Spherical intelligent patrol equipment for limited space

Abstract

The invention relates to the technical field of intelligent robots, and provides a spherical intelligent patrol device for a limited space, the spherical intelligent patrol device comprises a main body structure, a side top mechanism, a monitoring mechanism, a moving mechanism and a rotating mechanism, the side top mechanism is installed on the peripheral surface of the main body mechanism, the monitoring mechanism is installed in the middle of the main body mechanism, and the moving mechanism is installed in the middle of the main body mechanism. The moving mechanism and the steering mechanism penetrate through the interior of the main body mechanism, the side jacking mechanism comprises a plurality of jacking rods, through arrangement of a circular main body, auxiliary side wheels and other structures, the equipment is assisted to move through the auxiliary side wheels on the circular main body, and flexible operation in a narrow space is facilitated; by means of the design of the moving mechanism, synchronous rotation of the two rotating wheels is achieved through a single transmission motor, the use cost is reduced, meanwhile, stable movement of equipment in a limited space is guaranteed, and through the technical scheme, the problems that in the prior art, stability is insufficient, and applicability is single are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent robots, and in particular to a spherical intelligent patrol device for a limited space. Background Art

[0002] At present, the intelligent inspection robot is a kind of special robot. It integrates a variety of advanced sensors and intelligent technologies, can simulate manual operations, and replace traditional manual inspections.

[0003] The authorization announcement number in the prior art is: 11. The prior art CN219726233U, an intelligent patrol robot, discloses an intelligent patrol robot, and relates to the technical field of intelligent robots, including a base, a water tank is fixedly arranged on the base, a first gear is rotatably arranged on the water tank, a screw is fixedly arranged on the first gear, a second gear meshing with the first gear is rotatably arranged on the water tank, a rotating shaft is fixedly arranged on the second gear, a first water pipe is arranged on the outer circumferential surface of the rotating shaft, a fixing rod is fixedly arranged on the water tank, a sliding block is slidably arranged on the fixing rod, the sliding block is threadedly connected to the screw, and one end of the first water pipe away from the second gear is fixedly connected to the sliding block; the second gear and the first gear are driven to rotate by the rotating shaft, thereby driving the screw to rotate, so that the sliding block threadedly connected to the screw moves upward along the screw, thereby driving the second water pipe to move upward, so that the liquid in the water tank can be sprayed from above to the fire source, and the fire extinguishing effect is better.

[0004] However, this patent lacks an efficient moving mechanism, and its patrol range and flexibility are limited; the functions of the intelligent patrol robot appear to be relatively single; and it is unable to carry out patrol tasks in relatively narrow locations. Summary of the invention

[0005] The present invention provides a spherical intelligent patrol device for limited space, which solves the problems of insufficient stability and single applicability in the related technology.

[0006] The technical solution of the present invention is as follows: a spherical intelligent patrol device for a limited space, comprising a main structure, a side top mechanism, a monitoring mechanism, a moving mechanism and a rotating mechanism, wherein the side top mechanism is installed on the outer peripheral surface of the main mechanism, the monitoring mechanism is installed in the middle of the main mechanism, and the moving mechanism and the steering mechanism pass through the interior of the main mechanism.

[0007] As a preferred embodiment of the invention, the main body mechanism includes a circular body, a plurality of auxiliary side wheels, two limit frames, a transmission groove and a steering groove. The circular body is arranged inside the main body mechanism, and the plurality of auxiliary side wheels are rotatably installed on eight axial diagonals of the main body mechanism respectively. The two limit frames are fixedly connected to the middle part of the circular body, and the transmission groove and the steering groove pass through the interior of the circular body.

[0008] As a preferred embodiment of the invention, the side lift mechanism includes a plurality of lifting rods, and the plurality of lifting rods are respectively installed on the sixteen corners of the circular body, a lifting shaft is installed at the output end of the lifting rod, one end of the lifting shaft is fixedly connected with a plug-in block, and a side lift block is commonly installed on every two adjacent plug-in blocks, sliding grooves are provided on both sides of the side lift blocks, the plug-in blocks are slidably assembled inside the sliding grooves, and auxiliary rotating wheels are provided on the triangular sides of the side lift blocks.

