Mobile device and mobile robot

Abstract

The invention relates to a mobile device and a mobile robot. The moving device comprises a moving base, the moving base is provided with a base and at least three moving wheels, and all the moving wheels are rotatably installed on the base; the mechanical arm is arranged on the base; the cooling mechanism comprises a first transmission mechanism, an air cylinder, a piston and an air blowing mechanism, the first transmission mechanism is connected between the wheel shaft of one moving wheel and the piston and can convert rotating motion of the wheel shaft of the moving wheel into reciprocating motion of the piston, the piston is installed in the air cylinder, and one end of the air blowing mechanism is communicated with the air outlet end of the air cylinder; and the other end of the blowing mechanism communicates to the joint of the mechanical arm and is used for providing blowing airflow for the joint of the mechanical arm in the reciprocating movement process of the piston relative to the air cylinder. In this way, the rotating mechanical energy of the moving wheels is finally converted into the blowing airflow to be provided for the mechanical arm joints for cooling, and the use characteristic of energy of the mobile robot is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a moving device and a mobile robot. BACKGROUND

[0002] A robot is an intelligent machine capable of semi-autonomous or autonomous work. Robots can perform tasks such as work or movement through programming and automatic control. Robots have basic features such as perception, decision-making, and execution, and can assist or even replace humans to complete dangerous, heavy, and complex work, improve work efficiency and quality, serve human life, and expand or extend the activity and ability range of humans. In the daily use of robots, moving components are needed to assist robots in multidirectional movement operations.

[0003] Currently, mobile robots with mechanical arms can better adjust and use through mechanical arms in multiple directions, but the utilization rate of the generated rotary mechanical energy is not high when the robot moves. SUMMARY

[0004] Therefore, it is necessary to provide a moving device and a mobile robot to solve the problem of low utilization rate of generated rotary mechanical energy when the existing mobile robot with a mechanical arm moves.

[0005] In one aspect, the present application provides a moving device, comprising:

[0006] A moving base having a base and at least three moving wheels, all of which are rotatably mounted to the base;

[0007] A mechanical arm provided on the base;

[0008] A cooling mechanism comprising a first transmission mechanism, an air cylinder, a piston, and a blowing mechanism, the first transmission mechanism being connected between the axle of one of the moving wheels and the piston and being capable of converting the rotary motion of the axle of the moving wheel into the reciprocating motion of the piston, the piston being installed in the air cylinder, one end of the blowing mechanism being in communication with the air outlet end of the air cylinder, and the other end of the blowing mechanism being in communication with the joint of the mechanical arm, for providing a blowing airflow to the joint of the mechanical arm during the reciprocating movement of the piston relative to the air cylinder.

[0009] In one embodiment, the mechanical arm comprises a seat body, a first arm, and a first arm shaft rotatably connecting the seat body and one end of the first arm; the end of the blowing mechanism away from the air cylinder is provided with at least one rotary joint, an inner part of each rotary joint is provided with a delivery air cavity in communication with the air cylinder, and an inner wall of the rotary joint is provided with an air hole in communication with the delivery air cavity;

[0010] One rotary joint is sleeved on the end of the first arm shaft, and the corresponding air hole is used to provide a blowing airflow to the first arm shaft; and / or

[0011] The mechanical arm further comprises a second arm, and one end of the first arm away from the base is rotationally connected with the second arm through a second arm shaft; wherein another rotary joint is sleeved on the end of the second arm shaft, and the corresponding air hole is used to provide the blowing airflow to the second arm shaft.

[0012] In one of the embodiments, the first transmission mechanism comprises a first gear, a second gear, a sliding column and a connecting block, the first gear is sleeved on the wheel shaft of the moving wheel, the second gear is engaged with the first gear, the sliding column is fixed on the side of the second gear, the connecting block is provided with a first sliding groove, the sliding column is in sliding fit with the first sliding groove, and the piston is connected with the connecting block.

[0013] In one of the embodiments, the moving device further comprises a lifting mechanism and a pipeline cooperation mechanism; the lifting mechanism is installed on the base, the bottom of the base is provided with a storage groove, and the lifting mechanism is connected with the pipeline cooperation mechanism and used to drive the pipeline cooperation mechanism to make lifting movement between a storage position of being stored in the storage groove and a working position of protruding out of the storage groove.

[0014] In one of the embodiments, the pipeline cooperation mechanism comprises two oppositely arranged arc-shaped blocks, a moving driving mechanism and a turnover driving mechanism, a space surrounding the pipeline is formed between the two arc-shaped blocks, the moving driving mechanism is connected with at least one arc-shaped block and used to drive the two arc-shaped blocks to make movement of approaching or moving away from each other, and the turnover driving mechanism is connected with the two arc-shaped blocks and used to drive the two arc-shaped blocks to make turnover movement.

[0015] The inner side of each arc-shaped block is provided with a plurality of sliding rollers, all the sliding rollers are arranged in spaced apart manner along the circumferential direction of the arc-shaped block, the axial direction of each sliding roller is parallel to the axial direction of the arc-shaped block, and the sliding rollers are in close fit with the pipeline.

[0016] In one of the embodiments, the moving device further comprises a power generation and energy storage mechanism, the power generation and energy storage mechanism comprises a second transmission mechanism, a generator and an energy storage element, the second transmission mechanism is connected between the wheel shaft of the other moving wheel and the generator, the generator is connected with the energy storage element, and the generator is used to store the generated electric energy into the energy storage element.

[0017] In one of the embodiments, the second transmission mechanism comprises a third gear, a fourth gear, a first bevel gear set, a second bevel gear set and a transmission rod; the third gear, the fourth gear and the first bevel gear set are arranged below the base, and the generator, the energy storage element and the second bevel gear set are arranged above the base.

