Detection robot
By introducing movable ground toggle components and adaptive control components into the detection robot, and using technologies such as anti-slip plates and cantilever plates, the problem of unstable and rolling on different grounds is solved, and stronger adaptability is achieved and task continuity.
Patent Information
- Application Number
- CN202411469751.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-21
- Publication Date
- 2025-01-03
AI Technical Summary
Existing detection robots are unstable when facing different grounds, especially sandy and plain ground, which are difficult to adapt and are prone to overturning, resulting in interruption of detection tasks.
A detection robot consisting of a movable ground toggle assembly and adaptive control assembly is designed to adapt to different grounds by extending or retracting in the sliding groove of the wheel, increasing grip, and using cantilever plates and pitch-turning The electric telescopic rod is turned over and reset.
It realizes rapid and stable travel on different grounds, enhances adaptability to the ground, avoids rollover, and ensures the smooth progress of the detection task.
Smart Images
Figure CN119239171A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of robots, in particular to a detection robot. Background Art
[0002] A detection robot is a mobile robot that can move freely to complete detection tasks and can be used for detection in various environments. However, the detection robot will encounter different ground surfaces when moving. The rollers of existing detection robots have poor adaptability to different ground surfaces. When replacing rollers suitable for sandy ground, if they encounter flat ground, they will be bumpy. When replacing rollers suitable for flat ground, if they encounter sandy ground, they will have difficulty moving. In addition, the detection robot is prone to rollover when moving due to the influence of the terrain. Once the robot rolls over, it cannot complete the detection task. Summary of the invention
[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide a detection robot. When facing flat ground, the anti-skid plate is controlled to retract into the sliding groove, and the outer peripheral side of the traveling wheel is in contact with the ground, so that the detection robot can move quickly and smoothly. When facing sand, the anti-skid plate is controlled to extend out of the sliding groove, and the traveling wheel cooperates with the anti-skid plate to increase the grip, so that the detection robot can move stably in the sand. The traveling wheel does not need to be replaced in the middle to face different ground conditions. The robot has strong adaptability to different ground conditions. After rolling over, the robot can be straightened with the help of the cantilever plate and the pitch and roll electric telescopic rod to ensure the smooth progress of the detection task, which can effectively solve the problems in the background technology.
[0004] To achieve the above object, the present invention provides the following technical solution: a detection robot, comprising a robot body, the robot body comprising a body, a hood and a detection slot, the top edge of the body being detachably connected to the bottom edge of the hood, a rectangular detection slot being provided at the top center of the hood, and further comprising:
[0005] There are four robot suspensions, two of which are connected to the left and right sides of the front end of the machine body through the robot steering mechanism, and the other two are installed on the left and right sides of the rear end of the machine body;
[0006] The robot travel mechanism includes a wheel axle, a motor frame, a power motor, a travel wheel, a circular groove, and a circular disc. The middle part of the wheel frame plate in each robot suspension is rotatably connected to the wheel axle through the installation bearing. The end of the wheel axle close to the body is fixedly connected to the power motor. The power motor is installed on the wheel frame plate through the motor frame. A circular groove is opened in the middle part of the side of the travel wheel. The middle part of the circular groove is fixedly connected to the circular disc. The other end of the wheel axle is fixedly connected to the middle part of the circular disc. The circular disc, the circular groove, the wheel axle and the travel wheel are arranged concentrically.
[0007] The ground travel adaptation mechanism comprises a movable ground shifting assembly and an adaptation control assembly. The movable ground shifting assembly is installed on the travel wheel, the adaptation control assembly is installed on the wheel frame plate, and the adaptation control assembly is connected to the movable ground shifting assembly.
[0008] The robot suspension is used to install the robot's travel mechanism and plays a shock-absorbing role on the body. The robot steering mechanism is used to change the orientation of the two robot suspensions at the front end of the body, thereby changing the orientation of the two travel wheels at the front end of the body, thereby changing the travel direction of the body. The power motor drives the wheel axle to rotate relative to the wheel frame plate through the installed bearing, and the wheel axle drives the travel wheel to rotate. The friction between the travel wheel and the ground drives the detection robot to move. The adaptation control component is used to control the movable ground toggle component. The movable ground toggle component cooperates with the travel wheel to adapt to different ground conditions.
[0009] Furthermore, the movable ground shifting assembly includes an anti-slip sheet, an ear seat and a compression spring. A plurality of sliding grooves are provided in an annular array on the outer circumference of the traveling wheel. The sliding grooves are connected to the circular groove. An anti-slip sheet is slidably connected in each sliding groove. An ear seat is provided on the side surface of one end of the anti-slip sheet located in the circular groove, and the ear seat is connected to the inner circumference of the circular groove through a compression spring. The elastic force of the compression spring allows the anti-skid sheet to retract into the sliding groove through the ear seat. At this time, the outer peripheral side of the traveling wheel is in direct contact with the ground. Due to the high smoothness of the outer peripheral side of the traveling wheel, it is suitable for fast traveling on flat ground. When encountering sand, the traveling wheel is easy to slip on the sand. At this time, the adaptive control component pushes the anti-skid sheet to overcome the elastic force of the compression spring, allowing the anti-skid sheet to extend out of the sliding groove. The anti-skid sheet extends into the sand, which can increase the friction with the sand and prevent the traveling wheel from slipping on the sand. The detection robot can move steadily on the sand. When encountering different ground conditions during the detection route, the adaptive control component controls the anti-skid sheet in the movable ground toggle component to extend or retract into the sliding groove to adapt to the ground.
[0010] Furthermore, the adaptive control component includes an adaptive electric telescopic rod, a control ring, a conical control sleeve, a limiting groove and a control bearing. The top of the wheel frame plate on one side away from the body is fixedly connected to one end of the adaptive electric telescopic rod, and the other end of the adaptive electric telescopic rod is fixedly connected to the top of one side of the control ring. The other side of the control ring is rotatably connected to one end of the conical control sleeve through the control bearing, and the other end of the conical control sleeve extends into the circular groove, and the outer peripheral side of the conical control sleeve is provided with limiting grooves corresponding to the positions of each anti-slip sheet, the limiting grooves are slidably connected to the corresponding ends of the anti-slip sheets, and the inner side of the conical control sleeve is slidably connected to the outer peripheral side of the disc.