[0009] As a preferred embodiment of the invention, the monitoring mechanism includes a servo motor, a circular frame and a plurality of auxiliary balls. The servo motor is installed inside the circular body. The output end of the servo motor is connected to a coaxially arranged transmission shaft through a coupling. The top of the transmission shaft is fixedly connected to a meshing gear. The circular frame is rotatably installed inside the circular body. An internal gear is fixedly connected to the inner wall of the circular frame. The meshing gear meshes with the internal gear. A plurality of auxiliary balls are rotatably installed on both sides of the circular frame respectively. Two symmetrically arranged monitoring heads are installed on the outer circumference of the circular frame.

[0010] As a preferred embodiment of the invention, the moving mechanism includes a transmission motor and two symmetrically arranged follower shafts, the transmission motor is installed inside the transmission groove, the output end of the transmission motor is connected to a coaxially arranged rotating shaft through a coupling, one end of the rotating shaft is fixedly connected to a driving gear, and the two follower shafts are rotatably installed at the two ends of the transmission groove respectively, one of the follower shafts and the rotating shaft are jointly sleeved with a transmission belt, and the outer circumference of the other follower shaft is fixedly sleeved with a follower gear, the driving gear is meshed with the follower gear, and the outer circumference of the follower shaft is fixedly sleeved with a rotating wheel.

[0011] As a preferred embodiment of the invention, the rotating shaft includes a steering motor and a steering shaft, the steering motor is installed inside the steering groove, the output end of the steering motor is connected to a coaxially arranged connecting shaft through a coupling, one end of the connecting shaft is fixedly connected to a steering main gear, the steering shaft is rotatably installed inside the steering groove, a steering sub-gear is fixedly sleeved on the outer peripheral surface of the steering shaft, the steering main gear is meshed with the steering sub-gear, and steering wheels are installed at both ends of the steering shaft.

[0012] The working principle and beneficial effects of the present invention are: The present invention adopts the arrangement of a circular main body, auxiliary side wheels and other structures. The device is assisted in movement by the auxiliary side wheels on the circular main body, which is convenient for flexible operation in a narrow space. The design of the moving mechanism enables the two rotating wheels to achieve synchronous rotation through a single transmission motor, thereby reducing the cost of use and ensuring the stable movement of the device in a limited space.

[0013] The present invention arranges structures such as rotating wheels and lifting rods. When the rotating wheel contacts one side, the lifting rod is activated to make the auxiliary rotating wheel on the side top block contact the wall on the other side. This double-sided support design significantly improves the stability of the equipment during movement and prevents deviation or tipping due to unilateral force.

[0014] The present invention arranges structures such as a steering mechanism and a steering motor. The arrangement of the steering mechanism provides the device with the ability to perform angle shifting in a limited space. The steering motor drives the steering main gear, which in turn drives the steering shaft and the steering wheel to adjust the angle, so that the device can easily turn in a complex and narrow space, thereby improving the flexibility and coverage of patrols.

[0015] The present invention arranges structures such as a monitoring mechanism and a monitoring head. The monitoring mechanism is equipped with a monitoring head, which can perform all-round monitoring of the front and back of the equipment. At the same time, the start of the servo motor causes the transmission shaft and the meshing gear to rotate, thereby driving the circular frame and the monitoring head to perform angular displacement, thereby achieving flexible adjustment of the monitoring angle and ensuring monitoring without blind spots in a limited space. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the main mechanism structure of the present invention; Figure 3 It is a schematic diagram of the structure of the side top mechanism of the present invention; Figure 4 It is a schematic diagram of the structure of the monitoring mechanism of the present invention; Figure 5 It is a schematic diagram of the structure of the mobile mechanism of the present invention; Figure 6 It is a schematic diagram of the steering mechanism structure of the present invention.

[0018] In the figure: 1, main body; 11, circular body; 12, auxiliary side wheels; 13, limit frame; 14, transmission slot; 15, steering slot; 2. Side lifting mechanism; 20. Side lifting block; 21. Auxiliary rotating wheel; 22. Lifting rod; 23. Lifting shaft; 24. Plug-in block; 25. Sliding groove; 3. Monitoring mechanism; 31. Servo motor; 32. Transmission shaft; 33. Meshing gear; 34. Round frame; 35. Internal gear; 36. Auxiliary ball; 37. Monitoring head; 4. Moving mechanism; 41. Transmission motor; 42. Rotating shaft; 43. Driving gear; 44. Transmission belt; 45. Follower shaft; 46. Follower gear; 47. Rotating wheel; 5. Steering mechanism; 51. Steering motor; 52. Connecting shaft; 53. Steering main gear; 54. Steering shaft; 55. Steering sub gear; 56. Steering wheel. DETAILED DESCRIPTION

