of second connecting rod, the second connecting rod can drive the inside motion at second cylinder 22 of second piston, because second power post and first power post position are different, when first piston upward movement, the second piston can downstream, realize that the inside of atmospheric pressure jar and negative pressure jar is continuous aerifys and bleeds, the inside negative pressure fluctuation problem of negative pressure jar has been avoided.
As an embodiment of the present invention, a fixing block 23 is fixedly connected to the lower surface of the housing 1 between the left and right rotating posts 4; a cavity is formed in the fixed block 23, and the cavity is communicated with the air pressure tank; the surface of the fixed block 23 is fixedly connected with uniformly arranged air nozzles 24, and the air nozzles 24 are communicated with the cavity; the during operation, through setting up fixed block 23, the lower surface through fixed block 23 links firmly the jet-propelled head 24 of evenly arranging, all communicates each other through between cavity and the atmospheric pressure jar through jet-propelled head 24, has realized that jet-propelled head 24 is continuous outwards spouts gas, because jet-propelled head 24 is located the place ahead position of suction disc 19, can clear up the ground in suction disc 19 the place ahead through jet-propelled head 24 spun gas, reduces the ground foreign matter and influences the absorption firmness of suction disc 19 to ground.
As an embodiment of the present invention, the supporting blocks 16 are rotatably connected to the inside of the corresponding mounting holes; the left side surface and the right side surface of the supporting block 16 and the left side surface and the right side surface of the corresponding mounting hole are fixedly connected with a second spring 25 correspondingly; when the automatic rotation type air outlet suction plate works, the supporting block 16 is rotatably connected with the mounting hole, when the roller 3 is in rolling connection with the ground, the roller 3 is about to be separated from the ground, the control block 17 is still under upper pressure, the suction plate 19 keeps adsorbing the ground, the quick separation between the roller 3 and the ground is influenced, through the arrangement of the second spring 25, when the roller 3 is separated from the ground, the suction plate 19 is still not separated from the ground, the suction plate 19 is simultaneously subjected to lateral acting force and vertical pulling force in the advancing direction, and in order to reduce the problem that the suction plate 19 is damaged due to lateral pulling of the suction plate 19, the suction plate 19 can automatically rotate and adjust in the advancing process of the roller 3, the air outlet hole of the suction plate 19 is ensured to be communicated with the air outlet channel, the suction plate 19 is automatically separated from the ground, the friction pulling between the suction plate 19 and the ground is avoided, and the service life of the suction plate 19 is prolonged.
As an embodiment of the present invention, the surface of the suction plate 19 is fixedly connected with an elastic membrane 26 at a position close to the notch of the corresponding suction groove; during operation, through the groove mouth that inhales at the suction disc 19 sets up elastic membrane 26, when the groove negative pressure that inhales of suction disc 19 adsorbs on ground, through elastic deformation and sealed separation of elastic membrane 26, guaranteed that suction disc 19 normally adsorbs, avoid impurity such as ground dust to get into the inside of inhaling the groove simultaneously, block up venthole or air outlet channel.
As an embodiment of the present invention, the upper surface of the casing 1 is provided with a fixing hole; the inside of the fixing hole is fixedly connected with a connecting block 27; an adjusting groove is formed in the connecting block 27; the inner part of the adjusting groove is fixedly connected with an arc-shaped plate 28; an adjusting rod 29 is rotatably connected inside the adjusting groove; the lower end surface of the adjusting rod 29 is fixedly connected with a gravity column 30 at the position of the upper surface of the arc-shaped plate 28, the surface of the gravity column 30 is rotatably connected with a rotating ring, and the rotating ring is in rolling connection with the surface of the arc-shaped plate 28; the upper surface of the adjusting rod 29 is fixedly connected with a camera 31; the during operation, through setting up gravity post 30, when this robot climbs stair, the slope can appear in the robot, robot top camera 31 can slope, different stair inclination angle also can be different simultaneously, the normal shooting of erectting has been influenced, gravity effect through gravity post 30, gravity post 30 can be at the upper surface motion of arc 28, the regulation is erect in the automation of realization to adjusting lever 29, through the regulation of adjusting lever 29, camera 31 has been guaranteed to remain throughout and has been erect the state, guarantee the image or the image quality of control.
