CN218576269U

CN218576269U - Anti-collision type inspection robot

Info

Publication number: CN218576269U
Application number: CN202221683157.5U
Authority: CN
Inventors: 王珍; 王均春; 张寅�; 张宇
Original assignee: Anhui Xiangpin Intelligent Technology Co ltd
Current assignee: Anhui Xiangpin Intelligent Technology Co ltd
Priority date: 2022-06-30
Filing date: 2022-06-30
Publication date: 2023-03-07
Anticipated expiration: 2032-06-30

Abstract

The utility model discloses a collision avoidance type patrols and examines type robot, including the robot frame, the top of robot frame is provided with the casing, the mount is installed on the top of casing, the aircraft nose is installed on the top of mount, two cameras are installed to the front end of aircraft nose, the thread groove has been seted up to the bottom of casing, driving motor is installed at the top of robot frame, install the threaded rod on driving motor's the output shaft. The utility model discloses a be provided with a series of structures, the buffering through first anticollision board and second anticollision board is protected the striking of patrolling and examining the robot in the course of the work, has prevented that the robot from receiving the striking, causes the robot to damage easily to lead to the condition that the robot breaks down, made things convenient for through the altitude mixture control to the second anticollision board to patrol and examine the robot and improved the protection face when rising, make the crashworthiness of robot good, improved the practicality of device.

Description

Anti-collision type inspection robot

Technical Field

The utility model relates to the technical field of robot, specifically be a class robot is patrolled and examined to anticollision formula.

Background

The inspection robot can be provided with relevant laser scanning equipment to finish work such as disasters, dangerous environments, specific area inspection and the like. The robot can alleviate work load, reduces operation personnel's safety risk, replaces the heavy manual work and patrols and examines, improves the automation intellectuality of patrolling and examining, reduces the cost of labor, and various demand places of patrolling and examining.

And the robot is patrolled and examined at present, receive the striking easily in the course of the work, cause the robot to damage easily, thereby lead to the robot to break down, and the robot is patrolled and examined to the current, itself has certain raising and lowering functions, so that make a video recording to the eminence position and patrol and examine the operation such as, cause the robot in the back that risees from this, its area grow of treating the protection, and the protection face that protective part possessed is fixed, protectiveness reduces from this, the limitation is big, make robot anticollision performance poor, the use of robot has been influenced.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a class robot is patrolled and examined to anticollision formula to solve the problem that proposes in the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a collision avoidance formula class robot of patrolling and examining, includes the robot frame, the top of robot frame is provided with the casing, the mount is installed on the top of casing, the aircraft nose is installed on the top of mount, two cameras are installed to the front end of aircraft nose, the thread groove has been seted up to the bottom of casing, driving motor is installed at the top of robot frame, install the threaded rod on driving motor's the output shaft, and the top of threaded rod extend to the thread groove in and with thread groove threaded connection, the top of robot frame is provided with two elasticity anticollision institution, be provided with elasticity articulated mechanism on the casing, install removal anticollision institution in the elasticity articulated mechanism, be provided with flexible stop gear in the elasticity anticollision institution, and flexible stop gear is connected with removal anticollision institution, be provided with elastic positioning mechanism in the removal anticollision institution, and elastic positioning mechanism is connected with the casing.

Preferably, elasticity anticollision institution includes elastic plate, elastic spring, elastic rod and first anticollision board, two elastic tanks have been seted up at the top of robot frame, and equal sliding connection has an elastic plate, two in two elastic tanks one side that the elastic plate kept away from each other all installs elastic spring, and the one end that two elastic spring kept away from each other is connected with corresponding elastic tank respectively, two the elastic rod is all installed to one side that the elastic plate was kept away from each other, and first anticollision board is all installed to the one end that two elastic rods were kept away from each other.

Preferably, the elastic hinge mechanism comprises a hinge rod and a hinge seat, the hinge rod and the hinge seat are arranged on the movable plate, the hinge rod and the hinge seat are arranged in an inclined mode, the two sides of the casing are provided with moving grooves, the moving plates are connected in the moving grooves in a sliding mode and located on the same vertical axis, the damping springs are installed on one sides, far away from the movable plates, of the movable plates, one ends, far away from the two damping springs, of the two damping springs are connected with the inner wall of the top of the corresponding moving grooves and the inner wall of the bottom of the corresponding moving grooves respectively, the front ends of the movable plates are hinged with the hinge rod, and the hinge rod is hinged with the hinge seat on one side, close to the hinge rod.

Preferably, remove anticollision institution including removing post and second anticollision board, be located same vertical side ascending two same removal post, two are installed to one side that articulated seat is close to each other the second anticollision board is all installed to the one end that removes the post and keep away from each other.

