CN112659811A - Wheel type inspection robot - Google Patents
Wheel type inspection robot Download PDFInfo
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- CN112659811A CN112659811A CN202011643111.6A CN202011643111A CN112659811A CN 112659811 A CN112659811 A CN 112659811A CN 202011643111 A CN202011643111 A CN 202011643111A CN 112659811 A CN112659811 A CN 112659811A
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- walking wheel
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Abstract
The invention discloses a wheel type inspection robot, which comprises a rack, a walking device and an information acquisition device, wherein the walking device comprises a plurality of walking wheel assemblies arranged on the rack and power assemblies matched with the walking wheel assemblies one by one, the power assemblies are arranged on the rack and are used for driving the walking wheel assemblies to rotate so as to realize the running of the robot, and the walking wheel assemblies have X-direction and Y-direction component speeds at the contact positions with the ground when rotating; the invention can independently drive the rotation direction and the rotation speed of the walking wheel assembly to control the component speed of each walking wheel assembly in the X direction and the Y direction, so that the driving frame of each walking wheel assembly can realize advancing, traversing, in-situ steering and the like, is beneficial to adapting to rugged terrain, can meet the operation requirements of traversing, steering and the like in narrow space, can replace manual inspection, and reduces the manual labor amount.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wheel type robot.
Background
During the comparatively narrow and small patrolling and examining in relief rugged and uneven, space, traditional robot is difficult for passing through under this environment, is difficult to adapt to the road conditions that need turn to or turn around moreover, consequently to in this operating mode, patrols and examines and need artifical handheld device operation usually, leads to the inefficiency extremely, and intensity of labour is big.
Therefore, an inspection robot applied to the road conditions is needed, which has strong obstacle-crossing capability, is suitable for rugged road conditions, and can realize steering or turning around in a small space.
Disclosure of Invention
In view of this, the present invention provides a wheel type inspection robot, which has a strong obstacle crossing capability, is suitable for rough road conditions, and can turn around or turn around in a small space.
The wheel type inspection robot comprises a rack, a walking device and an information acquisition device, wherein the walking device comprises a plurality of walking wheel assemblies arranged on the rack and power assemblies matched with the walking wheel assemblies one by one, the power assemblies are arranged on the rack and used for driving the walking wheel assemblies to rotate so as to realize the running of the robot, the information acquisition device is arranged on the rack and used for acquiring environmental information, and the walking wheel assemblies have X-direction and Y-direction sub-speeds at the positions contacted with the ground when rotating.
Further, the walking wheel assembly comprises a swing arm, a shock absorber and a walking wheel, wherein the swing arm can swing up and down and is installed on the frame, the walking wheel is installed at the free end of the swing arm in a rotating fit mode, and the shock absorber is connected between the swing arm and the frame to provide buffering acting force when the swing arm swings.
Further, each fixedly connected with installation arm of the horizontal both sides of frame, installation arm longitudinal extension forms two installation departments at vertical both ends, respectively install a walking wheel subassembly on two installation departments.
Further, the walking wheel includes that running fit installs the wheel hub on the swing arm and installs on wheel hub and around a plurality of rollers of wheel hub excircle, wheel hub's axis transversely sets up, the roller uses the wheel hub axis to be central symmetric distribution, the axis of roller is the contained angle setting with the wheel hub axis, power component is used for driving wheel hub and rotates.
Furthermore, the four walking wheel assemblies are arranged and distributed in four corners, and the rollers corresponding to the four walking wheel assemblies are distributed in an O shape.
Furthermore, the swing arm comprises two parallel arm plates, and the two wall plates are transversely clamped on two sides of the mounting part and are in running fit with the mounting part.
Further, the installation arm comprises two parallel arrangement's mounting panel, the horizontal lateral part fixedly connected with installation piece of frame side, mounting panel fixed connection is in the horizontal both sides of installation piece.
Further, the longitudinal two ends of the mounting plate protrude upwards to form mounting parts.
Further, wheel hub is formed by two wheel hub panel beating transverse connection, wheel hub panel beating axial bending is the wave and has formed the installation cavity that a plurality of and each roller match between two wheel hub panel beating, the roller is installed in the installation cavity and is installed on two wheel hub panel beating with normal running fit.
Further, the frame includes the shell and installs the mounting panel of arranging about two-layer in the shell, the outside outstanding and installation arm fixed connection of the horizontal lateral part of mounting panel, information acquisition device is including installing infrared imager and the camera on the shell.
