CN113031615A - Inspection robot - Google Patents
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- CN113031615A CN113031615A CN202110265406.2A CN202110265406A CN113031615A CN 113031615 A CN113031615 A CN 113031615A CN 202110265406 A CN202110265406 A CN 202110265406A CN 113031615 A CN113031615 A CN 113031615A
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- 238000007689 inspection Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 55
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- 238000004891 communication Methods 0.000 claims description 4
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C3/00—Registering or indicating the condition or the working of machines or other apparatus, other than vehicles
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Abstract
The invention relates to the technical field of overhead robots, in particular to an inspection robot. This robot patrols and examines includes: the method comprises the following steps: the device comprises a main body and a movable base which are connected, wherein a fixed frame is arranged in the main body, a plurality of control units which are arranged in a modularized mode are arranged on the fixed frame, the outer wall surface of the fixed frame is connected with a lifting mechanism in a sliding mode, and at least one external detection device is arranged on the lifting mechanism so that the lifting mechanism drives the external detection device to reciprocate in the vertical direction relative to the main body; to sum up, this application designs a robot of patrolling and examining to the realization detects in time to the computer lab internal parameter, reduces manpower and materials, effectively reduces the false retrieval rate, and adopts elevating system's design can enlarge external check out test set's detection range, further improves detection efficiency.
Description
Technical Field
The invention relates to the technical field of overhead robots, in particular to an inspection robot.
Background
With the continuous development of the information technology industry, telecommunication and electric power departments of enterprises and governments are mostly provided with a machine room for storing servers, a plurality of cabinets, mini-machines, servers and the like are usually placed in the machine room, and the machine room is used for providing automatic information technology services for employees or clients and is an important component of the modern information technology industry.
In the prior art, in order to ensure normal operation of a service, a worker needs to manually monitor the physical environment condition and the equipment condition in a machine room, such as the temperature in the machine room, a signal status lamp of the equipment, an operation status lamp of the equipment, and the like, and if the target is not monitored in time, loss is easily caused once a problem occurs; however, because of the numerous devices in the machine room, the noise in the machine room is large, and the environment is severe, the labor intensity of manual detection is high, and the false detection rate is high.
Disclosure of Invention
An object of the application is to provide a robot patrols and examines to it is big to solve among the prior art manual detection intensity of labour, problem that the false retrieval rate is high.
Technical scheme (I)
In order to achieve the above object, the present invention provides an inspection robot, including: the main part that is connected and removal base, be equipped with the mount in the main part, install a plurality of the control unit that are the modularization setting on the mount, just the outer wall sliding connection of mount has elevating system, the last at least one external check out test set of installing of elevating system, so that elevating system drives external check out test set for the main part carries out reciprocating motion along vertical direction.
Optionally, the number of the external detection devices is two, one of the two external detection devices is installed at the top end of the lifting mechanism, and the other external detection device is installed on the side wall surface of the lifting mechanism through the first installation seat.
Optionally, the plurality of control units at least includes: the sound and light control unit and the comprehensive control unit.
Optionally, an interactive screen and a lamp strip are further arranged on the outer wall surface of the main body.
Optionally, the mobile base includes: the base shell and install in the frame of base shell, the lower wall of frame is equipped with drive wheel and four at least groups of universal wheels.
Optionally, a power module, a laser radar and a control box which are in communication connection with the power module are installed on the upper wall surface of the frame.
Optionally, the outer wall surface of the base shell is further provided with a detection device and a safe touch edge.
Optionally, the lifting mechanism includes: the lifting guide rail, the driving assembly and the transmission assembly are arranged in the fixing frame, and the driving assembly is in transmission connection with the lifting guide rail.
Optionally, the transmission assembly includes: the lifting guide rail comprises a first transmission piece and a second transmission piece which are matched with each other, wherein the first transmission piece is connected with the output end of the driving assembly, and the second transmission piece is installed on the lifting guide rail.
Optionally, the first transmission member is a gear, and the second transmission member is a rack engaged with the gear.
Optionally, a second mounting seat is further disposed between the fixed frame and the lifting guide rail, the first transmission member is mounted on the second mounting seat, one side of the second mounting seat is fixedly connected with the fixed frame, and the other side of the second mounting seat is slidably connected with the lifting guide rail.
