Intelligent obstacle avoidance inspection robot
Through the obstacle avoidance wheel set with an eccentric wheel structure, the problem of the patrol robot when encountering obstacles on the track of the sky car is solved, and the smooth movement of the robot and track patrol are achieved.
Patent Information
- Application Number
- CN202510720017.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-30
- Publication Date
- 2025-07-04
AI Technical Summary
The inspection robot is blocked by obstacles such as plate bolts or irregular seams on the side of the track and cannot move normally.
The obstacle avoidance wheel set adopts an eccentric wheel structure, which controls the rotation of the drive gear by driving the eccentric wheel, drives the rotation of the eccentric wheel, so that the pulley slides laterally to avoid obstacles, and quickly restores the side of the clamping track through spring reset to ensure the smooth progress of the robot.
Effectively avoid obstacles on the track, ensure that the robot moves smoothly on the track of the sky car, and achieve normal inspection of the track.
Smart Images
Figure CN120244914A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of inspection robots, and particularly to an intelligent obstacle avoidance inspection robot. Background Art
[0002] In modern manufacturing plants, the overhead crane, as the core equipment of the material handling system, its operating stability is directly related to the operation efficiency and safety of the entire production system. The overhead crane not only undertakes the precise transfer task of the production line materials, but also is an indispensable lifting tool during the installation and commissioning of large equipment. Its reliable operation is an important basis for ensuring continuous production.
[0003] The overhead crane track, as a key component for carrying the equipment operation, needs to be regularly subjected to a number of professional inspections, including checking the fastening state of the track pressing plate bolts and evaluating the wear degree of the track working surface, etc. These inspection items play a decisive role in ensuring the smooth running of the overhead crane and preventing derailment accidents.
[0004] Currently, intelligent inspection robots are generally used in the industry to perform the daily inspection work of the overhead crane track. However, in actual applications, due to the densely distributed pressing plate bolt protrusions on the side of the overhead crane track and the inevitable irregular joint structures between adjacent track sections, these will all impede the progress of the inspection robot, thus affecting the normal progress of the robot on the overhead crane track. Summary of the Invention
[0005] The present invention aims to provide an intelligent obstacle avoidance inspection robot to solve the problem that the robot is blocked by obstacles such as pressing plate bolts or irregular joints on the side of the track and cannot move forward normally.
[0006] To achieve the above object, the present invention adopts the following technical solution: An intelligent obstacle avoidance inspection robot, including a mobile chassis, a roller shaft is rotatably provided on the mobile chassis, and a plurality of groups of obstacle avoidance wheel sets are also provided on the mobile chassis. The obstacle avoidance wheel set includes a driving gear rotatably provided on the mobile chassis and a driven gear meshing with the driving gear. The driving gear is connected with a driving motor. The driven gear and the driving gear are both meshed with a rotating gear. The rotating gears are fixedly connected with an eccentric wheel. There is a notch on the eccentric wheel. The notch has a straight edge and an arc edge. The straight edge connects the arc edge with the long diameter end edge of the eccentric wheel, and the arc edge connects the straight edge with the short diameter end edge of the eccentric wheel; The obstacle avoidance wheel set further includes a pair of sliding shafts slidably arranged horizontally on the mobile chassis. Pulleys are rotatably provided on the sliding shafts. A resisting rod is fixedly provided on the sliding shafts. The edges of the two eccentric wheels respectively abut against the two resisting rods. Springs are connected between the resisting rods and the mobile chassis.
[0007] The principle and advantages of this solution are as follows: The roller shaft is placed at the upper end of the track. When the external power controls the rotation of the roller shaft, the robot travels on the track for inspection. The two pulleys in the same set of obstacle avoidance wheel sets are respectively located on both sides of the track and are in contact with the side surface of the track to keep the robot moving smoothly on the track. When the robot encounters an obstacle, the driving motor controls the driving gear to rotate. On the one hand, the driving gear directly drives the rotating gear meshing with it to rotate. On the other hand, the driving gear transmits the rotating power to another rotating gear through the driven gear, thereby causing the two rotating gears to rotate in opposite directions. The rotating gear drives the eccentric wheel to rotate, and the edge of the eccentric wheel pushes against the push rod. Since the diameter of the eccentric wheel constantly changes, the push rod drives the sliding shaft to slide horizontally on the moving chassis, and then the pulley is driven by the sliding shaft to move away from the track surface so that the pulley can avoid the obstacle.