The invention has the beneficial effects that:
the walking wheel assembly can be independently driven to rotate in the rotating direction and the rotating speed so as to control the component speeds of each walking wheel assembly in the X direction and the Y direction, so that a driving rack of each walking wheel assembly can realize advancing, transverse moving, in-situ steering and the like, the walking wheel assembly is favorable for adapting to rugged terrain, the running requirements of transverse moving, steering and the like in a narrow space can be met, manual inspection can be replaced, the manual labor amount is reduced, in addition, each walking wheel assembly can be respectively controlled and combined with the component speeds in the X direction and the Y direction, and the obstacle crossing capability of an inspection robot is favorably improved;
the shock absorber provides an acting force opposite to the swinging force in the swinging process of the swing arm, and the structure realizes good shock absorption characteristic, so that the vehicle body can be more stable in the operation process; two walking wheel assemblies and matched shock absorbers are integrated on each mounting arm, and the structure is favorable for modularizing the whole robot and quickly assembling the robot.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of a walking device;
FIG. 3 is a schematic view of a frame structure;
FIG. 4 is a schematic top view;
FIG. 5 is a schematic view of a forward structure;
FIG. 6 is a schematic view of a traversing mechanism;
FIG. 7 is a schematic view of an in-situ steering structure;
Detailed Description
As shown in the figure: the robot is patrolled and examined to wheel-type of this embodiment, including frame 10, running gear and information acquisition device 20, running gear including install in the frame a plurality of walking wheel subassembly 30 and with each walking wheel subassembly one-to-one complex power component 40, power component installs and is used for driving walking wheel subassembly rotation and then realizes that the robot goes in the frame, information acquisition device installs and is used for gathering environmental information in the frame, walking wheel subassembly has X to and Y to branch speed with ground contact department when rotating. The X direction is the length direction of the robot body, the Y direction is the width direction of the robot body, the four walking wheel assemblies are preferably arranged at four corners around the frame, four groups of power assemblies are correspondingly arranged to respectively drive the walking wheel assemblies, the power assemblies adopt motors and directly drive the walking wheel assemblies to rotate through the motors, the rotating direction and the rotating speed of the walking wheel component can be controlled independently so as to control the component speed of each walking wheel component in the X direction and the Y direction, thereby the driving frame of each walking wheel component can realize advancing, traversing, pivot steering and the like, is beneficial to adapting to rugged terrain, can meet the running requirements of transverse movement, steering and the like in a narrow space, can replace manual inspection, reduces the manual labor amount, in addition, each traveling wheel set can be respectively controlled and combined with the speed division in the X direction and the Y direction, and the obstacle crossing capability of the inspection robot is improved.
In this embodiment, the walking wheel subassembly includes swing arm 31, bumper shock absorber 32 and walking wheel 33, but the swing arm luffing motion is installed on the frame, walking wheel 33 normal running fit installs in the free end of swing arm, bumper shock absorber 32 is connected between swing arm and frame in order to provide the cushioning effect when swinging to the swing arm. The frame is built by aluminum alloy frame and is formed, and bumper shock absorber 32 adopts spring damper, air damper or hydraulic shock absorber, can select current bumper shock absorber structure for use according to needs, combines fig. 2 to show, and bumper shock absorber 32 provides the effort opposite with the swing for the swing arm swing in-process, realizes good shock attenuation characteristic through this structure for the automobile body can be more steady at the operation in-process.
In this embodiment, the frame is fixedly connected with mounting arms 50 at two lateral sides, the mounting arms extend longitudinally and form two mounting portions 51 at two longitudinal ends, and a traveling wheel assembly is mounted on each of the two mounting portions 51. The transverse direction is consistent with the width direction of the vehicle body and is also consistent with the Y direction; with reference to fig. 1 and 2, four walking wheel assemblies are mounted on the frame, two walking wheel assemblies are mounted on each mounting arm, and a power assembly 40 is mounted on the inner side of each mounting arm and used for driving the corresponding walking wheel assemblies to rotate.
In this embodiment, walking wheel 33 includes that running fit installs the wheel hub on the swing arm and installs on wheel hub and around a plurality of rollers 33a of wheel hub excircle, wheel hub's axis transversely sets up, roller 33a uses the wheel hub axis to be central symmetric distribution, the axis of roller is the contained angle setting with the wheel hub axis, power component is used for driving wheel hub and rotates. Referring to fig. 1 and 2, the axes of the rollers and the axes of the hubs form 45 degrees, the roller inclination directions of the walking wheel assemblies are consistent, the roller inclination directions of the walking wheel assemblies can be adjusted according to actual needs, and the speed division of the walking wheel assemblies in the X-direction and the Y-direction is realized through the free rotation of the rollers.