Optionally, the first mounting seat is connected with the lifting guide rail in a sliding manner, and the first mounting seat is connected with the second mounting seat through a traction assembly.
Optionally, the traction assembly comprises: the traction piece is installed between the first installation seat and the second installation seat through the steering guide wheel; the steering guide wheel is rotatably connected to the end part of the lifting guide rail.
(II) advantageous effects
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a patrol robot, comprising: the device comprises a main body and a movable base which are connected, wherein a fixed frame is arranged in the main body, a plurality of control units which are arranged in a modularized mode are arranged on the fixed frame, the outer wall surface of the fixed frame is connected with a lifting mechanism in a sliding mode, and at least one external detection device is arranged on the lifting mechanism so that the lifting mechanism drives the external detection device to reciprocate in the vertical direction relative to the main body; to sum up, this application designs a robot of patrolling and examining to the realization detects in time to the computer lab internal parameter, reduces manpower and materials, effectively reduces the false retrieval rate, and adopts elevating system's design can enlarge external check out test set's detection range, further improves detection efficiency.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and together with the description, serve to explain the principles of the invention.
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 for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic view of an overall structure of an inspection robot after a lifting mechanism retracts relative to a fixed frame according to an embodiment of the present disclosure;
fig. 2 is an overall structural schematic diagram of the inspection robot with a protective shell removed from a main body according to the embodiment of the application;
fig. 3 is a schematic view of the overall structure of the inspection robot after the lifting mechanism extends out relative to the fixing frame according to the embodiment of the application;
fig. 4 is an overall structural schematic diagram of a mobile chassis in an inspection robot according to an embodiment of the present disclosure;
fig. 5 is an overall structural schematic diagram of the inspection robot with a chassis shell removed from a mobile chassis provided in the embodiment of the present application;
fig. 6 is a schematic view of an overall structure of the external detection device at an initial position after the lifting mechanism provided in the embodiment of the present application retracts relative to the fixed frame;
fig. 7 is a schematic view of an overall structure of an external detection device at a terminal position after the lifting mechanism provided in the embodiment of the present application extends out relative to the fixed frame;
fig. 8 is a schematic view of an overall structure of the lifting mechanism provided in the embodiment of the present application after an external detection device is removed;
FIG. 9 is a side view in one of the orientations of FIG. 8;
fig. 10 is a side view in the other direction of fig. 8.
Wherein, 1, a main body; 2. moving the base; 3. a fixed mount; 4. a lifting mechanism; 5. monitoring equipment; 6. an image acquisition device; 7. an acousto-optic control unit; 8. a comprehensive control unit; 9. an interactive screen; 10. a light strip; 11. a frame; 12. a drive wheel; 13. a universal wheel; 14. a power supply module; 15. a laser radar; 16. a control box; 17. a lifting guide rail; 18. a drive assembly; 19. a transmission assembly; 20. a first transmission member; 21. a second transmission member; 22. a first mounting seat; 23. a second mounting seat; 24. A traction assembly; 25. a traction member; 26. and a steering guide wheel.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. 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 application.
In the prior art, in order to ensure normal operation of a service, a worker needs to manually monitor the physical environment condition and the equipment condition in a machine room, such as the temperature in the machine room, a signal status lamp of the equipment, an operation status lamp of the equipment, and the like, and if the target is not monitored in time, loss is easily caused once a problem occurs; however, because of the numerous devices in the machine room, the noise in the machine room is large, and the environment is severe, the labor intensity of manual detection is high, and the false detection rate is high.
Therefore, in order to solve the above-mentioned technical problems, as shown in fig. 1 to 10, the present application provides an inspection robot including: the main body 1 and the movable base 2 are connected; wherein, the main part can adopt fixed connection with moving base, for the convenience of maintenance and change, can also adopt to dismantle the connection, and is specific, moves base 2 and includes: the inspection robot comprises a base shell and a frame 11 arranged on the base shell, wherein the frame 11 is formed by machining an alloy steel plate, plays a role in integrally supporting the inspection robot and provides an installation interface for other components; the lower wall surface of the frame 11 is provided with two driving wheels 12 and at least four groups of universal wheels 13, wherein the two driving wheels 12 are arranged at two ends of the frame 11, and the steering of the inspection robot is realized by adopting double-wheel differential speed on the premise of ensuring that the movable base 2 is driven to do linear motion; the driving wheels 12 are provided with driving motors, and the driving wheels 12 are driven to rotate by the built-in driving motors.
