CN114560024A - Robot for detecting narrow space of station house - Google Patents
Robot for detecting narrow space of station house Download PDFInfo
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- CN114560024A CN114560024A CN202210265724.3A CN202210265724A CN114560024A CN 114560024 A CN114560024 A CN 114560024A CN 202210265724 A CN202210265724 A CN 202210265724A CN 114560024 A CN114560024 A CN 114560024A
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- rocker arm
- rocker
- frame body
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- crawler
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- 230000007246 mechanism Effects 0.000 claims abstract description 121
- 230000009194 climbing Effects 0.000 claims abstract description 50
- 230000005540 biological transmission Effects 0.000 claims description 32
- 239000003638 chemical reducing agent Substances 0.000 claims description 25
- 230000009471 action Effects 0.000 claims description 20
- 238000004891 communication Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 abstract description 5
- 230000008878 coupling Effects 0.000 abstract description 2
- 238000010168 coupling process Methods 0.000 abstract description 2
- 238000005859 coupling reaction Methods 0.000 abstract description 2
- 229910000831 Steel Inorganic materials 0.000 description 5
- 238000010276 construction Methods 0.000 description 5
- 239000010959 steel Substances 0.000 description 5
- 230000003014 reinforcing effect Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
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- 230000004048 modification Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
- F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, and discloses a robot for detecting a narrow space of a station house, which comprises a main body mechanism, a front rocker arm mechanism, a rear rocker arm mechanism, a camera mechanism, a battery pack and a control mechanism, wherein the main body mechanism is connected with the front rocker arm mechanism; the main body mechanism comprises a main frame body and a walking component for driving the main frame body to move; the climbing angle is adjusted through the front rocker mechanism, and the main frame body is supported through the front rocker mechanism and the rear rocker mechanism, so that the main frame body can conveniently climb over obstacles, and the trafficability is stronger and more stable; the camera module passes through adjusting part one and adjusting part two and body frame body coupling, can carry out 360 rotations of level and the regulation of height, further strengthened the observation field of vision, when needs pass through narrow and small space, can draw in it in the body frame is internal completely, it is not influenced to keep the automobile body height, trafficability characteristic and adaptability have been increased, satisfy the inside detection demand in special narrow and small space of station room canopy, the work efficiency is patrolled and examined in the improvement, the cost of labor is reduced, it is low to compensate current artifical detection mode rate of accuracy, the problem of inefficiency.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot for detecting internal structures of narrow spaces such as railway station houses.
Background
One characteristic of the Jing Hu high-speed rail along the line is that the number of stations is large, and 24 high-speed rail stations such as the Beijing south station, the Tianjin west station and the like are built in total. The high-speed railway station room canopy all adopts the steel construction, but the steel construction receives external environment influence during the in service, has generally appeared phenomenon such as large tracts of land corrosion, partial member fracture, brings the potential safety hazard for high-speed railway driving.
To the inside and outside steel construction of station room, especially the canopy is encorbelmented, the interior little space of box, the inside little space of canopy furred ceiling etc. region, mainly rely on the tradition manual work to patrol and examine. Because the space is narrow and small, the workman is wherein the walking difficulty, and because light is too dark, can not be effectual detect the steel construction. Under the general condition, most of patrol and examine equipment volume and weight are great, can not place and carry out the operation in the narrow and small space of canopy top, and the inside obstacle in the narrow and small space of steel construction is many moreover, need cross the crossbeam from crossing in the gap sometimes and just can patrol and examine, and the detection degree of difficulty is big.
Therefore, it is an urgent problem to provide a robot which is small in size and can be applied to detection of a narrow space in an infrastructure such as a railway station house.
Disclosure of Invention
In view of the above, the present invention is directed to a robot for detecting a small space in a standing room, so as to solve at least one of the above technical problems in the prior art to a certain extent.
