CN114560024B - Station house narrow and small space detection robot - Google Patents
Station house narrow and small space detection robot Download PDFInfo
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- CN114560024B CN114560024B CN202210265724.3A CN202210265724A CN114560024B CN 114560024 B CN114560024 B CN 114560024B CN 202210265724 A CN202210265724 A CN 202210265724A CN 114560024 B CN114560024 B CN 114560024B
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- 238000001514 detection method Methods 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 121
- 230000009194 climbing Effects 0.000 claims abstract description 51
- 238000007689 inspection Methods 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 39
- 239000003638 chemical reducing agent Substances 0.000 claims description 25
- 230000009471 action Effects 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 6
- 230000000712 assembly Effects 0.000 claims description 2
- 238000000429 assembly Methods 0.000 claims description 2
- 101000623895 Bos taurus Mucin-15 Proteins 0.000 claims 1
- 230000000007 visual effect Effects 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 239000000758 substrate Substances 0.000 description 3
- 238000005452 bending Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
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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 station room narrow space detection robot 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 front rocker arm mechanism is connected with the front rocker arm mechanism; the main body mechanism comprises a main frame body and a walking assembly for driving the main frame body to move; the climbing angle is adjusted through the front rocker arm mechanism, the main frame body is supported through the front rocker arm mechanism and the rear rocker arm mechanism, so that the obstacle can be conveniently crossed, and the trafficability is stronger and more stable; the camera module is connected with the main frame body through the first adjusting component and the second adjusting component, can carry out 360 degrees rotation of level and high regulation, further strengthen the observation field of vision, when needs pass through narrow and small space, can draw in it in the main frame body completely, keep the automobile body height unaffected, increased trafficability characteristic and adaptability, satisfy the inside special narrow and small space's in station room canopy top detection demand, improve inspection work efficiency, reduce the cost of labor, compensate the problem that current manual detection mode rate of accuracy is low, 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 and the like.
Background
For the steel structures inside and outside the station house, especially for the areas such as canopy overhanging, small space in the box body, small space in the canopy ceiling, and the like, the traditional manual inspection is mainly relied on. Because the space is narrow and small, the workman walks difficulty wherein, and because light is too dark, can not effectually detect steel construction. Under the normal condition, most inspection equipment is large in size and weight, cannot be placed in a narrow space at the top of a canopy for operation, has a large number of internal barriers in the narrow space of a steel structure, can inspect by sometimes crossing a beam from a gap, and is high in detection difficulty.
Therefore, how to provide a robot which is small in size and can be applied to detection in a narrow space in an infrastructure such as a railway station house is a problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the foregoing, the present invention aims to provide a station building narrow space inspection robot, which solves at least one of the above-mentioned technical problems in the prior art to a certain extent.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a station house narrow space detection robot 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 arm mechanisms are arranged in pairs, and two groups of driving parts of the front rocker arm mechanisms are arranged at two sides of the front end of the main frame body in the advancing direction, drive the front rocker arm parts to rotate, can adjust climbing angles and prop up the main frame body;
the rear rocker arm mechanisms are arranged in pairs, and two groups of driving parts of the rear rocker arm mechanisms are arranged at 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 prop up the main frame body;
the camera mechanism, the battery pack and the control mechanism are all installed on the main frame body, the control mechanism controls the motion of the walking assembly, the front rocker mechanism, the rear rocker mechanism and the camera mechanism, and the battery pack supplies power for the walking assembly, the front rocker mechanism, the rear rocker mechanism, the camera mechanism and the control mechanism.
Preferably, in the above robot for detecting a narrow space in a standing room, the walking components are symmetrically arranged at two sides of the travelling direction of the main frame body, and each walking component comprises a walking crawler device, a first motor and a first speed reducer;
the two groups of the walking crawler belt devices are respectively arranged on the corresponding sides of the main frame body, the two groups of the first motors and the first reducers are respectively arranged on the two sides of the rear end of the main frame body in the advancing direction and are respectively in transmission connection with the corresponding walking driving wheels of the walking crawler belt devices.