In a specific embodiment, as shown in fig. 4 and 5, a power module 14 for supplying power to each module on the mobile base 2, a laser radar 15 and a control box 16 which are in communication connection with the power module 14 are installed on the upper wall surface of the frame 11, wherein the laser radar 15 is used for constructing a moving environment map of the mobile chassis; the control box 16 is used for communication, data storage, processing transmission, motion control and the like of the inspection robot.
In another specific embodiment, as shown in fig. 4 and 5, the outer wall surface of the base housing is further provided with a detection device and a safety contact edge, preferably, the detection device includes: a motion for keeping away ultrasonic sensor and infrared distance measuring sensor for keeping away the barrier, wherein, the limit is the banded pressure sensitive switch of rubber safely touched, and it is used for striking the operator or the operator strikes when patrolling and examining the robot, safely touches the limit and will be oppressed and the conveying signal gives the power supply in order to stop patrolling and examining the robot to realize patrolling and examining the robot and keep away functions such as barrier, anticollision, dropproof.
In a preferred embodiment, as shown in fig. 1 and 3, an interactive screen 9 for human interaction and a light strip 10 for status reminding and operator reminding are further provided on the outer wall surface of the main body 1.
A fixing frame 3 is arranged in the main body 1, and a plurality of control units which are arranged in a modularized manner are arranged on the fixing frame 3; the outer wall surface of the fixing frame 3 is connected with a lifting mechanism 4 in a sliding manner, and at least one external detection device is installed on the lifting mechanism 4, so that the lifting mechanism 4 drives the external detection device to reciprocate in the vertical direction relative to the main body 1; preferably, the external detection device is provided in two, one of the two external detection devices is installed at the top end of the lifting mechanism 4, and the other one is installed on the side wall surface of the lifting mechanism 4 through the first installation seat 22, for understanding, the external detection device exemplarily includes: supervisory equipment 5 and image acquisition equipment 6, wherein, in order to realize 360 all-round control, preferably, supervisory equipment 5 sets up to the ball machine of control, can follow elevating system 4 and follow main part 1 along vertical direction and carry out reciprocating motion mutually to the realization is gathered and is monitored robot operational environment image, and, preferably, image acquisition equipment 6 includes: the high-definition RGB camera, the infrared camera, the environmental sensor and the like can reciprocate along the vertical direction along with the main body 1 along with the lifting mechanism 4 so as to realize data acquisition on spaces with different heights, and illustratively, the high-definition RGB camera, the infrared camera, the environmental sensor and the like can acquire and monitor cabinet operation data with different heights; as shown in fig. 1 and 2, in the present embodiment, a monitoring device 5 is installed at the top end of the elevating mechanism 4, to ensure monitoring and monitoring effect, the image acquisition device 6 is mounted on the side wall surface of the lifting mechanism 4 through the first mounting seat 22, and can drive the movable chassis to move to different positions so as to carry out omnibearing monitoring on the operation data of the cabinets with different heights, in the present embodiment, in order to ensure that when the elevating mechanism 4 reciprocates in the vertical direction with respect to the main body 1, the image capturing device 6 can also synchronously reciprocate the main body 1 along the vertical direction through the first mounting seat 22, preferably, the first mounting seat 22 is fixedly connected with the lifting mechanism 4, of course, the first mounting seat 22 and the lifting mechanism 4 are not limited to be fixedly connected, and may also be connected in a sliding manner, and the embodiment is not limited thereto, as long as the connection manner capable of achieving the above technical effects is within the protection scope of the present application; furthermore, a person skilled in the art can improve the structure of the first mounting seat 22 by combining with the use situation, so that the first mounting seat 22 can limit and fix different external detection devices, and the use universality of the whole device is further expanded.