[0018] The third gear is sleeved on the wheel shaft of the moving wheel, the fourth gear is engaged with the third gear, the input end of the first bevel gear set is fixed with the rotating shaft of the third gear, and the output end of the second bevel gear set is connected with the input end of the generator; the first bevel gear set and the second bevel gear set are connected through the transmission rod, and the transmission rod is arranged through the base.

[0019] In one of the embodiments, the power generation and energy storage mechanism comprises two, and the second transmission mechanism of the two power generation and energy storage mechanisms is respectively connected with the axle of the different moving wheels arranged coaxially;

[0020] The moving device further comprises a synchronization mechanism, the synchronization mechanism comprises a synchronization driving member, a synchronization transmission mechanism and two telescopic plates, the generator and the energy storage member of each power generation and energy storage mechanism are arranged on a corresponding telescopic plate, the synchronization transmission mechanism is respectively connected with the two telescopic plates, the synchronization driving member is connected with the synchronization transmission mechanism, and the synchronization transmission mechanism is used to drive the two telescopic plates to synchronously perform telescopic movement, so that the generator and the output end of the second bevel gear set are simultaneously disconnected or simultaneously conducted.

[0021] In one of the embodiments, the synchronization transmission mechanism comprises a second threaded rod, a second sliding block, a first pulling rod and a second pulling rod, the second threaded rod extends along the center symmetry line of the two telescopic plates, the synchronization driving member is connected with the second threaded rod, the second sliding block is threadedly connected with the second threaded rod, the first pulling rod and the second pulling rod are located on the opposite sides of the second threaded rod, and the two ends of the first pulling rod are respectively rotationally connected with the second sliding block and one telescopic plate, and the two ends of the second pulling rod are respectively rotationally connected with the second sliding block and the other telescopic plate.

[0022] The second aspect further provides a moving robot comprising the moving device in any of the above embodiments.

[0023] The moving device and the moving robot can convert the rotary motion of the axle of the moving wheel into the reciprocating motion of the piston in the air cylinder through the first transmission mechanism, and then enable the air cylinder to provide the cooling airflow to the blowing mechanism, the cooling airflow is blown from one end of the blowing mechanism to the joint of the mechanical arm, and the joint of the mechanical arm can be cooled, so that the heat dissipation performance of the mechanical arm under long-time use is improved. Therefore, according to the use characteristics of the moving robot under long-time rotation of the mechanical arm and the conversion and use effect of the mechanical energy of the moving wheel under long-time rotary motion, the rotary mechanical energy of the moving wheel is finally converted into the blowing airflow, and the use characteristics of the energy of the moving robot are improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the moving robot in one or more embodiments of the present application.

[0025] Figure 2 It is a structural schematic diagram of the moving robot in one or more embodiments of the present application. Figure 1 It is a structural schematic diagram of the moving robot in one or more embodiments of the present application.

[0026] Figure 3 It is a structural schematic diagram of the moving robot in one or more embodiments of the present application. Figure 1 It is a structural schematic diagram of the moving robot in one or more embodiments of the present application.

[0027] Figure 4 It is a structural schematic diagram of the moving robot in one or more embodiments of the present application.Figure 3 Structure diagram of the blowing mechanism of the mobile robot.

[0028] Figure 5 For Figure 4 Structure diagram of the rotary joint in the blowing mechanism.

[0029] Figure 6 For Figure 5 Structure diagram of part of the rotary structure.

[0030] Figure 7 For Figure 4 Enlarged structure diagram of part A in the blowing mechanism.

[0031] Figure 8 For Figure 1 Structure diagram of the mobile robot from another angle.

[0032] Figure 9 For Figure 8 Structure diagram of the lifting mechanism and the pipe fitting mechanism in the mobile robot.

[0033] Figure 10 For Figure 8 Structure diagram of the pipe fitting mechanism in the mobile robot.

[0034] Figure 11 For Figure 1 Structure diagram of the power generation and energy storage mechanism and the synchronization mechanism in the mobile robot.

[0035] Figure 12 For Figure 11 Structure diagram of the power generation and energy storage mechanism and the synchronization mechanism from another angle.

[0036] Figure 13 For Figure 11 Enlarged structure diagram of part B of the power generation and energy storage mechanism and the synchronization mechanism.

[0037] Explanation of reference signs:

[0038] 100, mobile device; 10, mobile base; 11, base; 111, receiving groove; 112, guide hole; 1111, second sliding slot; 12, mobile wheel; 20, mechanical arm; 21, seat body; 22, first arm; 221, first arm shaft; 222, second arm shaft; 23, second arm; 30, cooling mechanism; 31, first transmission mechanism; 311, first gear; 312, second gear; 313, sliding column; 314, connecting block; 3141, first sliding slot; 32, air cylinder; 321, air inlet pipe; 322, air suction fan; 323, filter screen; 33, piston; 34, air blowing mechanism; 341, rotary joint; 3411, air hole; 342, conveying pipeline; 40, lifting mechanism; 41, lifting frame; 42, lifting rod; 50, pipeline matching mechanism; 51, arc-shaped block; 511, sliding roller; 52, moving driving mechanism; 521, moving driving piece; 522, first threaded rod; 523, first sliding block; 53, overturning driving mechanism; 60, power generation and energy storage mechanism; 61, second transmission mechanism; 611, third gear; 612, fourth gear; 613, first bevel gear set; 614, second bevel gear set; 6141, second connecting shaft; 6142, fixing frame; 6143, sliding rod; 6144, clamping block; 6145, elastic piece; 615, transmission rod; 62, generator; 621, first connecting shaft; 622, insertion rod; 623, first conical limiting surface; 624, second conical limiting surface; 63, energy storage piece; 70, synchronization mechanism; 71, synchronization driving piece; 72, synchronization transmission mechanism; 721, second threaded rod; 722, second sliding block; 723, first pulling rod; 724, second pulling rod; 73, telescopic plate; 80, illuminating lamp. DETAILED DESCRIPTION

[0039] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of different ways beyond the specific embodiments described and it is to be understood that the present application is not limited to the specific embodiments described below.

