Air-ground cooperative detection robot

Abstract

The utility model discloses an air-ground cooperative detection robot, which relates to the technical field of robots, and comprises a ground robot and an aerial robot, the ground robot is provided with a support plate for storing the aerial robot, the ground robot comprises two crawler belt moving mechanisms, a supporting box is installed between the two crawler belt moving mechanisms, a data receiving module is arranged in the supporting box, protective baffles are installed on the two sides of the supporting box, each protective baffle is arranged above the corresponding crawler belt moving mechanism, a first illuminating lamp is fixedly installed on each protective baffle, and a supporting plate is fixedly installed on the supporting box. An angle adjusting assembly is installed at one end of the supporting plate, a cleaning assembly is further installed on the supporting plate, a detection assembly is installed on the angle adjusting assembly, and a first detector is installed on the aerial robot; according to the utility model, multi-angle detection can be carried out, and the environment detection range is enlarged.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to an air-ground cooperative detection robot. Background Art

[0002] When conducting detection in unfamiliar or complex environments, robots are usually used to prevent danger. The use of detection robots can effectively replace manual labor to enter unfamiliar or complex environments for detection, ensuring the safety of personnel while improving the efficiency of detection.

[0003] Most of the detector angles used by detection robots in the prior art are fixed angles, which results in a small detection range and an inability to detect the environmental conditions in the air. Therefore, the utility model proposes an air-to-ground collaborative detection robot. Utility Model Content

[0004] In response to the above technical problems, the utility model provides an air-ground collaborative detection robot, including a ground robot and an aerial robot, the ground robot is provided with a support plate for storing the aerial robot, the ground robot includes a tracked moving mechanism, two tracked moving mechanisms are provided, a support compartment is installed between the two tracked moving mechanisms, a data receiving module is provided in the support compartment, protective baffles are installed on both sides of the support compartment, each of the protective baffles is respectively arranged above the corresponding tracked moving mechanism, a lighting lamp is fixedly installed on each of the protective baffles, the support plate is fixedly installed on the support compartment, an angle adjustment assembly is installed at one end of the support plate, a cleaning assembly is also installed on the support plate, a detection assembly is installed on the angle adjustment assembly, and a first detector is installed on the aerial robot.

[0005] Furthermore, the angle adjustment assembly includes a support unit, a first angle adjustment unit and a second angle adjustment unit installed on a support plate, the first angle adjustment unit and the second angle adjustment unit are both connected to the support unit, and the first angle adjustment unit is connected to the second angle adjustment unit.

[0006] Furthermore, the support unit includes a protective shell, a support frame and a support box, the protective shell and the support frame are both fixedly mounted on one end of the support plate, an avoidance groove is provided in the protective shell, and the support box is fixedly mounted on the support frame.

[0007] Furthermore, the first angle adjustment unit includes a support seat 1, a support shaft 3, a cylindrical gear 1, a motor 3 and a cylindrical gear 4, the support shaft 3 is rotatably installed in the support box, the support seat 1 is fixedly installed on the support shaft 3, the support seat 1 is arranged above the support box, the cylindrical gear 1 is fixedly installed at the lower end of the support shaft 3, a rotating groove is arranged in the support shaft 3, the motor 3 is fixedly installed at one end of the support plate, the cylindrical gear 4 is coaxially fixedly installed on the output shaft of the motor 3, and the cylindrical gear 1 is meshingly connected with the cylindrical gear 4.