In this embodiment, the four walking wheel assemblies are arranged and distributed at four corners, and the rollers 33a corresponding to the four walking wheel assemblies are distributed in an O shape. The specific form of the O-shaped distribution can be combined with fig. 4 and 5, fig. 4 is another embodiment of the distribution of the road wheel assemblies, fig. 5 is the distribution form of the rollers at the contact positions of the four road wheel assemblies in fig. 4 with the ground, and the rollers at the contact positions with the ground in fig. 5 enclose an approximately O-shaped structure, so the rollers are called as the O-shaped distribution, and in combination with fig. 5, the steering directions and the rotating speeds of the four hubs are the same, at this time, the robot normally walks forwards due to the fact that the Y-direction component speeds are mutually offset, in combination with fig. 6, the two diagonal sets of hubs are reversely steered, at this time, the X-direction component speeds are mutually offset, the robot transversely walks, in combination with fig. 7, the two hubs on one side transversely rotate forwards, the two hubs on the other side rotate backwards.
In this embodiment, the swing arm 31 is composed of two parallel arm plates 31a, which are transversely clamped at two sides of the mounting portion 51 and are rotatably matched with the mounting portion. Combine fig. 2 and fig. 3 to show, two arm boards 31a are the triangle-shaped structure, respectively set up three pivot near the three angle departments of wallboard, one of them pivot and installation department normal running fit, another pivot and bumper shock absorber 32 one end normal running fit, remaining pivot and walking wheel subassembly normal running fit, and three pivot both sides all have the step shaft, have kept the clearance between two wallboards invariable through the step shaft for two wallboards have formed frame construction, improve the structural strength and the rigidity of swing arm.
In this embodiment, the mounting arm 50 is composed of two mounting plates 52 arranged in parallel, the lateral side of the frame side is fixedly connected with a mounting block 53, and the mounting plates 52 are fixedly connected to the lateral sides of the mounting block. Referring to fig. 2 and 3, the mounting block 53 is located on and fixedly connected to the two mounting plates, and serves as a support structure between the two mounting plates and also serves as a mounting base for the mounting plate 52, and the mounting plate is fixed to the mounting block and supported on the lower mounting plate.
In this embodiment, the mounting plate 52 has two ends protruding upward in the longitudinal direction to form mounting portions. As shown in the combined figure 2, the middle of the mounting plate is narrow, the longitudinal ends of the mounting plate are wide, and the two ends of the longitudinal beam are used as mounting parts, so that the mounting plate is beneficial to matching with a shock absorber and a swing arm.
In this embodiment, wheel hub is formed by two wheel hub panel beating 33b transverse connection, wheel hub panel beating axial bending is the wave and has formed the installation cavity that a plurality of and each roller match between two wheel hub panel beating, the roller is installed in the installation cavity and is installed on two wheel hub panel beating with normal running fit. As shown in the combined drawing 2, the two hub metal plates 33b are fastened through bolts, a plurality of rectangular mounting cavities parallel to the rollers are formed between the two hub metal plates 33b, each roller is independently installed in each rectangular mounting cavity in a rolling mode, and the hub metal plates 33b matched with the structure are beneficial to installation of the rollers.
In this embodiment, the rack 10 includes a housing 11 and two layers of mounting plates 12 arranged up and down and mounted in the housing, the lateral sides of the mounting plates protrude outwards and are fixedly connected with the mounting arms 50, and the information collecting device 20 includes an infrared imager 21 and a camera 22 mounted on the housing. A laser radar 23 and a depth camera 24 are integrated outside the shell, and form a navigation system for realizing indoor and outdoor positioning, navigation and path planning functions; the infrared imager 21 and the camera 22 are used for detecting a target scene and recording characteristics such as video, sound and temperature, wherein the infrared imager 21 and the camera 22 are mounted on a two-axis holder to adjust a detection angle; the two layers of mounting plates are used for reserving enough mounting space inside the robot, wherein an upper computer onboard computer is mounted on the mounting plates and used for controlling the laser radar, the depth camera and the camera and communicating with a lower computer, an upper computer battery panel is also mounted on the mounting plates and used for supplying power to the upper computer, and of course, other types of sensors such as a humidity sensor and the like can also be mounted at the outer shell, which is not specifically described;
finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (10)
1. The utility model provides a robot is patrolled and examined to wheeled, its characterized in that: including frame, running gear and information acquisition device, running gear including install a plurality of walking wheel subassembly in the frame and with each walking wheel subassembly one-to-one complex power component, power component installs and is used for driving walking wheel subassembly rotation and then realizes that the robot goes in the frame, information acquisition device installs and is used for gathering environmental information in the frame, walking wheel subassembly has X to and Y to branch speed with ground contact department when rotating.