[0011] The control ring, the conical control sleeve and the disc are arranged concentrically, and the outer diameter of one end of the conical control sleeve located in the circular groove is smaller than the outer diameter of the other end.
[0012] The adaptable electric telescopic rod is extended, and the adaptable electric telescopic rod pushes the conical control sleeve into the circular groove through the control ring, and the outer peripheral side of the conical control sleeve pushes the anti-skid sheet to overcome the elastic force of the compression spring and extend out of the sliding groove, and the anti-skid sheet can increase the friction between the traveling wheel and the sand, and promote the stable movement of the detection robot on the sand, and the control ring and the conical control sleeve are connected through the control bearing, so the conical control sleeve and the control ring can rotate relative to each other, and the conical control sleeve can rotate with the anti-skid sheet and the traveling wheel, while the control ring does not rotate, and the limiting groove cooperates with the end of the anti-skid sheet to avoid the relative rotation of the conical control sleeve and the anti-skid sheet, and the adaptable electric telescopic rod is shortened, and the adaptable electric telescopic rod gradually pulls the conical control sleeve out of the circular groove through the control ring, and the conical control sleeve no longer pushes the anti-skid sheet outward, and the compression spring rebounds and resets, allowing the anti-skid sheet to gradually retract into the sliding groove, so the adaptable control component can control the anti-skid sheet to extend or retract into the sliding groove.
[0013] Furthermore, the adaptive control assembly further includes a sleeve and a limit column, two sleeves are fixedly connected to the two sides of the wheel frame plate, two limit columns are slidably connected in the two sleeves, the limit columns are parallel to the wheel axle, and the ends of the two limit columns are fixedly connected to the corresponding control ring side. The sleeve and the limit column cooperate to limit the moving direction of the control ring, so that the control ring can only move along the axial direction of the wheel axle, thereby preventing the adaptive electric telescopic rod from being subjected to radial force, and protecting the adaptive electric telescopic rod.
[0014] Furthermore, the adaptive control assembly further includes a transverse guide groove and a guide bar. The outer circumference of the disc is provided with a transverse guide groove, which is parallel to the wheel axle. The inner side of the conical control sleeve is fixedly connected with a guide bar which is slidably connected to the transverse guide groove. The cooperation between the transverse guide groove and the guide bar allows the conical control sleeve to move only along the direction of the wheel axle, so that the conical control sleeve synchronously controls each anti-slip sheet to extend or retract into the sliding groove.
[0015] Furthermore, the robot suspension includes a mounting plate, a suspension plate, a suspension rod, a wheel frame plate, a suspension control electric telescopic rod, a buffer force adjustment component, and a suspension shaft. The bottom of the mounting plate is fixedly connected to the suspension plate, and the upper and lower ends of the outer side of the suspension plate are respectively movably connected to one end of the two suspension rods, and the other ends of the two suspension rods are respectively movably connected to the upper and lower ends of the wheel frame plate. The two suspension rods are parallel to each other, and the suspension plate and the wheel frame plate are parallel to each other. The outer side of the mounting plate is movably connected to one end of the suspension control electric telescopic rod, and the other end of the suspension control electric telescopic rod is fixedly connected to one end of the buffer force adjustment component, and the other end of the buffer force adjustment component is movably connected to the middle part of the upper suspension rod through the suspension shaft. When encountering bumpy roads, the wheel frame plate can move up and down relative to the suspension plate and the mounting plate. The suspension control electric telescopic rod can push the upper suspension rod to change the angle between the suspension rod and the suspension plate, thereby changing the distance between the body and the ground, and thus changing the height of the detection robot, so that it can adapt to in-hole detection at different heights. The buffering force adjustment component can buffer the bumps caused by uneven roads, and can also change the buffering strength.
[0016] The cam is an adjustable speed gear, and the adjustable speed gear is connected to the control wheel of the control wheel shaft through the control wheel shaft and the control wheel shaft through the control wheel shaft.
[0017] The outer side of the inner sleeve end cover is slidably connected to the inner side of the outer sleeve, and the outer diameter of the inner sleeve end cover is greater than the diameter of the circular hole in the middle of the outer sleeve end cover.
[0018] If the road surface is uneven, the inner sleeve moves relative to the outer sleeve, and the adjusting screw nut also moves synchronously relative to the inner sleeve. The buffer spring provides a buffer force for the relative movement between the inner sleeve and the outer sleeve, which can buffer the bumps received by the detection robot when it moves.
[0019] The adjustment screw is twisted clockwise by turning the knob, and the threaded action of the adjustment screw and the adjustment screw nut drives the adjustment screw nut to approach the knob along the center line of the inner sleeve, and the adjustment screw nut drives the inner sleeve to pass through the circular hole in the middle of the outer sleeve end cover and retract into the outer sleeve, and the buffer spring sleeved on the inner sleeve is compressed. The buffer spring needs to be subjected to a large pressure to deform and compress, and the detection robot needs to be subjected to a large bump in order for the buffer spring to play a better buffering role;
[0020] By twisting the adjustment screw counterclockwise through the knob, the threaded action of the adjustment screw and the adjustment screw nut drives the adjustment screw nut along the center line of the inner sleeve away from the knob, and the buffer spring sleeved on the inner sleeve resets and stretches. The buffer spring can be deformed and compressed when subjected to a small pressure. The buffer spring can play a buffering role when the detection robot is subjected to a small bump, thereby allowing the detection robot to adapt to different bumpy surfaces.
[0021] Furthermore, it also includes a cantilever control mechanism and a multifunctional cantilever mechanism, wherein the cantilever control mechanism is installed at the rear end of the hood, and the multifunctional cantilever mechanism is installed on the top of the cantilever control mechanism, and the multifunctional cantilever mechanism is arranged corresponding to the detection slot. The cantilever control mechanism is used to control the activity of the multifunctional cantilever mechanism, and the multifunctional cantilever mechanism can be used for detection, and is also used to turn over and reset the overturned detection robot.
