Wheel-foot type robot for detection

Abstract

The utility model relates to the technical field of detection robots, in particular to a wheel-foot type robot for detection, which comprises a wheel-foot type detection robot body, a control component, a detection component, an obstacle clearing component and a visual component. The driving vehicle comprises a main frame and at least three driving wheels installed on the two sides of the main frame through electric driving connecting rods, each driving wheel is controlled through an independent motor, the number of the driving wheels is six, and three driving wheels are installed on the two sides of each main frame. According to the invention, the robot for detection can move and carry obstacles in a dead angle area which cannot be detected; six wheels are arranged and have multiple postures, the postures can be adjusted according to the driving environment so as to adapt to different road surface conditions, the mechanical arm mechanism and the visual assembly are additionally arranged to achieve higher-level autonomous operation and environment perception, and obstacles can be handled by controlling the swing front arm or the steering engine when encountering the obstacles. And the method has very high practicability and wide application prospects.

Description

Technical Field

[0001] The utility model relates to the technical field of detection robots, in particular to a wheel-footed robot for detection. Background Art

[0002] Detection robots refer to robot systems specifically used for object detection and recognition, and are generally used in industrial automation, quality control, safety inspection and other fields. Robots are highly intelligent and can quickly and accurately detect target objects and feed back their information to users.

[0003] Existing inspection robots can ensure normal inspection passage, but when encountering low-altitude obstacles, they are easily blocked by the obstacles and it is difficult to switch walking posture to pass through the obstacles. They can only take detours and have poor obstacle crossing performance. When passing through height-restricted areas, it is difficult to switch to a low posture and move forward, resulting in the inspection machine being prone to undetectable blind spots, affecting actual practical use. Utility Model Content

[0004] The purpose of the utility model is to provide a wheeled-legged robot for detection to solve the problems raised in the above-mentioned background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A wheeled-legged robot for detection, comprising a wheeled-legged detection robot body, a control component, a detection component, an obstacle removal component and a visual component, wherein the wheeled-legged detection robot body comprises a driving vehicle, wherein the driving vehicle comprises a main frame and at least three driving wheels mounted on both sides of the main frame through electric drive connecting rods, each of the driving wheels being controlled by an independent motor, a total of six driving wheels being provided, and three driving wheels being mounted on both sides of each main frame;

[0007] The obstacle removal assembly includes an obstacle transport assembly and a swing arm obstacle displacement assembly;

[0008] The control component is installed on the top of the main frame, the detection component is located on the front outer wall of the main frame, and the detection component is electrically connected to the control component through a wire.

[0009] As a preferred solution of the utility model, the obstacle handling component includes a mechanical arm located at the top of the main frame and a servo for driving the mechanical arm, the end of the mechanical arm is connected to an obstacle clamping and handling manipulator, the bottom of the manipulator is connected to a servo for controlling its operation, the visual component is located on the mechanical arm at the top of the main frame, and the visual component is electrically connected to the control component through a wire.

[0010] As a preferred solution of the utility model, the swing arm obstacle displacement assembly includes swing forearms symmetrically located on the outer wall of the main frame on both sides of the detection assembly, one end of each swing forearm is connected to the main frame through an electrically controlled swing gear set, and the other end of each swing forearm is connected to a clamping arm, and the inner wall of the clamping arm is connected to a servo for controlling its behavior, and the servo is electrically connected to the control assembly through a wire.

[0011] As a preferred solution of the utility model, the control component includes an electronic control shell and a control main board arranged inside the electronic control shell. The electronic control shell is installed on the top of the main frame, and the servos are electrically connected to the control main board inside the electronic control shell through wires.

[0012] As a preferred solution of the utility model, the detection component includes a humidity detector, and the humidity detector is electrically connected to the control mainboard inside the electric control housing through a wire.