Preferably, flexible stop gear includes telescopic link and two stoppers, flexible groove has been seted up on the top of first anticollision board, and flexible inslot sliding connection has the telescopic link, and the top of telescopic link extends to the top of first anticollision board and is connected with the bottom of second anticollision board, has all seted up the spacing groove on the both sides inner wall in flexible groove, the stopper is all installed to the both sides of telescopic link, and two stoppers respectively with corresponding spacing groove sliding connection.

Preferably, elastic positioning mechanism includes locating lever and positioning spring, two the constant head tank has all been seted up to the one end that removes the post and is close to each other, and equal sliding connection has the locating lever in two constant head tanks, and the one end that two locating levers are close to each other extends to the outside of corresponding removal post respectively and is connected with the casing, two the positioning spring that the cover was established in the locating lever outside is all installed to the one end that removes the post and is close to each other, and the one end that two positioning springs are close to each other all is connected with the casing.

Preferably, the bottom four corners of robot frame all rotates and is connected with the walking wheel, and four walking wheels are universal lockable wheels.

Compared with the prior art, the beneficial effects of the utility model are that:

1. this class robot is patrolled and examined to anticollision formula carries out the anticollision through two elasticity anticollision institution that set up on the robot frame to the robot frame.

2. This class robot is patrolled and examined to anticollision formula cushions spacingly to two removal anticollision institution through the elasticity articulated mechanism that sets up on the casing.

3. This class robot is patrolled and examined to anticollision formula has made things convenient for through the removal anticollision institution that sets up on elasticity articulated mechanism to patrol and examine the robot and improve the protective surface when rising for the anticollision performance of robot is good.

4. This class robot is patrolled and examined to anticollision formula carries out the horizontal direction spacing to removing anticollision institution through the elastic locating mechanism who sets up on removing anticollision institution.

The utility model discloses a buffering of first anticollision board and second anticollision board is protected patrolling and examining the striking of robot in the course of the work, has prevented that the robot from receiving the striking, causes the robot to damage easily to lead to the condition that the robot broke down, made things convenient for through the altitude mixture control to the second anticollision board to patrol and examine the robot and improve the protection face when rising, make the anticollision performance of robot good, improved the practicality of device.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the internal structure of the present invention;

fig. 3 is an enlarged schematic structural diagram of a portion a in fig. 2 according to the present invention.

In the figure: 1. a robot base; 2. a housing; 3. a fixed mount; 4. a machine head; 5. a camera; 6. a thread groove; 7. a drive motor; 8. a threaded rod; 9. an elastic groove; 10. an elastic plate; 11. an elastic spring; 12. an elastic rod; 13. a first fender panel; 14. a moving groove; 15. moving the plate; 16. a damping spring; 17. a hinged lever; 18. a hinged seat; 19. moving the column; 20. a second fender panel; 21. a telescopic groove; 22. a telescopic rod; 23. a limiting groove; 24. a limiting block; 25. positioning a groove; 26. positioning a rod; 27. and positioning the spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element to which the reference is made must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, and for example, "connected" may be either fixedly connected or detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to 3, the collision avoidance inspection robot of the present embodiment includes a robot base 1, it should be noted that the robot base 1 is a conventional inspection robot, and has a power supply unit, a data processing unit, a walking driving unit, etc., a housing 2 is disposed above the robot base 1, a fixing frame 3 is mounted at the top end of the housing 2, a head 4 is mounted at the top end of the fixing frame 3, the head 4 is electrically connected to the robot base 1, an information processing module is disposed inside, etc., two cameras 5 are mounted at the front end of the head 4, the two cameras 5 facilitate monitoring and inspection of road conditions, a thread groove 6 is formed at the bottom end of the housing 2, a driving motor 7 is mounted at the top of the robot base 1, a threaded rod 8 is mounted on an output shaft of the driving motor 7, and the top end of the threaded rod 8 extends into the thread groove 6 and is in threaded connection with the thread groove 6, rotation of threaded rod 8 drives casing 2 through thread groove 6 and goes up and down, robot frame 1's top is provided with two elasticity anticollision institution, two elasticity anticollision institutions carry out the anticollision to robot frame 1, be provided with elasticity hinge mechanisms on casing 2, it is spacing to cushion two removal anticollision institution to nature hinge mechanisms, install removal anticollision institution on the elasticity hinge mechanisms, it has made things convenient for patrolling and examining the robot and has improved the protection face when rising to remove anticollision institution, make the anticollision performance of robot good, be provided with flexible stop gear on the elasticity anticollision institution, and flexible stop gear is connected with removal anticollision institution, be provided with elastic positioning mechanism on the removal anticollision institution, and elastic positioning mechanism is connected with casing 2, elastic positioning mechanism carries out the horizontal direction spacing to removing anticollision institution.