[0040] In the description of the application, it should be understood that, if there are these terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the application.

[0041] In addition, if there are these terms "first", "second", these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the application, if the term "multiple" appears, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise explicitly specified.

[0042] In this application, unless otherwise explicitly specified and limited, if there are terms such as "mounting", "connecting", "connecting", "fixing" and the like, these terms should be broadly understood. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0043] In this application, unless otherwise explicitly specified and limited, if there are similar descriptions such as "first feature on or under second feature", the meaning can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" of the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" of the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0044] It is to be noted that when an element is referred to as being "fixed" or "set" on another element, it can be directly on the other element or there can be an intervening element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or there can be an intervening element. The terms "vertical", "horizontal", "upper", "lower", "left", "right", and similar terms as used herein only mean for the purpose of illustration and are not meant to be limiting.

[0045] Referring to Figures 1 to 6 An embodiment of the mobile device 100 provided by the present application comprises a mobile base 10, a mechanical arm 20, and a cooling mechanism 30. The mobile device 100 of the present application can be applied to a mobile robot, which can further comprise a controller and the like.

[0046] The mobile base 10 has a base 11 and at least three mobile wheels 12, all of which are rotatably mounted on the base 11. The mobile base 10 refers to a seat structure capable of moving, the base 11 is a seat structure capable of providing support or mounting conditions for other components, and the mobile wheels 12 are components capable of moving the base 11. Optionally, the number of mobile wheels 12 of the mobile base 10 can be four, and the four mobile wheels 12 are distributed in a rectangular shape. In other embodiments, the number of mobile wheels 12 of the mobile base 10 can also be three, and the three mobile wheels 12 are distributed in a triangular shape.

[0047] The mechanical arm 20 is arranged on the base 11. The mechanical arm 20 is a structure capable of performing specific operations, for example, the mechanical arm 20 can pick up and place articles. The structure of the mechanical arm 20 is not limited, but generally includes a plurality of arms rotatably connected between each other, and the last end of the arm can be mounted with a mechanical hand or the like operation component.

[0048] The cooling mechanism 30 comprises a first transmission mechanism 31, an air cylinder 32, a piston 33, and a blowing mechanism 34. The first transmission mechanism 31 is connected between the axle of one of the mobile wheels 12 and the piston 33, and is capable of converting the rotary motion of the axle of the mobile wheel 12 into the reciprocating motion of the piston 33. The piston 33 is installed in the air cylinder 32. One end of the blowing mechanism 34 is in communication with the air outlet end of the air cylinder 32, and the other end of the blowing mechanism 34 is communicated to the joint of the mechanical arm 20, for providing a blowing airflow to the joint of the mechanical arm 20 during the reciprocating movement of the piston 33 relative to the air cylinder 32.

[0049] It is to be noted that the air cylinder 32 and the blowing mechanism 34 can be fixed on the base 11.

[0050] Therefore, the rotation movement of the axle of the moving wheel 12 can be converted into the reciprocating movement of the piston 33 in the air cylinder 32 through the first transmission mechanism 31, so that the air cylinder 32 can provide the cooling airflow to the blowing mechanism 34, the cooling airflow is blown from one end of the blowing mechanism 34 to the joints of the mechanical arm 20, and the joints of the mechanical arm 20 can be cooled, so that the heat dissipation performance of the mechanical arm 20 under long-time use is improved.

[0051] Therefore, the rotation movement of the axle of the moving wheel 12 can be converted into the reciprocating movement of the piston 33 in the air cylinder 32 through the first transmission mechanism 31, so that the air cylinder 32 can provide the cooling airflow to the blowing mechanism 34, the cooling airflow is blown from one end of the blowing mechanism 34 to the joints of the mechanical arm 20, and the joints of the mechanical arm 20 can be cooled, so that the heat dissipation performance of the mechanical arm 20 under long-time use is improved.

[0052] Specifically, in the embodiment of the present application, the first transmission mechanism 31 comprises a first gear 311, a second gear 312, a sliding column 313 and a connecting block 314, the first gear 311 is sleeved on the axle of the moving wheel 12, the second gear 312 is engaged with the first gear 311, the sliding column 313 is fixed on the side surface of the second gear 312, the connecting block 314 is provided with a first sliding groove 3141, the sliding column 313 is in sliding fit with the first sliding groove 3141, and the piston 33 is connected with the connecting block 314.

[0053] When the moving wheel 12 rotates, the axle will rotate with the first gear 311, so that the second gear 312 rotates, since the sliding column 313 is arranged on the side surface of the second gear 312, the sliding column 313 will rotate with the second gear 312, and the first sliding groove 3141 is in sliding fit with the sliding column 313, under the condition that the sliding column 313 rotates, the sliding column 313 will slide in the first sliding groove 3141, so as to drive the connecting block 314 to reciprocate, at this time, since the connecting block 314 is connected with the piston 33, the piston 33 will also reciprocate, so that the air cylinder 32 can output the cooling airflow.

[0054] Therefore, the present application is simple in the mode that the first gear 311, the second gear 312, the sliding column 313 and the connecting block 314 are transmissionally connected between the moving wheel 12 and the piston 33, and can reliably drive the piston 33 to reciprocate.