Preferably, in the above-mentioned station room small space detection robot, the front rocker arm mechanism includes a front crawler climbing limb, a second motor and a second speed reducer, the front crawler climbing limb is disposed at an outer side of the walking crawler device, a driving wheel of the front crawler climbing limb is fixed with a guide wheel of the walking crawler device at a corresponding side, and the second motor and the second speed reducer are disposed at a rear end of the main frame body in a traveling direction and are fixed with a fixing part of the front crawler climbing limb at the corresponding side;
the rear rocker arm mechanism comprises a rear crawler climbing limb, a motor III and a speed reducer III, wherein the rear crawler climbing limb is arranged at 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 at the corresponding side;
the second motor and the third motor can respectively drive the corresponding front crawler climbing limb and rear crawler climbing limb to rotate.
Preferably, in the above robot for detecting a small space in a standing room, the front crawler climbing limb includes an inner rocker plate one, an outer rocker plate one, a driving wheel one, a driven wheel one, a crawler one, 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 rotationally 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 outside of the first driving wheel and the first driven wheels; one end of the front rocker arm rotating shaft is in transmission connection with the second speed reducer through the front rocker arm power shaft, the other end of the front rocker arm rotating shaft sequentially penetrates through the guide wheel, the first inner rocker arm plate, the first driving wheel and the first outer rocker arm plate, the front rocker arm core sleeve is arranged outside the front rocker arm rotating shaft in a sleeved mode and is in rotary connection with the front rocker arm rotating shaft, the guide wheel and the first driving wheel are both in rotary connection with the front rocker arm mandrel, and the opposite side of the guide wheel and the first driving wheel are connected through a fixing rod.
Preferably, in the above robot for detecting a small space in a standing room, the rear track climbing limb includes an inner side rocker plate two, a driving wheel two, a driven wheel two, a track two, a rear rocker shaft, a rear rocker transmission shaft, a rear rocker mandrel and a transmission sleeve;
the driving wheel II and the driven wheels II are arranged on one side of the inner rocker arm plate II in parallel, the driven wheels II are respectively connected to the inner rocker arm plate II through connecting rods in a rotating mode, the crawler belts II are connected to the outer portions of the driving wheel II and the driven wheels II in a transmission mode, one end of a rear rocker arm rotating shaft is connected with the speed reducer III in a transmission mode, the other end of the rear rocker arm rotating shaft is fixed with the rear rocker arm rotating shaft, the rear rocker arm rotating shaft penetrates through the inner rocker arm plate II and is connected with the driving wheel II in a rotating mode, the rear rocker arm core shaft is sleeved on the rear rocker arm rotating shaft and is connected with the rear rocker arm rotating shaft in a rotating mode, the end portion of the rear rocker arm rotating shaft is in abutting connection with the inner end of the rear rocker arm rotating shaft, the transmission sleeve is sleeved on the inner end of the rear rocker arm core shaft and is connected with the rear rocker arm rotating shaft in a rotating mode, one end of the transmission sleeve is respectively fixed with the inner rocker arm plate II, and the other end of the transmission sleeve is in abutting connection with the shaft shoulder of the rear rocker arm core shaft.
Preferably, in the above robot for detecting a small space in a station building, the camera mechanism includes a first adjusting component, a second adjusting component and a camera module;
the second adjusting component is fixed on the action part of the first adjusting component, the camera module is arranged on the action part of the second adjusting component, the first adjusting component drives the second adjusting component and the camera module to rotate along the horizontal direction of the main frame body, and the second adjusting component drives the camera module to swing in a sector shape along the upper side of the main frame body;
the camera of the camera module remains oriented in the direction of travel.
Preferably, in the above robot for detecting a small space in a station building, the camera mechanism includes 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 first adjusting component penetrates through the rotary base and is fixedly connected with the main frame body;
the second adjusting component comprises a parallelogram hinge four-bar mechanism, a support plate, a U-shaped plate and a pitching steering engine, wherein the bottom of the hinge four-bar mechanism is fixed on the rotating base, the camera module is fixed at the corresponding end of a connecting rod at the top of the hinge four-bar mechanism, the support plate is arranged at one side of the hinge four-bar mechanism, two wall plates of the U-shaped plate are fixed at the outer side of the support plate, the pitching steering engine is fixed on the U-shaped plate, a driving shaft of the pitching steering engine penetrates through the support plate and is fixed at the bottom hinged end of one side link of the hinge four-bar mechanism, and the pitching steering engine rotates and drives the camera module to move along a fan-shaped track through the hinge four-bar mechanism.