2. The wheeled inspection robot of claim 1, wherein: the walking wheel assembly comprises a swing arm, a shock absorber and a walking wheel, wherein the swing arm can swing up and down and is installed on the frame, the walking wheel is installed at the free end of the swing arm in a rotating fit mode, and the shock absorber is connected between the swing arm and the frame to provide buffering acting force when the swing arm swings.
3. The wheeled inspection robot of claim 2, wherein: the frame is transversely each fixedly connected with installation arm in both sides, installation arm longitudinal extension forms two installation departments at vertical both ends, respectively install a walking wheel subassembly on two installation departments.
4. The wheeled inspection robot of claim 2, wherein: the walking wheel includes that running fit installs the wheel hub on the swing arm and installs on wheel hub and around a plurality of rollers of wheel hub excircle, wheel hub's axis transversely sets up, and is individual the roller uses the wheel hub axis to be central symmetric distribution, the axis of roller is the contained angle setting with the wheel hub axis, power component is used for driving wheel hub and rotates.
5. The wheeled inspection robot of claim 4, wherein: the four walking wheel assemblies are arranged and distributed in four corners, and rollers corresponding to the four walking wheel assemblies are distributed in an O shape.
6. The wheeled inspection robot according to claim 3, wherein: the swing arm comprises two parallel arrangement's arm board, two horizontal centre gripping in installation department both sides of wallboard and with installation department normal running fit.
7. The wheeled inspection robot of claim 6, wherein: the mounting arm comprises two parallel arrangement's mounting panel, the horizontal lateral part fixedly connected with installation piece of frame side, mounting panel fixed connection is in the horizontal both sides of installation piece.
8. The wheeled inspection robot of claim 7, wherein: the mounting plate is provided with mounting parts formed by upwards protruding two longitudinal ends.
9. The wheeled inspection robot of claim 1, wherein: wheel hub is formed by two wheel hub panel beating transverse connection, wheel hub panel beating axial bending is the wave and has formed the installation cavity that a plurality of and each roller match between two wheel hub panel beating, the roller is installed in the installation cavity and is installed on two wheel hub panel beating with normal running fit.
10. The wheeled inspection robot according to claim 3, wherein: the frame includes the shell and installs the mounting panel of arranging about two-layer in the shell, the outside outstanding and installation arm fixed connection of the horizontal lateral part of mounting panel, information acquisition device is including installing infrared imager and the camera on the shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011643111.6A CN112659811A (en) | 2020-12-30 | 2020-12-30 | Wheel type inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011643111.6A CN112659811A (en) | 2020-12-30 | 2020-12-30 | Wheel type inspection robot |
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| Publication Number | Publication Date |
|---|---|
| CN112659811A true CN112659811A (en) | 2021-04-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011643111.6A Pending CN112659811A (en) | 2020-12-30 | 2020-12-30 | Wheel type inspection robot |
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| CN (1) | CN112659811A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114184238A (en) * | 2021-12-30 | 2022-03-15 | 杭州电子科技大学 | Old pipeline inspection robot based on telescopic wheel train |
| CN114485401A (en) * | 2022-01-21 | 2022-05-13 | 重庆交通大学工程设计研究院有限公司 | Movable three-dimensional laser scanner |
| CN115793649A (en) * | 2022-11-29 | 2023-03-14 | 硕能(上海)自动化科技有限公司 | Automatic cable trench inspection device and inspection method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114184238A (en) * | 2021-12-30 | 2022-03-15 | 杭州电子科技大学 | Old pipeline inspection robot based on telescopic wheel train |
| CN114485401A (en) * | 2022-01-21 | 2022-05-13 | 重庆交通大学工程设计研究院有限公司 | Movable three-dimensional laser scanner |
| CN115793649A (en) * | 2022-11-29 | 2023-03-14 | 硕能(上海)自动化科技有限公司 | Automatic cable trench inspection device and inspection method |
| CN115793649B (en) * | 2022-11-29 | 2023-09-01 | 硕能(上海)自动化科技有限公司 | Automatic cable pit inspection device and inspection method |
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Application publication date: 20210416 |
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