[0019] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] Example 1 like Figure 1 to Figure 6 As shown, this embodiment proposes a spherical intelligent patrol device for a limited space, including a main structure, a side top mechanism 2, a monitoring mechanism 3, a moving mechanism 4 and a rotating mechanism, the side top mechanism 2 is installed on the outer peripheral surface of the main mechanism 1, the monitoring mechanism 3 is installed in the middle of the main mechanism 1, and the moving mechanism 4 and the steering mechanism 5 pass through the interior of the main mechanism 1.

[0021] like Figure 1~Figure 2 As shown, the main mechanism 1 includes a circular body 11, a plurality of auxiliary side wheels 12, two limit frames 13, a transmission groove 14 and a steering groove 15. The circular body 11 is arranged inside the main mechanism 1, and the plurality of auxiliary side wheels 12 are rotatably installed on eight axial diagonals of the main mechanism 1 respectively. The two limit frames 13 are fixedly connected to the middle part of the circular body 11, and the transmission groove 14 and the steering groove 15 pass through the inside of the circular body 11.

[0022] like Figure 1~Figure 3 As shown, the side lift mechanism 2 includes a plurality of lifting rods 22, and the plurality of lifting rods 22 are respectively installed at the sixteen corners of the circular main body 11. A lifting shaft 23 is installed at the output end of the lifting rod 22, and a plug-in block 24 is fixedly connected to one end of the lifting shaft 23. A side lift block 20 is commonly installed on every two adjacent plug-in blocks 24. Sliding grooves 25 are provided on both sides of the side lift block 20. The plug-in block 24 is slidably assembled inside the sliding grooves 25, and auxiliary rotating wheels 21 are provided on the triangular sides of the side lift block 20.

[0023] like Figure 1~Figure 5 As shown, the moving mechanism 4 includes a transmission motor 41 and two symmetrically arranged follower shafts 45. The transmission motor 41 is installed inside the transmission groove 14. The output end of the transmission motor 41 is connected to a coaxially arranged rotating shaft 42 through a coupling. One end of the rotating shaft 42 is fixedly connected to a driving gear 43. The two follower shafts 45 are rotatably installed at both ends of the transmission groove 14. A transmission belt 44 is sleeved on one of the follower shafts 45 and the rotating shaft 42. A follower gear 46 is fixedly sleeved on the outer circumference of the other follower shaft 45. The driving gear 43 is meshed with the follower gear 46. A rotating wheel 47 is fixedly sleeved on the outer circumference of the follower shaft 45. Through the circular body 11 and the auxiliary By setting up structures such as auxiliary side wheels 12, the equipment is assisted in moving by the auxiliary side wheels 12 on the circular main body 11, which is convenient for flexible operation in a narrow space. The design of the moving mechanism 4 enables the two rotating wheels 47 to achieve synchronous rotation through a single transmission motor 41, which reduces the cost of use and ensures the stable movement of the equipment in a limited space. By setting up structures such as rotating wheels 47 and lifting rods 22, when the rotating wheels 47 contact one side, the lifting rods 22 are started to make the auxiliary rotating wheels 21 on the side top block 20 contact the wall on the other side. This double-sided support design significantly improves the stability of the equipment during movement and prevents deviation or tipping due to unilateral force.