Preferably, in the above-mentioned station room narrow and small space detection robot, the control mechanism includes master controller and communication module, the master controller is used for controlling motor one, motor two, motor three, rotatory steering wheel, every single move steering wheel with the action of camera module, communication module is used for the data transmission between control end and the master controller.
Compared with the prior art, the invention discloses the detection robot for the narrow space of the station room, which has the main effects and advantages that:
the robot newspaper sheet is designed, and planar topologies such as power, energy, control, detection and the like are placed, so that the size is reduced, the robot can conveniently pass through a narrow space, a front rocker arm mechanism and a rear rocker arm mechanism are additionally arranged on the basis of a travelling device, the climbing angle can be adjusted through the front rocker arm mechanism, the main frame body is supported through the front rocker arm mechanism and the rear rocker arm mechanism, the obstacle 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 is connected with the main frame body through the first adjusting component and the second adjusting component, can rotate 360 degrees through the first adjusting component, is wider in visual field, can further enhance the visual field by utilizing the second adjusting mechanism to adjust the visual field height according to actual conditions, can be completely folded in the main frame body when a narrow space is needed, keeps the vehicle body height unaffected, and increases the trafficability 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 that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of an assembly of the camera mechanism of the present invention in an extended state;
FIG. 2 is a schematic diagram of the overall assembly of the camera mechanism of the present invention in a collapsed state;
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 an shafting cross-sectional view of the front rocker mechanism of the present invention;
FIG. 6 is an isometric view of a rear rocker mechanism of the present invention;
FIG. 7 is an shafting cross-sectional view of the rear rocker mechanism of the present invention;
fig. 8 is a schematic view showing an extended state of the camera mechanism in the present invention.
Description of the embodiments
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should 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 the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Referring to fig. 1-8, the invention discloses a station room narrow space detection robot, which comprises a main body mechanism 1, a front rocker mechanism 2, a rear rocker 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 traveling assembly 11 for driving the main frame body 10 to move; the front end edge of the main frame body 10 is surrounded by a first side substrate 100, the rear end is surrounded by a second side substrate 101, and the traveling assemblies 11 are symmetrically arranged on two sides of the main frame body 10 in the traveling direction and comprise a traveling crawler device 110, a first motor 111 and a first speed reducer 112;
two groups of walking crawler devices 110 are respectively arranged at the corresponding sides of the main frame body 10, two groups of motors 111 and a speed reducer 112 are respectively arranged at the two sides of the rear end of the main frame body 10 in the travelling direction and are respectively connected with the walking driving wheels 1100 of the corresponding walking crawler devices 110 in a transmission way
The front rocker arm mechanisms 2 are arranged in pairs, and driving parts of the two groups of front rocker arm mechanisms 2 are arranged at two sides of the front end of the main frame body 10 in the advancing direction, so that the front rocker arm mechanisms are driven to rotate, climbing angles can be adjusted, and the main frame body 10 is supported; the front rocker arm mechanism 2 comprises a front crawler climbing limb 20, a second motor 21 and a second speed reducer 22, wherein the front crawler climbing limb 20 is arranged on the outer side of the walking crawler device 110, a driving wheel of the front crawler climbing limb is fixed with a guide wheel 1101 of the corresponding side walking crawler device 110, 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 and are positioned on the inner side of the side substrate I100 and are fixed with a fixing part of the front crawler climbing limb 20 on the corresponding side;
the rear rocker arm mechanisms 3 are arranged in pairs, and driving parts of the two groups of rear rocker arm mechanisms 3 are arranged at two sides of the rear end of the main frame body 10 in the advancing direction and can drive the rear rocker arm parts to rotate so as to prop up the main frame body 10; the rear rocker arm mechanism 3 comprises a rear crawler climbing limb 30, a motor III 31 and a speed reducer III 32, wherein the rear crawler climbing limb 30 is arranged at the corresponding side of the rear end of the main frame body 10 in the travelling direction, and the motor III 31 and the speed reducer III 32 are arranged at the inner side of the side base plate 101 and are fixed with the fixed part of the rear crawler climbing limb 30 at the corresponding side;
the motor II 21 and the motor III 31 can respectively drive the corresponding front crawler climbing limb 20 and rear crawler climbing limb 30 to rotate;
the camera mechanism 4, the battery pack 5 and the control mechanism are all arranged on the main frame body 10, the control mechanism controls the traveling assembly 11, the front rocker mechanism 2, the rear rocker mechanism 3 and the camera mechanism 4 to act, and the battery pack 5 supplies power for the traveling assembly 11, the front rocker mechanism 2, the rear rocker 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 body 10 simultaneously to and provide the support for the robot place ahead when getting down the 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. The camera mechanism 4 mainly stretches the camera module during normal use to collect image data, and simultaneously folds the camera module when the gap with too small height is drilled so as to enhance the trafficability.