Specifically, when a machine room is detected, the inspection robot is driven to move to a position to be detected through the driving wheels 12 and the universal wheels 13, then corresponding parameters are detected through the corresponding control units, and meanwhile, running environment images of the robot and running data of a cabinet are collected and monitored through the monitoring equipment 5 and the image collecting equipment 6 respectively; when the operation data of the cabinet at a higher position needs to be collected and monitored, only the lifting mechanism 4 needs to be driven to perform lifting motion along the vertical direction relative to the main body 1, and at the moment, the monitoring equipment 5 and the image collecting equipment 6 synchronously perform lifting motion along the vertical direction relative to each other, so that the detection height of the monitoring equipment 5 is improved, and the operation data of the cabinet at a higher position is collected and monitored; similarly, when the cabinet operation data at the lower position needs to be collected and monitored, only the lifting mechanism 4 needs to be driven to perform descending motion along the vertical direction relative to the main body 1, and at the moment, the monitoring equipment 5 and the image collecting equipment 6 synchronously perform descending motion along the vertical direction relative to each other, so that the detection height of the monitoring equipment 5 is improved, and the cabinet operation data at the lower position is collected and monitored; to sum up, this application designs a robot of patrolling and examining to the realization detects in time to the computer lab internal parameter, reduces manpower and materials, effectively reduces the false retrieval rate, and adopts elevating system 4's design can enlarge external check out test set's detection range, further improves detection efficiency.
In a preferred embodiment, the plurality of control units includes at least: the sound and light control unit 7 and the comprehensive control unit 8 can also be preset with other control units according to needs to realize accurate measurement of the machine room, wherein the sound and light control unit 7 is used for collecting and playing sound information in the machine room and controlling light, illustratively, a detection result is displayed by controlling the change of light color, red is that a collected parameter value is larger than a preset parameter value, and a worker notices that green is that the collected parameter value is within a preset normal parameter value range, so that the machine room is represented to be in normal motion; and in the prior art, mostly, control the integrated on a circuit board of a plurality of the control units, in the above-mentioned mode of setting, if one of them the control unit goes wrong, unable normal work, other control units also can't normally work, thereby lead to the robot can't in time detect the computer lab, consequently, in order to solve above-mentioned technical problem, in this embodiment, set up a plurality of the control units with the modularization form, thereby guarantee that every control unit all can the independent operation, each other does not influence, even when a control unit breaks down, other control units also can guarantee normal work, only need to go on maintaining the change to the control unit that breaks down can, and then guarantee the stability of robot, further improve detection efficiency.
In the prior art, in order to acquire image data in a larger height space, a plurality of sets of image acquisition devices 6 are mostly arranged, that is, corresponding image acquisition devices 6 are arranged at different height positions of the main body 1, so that the manufacturing cost of the inspection robot is increased, and therefore, in order to solve the above technical problems, as shown in fig. 6 to 10, the lifting mechanism 4 includes: the lifting device comprises a lifting guide rail 17, a driving component 18 and a transmission component 19, wherein the driving component 18 is installed in the fixed frame 3 and is in transmission connection with the lifting guide rail 17 through the transmission component 19.
Specifically, the lifting mechanism 4 is connected with the main body 1 through a limiting component to realize that the lifting mechanism 4 performs lifting motion along the vertical square of the main body 1, in a preferred embodiment, the limiting component can be set to be a matching combined structure of a sliding groove and a sliding rail, and a person skilled in the art can understand that the limiting component can be slidably assembled on the fixed frame 3 or the lifting guide rail 17, or can form a sliding rail or sliding groove structure with the fixed frame 3 or the lifting guide rail 17, or an independent sliding rail and sliding groove structure, and the person skilled in the art can select the limiting component according to actual use conditions; in this embodiment, the slide rail is set as a rail set on the lifting rail 17, the slide groove is installed on the main body 1, and the lifting rail 17 can perform lifting motion along the vertical direction of the main body 1 by the cooperation between the slide groove and the slide rail, further, the rail set can be set as a plurality of rails, the plurality of rails are arranged in parallel and extend along the lifting direction of the lifting rail 17, so as to further improve the stability of the mounting base in sliding; and in order to be convenient for maintain and change the guide rail group, preferred, be connected for dismantling between guide rail group and lift guide 17's the crane, preferred adopts protruding cooperation with the recess to realize dismantling the connection.