As an embodiment of the present invention, a fourth rotating disc 32 is rotatably connected to the inside of the housing 1 at a right position of the third rotating disc 21, and the fourth rotating disc 32 is connected to the first rotating disc 13, the second rotating disc 20 and the third rotating disc 21 through a transmission belt 14; the front end surface of the fourth rotating disc 32 is fixedly connected with a third power column at a position close to the side surface of the fourth rotating disc 32; the surface of the third power column is rotatably connected with a third connecting rod; a third cylinder 33 is fixedly connected to the position right above the third connecting rod in the machine shell 1; a third piston is connected inside the third cylinder 33 in a vertical sliding manner, and the third piston is hinged with a third connecting rod; a guide plate 34 is fixedly connected to the lower surface of the machine shell 1 at the right side position of the fixed block 23; the lower surface of the guide plate 34 is provided with a guide groove; a moving block 35 is connected in the guide groove in a front-back sliding manner; the lower surface of the moving block 35 is fixedly connected with cleaning strips 36 which are uniformly arranged; during operation, through setting up third cylinder 33, it rotates to drive fourth rolling disc 32 through drive belt 14, fourth rolling disc 32 can drive the rotation of third power post, third power post can drive the rotation of third connecting rod, the third connecting rod can drive the third piston and slide from top to bottom in the inside of third cylinder 33, power effect through third cylinder 33, it slides around the guide slot is inside at baffle 34 to have realized moving block 35, moving block 35 and then drive clearance strip 36 back-and-forth movement, realize the clearance to the ground of 3 right sides direction of advance positions of left side gyro wheel, avoid ground to have major possession debris, the unable effectual clearance of gas of jet-propelled head 24 spun, influence the normal movement of gyro wheel 3.
As an embodiment of the present invention, the diameter of the third gear 11 is smaller than the diameter of the fourth gear 12; during operation, the diameter of the third gear 11 is designed to be smaller than that of the fourth gear 12, when the third gear 11 drives the fourth gear 12 to rotate, the rotating speed of the third gear 11 is larger than that of the fourth gear 12, so that speed reduction processing is realized, the problem that the third piston moves up and down in the third cylinder 33 at a high frequency, and then the moving block 35 moves left and right at a high speed, so that dust on the stair ground is raised greatly is solved.
The specific working process is as follows:
when the device works, by adopting a planetary wheel type structure, the motor 2 can drive the first transmission column 6 to rotate through the rotation of the motor 2, the first transmission column 6 can drive the first gear 7 to rotate, the first gear 7 can drive the second gear 8 to rotate through a meshing mode, the second gear 8 can drive the rotation column 4 at the left side position to rotate, the planet support 5 at the front and back positions can be driven to rotate through the rotation column 4, the planet support 5 can drive the roller 3 on the surface of the planet support to rotate, the rapid stair climbing is realized, when the first rotation column 4 rotates, the first rotation column 4 can drive the third gear 11 to rotate, the third gear 11 drives the fourth gear 12 to rotate through a meshing mode, the fourth gear 12 can drive the second transmission column 10 to rotate, the second rotation column 4 can drive the first rotating disc to rotate, the first rotating disc drives the second rotating disc to rotate through the transmission belt 14, the second rotating disc can drive the first connecting rod to rotate, the first piston is driven to move up and down in the first air cylinder 15 through the first connecting rod, the air inflation and air suction of the air pressure tank and the negative pressure tank are realized through the first air cylinder 15, the negative pressure tank is communicated with the suction plate 19, when the suction plate 19 is pressed to the ground, the suction plate 19 upwards extrudes the control block 17, the air outlet hole is communicated with the air outlet channel, and the adsorption effect of the suction plate 19 on the ground is realized; by arranging the second cylinder 22, the transmission belt 14 can drive the third rotating disc 21 to rotate, the third rotating disc 21 can drive the second power column to rotate, the second power column can drive the second connecting rod to rotate, and the second connecting rod can drive the second piston to move in the second cylinder 22; through the arrangement of the fixed block 23, the uniformly arranged gas nozzles 24 are fixedly connected to the lower surface of the fixed block 23, and the gas nozzles 24 are communicated with the air pressure tank through the cavity, so that the gas nozzles 24 continuously spray gas outwards, and because the gas nozzles 24 are positioned in front of the suction plate 19, the gas sprayed by the gas nozzles 24 can clean the ground in front of the suction plate 19, and the influence of impurities on the ground on the adsorption firmness of the suction plate 19 on the ground is reduced; by rotationally connecting the supporting block 16 with the mounting hole, when the roller 3 is in rolling connection with the ground, and the roller 3 is about to be separated from the ground, the control block 17 is still under upper pressure, the suction plate 19 keeps adsorbing the