To further optimize the solution described above, the front track climbing limb 20 includes an inner rocker plate 200, an outer rocker plate 201, a primary wheel 202, a secondary wheel 203, a track 204, a front rocker power shaft 205, a front rocker shaft 206, and a front rocker shaft 207;
the inner rocker arm plate I200 is arranged in parallel with the outer rocker arm plate I201, 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 rotationally connected between the inner rocker arm plate I200 and the outer rocker arm plate I201 through connecting shafts, and the crawler I204 is in transmission connection with the outside 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 speed reducer II 22 through the front rocker arm power shaft 205, the other end sequentially penetrates through the guide wheel 1101, the inner rocker arm plate I200, the driving wheel I202 and the outer rocker arm plate I201, the front rocker arm core shaft 207 is sleeved outside the front rocker arm rotating shaft 206 and is in rotary connection with the front rocker arm rotating shaft, the guide wheel 1101 and the driving wheel I202 are both in rotary connection with the front rocker arm core shaft 207, and the opposite sides are connected through fixing rods.
Specifically, a plurality of rocker arm reinforcing blocks are provided between the inner rocker arm plate one 200 and the outer rocker arm plate one 201.
The guide wheel 1101 and the first 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 device 110 can be transmitted to the first crawler 204, so that additional climbing force can be provided, meanwhile, the guide wheel 1101 and the first driving wheel 202 are arranged on the front rocker core shaft 207 through bearings, so that the guide wheel 1101 and the first driving wheel can freely rotate relative to the front rocker core shaft 207, the first 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 first inner rocker plate 200 and the rocker reinforcing block are combined, so that the rigidity of the rocker is improved, and the climbing arm is prevented from being deformed by lateral force. The climbing rocker arm motion of the front crawler climbing limb 20 can be realized by the mechanism combination, meanwhile, the power of the driving crawler can be transmitted to the climbing limb, and the motions of the two degrees of freedom are not mutually influenced.
In order to further optimize the technical scheme, the rear crawler climbing limb 30 comprises an inner rocker plate II 300, a driving wheel II 301, a driven wheel II 302, a crawler II 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 two 301 and the driven wheels two 302 are arranged on one side of the inner rocker arm plate two 300 in parallel, the driven wheels two 302 are respectively connected to the inner rocker arm plate two 300 in a rotating way through connecting rods, the crawler two 303 is connected to the outer parts of the driving wheel two 301 and the driven wheels two 302 in a transmission way, one end of a rear rocker arm rotating shaft 304 is connected with a speed reducer three 32 in a transmission way, the other end of the rear rocker arm rotating shaft 305 is fixed with a rear rocker arm transmission shaft 305, the rear rocker arm shaft 305 penetrates through the inner rocker arm plate two 300 to be connected with the driving wheel two 301 in a rotating way, 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 in a rotating way, the end of the rear rocker arm shaft is abutted with the inner end of the rear rocker arm transmission shaft 305, a transmission sleeve 307 is sleeved on the inner end of the rear rocker arm mandrel 306 and is connected with the rear rocker arm mandrel 306 in a rotating way, one end of the transmission sleeve is respectively fixed with the rear rocker arm rotating shaft 300, and the other end of the rear rocker arm mandrel 306 is abutted with the shaft shoulder of the rear rocker arm mandrel 306.