[0013] As a preferred solution of the utility model, the visual component includes a gimbal and a visual camera arranged on the top of the gimbal, the gimbal drives the visual camera to perform circumferential rotation and pitch angle adjustment, and the visual camera wire is electrically connected to the control main board inside the electronic control shell.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] In response to the problems raised in the background technology, the detection robot of the present application has multiple practical functions, including being able to move and carry obstacles in blind spots that cannot be detected, being set up with six wheels and having multiple postures, being able to adjust the posture according to the driving environment to adapt to different road conditions, adding a mechanical arm mechanism and a visual component to achieve a higher level of autonomous operation and environmental perception, and being able to respond to obstacles by controlling the swinging forearm or the steering gear when encountering obstacles. These functions and characteristics make the robot highly practical and have broad application prospects;

[0016] The six-wheeled vehicle has three postures: low, medium and high. Under normal driving conditions, it drives by controlling the six independent wheels. When encountering low-altitude obstacles, it can switch to a high posture and use the six legs to move forward alternately to pass the obstacles. When passing through a height-restricted area, it can switch to a low posture to move forward.

[0017] A mechanical arm mechanism is added at the center of the robot main frame. The front section of the mechanical arm can swing obstacles or clamp objects by controlling the swing and clamping of the manipulator. A visual component visual camera is added to the mechanical arm to transmit detection information in real time.

[0018] A humidity detector is added to the main frame of the robot, which can detect the driving environment and feedback the data;

[0019] When encountering an obstacle during the journey, the obstacle can be moved away by controlling the swing forearm, and the swing of the clamping arm can be controlled by controlling the servo to achieve the clamping of the object and the swinging of the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is the axonometric drawing of the overall structure of the utility model;

[0021] Figure 2 This is the overall top view of the utility model;

[0022] Figure 3 It is an overall side view of the utility model.

[0023] In the figure: 1. visual component; 11. main frame; 12. driving wheel; 2. servo; 3. mechanical arm; 31. manipulator; 4. detection component; 5. control component; 6. swing forearm; 61. clamping arm. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the embodiments of the present invention.

[0025] Example

[0026] Each device in the present application document adopts conventional models in the prior art, and the control method is automatic control through a controller. The control circuit of the controller can be implemented by simple programming by technicians in this field, which belongs to common knowledge in this field.

[0027] See also Figure 1-3The utility model provides a technical solution: a wheeled-legged robot for detection, comprising a wheeled-legged detection robot body, a control component 5, a detection component 4, an obstacle removal component and a visual component 1, wherein the wheeled-legged detection robot body comprises a driving vehicle, the driving vehicle comprises a main frame 11 and at least three driving wheels 12 installed on both sides of the main frame 11 through an electric driving connecting rod, each driving wheel 12 is controlled by an independent motor, a total of six driving wheels 12 are provided, and three driving wheels 12 are installed on both sides of each main frame 11; the obstacle removal component comprises an obstacle handling component and a swing arm obstacle displacement component; the control component 5 is installed on the top of the main frame 11 The detection component 4 is located on the outer wall of the front side of the main frame 11, and the detection component 4 is electrically connected to the control component 5 through a wire; the control component 5 includes an electronic control shell and a control main board arranged inside the electronic control shell, and the electronic control shell is installed on the top of the main frame 11, and the steering gear 2 is electrically connected to the control main board inside the electronic control shell through wires; the detection component 4 includes a humidity detector, and the humidity detector is electrically connected to the control main board inside the electronic control shell through wires; the visual component 1 includes a pan-tilt and a visual camera arranged on the top of the pan-tilt, the pan-tilt drives the visual camera to perform circumferential rotation and pitch angle adjustment, and the visual camera wire is electrically connected to the control main board inside the electronic control shell.

[0028] It should be noted that, in this embodiment, the detection robot of the present application has a variety of practical functions, including being able to move and carry obstacles in blind spots that cannot be detected, being set up with six wheels and having a variety of postures, being able to adjust the posture according to the driving environment to adapt to different road conditions, adding a mechanical arm mechanism and a visual component 1 to achieve a higher level of autonomous operation and environmental perception, and being able to respond by controlling the swing forearm 6 or the steering gear 2 when encountering obstacles. These functions and characteristics make the robot highly practical and have a wide range of application prospects;

[0029] Furthermore, all electronic devices of the present application are electrically connected to the control mainboard inside the electric control housing through wires. The control mainboard receives signals from various sensors, processes these signals and outputs corresponding control instructions;

[0030] Sensors include but are not limited to pressure sensors, displacement sensors, temperature sensors, etc., which are used to monitor changes in the environment around the robot and its own motion state; the control motherboard is responsible for controlling the motor drive system on the robot so that it can move accurately according to the control instructions;

[0031] For example, when the robot needs to move forward, the control motherboard will receive signals from the sensor and issue corresponding instructions based on these signals to control parameters such as the motor speed and direction, so that the robot can move according to the designed trajectory; the control motherboard is also responsible for coordinating the coordinated actions of various parts of the robot.