Specifically, elasticity anticollision institution includes elastic plate 10, elastic spring 11, elastic rod 12 and first anticollision board 13, two elastic groove 9 have been seted up at robot frame 1's top, equal sliding connection has elastic plate 10 in two elastic groove 9, elastic spring 11 is all installed to one side that two elastic plate 10 kept away from each other, the one end that two elastic spring 11 kept away from each other is connected with corresponding elastic groove 9 respectively, elastic rod 12 is all installed to one side that two elastic plate 10 kept away from each other, first anticollision board 13 is all installed to the one end that two elastic rod 12 kept away from each other, first anticollision board 13 carries out the anticollision to robot frame 1.

Further, elasticity articulated mechanism includes movable plate 15, damping spring 16, the hinge bar 17 and the articulated seat 18 that the slope set up, moving slot 14 has all been seted up to the both sides of casing 2, sliding connection has movable plate 15 in moving slot 14, damping spring 16 is all installed to the one side that two movable plates 15 that lie in on the same vertical axis kept away from each other, the one end that two damping spring 16 kept away from each other respectively with the top inner wall and the bottom wall connection of corresponding moving slot 14, the front end of two movable plates 15 all articulates there is hinge bar 17, one side that two hinge bar 17 are close to each other all articulates there is articulated seat 18, the removal of two articulated seats 18 drives two movable plates 15 through two hinge bars 17 and carries out vertical direction and remove.

Further, remove anticollision institution including removing post 19 and second anticollision board 20, and the same post 19 that removes is installed to the one side that is located two articulated seats 18 on the same vertical direction each other and is close to, and second anticollision board 20 is all installed to the one end that two remove posts 19 and keep away from each other, and second anticollision board 20 carries out the anticollision to casing 2.

Further, flexible stop gear includes telescopic link 22 and two stopper 24, flexible groove 21 has been seted up on the top of first anticollision board 13, sliding connection has telescopic link 22 in flexible groove 21, the top of telescopic link 22 extends to first anticollision board 13 the top and is connected with second anticollision board 20's bottom, spacing groove 23 has all been seted up on the both sides inner wall of flexible groove 21, stopper 24 is all installed to telescopic link 22's both sides, and two stopper 24 respectively with corresponding spacing groove 23 sliding connection, stopper 24 carries out vertical direction spacing to telescopic link 22.

Further, elastic positioning mechanism includes locating lever 26 and positioning spring 27, constant head tank 25 has all been seted up to the one end that two removal posts 19 are close to each other, equal sliding connection has locating lever 26 in two constant head tanks 25, the one end that two locating levers 26 are close to each other extends to the outside of corresponding removal post 19 respectively and is connected with casing 2, the one end that two removal posts 19 are close to each other is all installed the cover and is established the positioning spring 27 in the locating lever 26 outside, the one end that two positioning springs 27 are close to each other all is connected with casing 2, it is spacing that the locating lever 26 carries out the horizontal direction to removing post 19.

Further, the four corners of the bottom of the robot base 1 are all rotatably connected with walking wheels, the four walking wheels are universal lockable wheels, and the four walking wheels are convenient to move the robot.