ground, so that rapid separation between the roller 3 and the ground is influenced, by arranging the second spring 25, when the roller 3 is separated from the ground, the suction plate 19 is still not separated from the ground, the suction plate 19 is simultaneously subjected to lateral acting force and vertical pulling force in the advancing direction, in order to reduce the problem that the suction plate 19 is laterally pulled to cause damage to the suction plate 19, in the advancing process of the roller 3, the suction plate 19 can automatically rotate and adjust, so that the air outlet hole of the suction plate 19 is communicated with the air outlet channel, the suction plate 19 is automatically separated from the ground, the friction pulling between the suction plate 19 and the ground is avoided, and the service life of the suction plate 19 is prolonged; by arranging the elastic membrane 26 at the suction groove opening of the suction plate 19, when the suction groove of the suction plate 19 is adsorbed on the ground under negative pressure, normal adsorption of the suction plate 19 is ensured through elastic deformation and sealing separation of the elastic membrane 26, and meanwhile, impurities such as ground dust and the like are prevented from entering the suction groove to block the air outlet hole or the air outlet channel; by arranging the gravity post 30, when the robot climbs stairs, the robot can incline, the camera 31 at the top of the robot can incline, meanwhile, the inclination angles of different stairs are different, so that the normal vertical shooting is influenced, through the gravity action of the gravity post 30, the gravity post 30 can move on the upper surface of the arc-shaped plate 28, the automatic vertical adjustment of the adjusting rod 29 is realized, through the adjustment of the adjusting rod 29, the camera 31 is ensured to be always kept in a vertical state, and the quality of monitored images or images is ensured; through the arrangement of the third air cylinder 33, the fourth rotating disc 32 is driven to rotate through the transmission belt 14, the fourth rotating disc 32 can drive the third power column to rotate, the third power column can drive the third connecting rod to rotate, the third connecting rod can drive the third piston to slide up and down in the third air cylinder 33, through the power action of the third air cylinder 33, the moving block 35 can slide back and forth in the guide groove of the guide plate 34, the moving block 35 further drives the cleaning strip 36 to move back and forth, the cleaning of the ground at the forward direction position on the right side of the left side roller 3 is realized, the ground is prevented from containing large sundries, the gas sprayed by the gas spraying head 24 cannot be effectively cleaned, and the normal movement of the roller 3 is influenced; through being less than the diameter of fourth gear 12 with the diameter design of third gear 11, when third gear 11 drove fourth gear 12 and rotates, the slew velocity of third gear 11 was greater than the slew velocity of fourth gear 12, has realized the deceleration and has handled, has avoided the third piston to be higher at the inside up-and-down motion frequency of third cylinder 33, and then the removal speed is very fast about movable block 35, leads to the problem of the dust on stair ground raises in a large number.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The intelligent robot for security patrol comprises a shell (1), a motor (2) and rollers (3); the method is characterized in that: a rotating column (4) is rotatably connected to the position, close to the lower surface of the machine shell (1), in the machine shell (1); the front end surface and the rear end surface of each of the two rotating columns (4) are fixedly connected with a planetary support (5); the surfaces of the planet supports (5) are all rotationally connected with rollers (3) which are uniformly distributed; a fixed plate (9) is fixedly connected inside the machine shell (1); the rear side surface of the fixed plate (9) is fixedly connected with a motor (2); mounting holes are formed in the surfaces of the rollers (3) at the left side; a supporting block (16) is arranged inside the mounting hole; the lower surface of the supporting block (16) is vertically and slidably connected with a control block (17), and a first spring (18) is fixedly connected between the control block (17) and the supporting block (16); the left and the right of the surface of the supporting block (16) are respectively provided with an air inlet and an air outlet; the lower surface of the control block (17) is fixedly connected with a suction plate (19); the surfaces of the suction plates (19) are provided with suction grooves; an air inlet channel and an air outlet channel are jointly and respectively arranged between the suction plate (19) and the control block (17) on the left and right; the left side and the right side of the inner surface of the shell (1) are fixedly connected with an air pressure tank and a negative pressure tank respectively; the surfaces of the air pressure tank and the negative pressure tank are fixedly connected with pressure release valves;