[0055] Specifically, the second gear 312 is rotatably connected to the base 11. The first gear 311 and the second gear 312 can be located below the base 11. The first sliding groove 3141 can be in the shape of a long strip, such as a waist shape, a rectangular shape, etc. The connecting block 314 can be limited by the side surface of the sliding column 313 and the second gear 312 without being separated from the sliding column 313, for example, the first sliding groove 3141 is a groove structure penetrating the connecting block 314, the end of the sliding column 313 away from the side surface of the second gear 312 is provided in the first sliding groove 3141, and the end is provided with a limiting ring, the radial dimension of the limiting ring is greater than the groove width of the first sliding groove 3141, so that the limiting ring can limit the connecting block 314.

[0056] In combination Figure 7 In some embodiments, the side wall of the air cylinder 32 is provided with an air inlet pipe 321, which communicates the inside and outside of the air cylinder 32, so that when the piston 33 reciprocates in the air cylinder 32, it can inhale air through the air inlet pipe 321.

[0057] Further, the air inlet pipe 321 is provided with a suction fan 322, which can actively provide airflow to the inside of the air cylinder 32, thereby improving the efficiency of delivering airflow.

[0058] Further, the air inlet end of the air inlet pipe 321 is also provided with a filter screen 323, which can filter the gas entering the air inlet pipe 321, avoiding impurities from blocking the air inlet pipe 321 or entering the air cylinder 32 to block the air cylinder 32, thereby affecting the output of the cooling airflow. It should be noted that the suction fan 322 should be located downstream of the filter screen 323 in the airflow direction.

[0059] Referring to Figures 1 to 6 In some embodiments, the mechanical arm 20 includes a seat body 21 and a first arm 22, and the seat body 21 and one end of the first arm 22 are rotatably connected through a first arm shaft 221. The air blowing mechanism 34 is provided with at least one rotary joint 341 away from the air cylinder 32, the rotary joint 341 is provided with a delivery air cavity communicating with the air cylinder 32 in the inside, the inner wall of the rotary joint 341 is provided with a gas hole 3411 communicating with the delivery air cavity, and the rotary joint 341 is sleeved on the end of the first arm shaft 221. Corresponding gas hole 3411 is used to provide blowing airflow to the first arm shaft 221.

[0060] By setting the rotary joint 341 to be sleeved on the end of the first arm shaft 221, the rotary joint 341 can be closer to the first arm shaft 221, and the gas hole 3411 is provided on the inner wall of the rotary joint 341, so that the blowing airflow can be provided to the first arm shaft 221 through the gas hole 3411, and the cooling effect of the cooling mechanism 30 on the first arm shaft 221 is better.

[0061] In another embodiment, the mechanical arm 20 further comprises a second arm 23, and the first arm 22 is rotatably connected to the base 11 through a second arm shaft 222. Another rotary joint 341 is sleeved on the end of the second arm shaft 222, and a corresponding air hole 3411 is used to provide air flow to the second arm shaft 222.

[0062] By sleeving the rotary joint 341 on the end of the second arm shaft 222, the rotary joint 341 can be closer to the second arm shaft 222, and the air hole 3411 is arranged on the inner wall of the rotary joint 341, so that the air flow can be provided to the second arm shaft 222 through the air hole 3411, and the cooling effect of the cooling mechanism 30 on the second arm shaft 222 is better.

[0063] In another embodiment, the air blowing mechanism 34 can be provided with at least two rotary joints 341 away from the air cylinder 32, one rotary joint 341 is sleeved on the end of the first arm shaft 221, and a corresponding air hole 3411 is used to provide air flow to the first arm shaft 221, and another rotary joint 341 is sleeved on the end of the second arm shaft 222, and a corresponding air hole 3411 is used to provide air flow to the second arm shaft 222. In this way, the air blowing mechanism 34 can provide air flow to the two arm shafts at the same time, so that the mechanical energy generated by the rotation of the moving wheel 12 is used to the greatest extent.

[0064] Specifically, the air blowing mechanism 34 further comprises a delivery pipe 342, and a connecting pipe is connected to the air cylinder 32 and all the rotary joints 341. When the rotary joint 341 comprises a plurality of rotary joints, the end of the delivery pipe 342 away from the air cylinder 32 can branch into a plurality of sub-pipes, and each sub-pipe is connected to a corresponding rotary joint 341. The delivery pipe 342 is connected to the delivery cavity of the rotary joint 341, the delivery cavity is annular, and the air hole 3411 comprises a plurality of air holes, and all the air holes 3411 are arranged around the central axis of the delivery cavity. In this way, the air flow can be uniformly distributed through the air holes 3411, and the arm shafts can be comprehensively cooled.

[0065] In the embodiment of the present application, the overall outer shape of the rotary joint 341 is cylindrical, one end of the rotary joint 341 is recessed to form a circular recess, the delivery cavity is arranged on the outer periphery of the cylindrical recess, and the air hole 3411 is arranged on the inner peripheral wall of the recess. The recess can be sleeved on the end of the first arm shaft 221 or the second arm shaft 222.

[0066] Referring to Figures 8 to 10 In some embodiments, the mobile device 100 further comprises a lifting mechanism 40 and a pipe matching mechanism 50. The lifting mechanism 40 is installed on the base 11, the bottom of the base 11 is provided with a receiving groove 111, the lifting mechanism 40 is connected to the pipe matching mechanism 50, and the pipe matching mechanism 50 is used to drive the pipe matching mechanism 50 to move up and down between a receiving position received in the receiving groove 111 and a working position protruding out of the receiving groove 111.