[0022] Furthermore, the cantilever control mechanism includes a lifting assembly, a rotating assembly and a top seat, the lifting assembly is installed at the top of the rear end of the hood, the rotating assembly is installed on the lifting assembly, and the top of the rotating assembly is fixedly connected to the top seat. The lifting assembly is used to drive the top seat and the multifunctional cantilever mechanism to rise and fall, and the rotating assembly is used to drive the top seat and the multifunctional cantilever mechanism to rotate.
[0023] Furthermore, the multifunctional cantilever mechanism includes a hinge, a cantilever plate, a pitch and flip electric telescopic rod, a rod seat and a detection assembly, the top rear side of the top seat is movably connected to the rear end of the cantilever plate through a hinge, the cantilever plate is arranged corresponding to the detection groove, the bottom of the cantilever plate is movably connected to one end of the pitch and flip electric telescopic rod, the front bottom of the top seat is fixedly connected to the rod seat, the rod seat is movably connected to the other end of the pitch and flip electric telescopic rod through the rod seat shaft, and the detection assembly is installed on the front bottom of the cantilever plate. When the cantilever plate and the detection assembly are not in use, the pitch and flip electric telescopic rod is shortened, driving the cantilever plate to move relative to the top seat through the hinge. When the cantilever plate is in a horizontal state, the detection slot is closed to close the interior of the hood. When the cantilever plate and the detection assembly are needed, the pitch and flip electric telescopic rod is extended to push the front end of the cantilever plate to lift up. The detection assembly is lifted as the cantilever plate, and the detection assembly can play a detection role. The rotating assembly drives the cantilever plate and the detection assembly to rotate, so that the detection assembly can detect different directions. When encountering special terrain that causes the detection robot to roll over, the pitch and flip electric telescopic rod is extended to push the front end of the cantilever plate to lift up, which is conducive to turning over and resetting the detection robot. Since the rotating assembly can drive the cantilever plate to rotate, the detection robot can be adjusted to turn over in different directions, which can better adapt to turning over under different terrains and avoid turning over against the slope. Failure to turn over. If the rotation of the top seat and the rod seat is limited by the width of the detection slot, the lifting assembly drives the top seat and the rod seat to rise, so that the top seat and the rod seat can be extended from the detection slot.
[0024] Compared with the prior art, the beneficial effects of this detection robot are:
[0025] 1. The elastic force of the compression spring allows the anti-skid sheet to retract into the sliding groove through the ear seat. At this time, the outer peripheral side of the traveling wheel is in direct contact with the ground. Due to the high smoothness of the outer peripheral side of the traveling wheel, it is suitable for fast travel on flat ground. When encountering sand, the traveling wheel is easy to slip on the sand. At this time, the adaptive control component pushes the anti-skid sheet to overcome the elastic force of the compression spring, allowing the anti-skid sheet to extend out of the sliding groove. The anti-skid sheet extends into the sand, which can increase the friction with the sand and prevent the traveling wheel from slipping on the sand. The detection robot can move steadily on the sand. When encountering different ground conditions during the detection, the adaptive control component controls the anti-skid sheet in the movable ground toggle component to extend or retract into the sliding groove to adapt to the ground.
[0026] 2. When the cantilever plate and the detection assembly are not in use, the electric telescopic rod for pitching and turning is shortened, driving the cantilever plate to move relative to the top seat through the hinge. When the cantilever plate is in a horizontal state, the detection slot is closed to close the interior of the hood. When the cantilever plate and the detection assembly are needed, the electric telescopic rod for pitching and turning is extended to push the front end of the cantilever plate to lift up. The detection assembly is lifted as the cantilever plate, and the detection assembly can play a detection role. The rotating assembly drives the cantilever plate and the detection assembly to rotate, so that the detection assembly can detect different directions. When encountering special terrain that causes the detection robot to roll over, the electric telescopic rod for pitching and turning is extended to push the front end of the cantilever plate to lift up, which is conducive to turning over and resetting the detection robot. Since the rotating assembly can drive the cantilever plate to rotate, the detection robot can be adjusted to turn over in different directions, which can better adapt to turning over under different terrains and avoid turning over against the slope and causing turning over failure.
[0027] 3. When facing flat ground, the anti-skid sheet is controlled to retract into the sliding groove, and the outer peripheral side of the traveling wheel is in contact with the ground, so that the detection robot can move quickly and smoothly. When facing sand, the anti-skid sheet is controlled to extend from the sliding groove. The traveling wheel cooperates with the anti-skid sheet to increase the grip, so that it can move stably in the sand. There is no need to change the traveling wheels in the middle to face different ground conditions. It has strong adaptability to different ground conditions. After rolling over, the robot can be straightened with the help of the cantilever plate and the pitch and roll electric telescopic rod to ensure the smooth progress of the detection mission. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] Figure 1 This is a schematic diagram of the structure of the detection robot of the present invention;
[0029] Figure 2 This is a schematic diagram of the bottom structure of the detection robot of the present invention;
[0030] Figure 3 The local structure diagram of the detection robot of the present invention is shown in FIG. Figure 1 ;
[0031] Figure 4 Detection robot for the present invention Figure 3 A schematic diagram of the partially enlarged structure at center A;
[0032] Figure 5 The local structure of the detection robot of the present invention is shown in FIG. Figure 2 ;
[0033] Figure 6 Detection robot for the present invention Figure 5 Side view of the structure;
[0034] Figure 7 It is a schematic cross-sectional structure diagram of a buffer force adjustment component in the detection robot of the present invention;
[0035] Figure 8It is a schematic cross-sectional structure diagram of a conical control sleeve and a control ring in the detection robot of the present invention;
[0036] Fig. 9 The local structure of the detection robot of the present invention is shown in FIG. Figure 3 ;
[0037] Fig.10 It is a schematic diagram of the structure of the cantilever control mechanism and the multifunctional cantilever mechanism in the detection robot of the present invention;
[0038] In the figure: 1 robot body, 11 body, 12 disassembly frame, 13 hood, 14 detection slot, 15 travel camera, 16 controller, 17 battery, 18 disassembly bolt, 2 robot steering mechanism, 21 steering bearing, 22 steering shaft, 23 slot, 24 steering bolt, 25 steering swing rod, 26 linkage rod, 27 linkage shaft, 28 steering electric telescopic rod, 29 steering mounting frame, 3 robot suspension, 31 mounting plate, 32 suspension plate, 33 movable seat 1, 34 suspension rod, 35 wheel frame plate, 36 movable seat 2, 37 movable seat 3, 38 suspension control electric telescopic rod, 39 buffer force adjustment component, 391 outer sleeve, 392 buffer spring, 393 outer sleeve end cover, 394 inner sleeve, 395 inner sleeve end cover, 396 adjustment screw nut, 397 adjustment screw, 398 rotation button, 310 suspension shaft, 4 robot travel mechanism, 41 wheel axle, 42 motor frame, 43 power motor, 44 travel wheel, 45 circular groove, 46 disc, 5 ground travel adaptation mechanism, 51 anti-slip sheet, 52 ear seat, 53 compression spring, 54 adapt to electric telescopic rod, 55 sliding sleeve, 56 limiting column, 57 control ring, 58 conical control sleeve, 59 limiting groove, 510 horizontal guide groove, 511 guide bar, 512 control bearing, 6 cantilever control mechanism, 61 column, 62 bending frame, 63 lifting screw, 64 lifting motor, 65 lifting screw nut, 66 lifting plate, 67 rotating motor, 68 rotating shaft, 69 top seat, 7 multi-functional cantilever mechanism, 71 hinge, 72 cantilever plate, 73 pitch and flip electric telescopic rod, 74 rod seat, 75 mounting bump, 76 detection camera, 77 detection lighting. DETAILED DESCRIPTION
[0039] The following will be combined with the drawings in 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.