In order to achieve the purpose, the invention adopts the following technical scheme:
a robot for detecting a narrow space of a station house comprises a main body mechanism, a front rocker arm mechanism, a rear rocker arm mechanism, a camera mechanism, a battery pack and a control mechanism;
the main body mechanism comprises a main frame body and a walking assembly for driving the main frame body to move;
the front rocker mechanisms are arranged in pairs, and the driving parts of the two groups of the front rocker mechanisms are arranged on two sides of the front end of the main frame body in the advancing direction, so that the front rocker parts are driven to rotate, the climbing angle can be adjusted, and the main frame body is supported;
the rear rocker arm mechanisms are arranged in pairs, and the driving parts of the two groups of rear rocker arm mechanisms are arranged on two sides of the rear end of the main frame body in the advancing direction and can drive the rear rocker arm parts to rotate so as to support the main frame body;
the camera mechanism the group battery with control mechanism all installs on the body frame body, control mechanism control the running component preceding rocker mechanism back rocker mechanism with camera mechanism's action, the group battery does the running component preceding rocker mechanism back rocker mechanism camera mechanism with control mechanism supplies power.
Preferably, in the robot for detecting the narrow space of the station house, the walking assemblies are symmetrically arranged on two sides of the main frame body in the advancing direction and respectively comprise a walking crawler device, a first motor and a first speed reducer;
the two sets of the walking crawler devices are respectively arranged on the corresponding sides of the main frame body, and the two sets of the first motor and the first speed reducer are respectively arranged on two sides of the rear end of the main frame body in the advancing direction and are respectively in transmission connection with the walking driving wheels of the corresponding walking crawler devices.
Preferably, in the robot for detecting a narrow space in a station room, the front rocker mechanism includes a front crawler climbing limb, a motor two and a speed reducer two, the front crawler climbing limb is disposed outside the walking crawler, a driving wheel of the front crawler is fixed to a guide wheel of the walking crawler on a corresponding side, and the motor two and the speed reducer two are disposed at a rear end of the main frame body in the traveling direction and fixed to a fixing part of the front crawler climbing limb on the corresponding side;
the rear rocker arm mechanism comprises a rear crawler climbing limb, a motor III and a speed reducer III, the rear crawler climbing limb is arranged on the corresponding side of the rear end of the main frame body in the advancing direction, and the motor III and the speed reducer III are fixed with a fixing part of the rear crawler climbing limb on the corresponding side;
the second motor and the third motor can respectively drive the corresponding front crawler climbing limb and the corresponding rear crawler climbing limb to rotate.
Preferably, in the robot for detecting the narrow space of the station house, the front crawler climbing limb comprises a first inner rocker plate, a first outer rocker plate, a first driving wheel, a first driven wheel, a first crawler, a front rocker power shaft, a front rocker rotating shaft and a front rocker mandrel;
the first inner rocker arm plate and the first outer rocker arm plate are arranged in parallel, the first driving wheel and the first driven wheels are arranged between the first inner rocker arm plate and the first outer rocker arm plate in parallel, the first driven wheels are rotatably connected between the first inner rocker arm plate and the first outer rocker arm plate through connecting shafts, and the first crawler belt is in transmission connection with the outer portions of the first driving wheel and the first driven wheels; the one end of preceding rocking arm pivot is passed through preceding rocking arm power shaft with two transmissions of speed reducer are connected, and the other end runs through in proper order leading wheel, inboard rocking arm board one the action wheel one with outside rocking arm board is fixed, preceding rocking arm dabber cover is established the outside of preceding rocking arm pivot to rotate with it and be connected, the leading wheel with the action wheel one all with preceding rocking arm dabber rotates to be connected, and relative one side is passed through the dead lever and is connected.
Preferably, in the robot for detecting the narrow space of the station house, the rear crawler climbing limb comprises an inner side rocker arm plate II, a driving wheel II, a driven wheel II, a crawler II, a rear rocker arm rotating shaft, a rear rocker arm transmission shaft, a rear rocker arm mandrel and a transmission sleeve;
the second driving wheel and the second driven wheels are arranged on one side of the second inner rocker plate in parallel, the second driven wheels are rotatably connected to the second inner rocker plate through connecting rods respectively, the second crawler belt is in transmission connection with the second driving wheel and the second driven wheels, one end of a rear rocker rotating shaft is in transmission connection with the third speed reducer, the other end of the rear rocker rotating shaft is fixed with the rear rocker transmitting shaft, the rear rocker transmitting shaft penetrates through the second inner rocker plate and is rotatably connected with the second driving wheel, a rear rocker mandrel is sleeved on the rear rocker rotating shaft and is rotatably connected with the rear rocker rotating shaft, the end part of the rear rocker rotating shaft is abutted against the inner end of the rear rocker transmitting shaft, a transmission sleeve is sleeved on the inner side end of the rear rocker mandrel and is rotatably connected with the rear rocker transmitting shaft, and one end of the transmission sleeve is respectively fixed with the rear rocker transmitting shaft and the second inner rocker plate, the other end is abutted against the shaft shoulder of the rear rocker arm core shaft.