[0067] The pipeline cooperation mechanism 50 refers to a mechanism for cooperation with the pipeline when the mobile device 100 moves on the pipeline for inspection. Specifically, the pipeline cooperation mechanism 50 can be attached to the outer wall of the pipeline to achieve the effect of convenient conversion of the mobile inspection position. Therefore, the mobile device 100 can be used on the plane and the pipeline by setting the pipeline cooperation mechanism 50.

[0068] The pipeline cooperation mechanism 50 is connected to the lifting mechanism 40, which can be lowered outside the receiving groove 111 when the pipeline cooperation mechanism 50 is needed, so as to cooperate with the pipeline to realize the inspection. When the pipeline cooperation mechanism 50 is not used, the pipeline cooperation mechanism 50 is raised and stored in the receiving groove 111, which can avoid the influence of the pipeline cooperation mechanism 50 on the movement of the mobile device 100.

[0069] Specifically, the lifting mechanism 40 includes a lifting driving mechanism and a lifting frame 41. The lifting driving mechanism is connected to the lifting frame 41, and the lifting frame 41 is connected to the pipeline cooperation mechanism 50 to drive the lifting frame 41 to drive the pipeline cooperation mechanism 50 to move up and down.

[0070] Further, in order to improve the reliability of the lifting movement, a second sliding groove 1111 is further arranged in the receiving groove 111, and the lifting frame 41 moves up and down along the second sliding groove 1111. In addition, the lifting mechanism 40 further includes a lifting rod 42, one end of which is connected to the lifting driving mechanism, and the other end is connected to the lifting frame 41. The lifting rod 42 cooperates with the guide hole 112 of the base 11 to guide the lifting frame 41 to move up and down. Therefore, the guide hole 112 can limit the radial deviation of the lifting rod 42, thereby improving the reliability of the lifting action. Specifically, the lifting rod 42 includes two rods, and the two lifting rods 42 are respectively connected to the two corresponding guide holes 112 and the two ends of the lifting frame 41 in the longitudinal direction. In the embodiment of the application, the lifting driving mechanism can be an electric push rod.

[0071] In some embodiments, the pipeline cooperation mechanism 50 includes two oppositely arranged arc-shaped blocks 51 and a moving driving mechanism 52. The two arc-shaped blocks 51 form a space A around the pipeline, and the moving driving mechanism 52 is connected to at least one arc-shaped block 51 to drive the two arc-shaped blocks 51 to move close to or away from each other.

[0072] The movement of the two arc-shaped blocks 51 close to or away from each other is perpendicular to the direction of the lifting movement. For example, the lifting movement is in the vertical direction, and the two arc-shaped blocks 51 move close to or away from each other in the horizontal direction.

[0073] The space A formed between the two arc-shaped blocks 51 surrounds the pipeline, and the radial diameter of the space A is changed by moving at least one arc-shaped block 51 relative to the other arc-shaped block 51 driven by the moving driving mechanism 52. Thus, the mobile inspection device 100 can adapt to different pipeline diameters to meet the requirements of mobile inspection on pipelines of various specifications.

[0074] Specifically, the moving driving mechanism 52 can be mounted on the lifting frame 41. For example, the lifting frame 41 has a receiving space B, and the moving driving mechanism 52 is mounted in the receiving space B.

[0075] Specifically, the moving driving mechanism 52 can include two sub-moving driving mechanisms 52, each of which is connected to a corresponding arc-shaped block 51 to drive the arc-shaped block 51 to move closer to or away from the other arc-shaped block 51.

[0076] Each sub-moving driving mechanism 52 includes a moving driving member 521, a first threaded rod 522, and a first sliding block 523. The first sliding block 523 is connected to a corresponding arc-shaped block 51 and threadedly engages the first threaded rod 522. The moving driving member 521 is connected to the first threaded rod 522 to drive the first threaded rod 522 to rotate, thereby moving the first sliding block 523 along the first threaded rod 522 and driving the arc-shaped block 51 to move. The moving driving member 521 can be a servo motor.

[0077] Specifically, the inner side of each arc-shaped block 51 is provided with a plurality of sliding rollers 511. The sliding rollers 511 are spaced apart from each other along the circumferential direction of the arc-shaped block 51, and the axial direction of each sliding roller 511 is parallel to the axial direction of the arc-shaped block 51. The sliding rollers 511 are in contact with the pipeline.

[0078] The sliding roller 511 refers to a roller structure that can rotate relative to the inner side wall of the arc-shaped block 51. When the mobile device 100 moves on the pipeline for mobile inspection, the inner side of the arc-shaped block 51 does not abrade the pipeline during movement because the sliding rollers 511 are in contact with the pipeline, and the movement is smoother.

[0079] More specifically, the sliding roller 511 has a rotating shaft that is fixed to the inner side of the arc-shaped block 51 by a support.

[0080] Further, the pipeline fitting mechanism 50 also includes a turnover driving mechanism 53 connected to the two arc-shaped blocks 51 for driving the two arc-shaped blocks 51 to perform a turnover motion.

[0081] Here, the turnover can be specifically turning the two arc-shaped blocks 51 from a horizontal position to a vertical position. When in the horizontal position, the radial direction of the two arc-shaped blocks 51 is parallel to the horizontal direction, and when in the vertical position, the radial direction of the two arc-shaped blocks 51 is parallel to the vertical direction. Of course, in other embodiments, the turnover can be at other angles or positions.