[0040] For example, see Figures 1 to 10, this embodiment provides a technical solution: a detection robot, including a robot body 1, the robot body 1 includes an organism 11, a cover 13 and a detection slot 14, the top edge of the organism 11 is detachably connected to the bottom edge of the cover 13, and a rectangular detection slot 14 is opened in the top center of the cover 13;
[0041] The robot body 1 further includes a disassembly frame 12 and disassembly bolts 18. The bottom of the hood 13 is integrally connected with the disassembly frame 12. The four corners of the disassembly frame 12 are fixedly connected to the top edge of the body 11 by four disassembly bolts 18. The disassembly bolts 18 can be used to realize the detachable connection between the disassembly frame 12 and the body 11.
[0042] The robot body 1 also includes a moving camera 15, a controller 16, and a battery 17. The battery 17 is arranged at the bottom center of the body 11. The setting position of the battery 17 can center the robot body 1 so that it can be more stable when moving. The moving camera 15 is installed in the middle of the front side of the hood 13. The moving camera 15 adopts a wide-angle camera. The controller 16 is installed on the body 11, and the battery 17 supplies power to the controller 16 and the moving camera 15.
[0043] It also includes a robot suspension 3, a robot travel mechanism 4 and a ground travel adaptation mechanism 5;
[0044] There are four robot suspensions 3, two of which are connected to the left and right sides of the front end of the machine body 11 through the robot steering mechanism 2, and the other two robot suspensions 3 are installed on the left and right sides of the rear end of the machine body 11;
[0045] The robot suspension 3 includes a mounting plate 31, a suspension plate 32, a suspension rod 34, a wheel frame plate 35, a suspension control electric telescopic rod 38, a buffer force adjustment component 39, and a suspension shaft 310. The bottom of the mounting plate 31 is fixedly connected to the suspension plate 32, and the upper and lower ends of the outer side of the suspension plate 32 are respectively movably connected to one end of the two suspension rods 34, and the other ends of the two suspension rods 34 are respectively movably connected to the upper and lower ends of the wheel frame plate 35. The two suspension rods 34 are parallel to each other, and the suspension plate 32 and the wheel frame plate 35 are parallel to each other. The outer side of the mounting plate 31 is movably connected to one end of the suspension control electric telescopic rod 38, and the other end of the suspension control electric telescopic rod 38 is fixedly connected to one end of the buffer force adjustment component 39, and the other end of the buffer force adjustment component 39 is movably connected to the middle part of the upper suspension rod 34 through the suspension shaft 310. When encountering bumpy roads, the wheel frame plate 35 can move up and down relative to the suspension plate 32 and the mounting plate 31, and the suspension control electric telescopic rod 38 can push the upper suspension rod 34 to change the angle between the suspension rod 34 and the suspension plate 32, thereby changing the distance between the body 11 and the ground, and thus changing the height of the detection robot, so that it can adapt to in-hole detection at different heights. The buffering force adjustment component 39 can buffer the bumps caused by uneven roads, and can also change the buffering force.
[0046] The robot suspension 3 also includes a movable seat 1 33, a movable seat 2 36, and a movable seat 37. The upper and lower ends of the outer side of the suspension plate 32 are respectively fixedly connected to two movable seats 1 33, and the two movable seats 1 33 are respectively movably connected to one end of two suspension rods 34 through two movable shafts 1. The upper and lower ends of the wheel frame plate 35 are respectively fixedly connected to two movable seats 2 36, and the two movable seats 2 36 are respectively movably connected to the other end of the two suspension rods 34 through two movable shafts 2. The outer side of the mounting plate 31 is fixedly connected to a movable seat 37, and the movable seat 37 is movably connected to the end of the suspension control electric telescopic rod 38 through movable shaft 3.
[0047] Among them, the two mounting plates 31 located on the left and right sides of the rear end of the body 11 are fixedly connected to the body 11;
[0048] The robot steering mechanism 2 includes a steering bearing 21, a steering shaft 22, a slot 23, a steering bolt 24, a steering swing arm 25, a linkage rod 26, a linkage shaft 27, a steering electric telescopic rod 28, and a steering mounting frame 29. The tops of the two mounting plates 31 located on the left and right sides of the front end of the body 11 are respectively fixedly connected to the bottom ends of the two steering shafts 22. The two steering shafts 22 are rotatably connected to the body 11 through the steering bearings 21. Two slots 23 are respectively provided on the rear sides of the tops of the two steering shafts 22. The two slots 23 are respectively connected to the front ends of the two steering swing arms 25, and the front ends of the two steering swing arms 25 are respectively fixedly connected to the two steering shafts 22 through two steering bolts 24. The rear ends of the two steering swing arms 25 are respectively connected through two linkage shafts. 27 movably connects the two ends of the linkage rod 26, one end of the linkage rod 26 is movably connected to one end of the steering electric telescopic rod 28 through a connecting shaft 1, and the other end of the steering electric telescopic rod 28 is movably connected to a steering mounting frame 29 through a connecting shaft 2, and the steering mounting frame 29 is fixedly installed on the body 11. The steering electric telescopic rod 28 is extended to push the linkage rod 26, and the linkage rod 26 can push the two steering shafts 22 to rotate counterclockwise relative to the body 11 through the steering bearing 21 through the two steering rocker rods 25, thereby driving the two robot travel mechanisms 4 at the front end of the body 11 to turn to one side, and the steering electric telescopic rod 28 is shortened to drive the two robot travel mechanisms 4 at the front end of the body 11 to turn to the other side, thereby changing the travel direction of the robot body 1.