Preferably, in the robot for detecting the narrow space of the station house, the camera mechanism comprises a first adjusting component, a second adjusting component and a camera module;
the second adjusting assembly is fixed on an action part of the first adjusting assembly, the camera module is installed on the action part of the second adjusting assembly, the first adjusting assembly drives the second adjusting assembly and the camera module to rotate upwards along the horizontal direction of the main frame body, and the second adjusting assembly drives the camera module to swing in a fan-shaped manner along the upper part of the main frame body;
the camera of the camera module is maintained facing the direction of travel.
Preferably, in the robot for detecting the narrow space of the station room, the camera mechanism comprises a first adjusting component, a second adjusting component and a camera module;
the first adjusting component comprises a rotary steering engine and a rotary base, the rotary steering engine is fixed on the rotary base, and a driving shaft of the rotary steering engine penetrates through the rotary base and is fixedly connected with the main frame body;
the camera comprises a rotating base, a camera module, a support plate, a U-shaped plate and a pitching steering engine, wherein the two adjusting assemblies comprise parallelogram hinge four-bar mechanisms, the bottom of each hinge four-bar mechanism is fixed on the rotating base, the camera module is fixed at the corresponding end of a top connecting rod of each hinge four-bar mechanism, the support plate is arranged on one side of each hinge four-bar mechanism, two wall plates of each U-shaped plate are fixed on the outer side of each support plate, the pitching steering engine is fixed on the U-shaped plate, a driving shaft of each pitching steering engine penetrates through the support plates and is fixed with the hinged end of the bottom of one side link of each hinge four-bar mechanism, the pitching steering engines rotate, and the camera module is driven by the hinge four-bar mechanisms to move along a fan-shaped track.
Preferably, in the robot for detecting the narrow space of the station house, the control mechanism comprises a main controller and a communication module, the main controller is used for controlling the actions of the first motor, the second motor, the third motor, the rotary steering engine, the pitching steering engine and the camera module, and the communication module is used for data transmission between the control end and the main controller.
According to the technical scheme, compared with the prior art, the robot for detecting the narrow space of the station house disclosed by the invention has the main effects and advantages that:
the robot is designed into a thin plate, plane topologies such as power, energy, control, detection and the like are placed, the size is reduced, the robot can conveniently pass through a narrow space, a front rocker mechanism and a rear rocker mechanism are additionally arranged on the basis of a walking device, a climbing angle can be adjusted through the front rocker mechanism, a main frame body is supported through the front rocker mechanism and the rear rocker mechanism, obstacles can be conveniently crossed, the trafficability is stronger and more stable, the robot can be used in various complex environments, and the practicability is stronger;
the camera module passes through adjusting part one and adjusting part two and body frame body coupling, can carry out 360 rotations through adjusting part one, and the field of vision is wideer, can also utilize adjusting mechanism two to carry out the regulation of field of vision height according to actual conditions, has further strengthened the observation field of vision, when needs pass through narrow and small space, can draw in it in the body frame completely in, keeps the automobile body height not influenced, has increased trafficability characteristic and adaptability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic view of the general assembly of the extended camera mechanism of the present invention;
FIG. 2 is a schematic view of the camera mechanism of the present invention in a collapsed condition;
FIG. 3 is a schematic view of the front and rear rocker mechanisms of the present invention in an extended position;
FIG. 4 is an isometric view of a front rocker mechanism of the present invention;
FIG. 5 is a cross-sectional view of the front rocker arm mechanism of the present invention;
FIG. 6 is an isometric view of the rear rocker mechanism of the present invention;
FIG. 7 is a cross-sectional view of the rear rocker mechanism of the present invention;