[0008] Furthermore, the second angle adjustment unit includes a support seat 2, a bevel gear 1, a support shaft 1, a support shaft 2, a bevel gear 2, a pulley 1, a belt, a pulley 2, a motor 2, a support shaft 4, a cylindrical gear 2 and a cylindrical gear 3. The motor 2 is fixedly mounted on one end of the support plate, the support shaft 4 is rotatably mounted on one end of the support plate, the pulley 2 is coaxially fixedly mounted on the output shaft of the motor 2, the pulleys are coaxially fixedly mounted on the upper end of the support shaft 4, the cylindrical gear 2 is coaxially fixedly mounted on the lower end of the support shaft 4, the pulley 1 is connected to the pulley 2 by a belt, and the support shaft 2 is rotatable. It is installed in the rotating groove of support shaft three, the cylindrical gear three is coaxially fixedly installed on the lower end of support shaft two, and the bevel gear two is coaxially fixedly installed on the upper end of support shaft two, so bevel gear two is rotatably installed on support seat one, the cylindrical gear two is meshingly connected with cylindrical gear three, the support shaft one is rotatably installed on support seat one, the bevel gear one is coaxially fixedly installed on one side of support shaft one, the bevel gear one is meshingly connected with bevel gear two, the support seat two is fixedly installed on support shaft one, the detection assembly is fixedly installed on support seat two, and the axis of support shaft one is vertically distributed with the axis of support shaft three.

[0009] Furthermore, the detection assembly includes a supporting column, a second lighting lamp and a second detector. The supporting column is fixedly installed in the middle of the second supporting base. The second lighting lamp and the second detector are respectively fixedly installed on both sides of the supporting column. The second lighting lamp and the second detector are both facing the side away from the aerial robot. The first detector and the second detector both transmit data with the data receiving module through a wireless transmission function.

[0010] Furthermore, the cleaning assembly includes a cleaning plate, a motor 1, a lead screw, a support block 1, a support block 2 and a guide rod, wherein the motor 1, the support block 1 and the support block 2 are all fixedly mounted on the support plate, two support blocks 2 are provided, and the two support blocks 2 are arranged on the same side of the support plate, the motor 1 and the support block 1 are arranged on the other side of the support plate, the motor 1 and one of the support blocks 2 are arranged on an end of the support plate close to the protective shell, the support block 1 and the other support block 2 are arranged on an end of the support plate away from the protective shell, the guide rod is fixedly mounted on the two support blocks 2, the lead screw is rotatably mounted on the support block 1, the lead screw is coaxially fixedly connected with the output shaft of the motor 1, the cleaning plate is connected to the lead screw by threads, the cleaning plate is slidably connected to the guide rod, and a plurality of cleaning brushes are evenly spaced and installed below the cleaning plate, the cleaning brushes are made of soft material, and the cleaning brushes are in contact with the support plate.

[0011] Compared with the prior art, the present invention has the following beneficial effects: (1) the present invention realizes angle adjustment of the detection component in two directions through two angle adjustment units. Through the mutual cooperation of the two angle adjustment units, the detection component can perform environmental detection in multiple directions, thereby solving the problem in the prior art that the robot cannot adjust the angle when performing environmental detection, resulting in a small range of environmental detection; (2) the present invention detects the ground environment through a ground robot and detects the aerial environment through an aerial robot. Through the coordinated cooperation of the ground robot and the aerial robot, the detection of the surrounding environment in an unfamiliar area is completed; (3) the present invention uses a cleaning component to clean dust and other garbage to the end of the support plate away from the protective shell, thereby facilitating subsequent garbage cleaning and reducing the workload of maintaining the ground robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 The overall structure of the utility model is shown in FIG. Figure 1 .

[0013] Figure 2 It is a front view of the utility model.

[0014] Figure 3 It is a side view of the utility model.

[0015] Figure 4 It is a top view of the utility model.

[0016] Figure 5 This is a schematic diagram of the structure of the support plate, angle adjustment component, detection component and cleaning component of the utility model.

[0017] Figure 6 This is a schematic diagram of the structure of the support plate and cleaning component of the utility model.

[0018] Figure 7It is a schematic diagram of the structure of the support plate, angle adjustment component and detection component of the utility model.

[0019] Figure 8 For this utility model Figure 7 Enlarged structural diagram at B in the middle.

[0020] Fig. 9 It is a schematic diagram of the local structure of the angle adjustment component of the utility model.

[0021] Fig.10 For this utility model Fig. 9 Cross-sectional view along the AA direction.