In a particular embodiment, first mount 22 includes: the assembly part is used for being assembled and connected with external detection equipment, and the connecting part is used for being fixedly or slidably connected with the lifting guide rail 17; as an example, the mounting portion may be provided with a mounting hole for connecting with an external detection device so as to fasten the external detection device, and the connecting portion may be provided with a sliding slot or a through hole adapted to the guide rail set, and preferably, the mounting portion and the connecting portion enclose a concave structure, and the connecting portion is provided around the mounting portion, so that the contact surface between the mounting portion and the connecting portion can be improved, and when the connecting portion is slidably connected with the lifting guide rail 17, the stability of the moving process of the external detection device can be improved.
According to an embodiment of the present invention, the driving assembly 18 is an electric push rod or an air cylinder, an output end of the driving assembly is connected to the lifting guide rail 17, so as to drive the lifting guide rail 17 to reciprocate along a vertical direction relative to the main body 1, specifically, as shown in fig. 3 and 7, when the piston rod extends out of the cylinder body, the air cylinder drives the lifting guide rail 17 to move upward along the vertical direction relative to the main body 1, so as to extend the lifting guide rail 17 relative to the main body 1, thereby implementing data acquisition of a higher height space by driving the external detection equipment such as the image acquisition equipment 6, and the like, similarly, as shown in fig. 1 and 2, when the piston rod retracts into the cylinder body, the air cylinder drives the lifting guide rail 17 to move downward along the vertical direction relative to the main body 1, so as to retract the lifting guide rail 17 relative to the main body 1, thereby implementing data acquisition of a lower height space by driving the external detection equipment such as the image acquisition equipment, and further, the acquisition of data of different height spaces by external detection equipment such as image acquisition equipment 6 and the like is realized.
According to another embodiment of the invention, the transmission assembly 19 comprises: the first transmission piece 20 and the second transmission piece 21 are matched, the first transmission piece 20 is connected with the output end of the driving component 18, and the second transmission piece 21 is arranged on the lifting guide rail 17; preferably, the first transmission member 20 is configured as a gear, the second transmission member 21 is configured as a rack engaged with the gear, in this embodiment, as shown in fig. 7 and 10, the driving assembly 18 is configured as a motor, and is installed in the fixing frame 3, an output end of the motor extends out of the fixing frame 3 and is fixedly connected with the gear, the rack is installed on the lifting guide rail 17 and is engaged with the gear, as shown in fig. 3 and 7, when the motor rotates reversely, the driving gear rotates counterclockwise to drive the rack to move upward relative to the main body 1 along the vertical direction, so as to drive the lifting guide rail 17 to move upward relative to the main body 1 along the vertical direction, so as to extend the lifting guide rail 17 relative to the main body 1, thereby implementing driving of external detection equipment such as the image acquisition equipment 6 to perform data acquisition in a higher height space, and similarly, as shown in fig. 1 and 2, when the motor rotates, carry out clockwise rotation with drive gear to drive rack relative main part 1 and carry out downstream along vertical direction, thereby drive the relative main part 1 of lift guide 17 and carry out downstream along vertical direction, so that the relative main part 1 withdrawal of lift guide 17, thereby realize driving external detection equipment such as image acquisition equipment 6 and carry out the data acquisition in lower high space, and then realize that external detection equipment such as image acquisition equipment 6 gathers the data in different high spaces.
According to an embodiment of the present invention, in order to improve the connection stability of the lifting frame and the fixed frame 3, as shown in fig. 6, a second mounting seat 23 is further disposed between the fixed frame 3 and the lifting rail 17, a first transmission member 20 is mounted on the second mounting seat 23, one side of the second mounting seat 23 is fixedly connected to the fixed frame 3, and the other side of the second mounting seat 23 is slidably connected to the lifting rail 17, specifically, a gear is mounted in the second mounting seat 23, and an output end of a motor sequentially passes through the fixed frame 3 and the second mounting seat 23 and then is fixedly connected to the gear, so that the driving gear is rotatably connected to the second mounting seat 23 to drive the lifting rail 17 to perform a lifting motion along a vertical direction relative to the main body 1 by a driving rack, wherein the second mounting seat 23 and the second mounting seat 23 have the same structure, and the specific structure: the assembling part is fixedly connected with the fixed frame 3, and the connecting part is connected with the lifting guide rail 17 in a sliding manner; as an example, the assembly portion is provided with an assembly hole for the output end of the motor to pass through, so as to be fixedly connected with the gear, the connecting portion may be provided as a sliding slot or a through hole adapted to the guide rail set, preferably, the assembly portion and the connecting portion enclose a concave structure, and the connecting portion is provided on the periphery of the assembly portion, so that the contact surface between the assembly portion and the connecting portion can be improved, and the stability of the lifting guide rail 17 for lifting movement along the vertical direction relative to the main body 1 can be improved.