[0082] In this way, by flipping the two arc-shaped blocks 51, on the one hand, the space occupied by the arc-shaped blocks 51 in the storage position of the storage groove 111 can be reduced as much as possible. For example, when the two arc-shaped blocks 51 are flipped to a horizontal position, the thickness of the two arc-shaped blocks 51 in the vertical direction is small, and when the arc-shaped blocks 51 are stored in the storage groove 111, the occupied space in the vertical direction can be reduced, and thus the size of the storage groove 111 in the vertical direction can be reduced. On the other hand, the two arc-shaped blocks 51 can be adapted to the position of the pipeline in the working position by flipping. For example, the pipeline is usually placed horizontally on the ground. In order to inspect the pipeline, the two arc-shaped blocks 51 need to be flipped to a vertical position, so that the pipeline is located between the two arc-shaped blocks 51, and the two arc-shaped blocks 51 surround the outer periphery of the pipeline.

[0083] Specifically, the flipping driving mechanism 53 includes two sub-flipping driving members 531, which are respectively installed on the two first sliding blocks 523 and are respectively connected with the rotating shafts of the two arc-shaped blocks 51. In this way, the two sub-flipping driving members 531 can be driven simultaneously to flip the two arc-shaped blocks 51 simultaneously.

[0084] Referring to Figures 11 to 13 In the embodiment of the present application, the mobile device 100 further includes a power generation and energy storage mechanism 60, which includes a second transmission mechanism 61, a generator 62, and an energy storage member 63. The second transmission mechanism 61 is connected between the axle of the other mobile wheel 12 and the generator 62. The generator 62 is connected with the energy storage member 63, and is used to store the generated electric energy in the energy storage member 63. It can be understood that the mobile wheel 12 connected with the power generation and energy storage mechanism 60 is different from the mobile wheel 12 connected with the cooling mechanism 30. Of course, in some embodiments, if there is sufficient space, the two can share the same mobile wheel 12.

[0085] It should be pointed out that the generator 62 and the energy storage member 63 can be arranged on the base 11. The energy storage member 63 can be an energy storage battery or other energy storage member 63.

[0086] In this way, the mechanical energy generated by the rotation of the axle of the mobile wheel 12 can be converted into electric energy by the generator 62 through the second transmission mechanism 61, and then stored in the energy storage member 63, so as to provide emergency electric energy for the electrical equipment on the mobile device 100.

[0087] Specifically, the second transmission mechanism 61 includes a third gear 611, a fourth gear 612, a first bevel gear set 613, a second bevel gear set 614, and a transmission rod 615. The third gear 611, the fourth gear 612, and the first bevel gear set 613 are arranged below the base 11. The generator 62, the energy storage member 63, and the second bevel gear set 614 are arranged above the base 11.

[0088] The third gear 611 is sleeved on the wheel shaft of the moving wheel 12, the fourth gear 612 is engaged with the third gear 611, the input end of the first bevel gear set 613 is fixed with the rotating shaft of the fourth gear 612, the output end of the second bevel gear set 614 is connected with the input end of the generator 62, the first bevel gear set 613 and the second bevel gear set 614 are connected through the transmission rod 615, and the transmission rod 615 is arranged in the base 11.

[0089] When the moving wheel 12 rotates, the wheel shaft rotates with the third gear 611, and the fourth gear 612 rotates. Since the rotating shaft of the fourth gear 612 is connected with the input end of the first bevel gear set 613, the first bevel gear set 613 and the second bevel gear set 614 are connected through the transmission rod 615, and the output end of the second bevel gear set 614 is connected with the input end of the generator 62, the rotating motion of the fourth gear 612 is transmitted to the input end of the generator 62 through the first bevel gear set 613 and the second bevel gear set 614, and the generator 62 generates electricity.

[0090] Therefore, by arranging the generator 62 and the energy storage part 63 above the base 11, the generator 62 and the energy storage part 63 can be supported, and the arrangement below the base 11 is avoided. The rotating motion of the moving wheel 12 can be transmitted to the upper part of the base 11 through the transmission rod 615 connected between the first bevel gear set 613 and the second bevel gear set 614, and the transmission rod 615 is arranged in the base 11, so as to meet the requirement that the generator 62 and the energy storage part 63 are arranged above the base 11. In addition, the transmission mode of the gear and the bevel gear set is more stable.

[0091] Further, the power generation and energy storage mechanism 60 includes two, and the second transmission mechanism 61 of the two power generation and energy storage mechanisms 60 is respectively connected with the wheel shaft of different moving wheels 12.

[0092] By arranging two power generation and energy storage mechanisms 60 respectively connected with the wheel shafts of different moving wheels 12, the utilization rate of the mechanical energy of the moving wheel 12 can be further improved.

[0093] Specifically, the second transmission mechanism 61 of the two power generation and energy storage mechanisms 60 is respectively connected with the wheel shaft of different moving wheels 12 arranged on the same shaft.

[0094] In this way, the two power generation and energy storage mechanisms 60 can be symmetrically and centrally distributed on the base 11.

[0095] Further, the mobile device 100 further comprises a synchronizing mechanism 70, the synchronizing mechanism 70 comprising a synchronizing driving member 71, a synchronizing transmission mechanism 72 and two telescopic plates 73, the generator 62 and the energy storage member 63 of each power generation and energy storage mechanism 60 being arranged on a corresponding telescopic plate 73, the synchronizing transmission mechanism 72 being connected with the two telescopic plates 73 respectively, and the synchronizing driving member 71 being connected with the synchronizing transmission mechanism 72 for driving the synchronizing transmission mechanism 72 to drive the two telescopic plates 73 to synchronously perform telescopic movement, so as to simultaneously disconnect or simultaneously connect the generator 62 and the output end of the second bevel gear set 614. The synchronizing driving member 71 can be a servo motor.

[0096] That is, the telescopic plate 73 can perform telescopic movement relative to the output end of the first bevel gear set 613 under the action of the synchronizing driving member 71 and the synchronizing transmission mechanism 72, so as to drive the generator 62 to disconnect or connect the output end of the second bevel gear set 614.