[0022] Figure numbers: 101-track moving mechanism; 102-protective baffle; 103-support compartment; 201-lighting lamp 1; 301-support plate; 401-aerial robot; 501-cleaning plate; 502-motor 1; 503-screw; 504-support block 1; 505-support block 2; 506-guide rod; 601-support column; 602-lighting lamp 2; 603-second detector; 701-protective shell; 702-support frame; 703-support Support box; 704-support seat one; 705-support seat two; 706-bevel gear one; 707-support shaft one; 708-support shaft two; 709-bevel gear two; 710-support shaft three; 711-cylindrical gear one; 712-pulley one; 713-belt; 714-pulley two; 715-motor two; 716-support shaft four; 717-cylindrical gear two; 718-cylindrical gear three; 719-motor three; 720-cylindrical gear four. DETAILED DESCRIPTION

[0023] The present invention will be further described below in conjunction with specific embodiments. The illustrative embodiments and descriptions of the present invention are used to explain the present invention but are not intended to limit the present invention.

[0024] Example: Figure 1-Figure 10An air-to-ground collaborative detection robot is shown, comprising a ground robot and an aerial robot 401, wherein a support plate 301 for storing the aerial robot 401 is provided on the ground robot, and the ground robot comprises a tracked moving mechanism 101, wherein two tracked moving mechanisms 101 are provided, and a support compartment 103 is installed between the two tracked moving mechanisms 101, wherein a data receiving module is arranged in the support compartment 103, and protective baffles 102 are installed on both sides of the support compartment 103, wherein each protective baffle 102 is respectively arranged above the corresponding tracked moving mechanism 101, and a lighting lamp 201 is fixedly installed on each protective baffle 102, and the support plate 301 is fixedly installed on the support compartment 103, and an angle adjustment component is installed at one end of the support plate 301, and a cleaning component is also installed on the support plate 301, and a detection component is installed on the angle adjustment component, and a first detector is installed on the aerial robot 401.

[0025] The angle adjustment assembly includes a support unit, a first angle adjustment unit and a second angle adjustment unit installed on the support plate 301, the first angle adjustment unit and the second angle adjustment unit are both connected to the support unit, and the first angle adjustment unit is connected to the second angle adjustment unit.

[0026] The support unit includes a protective shell 701 , a support frame 702 and a support box 703 . The protective shell 701 and the support frame 702 are both fixedly mounted on one end of the support plate 301 . An avoidance groove is provided in the protective shell 701 , and the support box 703 is fixedly mounted on the support frame 702 .

[0027] The first angle adjustment unit includes a support seat 704, a support shaft 710, a cylindrical gear 711, a motor 719 and a cylindrical gear 4 720. The support shaft 3 710 is rotatably installed in the support box 703, the support seat 704 is fixedly installed on the support shaft 3 710, the support seat 704 is arranged above the support box 703, the cylindrical gear 1 711 is fixedly installed at the lower end of the support shaft 3 710, and a rotating groove is arranged in the support shaft 3 710. The motor 3 719 is fixedly installed at one end of the support plate 301, and the cylindrical gear 4 720 is coaxially fixedly installed on the output shaft of the motor 3 719. The cylindrical gear 1 711 is meshingly connected with the cylindrical gear 4 720.

[0028] The second angle adjustment unit includes a support seat 2 705, a bevel gear 1 706, a support shaft 1 707, a support shaft 2 708, a bevel gear 2 709, a pulley 1 712, a belt 713, a pulley 2 714, a motor 2 715, a support shaft 4 716, a cylindrical gear 2 717 and a cylindrical gear 3 718. The motor 2 715 is fixedly mounted on one end of the support plate 301, the support shaft 4 716 is rotatably mounted on one end of the support plate 301, the pulley 2 714 is coaxially fixedly mounted on the output shaft of the motor 2 715, the pulley 1 712 is coaxially fixedly mounted on the upper end of the support shaft 4 716, the cylindrical gear 2 717 is coaxially fixedly mounted on the lower end of the support shaft 4 716, the pulley 1 712 is connected to the pulley 2 714 through a belt 713, and the support shaft 4 716 is connected to the pulley 1 712. Support shaft 2 708 is rotatably installed in the rotating groove of support shaft 3 710, cylindrical gear 3 718 is coaxially fixedly installed on the lower end of support shaft 2 708, and bevel gear 2 709 is coaxially fixedly installed on the upper end of support shaft 2 708, so bevel gear 2 709 is rotatably installed on support seat 1 704, cylindrical gear 2 717 is meshingly connected with cylindrical gear 3 718, support shaft 1 707 is rotatably installed on support seat 1 704, bevel gear 1 706 is coaxially fixedly installed on one side of support shaft 1 707, bevel gear 1 706 is meshingly connected with bevel gear 2 709, support seat 2 705 is fixedly installed on support shaft 1 707, and the detection assembly is fixedly installed on support seat 2 705, and the axis of support shaft 1 707 is vertically distributed with the axis of support shaft 3 710.