fig. 8 is a schematic view of the extended state of the camera mechanism of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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 invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1-8, the robot for detecting a narrow space in a station room of the present invention comprises a main body mechanism 1, a front rocker arm mechanism 2, a rear rocker arm mechanism 3, a camera mechanism 4, a battery pack 5 and a control mechanism;
the main body mechanism 1 comprises a main frame body 10 and a walking component 11 for driving the main frame body 10 to move; the edge of the front end of the main frame body 10 is surrounded by a first side substrate 100, the edge of the rear end of the main frame body is surrounded by a second side substrate 101, and the walking components 11 are symmetrically arranged on two sides of the advancing direction of the main frame body 10 and respectively comprise a walking crawler belt device 110, a first motor 111 and a first speed reducer 112;
the two sets of walking crawler units 110 are respectively arranged at the corresponding sides of the main frame body 10, and the two sets of motors I111 and the speed reducers I112 are respectively arranged at the two sides of the rear end of the main frame body 10 in the advancing direction and are respectively in transmission connection with the walking driving wheels 1100 of the corresponding walking crawler units 110
The front rocker mechanisms 2 are arranged in pairs, and the driving parts of the two groups of front rocker mechanisms 2 are arranged on two sides of the front end of the main frame body 10 in the advancing direction, so that the front rocker mechanisms are driven to rotate, the climbing angle can be adjusted, and the main frame body 10 is supported; the front rocker mechanism 2 comprises a front crawler climbing limb 20, a second motor 21 and a second speed reducer 22, the front crawler climbing limb 20 is arranged outside the walking crawler device 110, a driving wheel of the front crawler climbing limb is fixed with a guide wheel 1101 of the walking crawler device 110 on the corresponding side, the second motor 21 and the second speed reducer 22 are arranged at the rear end of the main frame body 10 in the advancing direction, are positioned on the inner side of the first side base plate 100 and are fixed with a fixing part of the front crawler climbing limb 20 on the corresponding side;
the rear rocker mechanisms 3 are arranged in pairs, and the driving parts of the two groups of rear rocker mechanisms 3 are arranged at the two sides of the rear end of the main frame body 10 in the advancing direction and can drive the rear rocker parts to rotate so as to support the main frame body 10; the rear rocker mechanism 3 comprises a rear crawler climbing limb 30, a motor III 31 and a speed reducer III 32, the rear crawler climbing limb 30 is arranged on the corresponding side of the rear end of the main frame body 10 in the advancing direction, and the motor III 31 and the speed reducer III 32 are arranged on the inner side of the side base plate 101 and fixed with a fixing part of the rear crawler climbing limb 30 on the corresponding side;
the second motor 21 and the third motor 31 can respectively drive the corresponding front crawler climbing limb 20 and the corresponding rear crawler climbing limb 30 to rotate;
the camera mechanism 4, the battery pack 5 and the control mechanism are all installed on the main frame body 10, the control mechanism controls the movement of the walking component 11, the front rocker arm mechanism 2, the rear rocker arm mechanism 3 and the camera mechanism 4, and the battery pack 5 supplies power for the walking component 11, the front rocker arm mechanism 2, the rear rocker arm mechanism 3, the camera mechanism 4 and the control mechanism.
Wherein, preceding track climbing limb 20 mainly realizes that the robot provides sufficient climbing angle and climbing power when meetting the place ahead obstacle, props up the body frame body 10 simultaneously to and provide the support for the robot the place ahead when lower obstacle, prevent to topple. The rear crawler climbing limb 30 mainly supports the main frame body 10 when the robot climbs the obstacle in front, provides enough climbing height, and plays a role in adjusting the obstacle crossing center position of the robot. Camera mechanism 4 mainly realizes extending the camera module when normally using, carries out image data acquisition, when boring the too little clearance of height, draws in the camera module in simultaneously to the reinforcing trafficability characteristic.