[0097] Since the telescopic plate 73 can drive the generator 62 to perform telescopic movement, the generator 62 and the output end of the second bevel gear set 614 can be disconnected by the telescopic plate 73 when the mechanical energy generated by the mobile wheel 12 does not need to be converted into electric energy, and the generator 62 and the output end of the second bevel gear set 614 can be connected by the telescopic plate 73 when the mechanical energy generated by the mobile wheel 12 needs to be converted into electric energy. Therefore, the use state of the generator 62 and the energy storage member 63 can be conveniently adjusted.

[0098] Specifically, the synchronizing transmission mechanism 72 comprises a second threaded rod 721, a second sliding block 722, a first pulling rod 723 and a second pulling rod 724, the second threaded rod 721 extending along the center symmetry line of the two telescopic plates 73, the synchronizing driving member 71 being connected with the second threaded rod 721, the second sliding block 722 being threadedly matched with the second threaded rod 721, the first pulling rod 723 and the second pulling rod 724 being located on the opposite sides of the second threaded rod 721, and the two ends of the first pulling rod 723 being rotatably connected with the second sliding block 722 and one telescopic plate 73 respectively, and the two ends of the second pulling rod 724 being rotatably connected with the second sliding block 722 and the other telescopic plate 73 respectively.

[0099] In this way, under the driving action of the synchronizing driving member 71, the second threaded rod 721 rotates to drive the second sliding block 722 threadedly matched with the second threaded rod 721 to move along the second threaded rod 721, thereby driving the first pulling rod 723 and the second pulling rod 724 to rotate, so that the two telescopic plates 73 simultaneously perform telescopic movement, and the simultaneous disconnection or simultaneous connection of the two generators 62 and the output end of the second bevel gear set 614 is realized.

[0100] It should be pointed out here that the telescopic plate 73 should be able to move relative to the base 11 so that the telescopic plate 73 can be telescopically moved. Specifically, one of the telescopic plate 73 and the base 11 is provided with a sliding groove, and the other is provided with a sliding rail, and the sliding groove and the sliding rail are in sliding fit.

[0101] Further, the input end of the generator 62 is provided with a first connecting shaft 621, and the output end of the second bevel gear set 614 is provided with a second connecting shaft 6141, and under the telescopic movement of the telescopic member, the first connecting shaft 621 is disconnected or connected with the second connecting shaft 6141. The outer wall of the first connecting shaft 621 is fixed with a plug rod 622 extending along the axial direction parallel to the first connecting shaft 621, and the outer wall of the second connecting shaft 6141 is fixed with a fixing frame 6142, and the fixing frame 6142 is slidingly connected with a sliding rod 6143, and the end of the sliding rod 6143 is provided with a clamping block 6144 which can abut against the plug rod 622, and the sliding rod 6143 and the fixing frame 6142 are further provided with an elastic member 6145 which provides elastic force for keeping the clamping block 6144 abutting against the plug rod 622. The outer wall of the plug rod 622 is further provided with a limiting member surrounding it, and the limiting member has a first tapered limiting surface 623 which can abut against the clamping block 6144 along the axial direction of the plug rod 622 when the first connecting shaft 621 is connected with the second connecting shaft 6141, thereby restricting the axial movement between the first connecting shaft 621 and the second connecting shaft 6141, and when the first connecting shaft 621 is disconnected from the second connecting shaft 6141, the first tapered limiting surface 623 can be separated from the clamping block 6144 along the axial direction of the plug rod 622.

[0102] In some other embodiments,

[0103] In order to make the first tapered limiting surface 623 and the clamping block 6144 abut against each other again, the back of the first tapered limiting surface 623 is further provided with a second tapered limiting surface 624 surrounding the outer wall of the plug rod 622, and when the first connecting shaft 621 is disconnected from the second connecting shaft 6141, the first tapered limiting surface 623 can be separated from the clamping block 6144 along the axial direction of the plug rod 622, and the second tapered limiting surface 624 can abut against the clamping block 6144. The plug rod 622 and the limiting member can also be provided on the second connecting shaft 6141, and the fixing frame 6142, the sliding rod 6143, the clamping block 6144 and the elastic member 6145 are provided on the first connecting shaft 621.

[0104] Further, the insertion rod 622, the fixing frame 6142, the sliding rod 6143, the clamping block 6144, the elastic member 6145 and the limiting member can each include two, one of which is distributed on one side along the radial direction of the first connecting shaft 621 and the second connecting shaft 6141, and the other is distributed on the opposite side along the radial direction of the first connecting shaft 621 and the second connecting shaft 6141. In this way, the reliability of the connection between the first connecting shaft 621 and the second connecting shaft 6141 can be improved.

[0105] In the embodiments of the present application, in order to provide the lighting condition, the front end of the mobile device 100 is further provided with a lighting lamp 80, which can emit light by providing electric energy through the energy storage member 63.

[0106] Based on the same inventive concept, the present application also provides a mobile robot, which comprises the mobile device 100 in any of the above embodiments.

[0107] The above mobile robot can convert the rotation movement of the wheel shaft of the mobile wheel 12 into the reciprocating movement of the piston 33 in the air cylinder 32 through the first transmission mechanism 31, so that the air cylinder 32 can provide a cooling air flow to the blowing mechanism 34, which blows from one end of the blowing mechanism 34 to the joints of the mechanical arm 20, so as to cool the joints of the mechanical arm 20. In this way, the heat dissipation performance of the mechanical arm 20 under long-term use is improved.