Because the back crawler climbing limb 30 is too long in span, in order to ensure the rigidity of the shafting, a mandrel-rotating shaft system design with separated bending moment and torque is adopted, the inner rocker plate II 300 and the transmission sleeve 307 are arranged on the back rocker mandrel 306 and can freely rotate, and the back rocker 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 rotation shaft 304, and torque is transmitted to the transmission sleeve 307, and at the moment, the transmission sleeve 307 can drive the inner rocker arm plate two 300 to rotate together. The rear crawler climbing limb 30 realized by the mechanism only performs rocker arm action, does not provide additional driving force, and provides supporting force for the whole vehicle during climbing.
In order to further optimize the technical scheme, 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 component of the first adjusting component 40, the camera module 42 is arranged on the action component of the second adjusting component 41, the first adjusting component 40 drives the second adjusting component 41 and the camera module 42 to rotate 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 component 40 comprises a rotary steering engine 400 and a rotary base 401, wherein the rotary steering engine 400 is fixed on the rotary base 401, and a driving shaft of the first adjusting component 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, wherein 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 a connecting rod at the top of the hinge four-bar mechanism 410, the support plate 411 is arranged at one side of the hinge four-bar mechanism 410, two wall plates of the U-shaped plate 412 are fixed at 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 413 penetrates through the support plate 411 and is fixed with the bottom hinged end of one side link of the hinge four-bar mechanism 410, and the pitching steering engine 413 rotates to drive the camera module 42 to move along a fan-shaped track through the hinge four-bar mechanism 410.
When the camera module 42 is positioned at the front end of the main frame body 10, the robot is integrally plate-shaped, when detection is needed, the pitching steering engine 413 drives the hinge four-bar mechanism 410 to act, the camera module 42 is supported and always keeps the front of the head-up, when the proper height is reached, the flat pitching steering engine stops acting, and the rotating steering engine 400 can drive the adjusting module 41 and the camera module 42 to integrally rotate, so that 3610-degree rotary looking around is realized, and the visual field is wider.
In order to further optimize the above technical solution, the control mechanism includes a main controller and a communication module, where the main controller is used to control 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 to control the data transmission between the control end and the main controller.
Specifically, the first motor 111, the second motor 21, and the third motor 31 are brushless motors.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
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 (4)
1. The robot for detecting the narrow space of the 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 traveling assembly (11) for driving the main frame body (10) to move; the walking assemblies (11) are symmetrically arranged on two sides of the main frame body (10) in the advancing direction and comprise a walking crawler device (110), a first motor (111) and a first speed reducer (112); the two groups of the walking crawler devices (110) are respectively arranged on the corresponding sides of the main frame body (10), the two groups of the first motors (111) and the first speed reducers (112) are respectively arranged on the two sides of the rear end of the main frame body (10) in the advancing direction and are respectively connected with the corresponding walking driving wheels (1100) of the walking crawler devices (110) in a transmission manner;
the front rocker arm mechanisms (2) are arranged in pairs, driving parts of the two groups of front rocker arm mechanisms (2) are arranged at two sides of the front end of the main frame body (10) in the advancing direction, the front rocker arm parts are driven to rotate, climbing angles can be adjusted, and the main frame body (10) is supported; the front rocker arm mechanism (2) comprises a front crawler climbing limb (20), a second motor (21) and a second speed reducer (22), wherein the front crawler climbing limb (20) is arranged on the outer side of 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, 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 advancing direction and are fixed with a fixing part of the front crawler climbing limb (20) on the corresponding side;