[0008] When the robot continues to move forward, after the set of pulleys crosses the obstacle, the driving motor controls the eccentric wheel to continue rotating. Then the push rod moves into the notch of the eccentric wheel and abuts against the arc edge. At this time, the eccentric wheel cancels the thrust on the push rod, and the push rod quickly resets under the action of the spring, thereby driving the pulley to quickly reset through the sliding shaft, so that the two pulleys in the same group quickly abut against the side surface of the track, thus ensuring the smoothness of the robot on the track.
[0009] Through the setting of the eccentric wheel in this solution, the distance between the pulley and the side surface of the track is adjustable. When encountering obstacles such as pressing plate bolts or irregular joints, the pulley can be moved away from the side surface of the track to avoid the obstacle. After the pulley crosses the obstacle, the notch of the eccentric wheel can make the pulley quickly return to the side surface of the track again, so that the two pulleys in the same group are quickly clamped on the track, which is beneficial to keeping the robot moving smoothly continuously.
[0010] Preferably, as an improvement, there is an arc transition between the arc edge and the short diameter end of the eccentric wheel.
[0011] Through the above solution, the arc transition can make the push rod move from the notch to the short diameter end more smoothly, making the operation of the structure smoother.
[0012] Preferably, as an improvement, the push rod is provided with an arc portion, and the arc portion bulges radially towards the push rod. The bending radian of the arc portion is adapted to the edge of the eccentric wheel.
[0013] Through the above solution, the design of the arc portion makes the edge of the eccentric wheel get stuck in the arc portion when the eccentric wheel pushes the push rod, thereby playing a role in limiting the pushing part of the eccentric wheel to a certain extent, enabling the eccentric wheel to better contact with the push rod and making the eccentric wheel push the push rod to move more accurately.
[0014] Preferably, as an improvement, a circle of protrusions is provided on the edge of the eccentric wheel.
[0015] With the above solution, the protrusion can better cooperate with the arc portion on the abutting rod, which is more conducive to the eccentric wheel to strongly push the abutting rod.
[0016] Preferably, as an improvement, two symmetrically distributed abutting rods are provided on each sliding shaft, and two eccentric wheels for matching work are respectively provided on the two abutting rods, and the two eccentric wheels are fixedly connected.
[0017] With the above solution, the eccentric wheel simultaneously pushes the abutting rods on both sides, so that the force on the sliding shaft is more uniform, which is conducive to controlling the sliding shaft to move more smoothly.
[0018] Preferably, as an improvement, a cantilever perpendicular to the sliding shaft is fixedly provided on the sliding shaft, and a pulley is rotatably provided on the cantilever.
[0019] With the above solution, the cantilever provides a carrier for the installation of the pulley, which is convenient for the assembly of the pulley.
[0020] Preferably, as an improvement, a speed reducer is provided between the driving gear and the driving motor, the output shaft of the driving motor is connected to the input shaft of the speed reducer, and the output shaft of the speed reducer is connected to the driving gear.
[0021] With the above solution, the speed reducer enables the driving gear to rotate at an appropriate speed, which is conducive to the movement control of the pulley.
[0022] Preferably, as an improvement, an industrial camera is provided in front of each obstacle avoidance wheel set.
[0023] With the above solution, the industrial camera is used to detect obstacles. When it detects an obstacle, the driving motor starts to work and controls the movement of the pulley to avoid the obstacle. Description of the Drawings
[0024] Figure 1 It is a schematic structural diagram of the robot.
[0025] Figure 2 is Figure 1 The enlarged view of the partial A in
[0026] Figure 3 It is a side view of the obstacle avoidance wheel set.
[0027] Figure 4 It is a top view of the sliding shaft, the abutting rod and the eccentric wheel.
[0028] Figure 5 It is a schematic structural diagram of the eccentric wheel.
[0029] The reference numerals in the accompanying drawings of the specification include: mobile chassis 1, roller shaft 2, driving gear 3, driven gear 4, rotating gear 5, eccentric wheel 6, notch 7, straight edge 8, arc edge 9, sliding shaft 10, pulley 11, abutting rod 12, arc portion 13, protrusion 14, cantilever 15, industrial camera 16, track 17. Detailed implementation manners
[0030] The following will be further described in detail through specific implementation manners, but the implementation manners of the present invention are not limited thereto. Unless otherwise specified, the technical means used in the following implementation manners are conventional means well-known to those skilled in the art; the experimental methods used are all conventional methods; the materials, reagents, etc. used can all be obtained through commercial channels.