The using method of the embodiment comprises the following steps: when the robot is impacted, the first anti-collision plate 13 or the second anti-collision plate 20 is impacted, the first anti-collision plate 13 drives the elastic rod 12 to move horizontally, the elastic rod 12 drives the elastic plate 10 to move horizontally in the elastic groove 9, the elastic plate 10 compresses the elastic spring 11 to absorb energy through the elastic spring 11, meanwhile, the first anti-collision plate 13 is connected with the second anti-collision plate 20 through the telescopic rod 22, the first anti-collision plate 13 drives the second anti-collision plate 20 to move horizontally, the second anti-collision plate 20 drives the movable column 19 to move horizontally, the positioning rod 26 limits the movable column 19, meanwhile, the movable column 19 compresses the positioning spring 27 to absorb energy through the positioning spring 27, meanwhile, the movable column 19 drives the two hinge seats 18 to move, the two hinge seats 18 drive the two hinge rods 17 to move, the two hinge rods 17 drive the two movable plates 15 to move up and down in the two movable grooves 14, the two moving plates 15 compress the two damping springs 16, absorb energy through the two damping springs 16, absorb the impact force through the elastic spring 11, the damping spring 16 and the positioning spring 27, and it should be noted that the springs are also provided with corresponding dampers (prior art) to buffer the vibration force, so as to avoid the vibration force from being continuously transmitted, thereby preventing the robot from being impacted and easily causing the robot to be damaged, thereby causing the robot to be in a fault condition, if the shell 2 needs to be lifted, the driving motor 7 is started, the driving motor 7 is powered by a storage battery, the driving motor 7 is controlled by a control switch, an output shaft of the driving motor 7 drives the threaded rod 8 to rotate, the threaded rod 8 drives the shell 2 to be lifted through the threaded groove 6, and meanwhile, the shell 2 drives the two second anti-collision plates 20 to move up and down, second anticollision board 20 drives telescopic link 22 and slides in flexible groove 21, two stopper 24 to telescopic link 22 carry on spacingly can, through the altitude mixture control to second anticollision board 20 make things convenient for the robot of patrolling and examining to improve the protective surface when rising.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides a class robot is patrolled and examined to anticollision formula, includes robot frame (1), its characterized in that: the utility model discloses a robot frame, including robot frame (1), casing (2), mount (3) are installed on the top of casing (2), aircraft nose (4) are installed on the top of mount (3), two cameras (5) are installed to the front end of aircraft nose (4), thread groove (6) have been seted up to the bottom of casing (2), driving motor (7) are installed at the top of robot frame (1), install threaded rod (8) on the output shaft of driving motor (7), and the top of threaded rod (8) extend to in thread groove (6) and with thread groove (6) threaded connection, the top of robot frame (1) is provided with two elasticity anticollision institution, be provided with elasticity articulated mechanism on casing (2), install on the elasticity articulated mechanism and remove anticollision institution, be provided with flexible stop gear on the elasticity anticollision institution, and flexible stop gear is connected with removal anticollision institution, be provided with the elastic positioning mechanism on the removal anticollision institution, and elastic positioning mechanism is connected with casing (2).

2. The anti-collision inspection robot according to claim 1, wherein: elasticity anticollision institution includes elastic plate (10), elastic spring (11), elastic rod (12) and first anticollision board (13), two elastic groove (9) have been seted up at the top of robot frame (1), and equal sliding connection has elastic plate (10), two in two elastic groove (9) elastic spring (11) are all installed to one side that elastic plate (10) kept away from each other, and the one end that two elastic spring (11) kept away from each other is connected with corresponding elastic groove (9) respectively, two elastic rod (12) are all installed to one side that elastic plate (10) kept away from each other, and first anticollision board (13) are all installed to the one end that two elastic rod (12) kept away from each other.

3. The anti-collision inspection robot according to claim 1, wherein: elasticity articulated mechanism includes hinge bar (17) and articulated seat (18) that movable plate (15), damping spring (16), slope set up, shifting chute (14) have all been seted up to the both sides of casing (2), and sliding connection has movable plate (15) in shifting chute (14), is located two on the same vertical axis movable plate (15) one side of keeping away from each other all installs damping spring (16), and the one end of keeping away from each other of two damping spring (16) is respectively with the top inner wall and the bottom inner wall connection of corresponding shifting chute (14), two the front end of movable plate (15) all articulates there is hinge bar (17), two one side that hinge bar (17) are close to each other all articulates there is articulated seat (18).

4. The anti-collision inspection robot according to claim 3, wherein: remove anticollision institution including removing post (19) and second anticollision board (20), be located same vertical side two same removal post (19), two are installed to one side that articulated seat (18) are close to each other the one end of keeping away from each other of removal post (19) all installs second anticollision board (20).

5. The anti-collision inspection robot according to claim 2, wherein: flexible stop gear includes telescopic link (22) and two stopper (24), flexible groove (21) have been seted up on the top of first crashproof board (13), and sliding connection has telescopic link (22) in flexible groove (21), and the top of telescopic link (22) extends to the top of first crashproof board (13) and is connected with the bottom of second crashproof board (20), has all seted up spacing groove (23) on the both sides inner wall of flexible groove (21), stopper (24) are all installed to the both sides of telescopic link (22), and two stopper (24) respectively with corresponding spacing groove (23) sliding connection.

6. The anti-collision inspection robot according to claim 4, wherein: elastic positioning mechanism includes locating lever (26) and positioning spring (27), two constant head tank (25) have all been seted up to the one end that removes post (19) and be close to each other, equal sliding connection has locating lever (26) in two constant head tanks (25), and the one end that two locating levers (26) are close to each other extends to the outside of corresponding removal post (19) respectively and is connected with casing (2), two positioning spring (27) of establishing in locating lever (26) outside are all installed to the one end that removes post (19) and be close to each other, and the one end that two positioning spring (27) are close to each other all is connected with casing (2).

7. The anti-collision inspection robot according to claim 1, wherein: four corners of the bottom of the robot base (1) are rotatably connected with walking wheels, and the four walking wheels are universal lockable wheels.