[0024] In this embodiment, when the device is in use, the auxiliary side wheels 12 on the circular body 11 can assist the circular body 11 to move, and then the entire main body mechanism 1 is placed between the clamping grooves, and then the moving mechanism 4 is turned on. The moving mechanism 4 is turned on by turning on the transmission motor 41. The start of the transmission motor 41 causes the rotating shaft 42 to rotate, and the rotation of the rotating shaft 42 causes the driving gear 43 and the transmission belt 44 to rotate. The rotation of the transmission belt 44 causes one of the driven shafts 45 to rotate, and the rotation of the driving gear 43 drives the other driven shaft 45 to rotate through the engagement with the driven gear 46. Through the arrangement of the transmission belt 44, the driving gear 43 and the driven gear 46, the two driven shafts 45 rotate in opposite directions, and the positions of the driven shafts 45 are arranged at both ends of the circular body 11. When the two driven shafts 45 rotate in opposite directions, the rotating wheels 47 on the driven shafts 45 rotate to cause the circular body 11 to move forward in one direction. The power output of a transmission motor 41 causes the two rotating wheels 47 to rotate synchronously, thereby reducing its use cost. When the rotating wheel 47 contacts one side edge, the lifting rod 22 on the other side of the circular body 11 is opened, and the activation of the lifting rod 22 causes the lifting shaft 23 to slide, and the sliding of the lifting shaft 23 causes the side top block 20 to move toward the other side wall, and then the auxiliary rotating wheel 21 on the side top block 20 contacts the other side wall, and then the circular body 11 is moved by the rotation of the rotating wheel 47, making the overall movement of the equipment more stable.

[0025] Example 2 like Figure 1 to Figure 6 As shown, based on the same concept as the above-mentioned embodiment 1, this embodiment further proposes that the rotating shaft includes a steering motor 51 and a steering shaft 54, the steering motor 51 is installed inside the steering slot 15, the output end of the steering motor 51 is connected to a coaxially arranged connecting shaft 52 through a coupling, one end of the connecting shaft 52 is fixedly connected to a steering main gear 53, the steering shaft 54 ​​is rotatably installed inside the steering slot 15, a steering sub-gear 55 is fixedly sleeved on the outer circumference of the steering shaft 54, the steering main gear 53 is meshed with the steering sub-gear 55, and steering wheels 56 are installed at both ends of the steering shaft 54. Through the arrangement of the steering mechanism 5, the steering motor 51 and other structures, the arrangement of the steering mechanism 5 provides the device with the ability to perform angle offset in a limited space, the steering main gear 53 is driven by the steering motor 51, and then the steering shaft 54 ​​and the steering wheel 56 are driven to adjust the angle, so that the equipment can easily turn in a complex and narrow space, thereby improving the flexibility and coverage of patrol.

[0026] In this embodiment, the steering mechanism 5 can be turned on during the movement of the device. The start of the steering mechanism 5 causes the steering motor 51 to rotate. The rotation of the steering motor 51 causes the steering main gear 53 to rotate. The steering main gear 53 drives the steering shaft 54 ​​to rotate by meshing with the steering sub-gear 55. The rotation of the steering shaft 54 ​​causes the steering wheel 56 to rotate at an angle, thereby causing the movement of the main mechanism 1 to be angularly offset. Example 3 like Figure 3~Figure 4As shown, based on the same concept as the above-mentioned embodiment 1, this embodiment further proposes that the monitoring mechanism 3 includes a servo motor 31, a circular frame 34 and a plurality of auxiliary balls 36. The servo motor 31 is installed inside the circular body 11. The output end of the servo motor 31 is connected to a coaxially arranged transmission shaft 32 through a coupling. A meshing gear 33 is fixedly connected to the top of the transmission shaft 32. The circular frame 34 is rotatably installed inside the circular body 11. An internal gear 35 is fixedly connected to the inner wall of the circular frame 34. The meshing gear 33 meshes with the internal gear 35. A plurality of auxiliary balls 36 are rotatably installed on both sides of the circular frame 34. Two symmetrically arranged monitoring heads 37 are installed on the outer circumferential surface of the circular frame 34. Through the arrangement of the monitoring mechanism 3, the monitoring head 37 and other structures, the monitoring mechanism 3 is equipped with the monitoring head 37, which can perform all-round monitoring of the front and back of the equipment. At the same time, the start of the servo motor 31 causes the transmission shaft 32 and the meshing gear 33 to rotate, thereby driving the circular frame 34 and the monitoring head 37 to perform angular displacement, thereby realizing flexible adjustment of the monitoring angle and ensuring monitoring without blind spots in a limited space.

[0027] In this embodiment, during the movement of the equipment, inspection is carried out through the monitoring mechanism 3, and a monitoring head 37 is provided on the monitoring mechanism 3. The monitoring head 37 can monitor the front and back of the equipment. During the monitoring process, the servo motor 31 can be turned on. The electric start of the servo motor 31 causes the transmission shaft 32 to rotate. The rotation of the transmission shaft 32 causes the meshing gear 33 to rotate. The meshing gear 33 drives the circular frame 34 to rotate by meshing with the internal gear 35, thereby causing the angle of the monitoring head 37 to be displaced, so that the moving position of the monitoring head 37 can be adjusted.