According to another embodiment of the present invention, in order to further increase the displacement of the movement of the external detection device to increase the data detection height, the first mounting seat 22 is connected with the lifting rail 17 in a sliding manner, and the first mounting seat 22 is connected with the second mounting seat 23 through the traction assembly 24; in a preferred embodiment, the pulling assembly 24 comprises: a traction piece 25 and a steering guide wheel 26, wherein the traction piece 25 is installed between the first installation seat 22 and the second installation seat 23 through the steering guide wheel 26; the steering guide wheel 26 is rotatably connected to the end of the lifting guide rail 17, specifically, the fixed frame 3 and the lifting guide rail 17 are arranged after the traction assembly 24 is steered through the steering guide wheel 26, so that the moving directions of the first installation seat 22 and the lifting guide rail 17 are the same, further, the displacement distance of the first installation seat 22 relative to the fixed frame 3 is changed through the displacement of the traction piece 25, and the traction assembly 24 pulls the first installation seat 22 to move in the same direction relative to the lifting guide rail 17 through the relative movement between the lifting guide rail 17 and the fixed frame 3, so that the external detection equipment can synchronously move through the first installation seat 22 and the lifting guide rail 17, and the moving direction is the same as the lifting direction of the lifting guide rail 17, namely, the moving direction and the lifting direction are synchronous; as shown in fig. 3 and 7, when the motor rotates reversely, the driving gear rotates counterclockwise to drive the rack to move upward along the vertical direction relative to the main body 1, so as to drive the lifting guide rail 17 to move upward along the vertical direction relative to the main body 1, so as to extend the lifting guide rail 17 relative to the main body 1, at this time, under the action of the traction member 25, the first mounting seat 22 is driven to synchronously move upward along the vertical direction relative to the lifting guide rail 17, so as to drive the external detection equipment such as the image acquisition equipment 6 to acquire data in a higher height space, and similarly, as shown in fig. 1 and 2, when the motor rotates forward, the driving gear rotates clockwise to drive the rack to move downward along the vertical direction relative to the main body 1, so as to drive the lifting guide rail 17 to move downward along the vertical direction relative to the main body 1, so as to retract the lifting guide rail 17 relative to the main body 1, at this moment, under the effect of traction piece 25, will drive first mount pad 22 and synchronous relative lifting guide rail 17 and carry out the downstream in vertical direction, and then realize driving external detection equipment such as image acquisition equipment 6 and carry out the data acquisition in higher altitude space, and then realize that external detection equipment such as image acquisition equipment 6 gathers the data in different altitude spaces.
In summary, the traction assembly 24 is disposed on the lifting rail 17 to assemble and connect the first mounting seat 22 and the second mounting seat 23, and after the driving assembly 18 drives the lifting rail 17 to move, the first mounting seat 22 is simultaneously pulled by the traction member 25, so that the same displacement is realized between the first mounting seat 22 and the lifting rail 17, and further the first mounting seat 22 and the fixing frame 3 move relatively by a displacement distance twice as long as the displacement distance. As an example, N is specifically set for enabling the driving component 18 to drive the lifting guide rail 17 to move relative to the fixed frame 3, and meanwhile, as the lifting guide rail 17 moves, the traction component 24 drives the first mounting seat 22 and the lifting guide rail 17 to move by the same-direction relative displacement distance N, so that the distance that the first mounting seat 22 moves relative to the fixed frame 3 is 2N, and the purpose of realizing rapid displacement is achieved; preferably, the displacement difference between the mounting seat and the fixing frame 3 is a multiple relation of the displacement difference between the lifting guide rail 17 and the fixing frame 3, the lifting speed of the whole device is improved, meanwhile, the equipment cost can be reduced, and the use reliability is improved.