In order to further optimize the technical scheme, the front crawler climbing limb 20 comprises an inner rocker arm plate I200, an outer rocker arm plate I201, a driving wheel I202, a driven wheel I203, a crawler belt I204, a front rocker arm power shaft 205, a front rocker arm rotating shaft 206 and a front rocker arm mandrel 207;
the inner rocker arm plate I200 and the outer rocker arm plate I201 are arranged in parallel, the driving wheel I202 and the driven wheels I203 are arranged between the inner rocker arm plate I200 and the outer rocker arm plate I201 in parallel, the driven wheels I203 are rotatably connected between the inner rocker arm plate I200 and the outer rocker arm plate I201 through connecting shafts, and the caterpillar track I204 is in transmission connection with the outer portions of the driving wheel I202 and the driven wheels I203; one end of the front rocker arm rotating shaft 206 is in transmission connection with the second speed reducer 22 through the front rocker arm power shaft 205, the other end of the front rocker arm rotating shaft penetrates through the guide wheel 1101, the first inner rocker arm plate 200, the first driving wheel 202 and the first outer rocker arm plate 201 in sequence to be fixed, the front rocker arm spindle 207 is sleeved outside the front rocker arm rotating shaft 206 and is in rotating connection with the front rocker arm rotating shaft, the guide wheel 1101 and the first driving wheel 202 are both in rotating connection with the front rocker arm spindle 207, and the opposite side of the guide wheel 1101 and the first driving wheel 202 is connected through the fixing rod.
Specifically, a plurality of rocker arm reinforcing blocks are arranged between the inner rocker arm plate one 200 and the outer rocker arm plate one 201.
The guide wheel 1101 and the driving wheel 202 are parts with the same size and structure and are fixedly connected, at the moment, the driving force from the walking crawler belt device 110 can be transmitted to the first track 204, so that the first track can provide extra climbing force, meanwhile, the guide wheel 1101 and the driving wheel 202 are mounted on the front rocker mandrel 207 through bearings, so that the first track can freely rotate relative to the front rocker mandrel 207, the outer rocker plate 201 is connected with the output shaft of the second speed reducer 22 through the front rocker rotating shaft 206 and the front rocker power shaft 205, and meanwhile, the inner rocker plate 200 and the rocker reinforcing block are combined to improve the rigidity of the rocker and prevent the climbing arm from being deformed by lateral force. The climbing rocker arm action of preceding track climbing limb 20 can be realized by the combination of above-mentioned mechanism, can give the climbing limb with the track power transmission that traveles simultaneously, and the action of above-mentioned two degrees of freedom does not influence each other.
In order to further optimize the technical scheme, the rear track climbing limb 30 comprises a second inner rocker arm plate 300, a second driving wheel 301, a second driven wheel 302, a second track 303, a rear rocker arm rotating shaft 304, a rear rocker arm transmission shaft 305, a rear rocker arm mandrel 306 and a transmission sleeve 307;
the driving wheel II 301 and the driven wheel II 302 are arranged on one side of the inner rocker arm plate II 300 in parallel, the driven wheel II 302 are connected to the inner rocker arm plate II 300 in a rotating mode through connecting rods respectively, the caterpillar track II 303 is connected to the outer portions of the driving wheel II 301 and the driven wheel II 302 in a driving mode, one end of a rear rocker arm rotating shaft 304 is connected with the reducer III 32 in a driving mode, the other end of the rear rocker arm rotating shaft 304 is fixed with a rear rocker arm rotating shaft 305, the rear rocker arm rotating shaft 305 penetrates through the inner rocker arm plate II 300 to be connected with the driving wheel II 301 in a rotating mode, a rear rocker arm mandrel 306 is sleeved on the rear rocker arm rotating shaft 304 and is connected with the rear rocker arm rotating shaft 304 in a rotating mode, the end portion of the rear rocker arm rotating shaft 305 is abutted to the inner end of the rear rocker arm rotating shaft 305, a transmission sleeve 307 is sleeved on the inner side end of the rear rocker arm mandrel 306 and is connected with the rear rocker arm rotating mode, one end of the rear rocker arm rotating shaft 305 and the inner rocker arm rotating shaft plate II 300 are abutted to the shaft shoulder of the rear rocker arm mandrel 306.