[0029] The detection component includes a support column 601, a second lighting lamp 602 and a second detector 603. The support column 601 is fixedly installed in the middle of the second support base 705. The second lighting lamp 602 and the second detector 603 are respectively fixedly installed on both sides of the support column 601. The second lighting lamp 602 and the second detector 603 are both facing the side away from the aerial robot 401. The first detector and the second detector 603 both transmit data with the data receiving module through the wireless transmission function.

[0030] The cleaning assembly includes a cleaning plate 501, a motor 1 502, a lead screw 503, a support block 1 504, a support block 2 505 and a guide rod 506. The motor 1 502, the support block 1 504 and the support block 2 505 are all fixedly mounted on the support plate 301. Two support blocks 2 505 are provided. The two support blocks 2 505 are arranged on the same side of the support plate 301, the motor 1 502 and the support block 1 504 are arranged on the other side of the support plate 301, and the motor 1 502 and one of the support blocks 2 505 are arranged on the support plate 301 near the protective shell 701. The first end, the support block 504 and the other support block 505 are both arranged at one end of the support plate 301 away from the protective shell 701, the guide rod 506 is fixedly installed on the two support blocks 505, the screw 503 is rotatably installed on the support block 1 504, the screw 503 is coaxially fixedly connected with the output shaft of the motor 1 502, the cleaning plate 501 is connected to the screw 503 by threads, the cleaning plate 501 is slidably connected to the guide rod 506, and a plurality of cleaning brushes are evenly installed at intervals below the cleaning plate 501. The cleaning brushes are made of soft material and are in contact with the support plate 301.

[0031] When the support unit, the first angle adjustment unit and the second angle adjustment unit are working: the output shaft of the second motor 715 drives the second pulley 714 to rotate, when the second pulley 714 rotates, it drives the first pulley 712 to rotate through the belt 713, the first pulley 712 drives the cylindrical gear 2 717 to rotate through the support shaft 4 716, the cylindrical gear 2 717 drives the support shaft 2 708 to rotate through the cylindrical gear 3 718, the support shaft 2 708 drives the bevel gear 1 706 to rotate through the bevel gear 2 709, the bevel gear 1 706 drives the support seat 2 705 to rotate through the support shaft 1 707, and the support seat 2 705 drives the detection component to rotate along the axis of the support shaft 1 707, thereby realizing the angle adjustment of the detection component along the axis of the support shaft 1 707; the motor 3 719 The output shaft drives cylindrical gear four 720 to rotate, and when cylindrical gear four 720 rotates, it drives support shaft three 710 to rotate through cylindrical gear one 711, and support shaft three 710 drives support seat one 704 to rotate, and support seat one 704 drives support seat two 705 to rotate through support shaft one 707, and support seat two 705 drives the detection component to rotate along the axis of support shaft three 710, thereby realizing the angle adjustment of the detection component along the axis of support shaft three 710; the angle adjustment of the detection component in two directions is realized through two angle adjustment units, and through the mutual cooperation of the two angle adjustment units, the detection component can perform environmental detection in multiple directions, thereby solving the problem in the prior art that the robot cannot adjust the angle when performing environmental detection, resulting in a small range of environmental detection.

[0032] When the lighting lamp 201 and the detection component are working: the second detector 603 is used to detect and photograph the environment to be detected. When the lighting conditions are poor at night, the two lighting lamps 201 and the lighting lamp 602 are used for lighting.