In a preferred embodiment, as shown in fig. 8, one of the ends of the lifting rail 17 is provided with a receiving portion in which the deflector wheel 26 is rotatably fitted, and the traction element 25 abuts against the deflector wheel 26 through the receiving portion. Further, the steering guide wheel 26 can be a roller wheel, the roller wheel can be rotationally fixed in the accommodating part through a pin shaft, so that the traction piece 25 can conveniently pull the first mounting seat 22 to move relative to the lifting guide rail 17, the traction piece can pass through the accommodating part and be fixedly connected with the first mounting seat 22 and the second mounting seat 23 respectively, and a sufficient space is reserved for the traction of the traction piece 25.
In a preferred embodiment, the steering guide wheel 26 is rotatably assembled on the lifting guide rail 17, so that the steering guide wheel 26 rotates automatically, and the traction element 25 can enable the first mounting seat 22 to displace relative to the lifting guide rail 17 through the steering guide wheel 26, when in use, the lifting guide rail 17 is equivalent to a power source, the steering guide wheel 26 is equivalent to a movable pulley, one end of the traction assembly 24 is connected with the first mounting seat 22, the other end of the traction assembly is connected with the second mounting seat 23, namely the second mounting seat 23 is equivalent to a fixed end, the first mounting seat 22 is equivalent to a movable end, and a lifting system for driving the external detection equipment to ascend or descend by the movable pulley is further formed, so that the displacement distance of the first mounting seat 22 relative to the fixed frame 3 is twice as that of the lifting guide rail 17 relative to the fixed frame 3, and the lifting speed of the; preferably, wherein the divert guide wheel 26 is located at the protruding end of the lift rail 17; the traction assembly 24 can abut against and bypass the steering guide wheel 26, and under the condition of changing the moving direction of the traction piece 25, the length of the traction piece 25 can be reduced, so that the traction piece 25 can pull the first mounting seat 22 to move between the extending end and the assembling end of the lifting guide rail 17, and the equipment cost is further reduced; in summary, those skilled in the art can also arrange a plurality of driving assemblies 18 and traction assemblies 24 to further increase the lifting speed of the object to be moved, with reference to the arrangement principle of the present application.
In a specific embodiment, the pulling element 25 is a combination of one or more of a timing belt, a chain, or a steel strand, and by way of example, a timing belt may be used, such that the timing belt abuts against the guide pulley 26, such that the guide pulley 26 can rotate relative to the lifting rail 17, and the first mounting seat 22 can move relative to the lifting rail 17 along with the pulling of the pulling element 24 during the movement of the lifting rail 17 toward the extended end.
According to an embodiment of the present invention, the lifting rail 17 further includes a limiting portion disposed at two ends of the lifting rail 17, and the pulling member 25 can drive the first mounting seat 22 to limit and abut against the limiting portion. Further, the first mount 22 is brought into contact with the towing piece 25 at the stopper portion, and the displacement of the first mount 22 is limited to the set position of the vertically movable rail 17, thereby limiting the relative displacement of the first mount 22 with respect to the vertically movable rail 17.
In a preferred embodiment, the position-limiting portion may be configured as a stopper structure, and when the first mounting seat 22 abuts against the first mounting seat, the driving assembly 18 is controlled to stop driving the lifting rail 17 to lift, so as to improve convenience of use, and meanwhile, the position-limiting portion may be further configured with a position-locating sensor, and the position-locating sensor is electrically connected to the driving assembly 18, so that when the position-locating sensor contacts the first mounting seat 22, the driving assembly 18 can be controlled to stop driving, so as to avoid damage to the device, and improve convenience of use.
When using, the bottom of mount 3 and the assembly end laminating of lift rail 17, the top of mount 3 and the end coincidence that stretches out of lift rail 17, first mount pad 22 is located lift rail 17's assembly end, when drive assembly 18 drives lift rail 17 3 displacements relatively, the distance that lift rail 17 stretches out relatively mount 3, traction piece 25 drags the assembly end of first mount pad 22 relatively lift rail 17 simultaneously and removes the same distance, and then make the distance that first mount pad 22 removed 2 times relatively mount 3 bottom, and then improve the translation rate of mount pad, reduce equipment cost.
The embodiments in the present description are all described in a progressive manner, and some of the embodiments are mainly described as different from other embodiments, and the same and similar parts among the embodiments can be referred to each other.