[0049] The robot travel mechanism 4 includes a wheel axle 41, a motor frame 42, a power motor 43, a travel wheel 44, a circular groove 45, and a disc 46. The middle part of the wheel frame plate 35 in each robot suspension 3 is rotatably connected to the wheel axle 41 through the installation bearing. The end of the wheel axle 41 close to the body 11 is fixedly connected to the power motor 43. The power motor 43 is installed on the wheel frame plate 35 through the motor frame 42. A circular groove 45 is opened in the middle part of the side of the travel wheel 44. The middle part of the circular groove 45 is fixedly connected to the disc 46. The other end of the wheel axle 41 is fixedly connected to the middle part of the disc 46. The disc 46, the circular groove 45, the wheel axle 41 and the travel wheel 44 are arranged concentrically.
[0050] The ground travel adaptation mechanism 5 includes a movable ground toggle assembly and an adaptation control assembly. The movable ground toggle assembly is installed on the travel wheel 44, and the adaptation control assembly is installed on the wheel frame plate 35. The adaptation control assembly is connected to the movable ground toggle assembly.
[0051] The movable ground toggle assembly includes an anti-slip sheet 51, an ear seat 52 and a compression spring 53. A plurality of sliding grooves are provided in an annular array on the outer peripheral side of the traveling wheel 44. The sliding grooves are connected to the circular groove 45. An anti-slip sheet 51 is slidably connected in each sliding groove. An ear seat 52 is provided on the side surface of one end of the anti-slip sheet 51 located in the circular groove 45. The ear seat 52 is connected to the inner peripheral side of the circular groove 45 through a compression spring 53. The elastic force of the compression spring 53 allows the anti-skid sheet 51 to retract into the sliding groove through the ear seat 52. At this time, the outer peripheral side of the traveling wheel 44 is in direct contact with the ground. Since the outer peripheral side of the traveling wheel 44 is highly smooth, it is suitable for fast travel on flat ground. When encountering sand, the traveling wheel 44 is prone to slip on the sand. At this time, the adaptive control component pushes the anti-skid sheet 51 to overcome the elastic force of the compression spring 53, allowing the anti-skid sheet 51 to extend out of the sliding groove. The anti-skid sheet 51 extends into the sand, which can increase the friction with the sand and prevent the traveling wheel 44 from slipping on the sand, allowing the detection robot to move steadily on the sand. When encountering different ground conditions during the detection, the adaptive control component controls the anti-skid sheet 51 in the movable ground toggle component to extend or retract into the sliding groove to adapt to the ground.
[0052] The specific number of the sliding grooves is set according to the number of anti-slip sheets 51 required.
[0053] The adaptive control component includes an adaptive electric telescopic rod 54, a control ring 57, a conical control sleeve 58, a limiting groove 59 and a control bearing 512. The top of the side of the wheel frame plate 35 away from the body 11 is fixedly connected to one end of the adaptive electric telescopic rod 54, and the other end of the adaptive electric telescopic rod 54 is fixedly connected to the top of one side of the control ring 57. The other side of the control ring 57 is rotatably connected to one end of the conical control sleeve 58 through the control bearing 512. The other end of the conical control sleeve 58 extends into the circular groove 45, and the outer peripheral side of the conical control sleeve 58 corresponds to the position of each anti-slip sheet 51. The limiting groove 59 is slidably connected to the corresponding end of the anti-slip sheet 51, and the inner side of the conical control sleeve 58 is slidably connected to the outer peripheral side of the disc 46.
[0054] The control ring 57 and the conical control sleeve 58 are arranged cocentrically with the disk 46 , and the outer diameter of one end of the conical control sleeve 58 located in the circular groove 45 is smaller than the outer diameter of the other end.
[0055] The electric telescopic rod 54 is adapted to extend, and the electric telescopic rod 54 pushes the conical control sleeve 58 into the circular groove 45 through the control ring 57. The outer peripheral side of the conical control sleeve 58 pushes the anti-skid sheet 51 to overcome the elastic force of the compression spring 53 and extend from the sliding groove. The anti-skid sheet 51 can increase the friction between the traveling wheel 44 and the sand, and promote the stable travel of the detection robot on the sand. The control ring 57 and the conical control sleeve 58 are connected by the control bearing 512, so the conical control sleeve 58 and the control ring 57 can rotate relative to each other, and the conical control sleeve 58 can rotate with the anti-skid The plate 51 and the traveling wheel 44 rotate, while the control ring 57 does not rotate. The limiting groove 59 cooperates with the end of the anti-skid plate 51 to prevent the conical control sleeve 58 and the anti-skid plate 51 from rotating relative to each other, and the adaptable electric telescopic rod 54 is shortened. The adaptable electric telescopic rod 54 gradually pulls the conical control sleeve 58 out of the circular groove 45 through the control ring 57. The conical control sleeve 58 no longer pushes the anti-skid plate 51 outward, and the compression spring 53 rebounds and resets, allowing the anti-skid plate 51 to gradually retract into the sliding groove. Therefore, the adaptable control component can control the anti-skid plate 51 to extend or retract into the sliding groove.
[0056] The adaptive control assembly further includes a sleeve 55 and a limiting column 56. Two sleeves 55 are fixedly connected to both sides of the wheel frame plate 35. Two limiting columns 56 are slidably connected in the two sleeves 55. The limiting columns 56 are parallel to the wheel axle 41. The ends of the two limiting columns 56 are fixedly connected to the corresponding side surfaces of the control ring 57. The sleeve 55 and the limiting column 56 cooperate to limit the moving direction of the control ring 57, so that the control ring 57 can only move along the axial direction of the wheel axle 41, thereby preventing the adaptive electric telescopic rod 54 from being subjected to radial force, and protecting the adaptive electric telescopic rod 54.