Because the span of the rear crawler climbing limb 30 is too long, in order to ensure the rigidity of a shafting, a mandrel-rotating shaft system design with separated bending moment and torque is adopted, the inner side rocker arm plate II 300 and the transmission sleeve 307 are arranged on the rear rocker arm mandrel 306 and can rotate freely, and the rear rocker arm mandrel 306 only bears the bending moment brought by the crawler limb. The rear rocker arm transmission shaft 305 is fixedly connected with the rear rocker arm rotating shaft 304 and transmits the torque to the transmission sleeve 307, and at the moment, the transmission sleeve 307 can drive the second inner rocker arm plate 300 to rotate together. The rear crawler climbing limb 30 realized by the mechanism only performs rocker action, does not provide additional driving force, and provides supporting force for the whole vehicle during climbing.
In order to further optimize the above technical solution, the camera mechanism 4 includes a first adjusting component 40, a second adjusting component 41 and a camera module 42;
the second adjusting component 41 is fixed on the action part of the first adjusting component 40, the camera module 42 is installed on the action part of the second adjusting component 41, the first adjusting component 40 drives the second adjusting component 41 and the camera module 42 to rotate upwards along the horizontal direction of the main frame body 10, and the second adjusting component 41 drives the camera module 42 to swing in a fan shape along the upper side of the main frame body 10;
the cameras of the camera module 42 remain oriented in the direction of travel.
In order to further optimize the technical scheme, the first adjusting assembly 40 comprises a rotary steering engine 400 and a rotary base 401, the rotary steering engine 400 is fixed on the rotary base 401, and a driving shaft of the rotary steering engine 400 penetrates through the rotary base 401 and is fixedly connected with the main frame body 10;
the second adjusting component 41 comprises a parallelogram-shaped hinged four-bar mechanism 410, a support plate 411, a U-shaped plate 412 and a pitching steering engine 413, the bottom of the hinged four-bar mechanism 410 is fixed on the rotating base 401, the camera module 42 is fixed at the corresponding end of a connecting rod at the top of the hinged four-bar mechanism 410, the support plate 411 is arranged on one side of the hinged four-bar mechanism 410, two wall plates of the U-shaped plate 412 are fixed on the outer side of the support plate 411, the pitching steering engine 413 is fixed on the U-shaped plate 412, a driving shaft of the pitching steering engine penetrates through the support plate 411 and is fixed with the hinged end of the bottom of one of the connecting rods of the hinged four-bar mechanism 410, the pitching steering engine 413 rotates, and the hinged four-bar mechanism 410 drives the camera module 42 to move along a fan-shaped track.
When passing through narrow space, adjusting part two 41 is in the state of drawing in, camera module 42 is in the front end of body frame 10, the whole robot is platelike, when needs examine, every single move steering wheel 413 drives hinge four-bar linkage 410 action, prop up camera module 42, and keep looking straight ahead all the time, when reaching suitable height, straight every single move steering wheel stop the action, and accessible rotary steering machine 400 drives adjusting part two 41 and camera module 42 and wholly rotates, realize 3610 degrees rotatory looking around, the field of vision is more open.
In order to further optimize the technical scheme, the control mechanism comprises a main controller and a communication module, the main controller is used for controlling the actions of the first motor 111, the second motor 21, the third motor 31, the rotating steering engine 400, the pitching steering engine 413 and the camera module 42, and the communication module is used for controlling data transmission between the end and the main controller.
Specifically, the first motor 111, the second motor 21, and the third motor 31 are all brushless motors.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed in the embodiment corresponds to the method disclosed in the embodiment, so that the description is simple, and the relevant points can be referred to the description of the method part.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications 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 invention. Thus, the present invention 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 (8)
1. A robot for detecting a narrow space of a station room is characterized by comprising a main body mechanism (1), a front rocker arm mechanism (2), a rear rocker arm mechanism (3), a camera mechanism (4), a battery pack (5) and a control mechanism;
the main body mechanism (1) comprises a main frame body (10) and a walking assembly (11) for driving the main frame body (10) to move;
the front rocker mechanisms (2) are arranged in pairs, and driving parts of the two groups of front rocker mechanisms (2) are arranged on two sides of the front end of the main frame body (10) in the advancing direction, drive the front rocker mechanisms to rotate, can adjust the climbing angle and support the main frame body (10);
the rear rocker mechanisms (3) are arranged in pairs, and the driving parts of the two groups of rear rocker mechanisms (3) are arranged on two sides of the rear end of the main frame body (10) in the advancing direction and can drive the rear rocker parts to rotate so as to support the main frame body (10);
camera mechanism (4) battery pack (5) and control mechanism all install on body frame body (10), control mechanism control running assembly (11) preceding rocker mechanism (2) back rocker mechanism (3) and the action of camera mechanism (4), battery pack (5) do running assembly (11) preceding rocker mechanism (2) back rocker mechanism (3) camera mechanism (4) with the control mechanism power supply.