[0033] When the cleaning component is working: the output shaft of the motor 502 drives the screw 503 to rotate, and when the screw 503 rotates, it drives the cleaning plate 501 to move on the guide rod 506. When the cleaning plate 501 moves, it cleans dust and other garbage to the end of the support plate 301 away from the protective shell 701, thereby facilitating subsequent garbage cleaning and reducing the workload of maintaining the ground robot.

[0034] The working principle of the utility model is as follows: when detecting the surrounding environment of an unfamiliar area, the ground environment is detected by the ground robot, and the aerial environment is detected by the aerial robot 401. The surrounding environment detection of the unfamiliar area is completed through the coordinated cooperation of the ground robot and the aerial robot 401.

[0035] During the detection process, the whole body is moved by the crawler moving mechanism 101, and the first angle adjustment unit and the second angle adjustment unit cooperate with each other, so that the second detector 603 can perform environmental detection in multiple directions, thereby solving the problem in the prior art that the robot cannot adjust the angle during environmental detection, resulting in a small range of environmental detection.

[0036] The aerial environment is detected by the first detector on the aerial robot 401, and the ground environment is detected by the second detector 603. After the detection is completed, the data detected by the first detector and the second detector 603 are transmitted to the data receiving module through the wireless transmission function.

[0037] When maintenance is required for the ground robot and the aerial robot 401, the aerial robot 401 is transferred to the maintenance area for maintenance (the maintenance area of ​​the aerial robot 401 is set according to the actual maintenance). When maintenance is performed on the ground robot, dust and other garbage are cleaned to the end of the support plate 301 away from the protective shell 701 through the cleaning component, thereby facilitating subsequent garbage cleaning and reducing the workload when maintaining the ground robot.

Claims

1. An air-ground collaborative detection robot, comprising a ground robot and an aerial robot (401), wherein the ground robot is provided with a support plate (301) for storing the aerial robot (401), characterized in that: The ground robot comprises a crawler moving mechanism (101), wherein two crawler moving mechanisms (101) are provided, a support box (103) is installed between the two crawler moving mechanisms (101), a data receiving module is arranged in the support box (103), protective baffles (102) are installed on both sides of the support box (103), each of the protective baffles (102) is respectively arranged above the corresponding crawler moving mechanism (101), and a lighting lamp (201) is fixedly installed on each of the protective baffles (102), the support plate (301) is fixedly installed on the support box (103), and an angle adjustment component is installed on one end of the support plate (301).

2. The air-ground collaborative detection robot according to claim 1, characterized in that: A cleaning component is also installed on the support plate (301), a detection component is installed on the angle adjustment component, and a first detector is installed on the aerial robot (401).

3. The air-ground collaborative detection robot according to claim 2, characterized in that: The angle adjustment assembly comprises a support unit installed on a support plate (301), a first angle adjustment unit and a second angle adjustment unit, wherein the first angle adjustment unit and the second angle adjustment unit are both connected to the support unit, and the first angle adjustment unit is connected to the second angle adjustment unit.

4. The air-ground collaborative detection robot according to claim 3, characterized in that: The support unit comprises a protective shell (701), a support frame (702) and a support box (703); the protective shell (701) and the support frame (702) are both fixedly mounted on one end of a support plate (301); an avoidance groove is provided in the protective shell (701); and the support box (703) is fixedly mounted on the support frame (702).

5. The air-ground collaborative detection robot according to claim 4, characterized in that: The first angle adjustment unit includes a support seat 1 (704), a support shaft 3 (710), a cylindrical gear 1 (711), a motor 3 (719) and a cylindrical gear 4 (720), wherein the support shaft 3 (710) is rotatably mounted in the support box (703), the support seat 1 (704) is fixedly mounted on the support shaft 3 (710), the support seat 1 (704) is arranged above the support box (703), the cylindrical gear 1 (711) is fixedly mounted on the lower end of the support shaft 3 (710), a rotating groove is arranged in the support shaft 3 (710), the motor 3 (719) is fixedly mounted on one end of the support plate (301), the cylindrical gear 4 (720) is coaxially fixedly mounted on the output shaft of the motor 3 (719), and the cylindrical gear 1 (711) is meshingly connected with the cylindrical gear 4 (720).