a first transmission column (6) is rotatably connected in front of the fixed plate (9); the surface of the first transmission column (6) is fixedly connected with a first gear (7); the surface of the rotating column (4) at the left side position is fixedly connected with a second gear (8); a second transmission column (10) is rotatably connected inside the machine shell (1); the surface of the first transmission column (6) is fixedly connected with a third gear (11); the surface of the second transmission column (10) is fixedly connected with a fourth gear (12); the surface of the second transmission column (10) is fixedly connected with a first rotating disc (13); a second rotating disc (20) is rotatably connected inside the shell (1); a transmission belt (14) is connected between the second rotating disc (20) and the first rotating disc (13); the front end face of the second rotating disc (20) is fixedly connected with a first power column; the surface of the first power column is rotatably connected with a first connecting rod; a first cylinder (15) is fixedly connected inside the machine shell (1); a first piston is connected inside the first cylinder (15) in a vertical sliding manner;
a third rotating disc (21) is rotatably connected to the right side of the second rotating disc (20) in the machine shell (1), and the third rotating disc (21) is mutually connected with the first rotating disc (13) and the second rotating disc (20) through a transmission belt (14); the front end surface of the third rotating disc (21) is fixedly connected with a second power column at the side position close to the third rotating disc (21); the surface of the second power column is rotatably connected with a second connecting rod; a second cylinder (22) is fixedly connected to the position right above the second connecting rod in the shell (1); a second piston is connected inside the second cylinder (22) in a vertical sliding mode, and the second piston is hinged with a second connecting rod;
a fixed block (23) is fixedly connected between the left rotating column and the right rotating column (4) on the lower surface of the machine shell (1); a cavity is formed in the fixed block (23), and the cavity is communicated with the air pressure tank; the surface of the fixed block (23) is fixedly connected with uniformly arranged air nozzles (24), and the air nozzles (24) are communicated with the cavity;
a fourth rotating disc (32) is rotatably connected to the right side of the third rotating disc (21) in the machine shell (1), and the fourth rotating disc (32) is mutually connected with the first rotating disc (13), the second rotating disc (20) and the third rotating disc (21) through a transmission belt (14); the front end surface of the fourth rotating disc (32) is fixedly connected with a third power column at a side position close to the fourth rotating disc (32); the surface of the third power column is rotatably connected with a third connecting rod; a third cylinder (33) is fixedly connected with the position right above the third connecting rod in the shell (1); a third piston is connected inside the third cylinder (33) in a vertical sliding manner, and the third piston is hinged with a third connecting rod; a guide plate (34) is fixedly connected to the lower surface of the machine shell (1) at the right side position of the fixed block (23); the lower surface of the guide plate (34) is provided with a guide groove; a moving block (35) is connected in the guide groove in a front-back sliding manner; the lower surface of the moving block (35) is fixedly connected with cleaning strips (36) which are uniformly arranged.
2. The intelligent robot for security patrol according to claim 1, wherein: the supporting blocks (16) are rotatably connected to the inner parts of the corresponding mounting holes; and second springs (25) are correspondingly fixedly connected between the left side surface and the right side surface of the supporting block (16) and the left side surface and the right side surface of the corresponding mounting hole.
3. The intelligent robot for security patrol according to claim 1, wherein: elastic films (26) are fixedly connected to the positions, close to the notches of the corresponding suction grooves, of the surfaces of the suction plates (19).
4. The intelligent robot for security patrol according to claim 1, wherein: the upper surface of the shell (1) is provided with a fixing hole; the inside of the fixing hole is fixedly connected with a connecting block (27); an adjusting groove is formed in the connecting block (27); an arc-shaped plate (28) is fixedly connected inside the adjusting groove; an adjusting rod (29) is rotatably connected inside the adjusting groove; the lower end surface of the adjusting rod (29) is fixedly connected with a gravity column (30) at the position of the upper surface of the arc-shaped plate (28), the surface of the gravity column (30) is rotatably connected with a rotating ring, and the rotating ring is in rolling connection with the surface of the arc-shaped plate (28); the upper surface of the adjusting rod (29) is fixedly connected with a camera (31).
5. The intelligent robot for security patrol according to claim 1, wherein: the diameter of the third gear (11) is smaller than that of the fourth gear (12).
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| KR20010000543A (en) * | 2000-10-02 | 2001-01-05 | 남병호 | Sewage disposal oxygen supply pump's piston structure |
| CN102765432B (en) * | 2012-07-02 | 2014-09-17 | 中国计量学院 | Composite sucker capable of adapting to rough and dusty wall |
| CN103407510A (en) * | 2013-08-21 | 2013-11-27 | 上海工程技术大学 | Deformable planet wheel robot with left body and right body hinged |
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Effective date of registration: 20211116 Address after: 214000 room 7-810, Aokai City Plaza, 1777 Zhonghui Avenue, Huishan District, Wuxi City, Jiangsu Province (Urban Railway Huishan station area) Applicant after: Wuxi Zike Technology Co., Ltd Address before: 325000 No. 46, Xiaonan Road, Lucheng District, Wenzhou City, Zhejiang Province Applicant before: Wenzhou Jianjie Machinery Technology Co., Ltd |
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