2. The robot for detecting the narrow space of the standing room as claimed in claim 1, wherein the walking components (11) are symmetrically arranged at two sides of the main frame body (10) in the advancing direction and respectively comprise a walking crawler device (110), a first motor (111) and a first speed reducer (112);
the two sets of walking crawler units (110) are respectively arranged at the corresponding sides of the main frame body (10), and the two sets of motors I (111) and the speed reducers I (112) are respectively arranged at the two sides of the rear end of the main frame body (10) in the advancing direction and are respectively in transmission connection with the walking driving wheels (1100) of the corresponding walking crawler units (110).
3. The robot for detecting the narrow space of the station room as claimed in claim 2, wherein the front rocker mechanism (2) comprises a front crawler climbing limb (20), a second motor (21) and a second speed reducer (22), the front crawler climbing limb (20) is arranged at the outer side of the walking crawler (110), a driving wheel of the front crawler climbing limb is fixed with a guide wheel (1101) of the walking crawler (110) at the corresponding side, and the second motor (21) and the second speed reducer (22) are arranged at the rear end of the main frame body (10) in the traveling direction and are fixed with a fixing part of the front crawler climbing limb (20) at the corresponding side;
the rear rocker mechanism (3) comprises a rear crawler climbing limb (30), a motor III (31) and a speed reducer III (32), the rear crawler climbing limb (30) is arranged on the corresponding side of the rear end of the main frame body (10) in the advancing direction, and the motor III (31) and the speed reducer III (32) are fixed with a fixing part of the rear crawler climbing limb (30) on the corresponding side;
the second motor (21) and the third motor (31) can respectively drive the corresponding front crawler climbing limb (20) and the corresponding rear crawler climbing limb (30) to rotate.
4. The robot for detecting the narrow space of the station room as claimed in claim 3, wherein the front crawler climbing limb (20) comprises a first inner rocker plate (200), a first outer rocker plate (201), a first driving wheel (202), a first driven wheel (203), a first crawler (204), a power shaft of a front rocker (205), a rotating shaft of the front rocker (206) and a mandrel of the front rocker (207);
the inner rocker arm plate I (200) and the outer rocker arm plate I (201) are arranged in parallel, the driving wheel I (202) and the driven wheels I (203) are arranged between the inner rocker arm plate I (200) and the outer rocker arm plate I (201) in parallel, the driven wheels I (203) are rotatably connected between the inner rocker arm plate I (200) and the outer rocker arm plate I (201) through connecting shafts, and the crawler belt I (204) is in transmission connection with the outer parts of the driving wheel I (202) and the driven wheels I (203); the one end of preceding rocking arm pivot (206) is passed through preceding rocking arm power axle (205) with two (22) transmissions of speed reducer are connected, and the other end runs through in proper order leading wheel (1101), inboard rocking arm board (200) action wheel (202) with outside rocking arm board (201) are fixed, preceding rocking arm dabber (207) cover is established the outside of preceding rocking arm pivot (206) to rotate with it and be connected, leading wheel (1101) with action wheel (202) all with preceding rocking arm dabber (207) rotate and connect, and relative one side is connected through the dead lever.
