Detection robot for operation in narrow space

Abstract

The utility model relates to the technical field of robots, in particular to a detection robot for operation in a narrow space, which comprises a bottom shell, a range finder and a moving mechanism, protective shells are fixedly mounted on two sides of the bottom shell respectively, a top plate is fixedly mounted at the top of the bottom shell, and the bottom of the top plate is connected with the tops of the two protective shells; a range finder is mounted at the top of the top plate; the two sides of the bottom shell are each provided with a plurality of electric control sliding rails, and the multiple electric control sliding rails are slidably connected with sliding blocks correspondingly. And moving mechanisms are arranged on the two sides of the bottom shell correspondingly, and each moving mechanism comprises a crawler belt, two edge wheels and a plurality of rolling wheel assemblies. The distance between the robot and the top end of a working space is detected in real time through the range finder on the top plate, ascending and descending of the sliding block are controlled through the electric control sliding rail, control over the height is achieved, the robot can flexibly shuttle in a narrow space, and clamping stagnation and damage caused by the height problem are avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially relates to a kind of detection robots for narrow space operation. BACKGROUND

[0002] Intelligent detection robot is a kind of robot using artificial intelligence, sensing technology and automation control system to perform environmental monitoring, data acquisition or dangerous detection etc. task. Its application field is wide, including industrial detection, disaster rescue, military reconnaissance, environmental monitoring etc. The development of intelligent detection robot depends on the breakthrough of advanced hardware technology (such as high-performance sensor, intelligent chip etc.) and software algorithm, in the future, with the progress of technology, they will be applied in more fields.

[0003] At present, the intelligent detection robot of prior art is prone to encounter obstacles such as electric wire, small stone block etc. when working in narrow space, due to narrow space, robot is prone to collide with the top of space when trying to bypass or cross the obstacle, which not only easily leads to robot damage, but also causes damage to other equipment or structure in narrow space, when robot directly advances to cross the obstacle, robot is lifted, thereby causing the top of robot to be prone to jamming phenomenon with the top of space, which needs manual intervention, thereby reducing work efficiency. SUMMARY

[0004] In view of the above technical problems, the utility model provides a kind of detection robots for narrow space operation.

[0005] The utility model solves the technical scheme of the above technical problems as follows:

[0006] A kind of detection robots for narrow space operation, including bottom shell, detection instrument, moving mechanism and controller;

[0007] The bottom shell is respectively fixedly installed with protective shell on both sides, the top of the bottom shell is fixedly installed with top plate, and the bottom of the top plate is connected with the top of the two protective shells;The top of the top plate is installed with range finder;The range finder is electrically connected with the controller;

[0008] The bottom shell is respectively provided with a plurality of electric control slide rails on both sides, and a plurality of the electric control slide rails are respectively slidably connected with sliding block;The bottom shell is respectively provided with moving mechanism on both sides, the moving mechanism includes track, two edge wheels and multiple groups of roller assemblies, the two edge wheels are symmetrically distributed on the two sides of multiple groups of roller assemblies, the two edge wheels and multiple groups of roller assemblies are respectively corresponding with multiple sliding blocks on the same side, and the edge wheel is rotatably connected with the corresponding sliding block;The differential mechanism is fixedly installed on the bottom shell, and the differential mechanism is respectively connected with driving wheel at both ends output end, and the two driving wheels are respectively corresponding with two groups of moving mechanism, and the track is sleeved on the corresponding side driving wheel, edge wheel and roller assembly.

[0009] On the basis of the above technical solutions, the above technical solutions can be improved as follows:

[0010] Further, the roller assembly includes a connecting rod mounted on the side wall of the sliding block, the connecting rod is rotatably connected with an intermediate wheel and two auxiliary wheels, and the two auxiliary wheels are symmetrically distributed on both sides of the intermediate wheel.

[0011] Further, the track is in contact with the top of the intermediate wheel and the bottom of the auxiliary wheel.

[0012] The beneficial effects of the above further technical solutions are that the track is convexly passed between the intermediate wheel and the two auxiliary wheels, so that the auxiliary wheels can press the lower surface of the track to adhere to the ground, ensuring the stability during the advancing process.

[0013] Further, the two ends of the edge wheel, the intermediate wheel and the auxiliary wheel are respectively provided with a limiting ring.

[0014] The beneficial effects of the above further technical solutions are to avoid the deviation and misplacement of the track during movement.

[0015] Further, two steering wheels are rotatably connected to the two sides of the bottom shell respectively, the two steering wheels correspond to the two edge wheels respectively and are located above the edge wheels, and the two steering wheels are in contact with the track on the corresponding side.

[0016] Further, a detection instrument is installed on the bottom shell through a lifting assembly, and the detection instrument is electrically connected with the controller.

[0017] Further, the lifting assembly includes an electric push rod mounted on the bottom shell, a platform is mounted on the top of the electric push rod, and the detection instrument is mounted on the top of the platform.