[0057] The adaptive control assembly further includes a transverse guide groove 510 and a guide bar 511. The outer peripheral side of the disc 46 is provided with a transverse guide groove 510, which is parallel to the wheel axle 41. The inner side of the conical control sleeve 58 is fixedly connected with a guide bar 511 which is slidably connected to the transverse guide groove 510. The cooperation between the transverse guide groove 510 and the guide bar 511 allows the conical control sleeve 58 to move only along the direction of the wheel axle 41, so that the conical control sleeve 58 synchronously controls each anti-slip sheet 51 to extend or retract into the sliding groove.
[0058] When in use, the robot suspension 3 is used to install the robot travel mechanism 4 and play a shock-absorbing role on the body 11. The robot steering mechanism 2 is used to change the orientation of the two robot suspensions 3 at the front end of the body 11, thereby changing the orientation of the two travel wheels 44 at the front end of the body 11, thereby changing the travel direction of the body 11. The power motor 43 drives the wheel axle 41 to rotate relative to the wheel frame plate 35 through the installation bearing, and the wheel axle 41 drives the travel wheel 44 to rotate. The friction between the travel wheel 44 and the ground drives the detection robot to move. The adaptation control component is used to control the movable ground toggle component. The movable ground toggle component cooperates with the travel wheel 44 to adapt to different ground conditions.
[0059] For example 2, please refer to Figures 1 to 10 ,This embodiment provides a technical solution: a detection robot, this embodiment is a further explanation of the structure of embodiment 1;
[0060] The buffer force adjustment assembly 39 includes an outer sleeve 391, a buffer spring 392, an outer sleeve end cover 393, an inner sleeve 394, an inner sleeve end cover 395, an adjustment screw nut 396, an adjustment screw 397, and a knob 398. The middle part of the upper suspension rod 34 is movably connected to one end of the outer sleeve 391 through the suspension shaft 310, and the other end of the outer sleeve 391 is threadedly connected to the outer sleeve end cover 393. The inner sleeve 394 is slidably connected in the circular hole in the middle of the outer sleeve end cover 393. The inner sleeve 394 is located in the outer sleeve 391. One end of the inner sleeve 394 is threadedly connected to the inner sleeve end cover 395. The inner sleeve 394 is located in the outer sleeve 391. One end of the outer side of 91 is fixedly connected to the end of the suspension control electric telescopic rod 38, and the part of the inner sleeve 394 located on the outer side of the outer sleeve 391 is sleeved with a buffer spring 392, and the buffer spring 392 is in a compressed state. The inner side of the inner sleeve 394 is slidably connected with an adjusting screw nut 396, and the middle part of one end of the outer sleeve 391 close to the suspension rod 34 is rotatably connected with an adjusting screw 397, and the end of the adjusting screw 397 located on the outer side of the outer sleeve 391 is fixedly connected with a knob 398, and the other end of the adjusting screw 397 passes through the through hole in the middle of the inner sleeve end cover 395 and is threadedly connected to the adjusting screw nut 396.
[0061] The outer side of the inner sleeve end cover 395 is slidably connected to the inner side of the outer sleeve 391 , and the outer diameter of the inner sleeve end cover 395 is greater than the diameter of the circular hole in the middle of the outer sleeve end cover 393 .
[0062] If the road surface is uneven, the inner sleeve 394 moves relative to the outer sleeve 391, and the adjusting screw nut 396 also moves relative to the inner sleeve 394 at the same time. The buffer spring 392 provides a buffer force for the relative movement between the inner sleeve 394 and the outer sleeve 391, which can buffer the bumps received by the detection robot when it moves.
[0063] The adjusting screw 397 is twisted clockwise by turning the knob 398. The screw thread of the adjusting screw 397 and the adjusting screw nut 396 drives the adjusting screw nut 396 to approach the knob 398 along the center line of the inner sleeve 394. The adjusting screw nut 396 drives the inner sleeve 394 to pass through the circular hole in the middle of the outer sleeve end cover 393 and retract into the outer sleeve 391. The buffer spring 392 sleeved on the inner sleeve 394 is compressed. The buffer spring 392 needs to be subjected to a large pressure to deform and compress. The detection robot needs to be subjected to a large bump in order for the buffer spring 392 to play a better buffering role.
[0064] By twisting the adjusting screw 397 counterclockwise through the knob 398, the threaded action of the adjusting screw 397 and the adjusting screw nut 396 drives the adjusting screw nut 396 along the center line of the inner sleeve 394 away from the knob 398, and the buffer spring 392 sleeved on the inner sleeve 394 resets and stretches. The buffer spring 392 can be deformed and compressed when subjected to a small pressure. The buffer spring 392 can play a buffering role when the detection robot is subjected to a small bump, thereby allowing the detection robot to adapt to different bumpy surfaces.
[0065] For example 3, please refer to Figures 1 to 10 ,This embodiment provides a technical solution: a detection robot, the structure of this embodiment is roughly the same as that of the second embodiment, the difference is that;
[0066] The cantilever control mechanism 6 and the multifunctional cantilever mechanism 7 are also included. The cantilever control mechanism 6 is installed at the rear end of the hood 13, and the multifunctional cantilever mechanism 7 is installed on the top of the cantilever control mechanism 6. The multifunctional cantilever mechanism 7 is arranged corresponding to the detection slot 14. The cantilever control mechanism 6 is used to control the activity of the multifunctional cantilever mechanism 7. The multifunctional cantilever mechanism 7 can be used for detection, and is also used to turn over and reset the overturned detection robot.
[0067] The cantilever control mechanism 6 includes a lifting assembly, a rotating assembly and a top seat 69. The lifting assembly is installed at the top of the rear end of the hood 13, and the rotating assembly is installed on the lifting assembly. The top of the rotating assembly is fixedly connected to the top seat 69. The lifting assembly is used to drive the top seat 69 and the multifunctional cantilever mechanism 7 to rise and fall, and the rotating assembly is used to drive the top seat 69 and the multifunctional cantilever mechanism 7 to rotate.