5. The robot for detecting the small space in the station room as claimed in claim 4, wherein the rear crawler climbing limb (30) comprises a second inner rocker plate (300), a second driving wheel (301), a second driven wheel (302), a second crawler (303), a rear rocker rotating shaft (304), a rear rocker transmission shaft (305), a rear rocker mandrel (306) and a transmission sleeve (307);
the driving wheel II (301) and the plurality of driven wheels II (302) are arranged on one side of the inner rocker arm plate II (300) in parallel, the plurality of driven wheels II (302) are respectively connected to the inner rocker arm plate II (300) in a rotating manner through connecting rods, the crawler belt II (303) is connected to the driving wheel II (301) and the plurality of driven wheels II (302) in a driving manner, one end of the rear rocker arm rotating shaft (304) is connected with the speed reducer III (32) in a driving manner, the other end of the rear rocker arm rotating shaft is fixed with the rear rocker arm transmission shaft (305), the rear rocker arm transmission shaft (305) penetrates through the inner rocker arm plate II (300) and is connected with the driving wheel II (301) in a rotating manner, the rear rocker arm mandrel (306) is sleeved on the rear rocker arm rotating shaft (304) and is connected with the rear rocker arm rotating shaft in a rotating manner, the end of the rear rocker arm transmission sleeve (307) is abutted against the inner end of the rear rocker arm (306), and is rotatably connected with the rear rocker arm, one end of the rear rocker arm is respectively fixed with the rear rocker arm transmission shaft (305) and the inner rocker arm plate II (300), and the other end of the rear rocker arm is abutted against the shaft shoulder of the rear rocker arm mandrel (306).
6. A robot for detecting small space in station house according to claim 4 or 5, characterized in that the camera mechanism (4) comprises a first adjusting component (40), a second adjusting component (41) and a camera module (42);
the second adjusting component (41) is fixed on an action part of the first adjusting component (40), the camera module (42) is installed on the action part of the second adjusting component (41), the first adjusting component (40) drives the second adjusting component (41) and the camera module (42) to rotate upwards along the horizontal direction of the main frame body (10), and the second adjusting component (41) drives the camera module (42) to swing in a fan shape along the upper part of the main frame body (10);
the camera of the camera module (42) is held facing a direction of travel.
7. The robot for detecting small space in station house according to claim 6,
the first adjusting assembly (40) comprises a rotary steering engine (400) and a rotary base (401), the rotary steering engine (400) is fixed on the rotary base (401), and a driving shaft of the rotary steering engine penetrates through the rotary base (401) and is fixedly connected with the main frame body (10);
the second adjusting component (41) comprises a parallelogram hinge four-bar mechanism (410), a support plate (411), a U-shaped plate (412) and a pitching steering engine (413), the bottom of the hinge four-bar mechanism (410) is fixed on the rotating base (401), the camera module (42) is fixed at the corresponding end of the top connecting rod of the hinge four-bar mechanism (410), the bracket plate (411) is arranged on one side of the four-bar hinge mechanism (410), two wall plates of the U-shaped plate (412) are fixed on the outer side of the support plate (411), the pitching steering engine (413) is fixed on the U-shaped plate (412), a driving shaft of the four-bar mechanism penetrates through the bracket plate (411) and is fixed with the hinged end of the bottom of one side link of the four-bar mechanism (410), a pitching steering engine (413) rotates, the camera module (42) is driven to move along a fan-shaped track through the four-bar linkage (410).
8. The robot for detecting the small space in the station room as claimed in claim 7, wherein the control mechanism comprises a main controller and a communication module, the main controller is used for controlling the actions of the first motor (111), the second motor (21), the third motor (31), the rotary steering engine (400), the pitching steering engine (413) and the camera module (42), and the communication module is used for data transmission between the control end and the main controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210265724.3A CN114560024B (en) | 2022-03-17 | 2022-03-17 | Station house narrow and small space detection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210265724.3A CN114560024B (en) | 2022-03-17 | 2022-03-17 | Station house narrow and small space detection robot |
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| CN114560024A true CN114560024A (en) | 2022-05-31 |
| CN114560024B CN114560024B (en) | 2023-09-22 |
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| CN202210265724.3A Active CN114560024B (en) | 2022-03-17 | 2022-03-17 | Station house narrow and small space detection robot |
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| GB541253A (en) * | 1940-06-10 | 1941-11-19 | Alfred Edward Carr | Improvements in tractor type vehicles especially applicable to military tanks |
| CN202243746U (en) * | 2011-09-26 | 2012-05-30 | 吉林大学 | Self-adaptive crawler-arm compound driven biomimetic robot suitable for various road conditions |
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|---|---|
| CN114560024B (en) | 2023-09-22 |
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