[0018] Further, an electric motor is fixedly installed on the bottom shell, and the bottom end of the differential mechanism is connected with the output end of the electric motor through a bevel gear set.

[0019] Further, the two sides of the bottom shell are respectively provided with a tensioning mechanism, the tensioning mechanism includes a fixed block mounted on the side wall of the bottom shell, the fixed block is fixedly connected with a sleeve shell, one end of the sleeve shell is slidably connected with a sleeve rod, the sleeve rod is connected with a spring in the inner wall of the sleeve shell, the spring is located in the sleeve shell, one end of the sleeve rod is fixedly connected with a supporting wheel, the supporting wheel is slidably connected with the side wall of the bottom shell, one side of the supporting wheel is in contact with the track, and the spring is in a compressed state.

[0020] The beneficial effect of the further technical scheme is that a continuous horizontal right pushing force is provided for the track, so that the track is always kept in a tight state, the transmission efficiency of the track is improved, the transmission speed difference of the rollers caused by slack is reduced, the adhesion between the track and the rollers is enhanced, and the service life of the track is prolonged.

[0021] Further, the battery is mounted on the bottom shell.

[0022] The beneficial effect of the further technical scheme is that the battery is used to supply power to the robot.

[0023] Compared with the prior art, the utility model has the following technical effects:

[0024] (1) The utility model discloses a distance measuring device on the top plate is used for real-time detection of the distance from the top end of the working space, and the lifting and lowering of the sliding block are controlled through the electric control slide rail, so that the height is controlled, the robot can shuttle in the narrow space flexibly, the jamming and damage caused by the height problem are avoided, and the detection height of the detection instrument relative to the height of the ground is always kept at a constant value through the cooperation of the electric control slide rail and the electric push rod, so that the stability and accuracy of the detection effect are ensured.

[0025] (2) The utility model discloses that the track is passed through the convex type between the middle wheel and the two auxiliary wheels, so that the auxiliary wheel can press the lower surface of the track and adhere to the ground, the stability in the advancing process is guaranteed, when small obstacles are encountered, the electric control slide rail is controlled to work in turn, so that the roller can smoothly pass through the obstacles, the robot still keeps in a horizontal advancing state when passing through the obstacles, so that the stability and continuity of the detection effect are ensured.

[0026] (3) The utility model discloses a tensioning mechanism formed by the sleeve shell, the sleeve rod and the spring, which provides a continuous horizontal right pushing force for the track, so that the track is always kept in a tight state, the transmission efficiency of the track is improved, the transmission speed difference of the rollers caused by slack is reduced, the adhesion between the track and the rollers is enhanced, and the service life of the track is prolonged. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is an overall structure schematic view of the detection robot for narrow space operation of the utility model;

[0028] Figure 2 It is a structure schematic view of the track part of the detection robot for narrow space operation of the utility model;

[0029] Figure 3 It is a structure schematic view of the middle wheel and the auxiliary wheel of the detection robot for narrow space operation of the utility model;

[0030] Figure 4 It is a half sectional view of a shell part of the detection robot for operation in a narrow space of the utility model;

[0031] Figure 5 It is a half sectional view of a bottom shell part of the detection robot for operation in a narrow space of the utility model.

[0032] In the drawings, the component names represented by each reference numeral are listed as follows:

[0033] 1, bottom shell; 11, electric control slide rail; 12, top plate; 13, range finder; 14, protective shell; 2, motor; 21, bevel gear set; 22, differential; 23, drive wheel; 24, fixed block; 25, shell; 251, spring; 26, support wheel; 27, steering wheel; 3, sliding block; 31, side wheel; 32, intermediate wheel; 33, connecting rod; 34, auxiliary wheel; 4, track; 5, electric push rod; 51, platform; 6, detection instrument; 7, battery. DETAILED DESCRIPTION

[0034] The principles and characteristics of the utility model are described below in combination with the drawings, and the examples are only used to explain the utility model and are not used to limit the scope of the utility model.

[0035] Referring to Figures 1 to 5 A detection robot for operation in a narrow space, comprising a bottom shell 1, the two sides of the bottom shell 1 are fixedly provided with protective shells 14, the top of the bottom shell 1 is fixedly provided with a top plate 12, the bottom of the top plate 12 is fixedly connected with the top of the two protective shells 14, the top of the top plate 12 is fixedly provided with a range finder 13, the range finder 13 is used for detecting the distance between the top plate 12 and the top end of the narrow space, and the range finder 13 is electrically connected with a controller.