[0068] The lifting assembly includes a column 61, a bent frame 62, a lifting screw 63, a lifting motor 64, a lifting screw nut 65, and a lifting plate 66. The top of the rear end of the hood 13 is fixedly connected to the vertical column 61, and the top of the rear end of the hood 13 is also fixedly connected to the bent frame 62. The inner side of the bent frame 62 is rotatably connected to the vertical lifting screw 63 through a bearing. One end of the lifting plate 66 is fixedly connected to the lifting screw nut 65, and the lifting screw nut 65 is connected to the lifting screw 63. The sliding hole at the other end of the lifting plate 66 is slidably connected to the column 61. The bottom end of the lowering screw 63 is fixedly connected to a lifting motor 64, which is installed at the bottom of the bent frame 62. The lifting motor 64 drives the lifting screw 63 to rotate clockwise, and the threaded action of the lifting screw 63 and the lifting screw nut 65 drives the lifting plate 66 to rise along the column 61. The lifting motor 64 drives the lifting screw 63 to rotate counterclockwise, and the threaded action of the lifting screw 63 and the lifting screw nut 65 drives the lifting plate 66 to descend along the column 61, thereby changing the height of the rotating assembly, the top seat 69 and the multi-functional cantilever mechanism 7.
[0069] The rotating assembly includes a rotating motor 67 and a rotating shaft 68. The middle part of the lifting plate 66 is rotatably connected to the rotating shaft 68 through a bearing. The bottom end of the rotating shaft 68 is fixedly connected to the output shaft at the top of the rotating motor 67. The rotating motor 67 is installed at the bottom of the lifting plate 66. The top end of the rotating shaft 68 is fixedly connected to the top seat 69. When the rotating motor 67 is working, it can drive the rotating shaft 68 and the top seat 69 to rotate relative to the lifting plate 66, thereby changing the direction of the multi-functional cantilever mechanism 7.
[0070] The multifunctional cantilever mechanism 7 includes a hinge 71, a cantilever plate 72, a pitch and flip electric telescopic rod 73, a rod seat 74 and a detection assembly. The top rear side of the top seat 69 is movably connected to the rear end of the cantilever plate 72 through the hinge 71. The cantilever plate 72 is arranged corresponding to the detection groove 14. The bottom of the cantilever plate 72 is movably connected to one end of the pitch and flip electric telescopic rod 73. The front bottom of the top seat 69 is fixedly connected to the rod seat 74. The rod seat 74 is movably connected to the other end of the pitch and flip electric telescopic rod 73 through the rod seat axis. A detection assembly is installed at the front bottom of the cantilever plate 72.
[0071] The detection assembly includes a mounting protrusion 75, a detection camera 76, and a detection lighting lamp 77. A mounting protrusion 75 is provided at the bottom of the front end of the cantilever plate 72, a detection camera 76 is installed at the middle of the front side of the mounting protrusion 75, and two detection lighting lamps 77 are respectively installed on both sides of the mounting protrusion 75 through brackets. The two detection lighting lamps 77 illuminate forward, and the detection camera 76 is used for auxiliary detection.
[0072] When the cantilever plate 72 and the detection assembly are not in use, the pitch and flip electric telescopic rod 73 is shortened, driving the cantilever plate 72 to move relative to the top seat 69 through the hinge 71. When the cantilever plate 72 is in a horizontal state, the detection slot 14 is closed to close the interior of the hood 13. When the cantilever plate 72 and the detection assembly are needed, the pitch and flip electric telescopic rod 73 is extended to push the front end of the cantilever plate 72 to lift up, and the detection assembly is lifted up with the cantilever plate 72, so that the detection assembly can play a detection role. The rotating assembly drives the cantilever plate 72 and the detection assembly to rotate, so that the detection assembly can detect different directions. When encountering special When the terrain causes the detection robot to roll over, the pitch and roll electric telescopic rod 73 extends, pushing the front end of the cantilever plate 72 to lift, which is conducive to the detection robot turning over and resetting. Since the rotating component can drive the cantilever plate 72 to rotate, the detection robot can be adjusted to turn over in different directions, and can better adapt to turning over in different terrains, avoiding turning over failure due to turning over against the slope. If the rotation of the top seat 69 and the rod seat 74 is limited by the width of the detection slot 14, the lifting assembly drives the top seat 69 and the rod seat 74 to rise, allowing the top seat 69 and the rod seat 74 to extend from the detection slot 14.
[0073] It is worth noting that the controller 16 disclosed in the above embodiments is used to control the operation of the traveling camera 15, the suspension control electric telescopic rod 38, the steering electric telescopic rod 28, the power motor 43, the adaptive electric telescopic rod 54, the lifting motor 64, the rotating motor 67, the pitch and flip electric telescopic rod 73, the detection camera 76, and the detection lighting 77. The control method adopts the method commonly used in the prior art, and the lifting motor 64 and the rotating motor 67 both adopt servo motors.
[0074] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.
[0075] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A detection robot, comprising a robot body (1), wherein the robot body (1) comprises a body (11), the top edge of the body (11) is detachably connected to the bottom edge of a hood (13), and a rectangular detection slot (14) is provided at the top center of the hood (13), characterized in that: Also includes: There are four robot suspensions (3), two of which are connected to the left and right sides of the front end of the machine body (11) through the robot steering mechanism (2), and the other two robot suspensions (3) are installed on the left and right sides of the rear end of the machine body (11); The robot travel mechanism (4) comprises a wheel axle (41), a power motor (43) and a travel wheel (44); the middle part of the wheel frame plate (35) in each robot suspension (3) is rotatably connected to the wheel axle (41); one end of the wheel axle (41) close to the body (11) is fixedly connected to the power motor (43); a circular groove (45) is provided in the middle part of the side of the travel wheel (44); a circular disc (46) is fixedly connected in the middle part of the circular groove (45); and the other end of the wheel axle (41) is fixedly connected to the middle part of the circular disc (46); The ground travel adaptation mechanism (5) comprises a movable ground shifting assembly and an adaptation control assembly. The movable ground shifting assembly is installed on the travel wheel (44), the adaptation control assembly is installed on the wheel frame plate (35), and the adaptation control assembly is connected to the movable ground shifting assembly.