[0031] Embodiment 1 In this embodiment, Figure 1 and Figure 3 as shown, the intelligent obstacle avoidance inspection robot includes a mobile chassis 1, a roller shaft 2 is rotatably provided on the mobile chassis 1, and multiple groups of obstacle avoidance wheel sets are also provided on the mobile chassis 1. In this embodiment, there are three groups of obstacle avoidance wheel sets, and the three groups of obstacle avoidance wheel sets are arranged in sequence along the walking direction of the robot.
[0032] Combined with Figure 2 and Figure 3 as shown, the obstacle avoidance wheel set includes a driving gear 3 rotatably provided on the mobile chassis 1 and a driven gear 4 meshing with the driving gear 3. The driving gear 3 is connected with a driving motor, and the driving motor is fixed on the mobile chassis 1. The driven gear 4 and the driving gear 3 are both meshed with a rotating gear 5, and the rotating gears 5 are both fixedly connected with an eccentric wheel 6. As Figure 5 shown, a notch 7 is provided on the eccentric wheel 6. The notch 7 has a straight edge 8 and an arc edge 9. The straight edge 8 connects the arc edge 9 with the long diameter end edge of the eccentric wheel 6, and the arc edge 9 connects the straight edge 8 with the short diameter end edge of the eccentric wheel 6; an arc transition is provided between the arc edge 9 and the short diameter end of the eccentric wheel 6.
[0033] As Figure 2 and Figure 3 shown, the obstacle avoidance wheel set further includes a pair of sliding shafts 10 slidably arranged transversely on the mobile chassis 1. Pulleys 11 are rotatably provided on the sliding shafts 10, and the two groups of pulleys 11 are respectively located on both sides of the track 17 during operation. Combined with Figure 4 as shown, an abutting rod 12 is fixedly provided on the sliding shaft 10, and the edges of the two eccentric wheels 6 respectively abut against the two abutting rods 12, and springs are connected between the abutting rods 12 and the mobile chassis 1. As Figure 4 shown, an arc portion 13 is provided on the abutting rod 12. The arc portion 13 bends and protrudes 14 in the radial direction of the abutting rod 12, and the bending radian of the arc portion 13 is adapted to the edge of the eccentric wheel 6. A circle of protrusions 14 is provided on the edge of the eccentric wheel 6.
[0034] In the specific implementation of this embodiment, in combination with Figure 3 Understand that when the robot is working, the roller 2 is placed on the upper surface of the track 17. Driven by external power, the roller 2 rolls on the track 17, so that the whole robot moves along the track 17 to inspect the track 17. During the walking process of the robot, the two pulleys 11 in the same group of obstacle avoidance wheel sets are respectively located on both sides of the track 17, and the two pulleys 11 rotate on the side surface of the track 17 at the same time to support the robot to ensure the smooth progress of the robot.
[0035] When the robot moves to an obstacle such as a pressing plate bolt or an irregular joint on the side of the track, the obstacle avoidance wheel set at that place starts to act for obstacle avoidance. Specifically, the driving motor works and makes the driving gear 3 rotate. The driving gear 3 simultaneously drives the driven gear 4 and a rotating gear 5 to rotate. The driven gear 4 pushes another rotating gear 5 engaged with it to rotate. The two rotating gears 5 rotate and respectively drive their respective matching eccentric wheels 6 to rotate. The edge of the eccentric wheel 6 pushes against the push rod 12, so that the push rod 12 drives the sliding shaft 10 to slide horizontally on the moving chassis 1. The sliding shaft 10 drives the pulley 11 to move, so that the pulley 11 moves away from the side surface of the track 17 to avoid the obstacle. The robot continues to move forward. After the set of pulleys 11 crosses the obstacle, the driving gear 3 continues to rotate, so that the push rod 12 moves into the notch 7 of the eccentric wheel 6 and abuts against the arc edge 9. Due to the sudden decrease in the radius of the eccentric wheel 6, the push rod 12 quickly resets under the drive of the spring, and the sliding shaft 10 follows and resets, so that the two pulleys 11 quickly fall back onto the side surface of the track 17 again, thereby clamping the track 17 to ensure the smooth progress of the robot on the track 17.