the front crawler climbing limb (20) comprises an inner rocker arm plate I (200), an outer rocker arm plate I (201), a driving wheel I (202), a driven wheel I (203), a crawler I (204), 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 I (200) and the outer rocker arm plate I (201) are arranged in parallel, the driving wheel I (202) and the driven wheel I (203) are arranged between the inner rocker arm plate I (200) and the outer rocker arm plate I (201) in parallel, the driven wheel I (203) is rotationally connected between the inner rocker arm plate I (200) and the outer rocker arm plate I (201) through a connecting shaft, and the crawler I (204) is in transmission connection with the outsides of the driving wheel I (202) and the driven wheel I (203); one end of the front rocker arm rotating shaft (206) is in transmission connection with the speed reducer II (22) through the front rocker arm power shaft (205), the other end sequentially penetrates through the guide wheel (1101), the inner rocker arm plate I (200) and the driving wheel I (202) to be fixed with the outer rocker arm plate I (201), the front rocker arm mandrel (207) is sleeved outside the front rocker arm rotating shaft (206) and is in rotation connection with the front rocker arm rotating shaft, the guide wheel (1101) and the driving wheel I (202) are both in rotation connection with the front rocker arm mandrel (207), and the opposite sides are connected through fixing rods;
the rear rocker arm mechanisms (3) are arranged in pairs, and driving parts of the two groups of rear rocker arm mechanisms (3) are arranged at two sides of the rear end of the main frame body (10) in the advancing direction and can drive the rear rocker arm parts to rotate so as to prop up the main frame body (10); the rear rocker arm mechanism (3) comprises a rear crawler climbing limb (30), a motor III (31) and a speed reducer III (32), wherein the rear crawler climbing limb (30) is arranged at 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 fixed part of the rear crawler climbing limb (30) at 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 rear crawler climbing limb (30) comprises an inner side rocker plate II (300), a driving wheel II (301), a driven wheel II (302), a crawler II (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 driven wheels II (302) are arranged on one side of the inner rocker arm plate II (300) in parallel, the driven wheels II (302) are respectively connected to the inner rocker arm plate II (300) in a rotating way through connecting rods, the crawler belt II (303) is connected to the outside of the driving wheel II (301) and the driven wheels II (302) in a transmission way, one end of the rear rocker arm rotating shaft (304) is in transmission connection with the speed reducer III (32), 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 in rotating connection with the driving wheel II (301), the rear rocker arm mandrel (306) is sleeved on the rear rocker arm rotating shaft (304) and is in rotating connection with the rear rocker arm shaft, the end of the rear rocker arm shaft (305) is in abutting connection with the inner end of the rear rocker arm transmission shaft (306), and the transmission sleeve (307) is sleeved on the inner end of the rear rocker arm mandrel (306) and is in rotating connection with the rear rocker arm shaft shoulder (306) respectively;
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 walking component (11), the front rocker arm mechanism (2), the rear rocker arm mechanism (3) and the action of the camera mechanism (4), the battery pack (5) is the walking component (11), the front rocker arm mechanism (2), the rear rocker arm mechanism (3), the camera mechanism (4) and the control mechanism are powered.
2. The station building small space detection robot according to claim 1, wherein 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 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 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 modules (42) are held toward the direction of travel.
3. A station building small space inspection robot according to claim 2, characterized in that,
the first adjusting component (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 first adjusting component penetrates through the rotary base (401) and is fixedly connected with the main frame body (10);
the adjusting component II (41) comprises a parallelogram hinge four-bar mechanism (410), a support plate (411), a U-shaped plate (412) and a pitching steering engine (413), wherein 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 a connecting rod at the top of the hinge four-bar mechanism (410), the support plate (411) is arranged at one side of the hinge four-bar mechanism (410), two wall plates of the U-shaped plate (412) are fixed at 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 (413) penetrates through the support plate (411) and is fixed at the bottom hinged end of one connecting rod of the hinge four-bar mechanism (410), and the pitching steering engine (413) rotates to drive the camera module (42) to move along a fan-shaped track through the hinge four-bar mechanism (410).
4. A station building small space detection robot according to claim 3, characterized in that 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 a control end and the main controller.
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| CN202210265724.3A CN114560024B (en) | 2022-03-17 | 2022-03-17 | Station house narrow and small space detection robot |
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| CN202210265724.3A CN114560024B (en) | 2022-03-17 | 2022-03-17 | Station house narrow and small space detection robot |
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| CN114560024B true CN114560024B (en) | 2023-09-22 |
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| CN114560024A (en) | 2022-05-31 |
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