[0108] Therefore, the mobile robot can convert the rotary mechanical energy of the mobile wheel 12 into blowing air flow according to the use characteristics of the mobile device 100 under long-term rotation of the mechanical arm 20, and combine the conversion and use effect of the mechanical energy of the mobile wheel 12 under long-term rotation, so as to improve the use characteristics of the robot energy.

[0109] The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the description.

[0110] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be pointed out that for ordinary skilled persons in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A mobile device, characterized in that, include: A movable base having a base and at least three movable wheels, all of which are rotatably mounted on the base; A robotic arm, which is mounted on the base; The cooling mechanism includes a first transmission mechanism, an air cylinder, a piston, and an air blowing mechanism. The first transmission mechanism is connected between the axle of one of the moving wheels and the piston, and can convert the rotational motion of the axle of the moving wheel into the reciprocating motion of the piston. The piston is installed inside the air cylinder. One end of the air blowing mechanism is connected to the air outlet of the air cylinder, and the other end of the air blowing mechanism is connected to the joint of the robotic arm, for providing airflow to the joint of the robotic arm during the reciprocating motion of the piston relative to the air cylinder.

2. The mobile device according to claim 1, characterized in that, The robotic arm includes a base and a first arm. The base and one end of the first arm are rotatably connected via a first arm shaft. The blowing mechanism has at least one rotary joint at the end away from the air cylinder. Each rotary joint has an air delivery chamber communicating with the air cylinder inside. The inner wall of the rotary joint has an air hole communicating with the air delivery chamber. One of the rotary joints is sleeved on the end of the first arm shaft, and the corresponding air hole is used to provide airflow to the first arm shaft; and / or The robotic arm also includes a second arm, and the end of the first arm away from the base is rotatably connected to the second arm via a second arm shaft; wherein another rotary joint is sleeved on the end of the second arm shaft, and the corresponding air hole is used to provide blowing airflow to the second arm shaft.

3. The mobile device according to claim 1, characterized in that, The first transmission mechanism includes a first gear, a second gear, a sliding column, and a connecting block. The first gear is sleeved on the axle of the movable wheel, the second gear meshes with the first gear, the sliding column is fixed to the side of the second gear, the connecting block has a first sliding groove, the sliding column slides in the first sliding groove, and the piston is connected to the connecting block.

4. The mobile device according to claim 1, characterized in that, The mobile device also includes a lifting mechanism and a pipe fitting mechanism; the lifting mechanism is installed on the base, the bottom of the base is provided with a storage groove, the lifting mechanism is connected to the pipe fitting mechanism, and is used to drive the pipe fitting mechanism to move up and down between the storage position stored in the storage groove and the working position protruding from the storage groove.

5. The mobile device according to claim 4, characterized in that, The pipe fitting mechanism includes two opposing arc-shaped blocks, a moving drive mechanism, and a flipping drive mechanism. A space surrounding the pipe is formed between the two arc-shaped blocks. The moving drive mechanism is connected to at least one of the arc-shaped blocks and is used to drive the two arc-shaped blocks to move closer to or further away from each other. The flipping drive mechanism is connected to the two arc-shaped blocks and is used to drive the two arc-shaped blocks to flip. Each of the arc-shaped blocks has multiple sliding rollers on its inner side. All the sliding rollers are spaced apart from each other along the circumference of the arc-shaped block, and the axial direction of each sliding roller is parallel to the axial direction of the arc-shaped block. The sliding rollers are in contact with the pipe.

6. The mobile device according to claim 1, characterized in that, The mobile device further includes a power generation and energy storage mechanism, which includes a second transmission mechanism, a generator, and an energy storage component. The second transmission mechanism is connected between the axle of one of the mobile wheels and the generator. The generator is connected to the energy storage component and is used to store the generated electrical energy in the energy storage component.

7. The mobile device according to claim 6, characterized in that, The second transmission mechanism includes a third gear, a fourth gear, a first bevel gear set, a second bevel gear set, and a transmission rod; the third gear, the fourth gear, and the first bevel gear set are located below the base, and the generator, the energy storage device, and the second bevel gear set are located above the base; The third gear is sleeved on the axle of the moving wheel, the fourth gear meshes with the third gear, the input end of the first bevel gear set is fixed to the shaft of the third gear, and the output end of the second bevel gear set is connected to the input end of the generator; the first bevel gear set and the second bevel gear set are connected by the transmission rod, which passes through the base.

8. The mobile device according to claim 7, characterized in that, The power generation and energy storage mechanism includes two, and the second transmission mechanism of the two power generation and energy storage mechanisms is respectively connected to the wheel axle of different moving wheels arranged coaxially; The mobile device further includes a synchronization mechanism, which includes a synchronization drive, a synchronization transmission mechanism, and two telescopic plates. The generator and the energy storage device of each power generation and energy storage mechanism are mounted on a corresponding telescopic plate. The synchronization transmission mechanism is connected to the two telescopic plates respectively. The synchronization drive is connected to the synchronization transmission mechanism and is used to drive the synchronization transmission mechanism to drive the two telescopic plates to move synchronously to disconnect or connect the generator and the output end of the second bevel gear set at the same time.

9. The mobile device according to claim 8, characterized in that, The synchronous transmission mechanism includes a second threaded rod, a second slider, a first pulling rod, and a second pulling rod. The second threaded rod extends along the central symmetrical line of the two telescopic plates. The synchronous drive component is connected to the second threaded rod. The second slider is threadedly engaged with the second threaded rod. The first pulling rod and the second pulling rod are located on opposite sides of the second threaded rod. The two ends of the first pulling rod are rotatably connected to the second slider and one of the telescopic plates, respectively. The two ends of the second pulling rod are rotatably connected to the second slider and the other telescopic plate, respectively.

10. A mobile robot, characterized in that, Includes the mobile device as described in any one of claims 1-9.

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