6. The air-ground collaborative detection robot according to claim 5, characterized in that: The second angle adjustment unit comprises a support seat 2 (705), a bevel gear 1 (706), a support shaft 1 (707), a support shaft 2 (708), a bevel gear 2 (709), a pulley 1 (712), a belt (713), a pulley 2 (714), a motor 2 (715), a support shaft 4 (716), a cylindrical gear 2 (717) and a cylindrical gear 3 (718), wherein the motor 2 (715) is fixedly mounted at one end of the support plate (301). The support shaft 4 (716) is rotatably mounted on one end of the support plate (301), the pulley 2 (714) is coaxially fixedly mounted on the output shaft of the motor 2 (715), the pulley 1 (712) is coaxially fixedly mounted on the upper end of the support shaft 4 (716), the cylindrical gear 2 (717) is coaxially fixedly mounted on the lower end of the support shaft 4 (716), and the pulley 1 (712) and the pulley 2 (714) are connected via a belt (713). The support shaft 2 (708) is rotatably mounted in the rotation groove of the support shaft 3 (710), the cylindrical gear 3 (718) is coaxially fixedly mounted on the lower end of the support shaft 2 (708), and the bevel gear 2 (709) is coaxially fixedly mounted on the upper end of the support shaft 2 (708), so the bevel gear 2 (709) is rotatably mounted on the support seat 1 (704), the cylindrical gear 2 (717) is meshedly connected with the cylindrical gear 3 (718), and the support shaft 1 (7 07) is rotatably mounted on support seat one (704), the bevel gear one (706) is coaxially fixedly mounted on one side of support shaft one (707), the bevel gear one (706) is meshingly connected with bevel gear two (709), the support seat two (705) is fixedly mounted on support shaft one (707), the detection assembly is fixedly mounted on support seat two (705), and the axis of support shaft one (707) is vertically distributed with the axis of support shaft three (710).

7. The air-ground collaborative detection robot according to claim 6, characterized in that: The detection assembly includes a support column (601), a second lighting lamp (602) and a second detector (603), wherein the support column (601) is fixedly mounted in the middle of the second support base (705), and the second lighting lamp (602) and the second detector (603) are respectively fixedly mounted on both sides of the support column (601), and the second lighting lamp (602) and the second detector (603) are both facing the side away from the aerial robot (401).

8. The air-ground collaborative detection robot according to claim 7, characterized in that: The first detector and the second detector (603) both transmit data to the data receiving module via a wireless transmission function.

9. The air-ground collaborative detection robot according to claim 8, characterized in that: The cleaning assembly comprises a cleaning plate (501), a motor 1 (502), a lead screw (503), a support block 1 (504), a support block 2 (505) and a guide rod (506); the motor 1 (502), the support block 1 (504) and the support block 2 (505) are all fixedly mounted on the support plate (301); two support blocks 2 (505) are provided, and the two support blocks 2 (505) are provided on the same side of the support plate (301); the motor 1 (502) and the support block 1 (504) are provided on the other side of the support plate (301); the motor 1 (502) and one of the support blocks 2 (504) are provided on the other side of the support plate (301); 05) are arranged at one end of the support plate (301) close to the protective shell (701), the support block one (504) and the other support block two (505) are arranged at one end of the support plate (301) away from the protective shell (701), the guide rod (506) is fixedly installed on the two support blocks two (505), the lead screw (503) is rotatably installed on the support block one (504), the lead screw (503) is coaxially fixedly connected with the output shaft of the motor one (502), the cleaning plate (501) is connected to the lead screw (503) by threads, and the cleaning plate (501) is slidably connected to the guide rod (506).

10. The air-ground collaborative exploration robot according to claim 9, characterized in that: A plurality of cleaning brushes are evenly spaced and installed below the cleaning plate (501); the cleaning brushes are made of soft material and are in contact with the support plate (301).

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