[0032] See also Figure 1 and 3 The obstacle handling component includes a mechanical arm 3 located at the top of the main frame 11 and a steering engine 2 for driving the mechanical arm 3. The end of the mechanical arm 3 is connected to an obstacle clamping and handling manipulator 31, and the bottom of the manipulator 31 is connected to a steering engine 2 for controlling its operation. The visual component 1 is located on the mechanical arm 3 at the top of the main frame 11, and the visual component 1 is electrically connected to the control component 5 through a wire; the swing arm obstacle displacement component includes swing forearms 6 symmetrically located on the outer wall of the main frame 11 on both sides of the detection component 4, one end of each swing forearm 6 is connected to the main frame 11 through an electrically controlled swing gear set, and the other end of each swing forearm 6 is connected to a clamping arm 61, and the inner wall of the clamping arm 61 is connected to a steering engine 2 for controlling its behavior, and the steering engine 2 is electrically connected to the control component 5 through a wire.

[0033] It should be noted that, in this embodiment, a mechanical arm 3 is added at the center of the robot main frame 11, and the front section of the mechanical arm 3 can swing obstacles or clamp objects by controlling the swing and clamping of the manipulator 31, and a visual component 1 visual camera is added to the mechanical arm 3 to transmit detection information in real time;

[0034] Furthermore, a humidity detector is added to the body of the robot main frame 11, which can detect according to the driving environment and feed back the data;

[0035] Furthermore, when encountering an obstacle during the travel, the obstacle can be moved away by controlling the swing forearm 6, and the swing of the clamping arm 61 can be controlled by controlling the steering gear 2 to achieve the clamping of the object and the swinging of the obstacle;

[0036] The displacement sensor and temperature sensor monitor the environmental changes around the robot and its own motion state. The control mainboard is responsible for controlling the motor drive system on the robot so that it can move accurately according to the control instructions. When encountering obstacles during the movement, the front section of the robot arm 3 can swing the obstacles or clamp the objects by controlling the swing and clamping of the robot hand 31 by controlling the steering gear 2. A visual component 1 visual camera is added to the robot arm 3 to transmit the detection information in real time.

[0037] When encountering obstacles on the left and right sides during the journey, the obstacles can be moved away by controlling the swing forearm 6, and the swing of the clamping arm 61 can be controlled by controlling the steering gear 2 to achieve the clamping of the object and the swinging of the obstacle to clear the obstacle;

[0038] When in use, the control mainboard receives signals from various sensors, processes them and generates corresponding control instructions, thereby coordinating and controlling the behavior of various parts of the entire robot. During execution, it can adjust the robot's movements and postures according to different sensor signals and task requirements to ensure that the robot can move flexibly in complex environments. The control mainboard controls the movement of the drive wheel 12, and monitors the environmental changes around the robot and its own motion state according to the displacement sensor and temperature sensor. The drive wheel 12 has three postures: low, medium and high. Under normal driving conditions, the robot is driven by controlling the six independent wheels. When encountering low-altitude obstacles, it can switch to a high posture and use the six legs to move forward alternately to pass the obstacles. When passing through a height-restricted area, it can switch to a low posture to move forward. The control mainboard is responsible for controlling the motor drive system on the robot, so that it can perform precise movements according to the control instructions. When encountering obstacles during the movement, the robot will The front section of the arm 3 can swing obstacles or clamp objects by controlling the swinging and clamping of the manipulator 31 by controlling the servo 2. A visual component 1 visual camera is added to the manipulator 3 to transmit the detection information in real time. Through real-time monitoring and analysis of sensor data, the control main board can detect abnormal situations in time and take measures in time to ensure the safe and reliable operation of the robot. The control main board can generate corresponding control instructions according to the requirements of the task and changes in the execution environment, and respond to and execute these instructions by controlling the motor drive system and execution components on the robot. The control main board can also feedback the robot status and execution status to the operator by real-time feedback of detection information, so as to intervene and adjust in time. When encountering obstacles on the left and right sides during the movement, the obstacles can be moved away by controlling the swinging forearm 6, and the swinging of the clamping arm 61 can be controlled by controlling the servo 2 to achieve the clamping of objects and the swinging of obstacles to clear the obstacles.