[0028] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A spherical intelligent patrol device for limited space, characterized in that: The invention comprises a main structure, a side top mechanism (2), a monitoring mechanism (3), a moving mechanism (4) and a rotating mechanism, wherein the side top mechanism (2) is mounted on the outer peripheral surface of the main mechanism (1), the monitoring mechanism (3) is mounted in the middle of the main mechanism (1), and the moving mechanism (4) and the steering mechanism (5) pass through the interior of the main mechanism (1).

2. A spherical intelligent patrol device for limited space according to claim 1, characterized in that: The main body mechanism (1) comprises a circular body (11), a plurality of auxiliary side wheels (12), two limit frames (13), a transmission groove (14) and a steering groove (15); the circular body (11) is arranged inside the main body mechanism (1); the plurality of auxiliary side wheels (12) are rotatably mounted on eight axial diagonals of the main body mechanism (1); the two limit frames (13) are fixedly connected to the middle of the circular body (11); and the transmission groove (14) and the steering groove (15) pass through the inside of the circular body (11).

3. A spherical intelligent patrol device for limited space according to claim 1, characterized in that: The side lift mechanism (2) comprises a plurality of lifting rods (22), wherein the plurality of lifting rods (22) are respectively mounted on the sixteen corners of the circular body (11), a lifting shaft (23) is mounted on the output end of the lifting rod (22), one end of the lifting shaft (23) is fixedly connected to a plug-in block (24), a side lift block (20) is mounted on every two adjacent plug-in blocks (24), sliding grooves (25) are arranged on both sides of the side lift block (20), the plug-in block (24) is slidably assembled inside the sliding grooves (25), and auxiliary rotating wheels (21) are arranged on the triangular sides of the side lift block (20).

4. A spherical intelligent patrol device for limited space according to claim 1, characterized in that: The monitoring mechanism (3) comprises a servo motor (31), a circular frame (34) and a plurality of auxiliary balls (36); the servo motor (31) is mounted inside the circular body (11); the output end of the servo motor (31) is connected to a coaxially arranged transmission shaft (32) via a coupling; a meshing gear (33) is fixedly connected to the top of the transmission shaft (32); the circular frame (34) is rotatably mounted inside the circular body (11); an internal gear (35) is fixedly connected to the inner wall of the circular frame (34); the meshing gear (33) meshes with the internal gear (35); a plurality of auxiliary balls (36) are rotatably mounted on both sides of the circular frame (34); and two symmetrically arranged monitoring heads (37) are mounted on the outer circumference of the circular frame (34).

5. The spherical intelligent patrol device for limited space according to claim 1, characterized in that: The moving mechanism (4) comprises a transmission motor (41) and two symmetrically arranged follower shafts (45), wherein the transmission motor (41) is mounted inside the transmission slot (14), and an output end of the transmission motor (41) is connected to a coaxially arranged rotating shaft (42) via a coupling, and one end of the rotating shaft (42) is fixedly connected to a driving gear (43), and the two follower shafts (45) are rotatably mounted on the two ends of the transmission slot (14), respectively, wherein a transmission belt (44) is sleeved on one of the follower shafts (45) and the rotating shaft (42), and a follower gear (46) is fixedly sleeved on the outer circumference of the other follower shaft (45), the driving gear (43) is meshed with the follower gear (46), and a rotating wheel (47) is fixedly sleeved on the outer circumference of the follower shaft (45).

6. The spherical intelligent patrol device for limited space according to claim 1, characterized in that: The rotating shaft comprises a steering motor (51) and a steering shaft (54); the steering motor (51) is mounted inside the steering groove (15); an output end of the steering motor (51) is connected to a coaxially arranged connecting shaft (52) via a coupling; one end of the connecting shaft (52) is fixedly connected to a steering main gear (53); the steering shaft (54) is rotatably mounted inside the steering groove (15); a steering sub-gear (55) is fixedly sleeved on an outer peripheral surface of the steering shaft (54); the steering main gear (53) meshes with the steering sub-gear (55); and steering wheels (56) are mounted on both ends of the steering shaft (54).

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