2. The detection robot according to claim 1, characterized in that: The movable ground-actuating assembly comprises an anti-skid sheet (51), an ear seat (52) and a compression spring (53); a plurality of sliding grooves are provided in an annular array on the outer circumference of the traveling wheel (44); the sliding grooves are communicated with the circular groove (45); an anti-skid sheet (51) is slidably connected in each sliding groove; an ear seat (52) is provided on the side surface of one end of the anti-skid sheet (51) located in the circular groove (45); and the ear seat (52) is connected to the inner circumference of the circular groove (45) through a compression spring (53).
3. The detection robot according to claim 2, characterized in that: The adaptive control assembly comprises an adaptive electric telescopic rod (54), a control ring (57) and a conical control sleeve (58); a top of a side of the wheel frame plate (35) away from the machine body (11) is fixedly connected to one end of the adaptive electric telescopic rod (54); the other end of the adaptive electric telescopic rod (54) is fixedly connected to the top of one side of the control ring (57); the other side of the control ring (57) is rotatably connected to one end of the conical control sleeve (58) through a control bearing (512); the other end of the conical control sleeve (58) extends into the circular groove (45); and a limiting groove (59) is provided on the outer peripheral side of the conical control sleeve (58) corresponding to the position of each anti-slip sheet (51); the limiting groove (59) is slidably connected to the end of the corresponding anti-slip sheet (51); and the inner side of the conical control sleeve (58) is slidably connected to the outer peripheral side of the disc (46).
4. The detection robot according to claim 3, characterized in that: The adaptive control component further comprises a sliding sleeve (55) and a limiting column (56), two sliding sleeves (55) are respectively fixedly connected to the two sides of the wheel frame plate (35), two limiting columns (56) are respectively slidably connected in the two sliding sleeves (55), the limiting columns (56) are parallel to the wheel axle (41), and the ends of the two limiting columns (56) are both fixedly connected to the side surfaces of the corresponding control ring (57).
5. The detection robot according to claim 3, characterized in that: The adaptive control component further comprises a transverse guide groove (510) and a guide bar (511); the transverse guide groove (510) is provided on the outer peripheral side of the disc (46); the transverse guide groove (510) is parallel to the wheel axle (41); the inner side of the conical control sleeve (58) is fixedly connected to a guide bar (511) which is slidably connected to the transverse guide groove (510).
6. The detection robot according to claim 1, characterized in that: The robot suspension (3) comprises a mounting plate (31), a suspension plate (32), a suspension rod (34), a suspension control electric telescopic rod (38) and a buffer force adjustment component (39); the bottom of the mounting plate (31) is fixedly connected to the suspension plate (32); the upper and lower ends of the outer side of the suspension plate (32) are respectively movably connected to one end of two suspension rods (34); the other ends of the two suspension rods (34) are respectively movably connected to the upper and lower ends of the wheel frame plate (35); the two suspension rods (34) are parallel to each other, and the suspension plate (32) and the wheel frame plate (35) are parallel to each other; the outer side of the mounting plate (31) is movably connected to one end of the suspension control electric telescopic rod (38); the other end of the suspension control electric telescopic rod (38) is fixedly connected to one end of the buffer force adjustment component (39); the other end of the buffer force adjustment component (39) is movably connected to the middle part of the upper suspension rod (34) through a suspension shaft (310).
7. The detection robot according to claim 6, characterized in that: The buffer force adjustment assembly (39) includes an outer sleeve (391), a buffer spring (392) and an inner sleeve (394); the middle part of the upper suspension rod (34) is movably connected to one end of the outer sleeve (391) through a suspension shaft (310); the other end of the outer sleeve (391) is threadedly connected to an outer sleeve end cover (393); the inner sleeve (394) is slidably connected in a circular hole in the middle part of the outer sleeve end cover (393); one end of the inner sleeve (394) located inside the outer sleeve (391) is threadedly connected to the inner sleeve end cover (395); one end of the inner sleeve (394) located outside the outer sleeve (391) is fixedly connected to the suspension shaft (310); The frame controls the end of the electric telescopic rod (38), and the portion of the inner sleeve (394) located outside the outer sleeve (391) is sleeved with a buffer spring (392), the inner side of the inner sleeve (394) is slidably connected with an adjusting screw nut (396), the middle part of one end of the outer sleeve (391) close to the suspension rod (34) is rotatably connected with an adjusting screw (397), the end of the adjusting screw (397) located outside the outer sleeve (391) is fixedly connected with a knob (398), and the other end of the adjusting screw (397) passes through the through hole in the middle of the inner sleeve end cover (395) and is threadedly connected to the adjusting screw nut (396).
8. The detection robot according to claim 1, characterized in that: It also includes a cantilever control mechanism (6) and a multifunctional cantilever mechanism (7); the cantilever control mechanism (6) is installed at the rear end of the hood (13); the multifunctional cantilever mechanism (7) is installed on the top of the cantilever control mechanism (6); the multifunctional cantilever mechanism (7) is arranged corresponding to the detection slot (14).
9. The detection robot according to claim 8, characterized in that: The cantilever control mechanism (6) comprises a lifting assembly, a rotating assembly and a top seat (69); the lifting assembly is installed at the top of the rear end of the hood (13); the rotating assembly is installed on the lifting assembly; and the top of the rotating assembly is fixedly connected to the top seat (69).
10. The detection robot according to claim 9, characterized in that: The multifunctional cantilever mechanism (7) comprises a hinge (71), a cantilever plate (72), a pitching and flipping electric telescopic rod (73), a rod seat (74) and a detection assembly. The top rear side of the top seat (69) is movably connected to the rear end of the cantilever plate (72) through the hinge (71). The cantilever plate (72) is arranged corresponding to the detection slot (14). The bottom of the cantilever plate (72) is movably connected to one end of the pitching and flipping electric telescopic rod (73). The front bottom of the top seat (69) is fixedly connected to the rod seat (74). The rod seat (74) is movably connected to the other end of the pitching and flipping electric telescopic rod (73). The front bottom of the cantilever plate (72) is equipped with a detection assembly.