[0039] The utility model workflow:

[0040] When in use, the control mainboard receives signals from various sensors, processes them and generates corresponding control instructions, thereby coordinating and controlling the behavior of various parts of the entire robot. During execution, it can adjust the robot's movements and postures according to different sensor signals and task requirements to ensure that the robot can move flexibly in complex environments. The control mainboard controls the movement of the drive wheel 12, and monitors the environmental changes around the robot and its own motion state based on the displacement sensor and temperature sensor. The drive wheel 12 has three postures: low, medium and high. Under normal driving conditions, the robot is driven by controlling the six independent wheels. When encountering low-altitude obstacles, it can switch to a high posture and use the six legs to move forward alternately. , passing through obstacles, when passing through the height-restricted area, it can switch to a low posture and move forward. The control mainboard is responsible for controlling the motor drive system on the robot, so that it can perform precise movements according to the control instructions. When encountering obstacles during the journey, the front section of the robot arm 3 can swing the obstacle or clamp the object by controlling the swing of the manipulator 31 by controlling the servo 2. A visual component 1 visual camera is added to the robot arm 3 to transmit the detection information in real time; when encountering obstacles on the left and right sides during the journey, the obstacles can be moved away by controlling the swing forearm 6, and the swing of the clamping arm 61 can be controlled by controlling the servo 2 to achieve the clamping of the object and the swing of the obstacle to clear the obstacle.

[0041] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A wheeled-legged robot for detection, comprising a wheeled-legged detection robot body, a control component (5), a detection component (4), an obstacle removal component and a visual component (1), characterized in that: The wheeled-legged inspection robot body comprises a driving vehicle, the driving vehicle comprising a main frame (11) and at least three driving wheels (12) mounted on both sides of the main frame (11) via electric driving connecting rods, each of the driving wheels (12) is controlled by an independent motor, a total of six driving wheels (12) are provided, and three driving wheels (12) are mounted on both sides of each main frame (11); The obstacle removal assembly includes an obstacle transport assembly and a swing arm obstacle displacement assembly; The control component (5) is installed on the top of the main frame (11), the detection component (4) is located on the front outer wall of the main frame (11), and the detection component (4) is electrically connected to the control component (5) through a wire.

2. A wheeled-legged robot for detection according to claim 1, characterized in that: The obstacle handling component comprises a mechanical arm (3) located at the top of the main frame (11) and a steering gear (2) for driving the mechanical arm (3); an obstacle clamping and handling mechanical arm (31) is connected to the end of the mechanical arm (3); a steering gear (2) for controlling the operation of the mechanical arm (31) is connected to the bottom of the mechanical arm (31); the visual component (1) is located on the mechanical arm (3) at the top of the main frame (11); and the visual component (1) is electrically connected to the control component (5) via a wire.

3. The wheeled-legged robot for detection according to claim 1, characterized in that: The swing arm obstacle displacement component comprises swing forearms (6) symmetrically located on the outer wall of the main frame (11) on both sides of the detection component (4); one end of each swing forearm (6) is connected to the main frame (11) via an electrically controlled swing gear set; the other end of each swing forearm (6) is connected to a clamping arm (61); the inner wall of the clamping arm (61) is connected to a steering gear (2) for controlling its behavior; the steering gear (2) is electrically connected to the control component (5) via a wire.

4. A wheeled-legged robot for detection according to claim 2, characterized in that: The control assembly (5) comprises an electric control shell and a control main board arranged inside the electric control shell. The electric control shell is installed on the top of the main frame (11). The steering gear (2) is electrically connected to the control main board inside the electric control shell through wires.

5. A wheeled-legged robot for detection according to claim 4, characterized in that: The detection component (4) comprises a humidity detector, and the humidity detector is electrically connected to the control mainboard inside the electric control housing via a wire.

6. A wheeled-legged robot for detection according to claim 5, characterized in that: The visual component (1) comprises a pan-tilt head and a visual camera arranged on the top of the pan-tilt head, the pan-tilt head drives the visual camera to perform circumferential rotation and pitch angle adjustment, and the visual camera wire is electrically connected to the control mainboard inside the electric control shell.

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