[0036] The subsequent two groups of obstacle avoidance wheel sets repeat the above process and avoid obstacles in turn.
[0037] Embodiment 2 On the basis of Embodiment 1, as Figure 2 and Figure 3 shown, two symmetrically distributed push rods 12 are provided on each sliding shaft 10. Two push rods 12 are respectively provided with matching eccentric wheels 6, and the two eccentric wheels 6 are fixedly connected. A cantilever 15 perpendicular to the sliding shaft 10 is fixedly provided on the sliding shaft 10. The pulley 11 is rotatably arranged on the cantilever 15. A speed reducer is provided between the driving gear 3 and the driving motor. The output shaft of the driving motor is connected to the input shaft of the speed reducer, and the output shaft of the speed reducer is connected to the driving gear 3. In addition, in this embodiment, an industrial camera 16 is provided in front of each group of obstacle avoidance wheel sets.
[0038] On the basis of the implementation process of Embodiment 1, when the robot travels along the track 17, the industrial camera 16 detects obstacles on the track 17, and controls the driving motor to start through the controller to control the timely movement of the obstacle avoidance wheel set for obstacle avoidance. The specific structures, models, installation methods, working principles, etc. of the industrial camera 16 and the controller are all mature existing technologies and will not be elaborated here. The speed reducer enables the driving gear 3 to rotate at a suitable speed, which is beneficial to the movement control of the pulley 11.
[0039] The two eccentric wheels 6 and the two abutting rods 12 work simultaneously, enabling the sliding shaft 10 to be stressed smoothly and move more smoothly.
[0040] The above are only the embodiments of the present invention. Specific technical solutions and / or common knowledge such as characteristics that are well known in the art are not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicality of the patent. The protection scope required by this application should be based on the content of its claims, and the specific implementation manners described in the specification can be used to interpret the content of the claims.
Claims
1. An intelligent obstacle-avoiding inspection robot, including a mobile chassis, on which a roller shaft is rotatably provided, characterized in that: The mobile chassis is also provided with multiple groups of obstacle avoidance wheel sets. Each obstacle avoidance wheel set includes a driving gear rotatably arranged on the mobile chassis and a driven gear meshed with the driving gear. The driving gear is connected with a driving motor. Both the driven gear and the driving gear are meshed with rotating gears. The rotating gears are fixedly connected with eccentric wheels. There is a notch on the eccentric wheel. The notch has a straight edge and an arc edge. The straight edge connects the arc edge with the long diameter end edge of the eccentric wheel, and the arc edge connects the straight edge with the short diameter end edge of the eccentric wheel. The obstacle avoidance wheel set also includes a pair of sliding shafts slidably arranged horizontally on the mobile chassis. Pulleys are rotatably arranged on the sliding shafts. A resisting rod is fixedly arranged on the sliding shaft. The edges of the two eccentric wheels respectively abut against the two resisting rods. Springs are connected between the resisting rods and the mobile chassis.
2. The intelligent obstacle avoidance inspection robot according to claim 1, characterized in that: There is an arc transition between the arc edge and the short diameter end of the eccentric wheel.
3. The intelligent obstacle avoidance and inspection robot according to claim 2, characterized in that: The resisting rod is provided with an arc portion which is bent and protruded radially towards the resisting rod. The bending radian of the arc portion is adapted to the edge of the eccentric wheel.
4. The intelligent obstacle-avoiding inspection robot according to claim 3, wherein: A circle of protrusions is arranged on the edge of the eccentric wheel.
5. The intelligent obstacle avoidance and inspection robot according to claim 4, characterized in that: Two symmetrically distributed resisting rods are arranged on each sliding shaft. The two resisting rods are respectively provided with eccentric wheels that work in cooperation. The two eccentric wheels are fixedly connected between them.
6. The intelligent obstacle avoidance and inspection robot according to claim 5, characterized in that: A cantilever perpendicular to the sliding shaft is fixedly arranged on the sliding shaft. The pulley is rotatably arranged on the cantilever.
7. The intelligent obstacle avoidance inspection robot according to claim 6, characterized in that: A speed reducer is arranged between the driving gear and the driving motor. The output shaft of the driving motor is connected with the input shaft of the speed reducer, and the output shaft of the speed reducer is connected with the driving gear.
8. The intelligent obstacle-avoiding inspection robot according to claim 7, wherein: An industrial camera is arranged in front of each group of obstacle avoidance wheel sets.