It is noted that in the description and claims of the present application and in the above-mentioned drawings, relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein.
Also, the terms "comprises," "comprising," and "having," as well as any variations thereof or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The foregoing are merely exemplary embodiments of the present application and are presented to enable those skilled in the art to understand and practice the present application. Various modifications and changes to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (13)
1. An inspection robot, comprising: the main part (1) and the mobile base (2) that are connected, be equipped with mount (3) in main part (1), install a plurality of the control unit that are the modularization setting on mount (3), just the outer wall sliding connection of mount (3) has elevating system (4), install at least one external check out test set on elevating system (4), so that elevating system (4) drive external check out test set for main part (1) carries out reciprocating motion along vertical direction.
2. The inspection robot according to the claim 1, wherein the number of the external detection devices is two, one of the two external detection devices is mounted at the top end of the lifting mechanism (4), and the other external detection device is mounted on the side wall surface of the lifting mechanism (4) through a first mounting seat (22).
3. The inspection robot according to claim 1, wherein the plurality of control units includes at least: a sound and light control unit (7) and a comprehensive control unit (8).
4. The inspection robot according to the claim 1, characterized in that an interactive screen (9) and a lamp strip (10) are further arranged on the outer wall surface of the main body (1).
5. The inspection robot according to claim 1, wherein the mobile base (2) includes: the automobile seat comprises a base shell and a frame (11) arranged on the base shell, wherein the lower wall surface of the frame (11) is provided with a driving wheel (12) and at least four groups of universal wheels (13).
6. The inspection robot according to the claim 5, characterized in that a power module (14), a laser radar (15) and a control box (16) which are in communication connection with the power module (14) are mounted on the upper wall surface of the frame (11).
7. The inspection robot according to claim 6, wherein the outer wall surface of the base shell is further provided with a detection device and a safety contact edge.
8. The inspection robot according to claim 2, wherein the elevating mechanism (4) includes: lifting guide rail (17), drive assembly (18) and transmission assembly (19), drive assembly (18) are installed in mount (3), and pass through transmission assembly (19) with lifting guide rail (17) transmission is connected.
9. The inspection robot according to claim 8, wherein the transmission assembly (19) includes: the lifting guide rail comprises a first transmission piece (20) and a second transmission piece (21) which are matched, wherein the first transmission piece (20) is connected with the output end of the driving component (18), and the second transmission piece (21) is installed on the lifting guide rail (17).
10. The inspection robot according to claim 9, wherein the first transmission member (20) is provided as a gear and the second transmission member (21) is provided as a rack that engages the gear.
11. The inspection robot according to the claim 9, wherein a second mounting seat (23) is further arranged between the fixed frame (3) and the lifting guide rail (17), the first transmission piece (20) is mounted on the second mounting seat (23), one side of the second mounting seat (23) is fixedly connected with the fixed frame (3), and the other side of the second mounting seat is slidably connected with the lifting guide rail (17).
12. The inspection robot according to claim 11, wherein the first mounting seat (22) is slidably connected with the lifting guide rail (17), and the first mounting seat (22) is connected with the second mounting seat (23) through a traction assembly (24).
13. The inspection robot according to claim 12, wherein the traction assembly (24) includes: a traction piece (25) and a steering guide wheel (26), wherein the traction piece (25) is installed between the first installation seat (22) and the second installation seat (23) through the steering guide wheel (26); the steering guide wheel (26) is rotatably connected to the end part of the lifting guide rail (17).
Priority Applications (1)
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| CN202110265406.2A CN113031615A (en) | 2021-03-11 | 2021-03-11 | Inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110265406.2A CN113031615A (en) | 2021-03-11 | 2021-03-11 | Inspection robot |
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| CN113031615A true CN113031615A (en) | 2021-06-25 |
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| CN202110265406.2A Pending CN113031615A (en) | 2021-03-11 | 2021-03-11 | Inspection robot |
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| CN114047747A (en) * | 2021-10-18 | 2022-02-15 | 北京华能新锐控制技术有限公司 | Track type inspection robot |
| CN116986232B (en) * | 2023-09-20 | 2024-01-30 | 成都盛锴科技有限公司 | Transfer device and transfer method of train inspection robot |
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