[0036] The two sides of the bottom shell 1 are provided with a plurality of electric control slide rails 11, the plurality of electric control slide rails 11 are electrically connected with the controller, the plurality of electric control slide rails 11 are uniformly distributed in the side wall of the bottom shell 1 in the transverse direction, the plurality of electric control slide rails 11 are slidably connected with sliding blocks 3, and the electric control slide rails 11 are used for controlling the sliding blocks 3 to slide up and down. The two sides of the bottom shell 1 are provided with moving mechanisms, the moving mechanism comprises a track 4, two side wheels 31 and a plurality of roller assemblies, the two side wheels 31 are symmetrically distributed on the two sides of the plurality of roller assemblies, the two side wheels 31 and the plurality of roller assemblies correspond to the plurality of sliding blocks 3 on the same side respectively, and the side wheel 31 is rotatably connected with the corresponding sliding block 3; the roller assembly comprises a connecting rod 33 fixedly installed on the side wall of the sliding block 3, the connecting rod 33 is rotatably connected with an intermediate wheel 32 and two auxiliary wheels 34, and the two auxiliary wheels 34 are symmetrically distributed on the two sides of the intermediate wheel 32; the two sides of the bottom shell 1 are rotatably connected with two steering wheels 27, the two steering wheels 27 correspond to the two side wheels 31 respectively and are located above the side wheels 31.

[0037] The differential 22 is fixedly installed on the bottom shell 1, and the motor 2 is fixedly installed on the bottom shell 1. The bottom end of the differential 22 is connected with the output end of the motor 2 through the bevel gear set 21. The motor 2 starts to work the differential 22 through the bevel gear set 21 (this is the prior art, and details are not described here). The two output ends of the differential 22 are fixedly connected with the drive wheels 23 (the differential 22 controls the two output ends to rotate at different speeds to realize the steering of the robot, which is the prior art, and details are not described here). The two drive wheels 23 correspond to two groups of moving mechanisms respectively. The track 4 is sleeved on the corresponding side drive wheel 23, steering wheel 27, side wheel 31 and roller assembly. The track 4 is in contact with the top of the middle wheel 32 and the bottom of the auxiliary wheel 34 (as shown in FIG. 6). Figure 3 The two ends of the side wheel 31, the middle wheel 32 and the auxiliary wheel 34 are respectively provided with a limiting ring to avoid the offset of the track 4 during movement. When the advancing direction of the robot encounters an obstacle similar to a small stone, the slide blocks 3 are sequentially slid upward during the process of passing through the obstacle, the slide blocks 3 drive the rollers and part of the track 4 corresponding to the obstacle to leave the ground, and the corresponding slide blocks 3 after crossing the obstacle are slid downward again to make the part of the track 4 in the region contact with the ground. The robot maintains the same height and smoothly advances, avoids the contact between the obstacle and the track 4, and causes the robot to lift up, which causes the top of the robot to collide with or be stuck in a narrow space. According to the detection data of the distance meter 13, the multiple slide blocks 3 are simultaneously slid to adjust the height of the robot, so that the robot is not easy to enter the narrow space due to the high height.

[0038] The detection instrument 6 is installed on the bottom shell 1 through the lifting assembly, and the detection instrument 6 is electrically connected with the controller. The lifting assembly includes the electric push rod 5 fixedly installed on the bottom shell 1. The top of the electric push rod 5 is fixedly installed with the platform 51. The detection instrument 6 is fixedly installed on the top of the platform 51. The detection instrument 6 is located below the top plate 12. The detection instrument 6 is used to scan the road conditions in the advancing direction. The bottom shell 1 is fixedly installed with the storage battery 7. The storage battery 7 is used to supply power to the whole robot.

[0039] The bottom shell 1 is provided with a tensioning mechanism on both sides. The tensioning mechanism includes a fixed block 24 fixedly installed on the side wall of the bottom shell 1. The fixed block 24 is fixedly connected with a sleeve shell 25. The end away from the fixed block 24 of the sleeve shell 25 is slidably connected with a sleeve rod. The sleeve rod is fixedly connected with a spring 251 in the inner wall of the sleeve shell 25. The spring 251 is located in the sleeve shell 25. The end away from the sleeve shell 25 of the sleeve rod is fixedly connected with a supporting wheel 26. The supporting wheel 26 is slidably connected with the side wall of the bottom shell 1. The side away from the sleeve shell 25 of the supporting wheel 26 is in contact with the track 4 on the corresponding side. The spring 251 is in a compressed state, so that the supporting wheel 26 horizontally pushes the track 4 to the right, so that the surface of the track 4 is better attached to each roller, and the transmission speed of the rollers will not be different due to the relaxation of the track 4.

[0040] In this invention, the motor 2 drives the differential 22 through the bevel gear set 21. The output end of the differential 22 is fixedly connected to the drive wheel 23. The side end face of the drive wheel 23 contacts the track 4. Therefore, the rotation of the drive wheel 23 can drive the track 4 to move. The track 4 completes the steering through two steering wheels 27 and contacts the side surfaces of the side wheel 31, the middle wheel 32 and the auxiliary wheel 34. The fixing block 24 is fixedly connected to the outer side of the bottom shell 1. The fixing block 24 is fixedly connected to the sleeve 25. The sleeve 25 is slidably connected to the sleeve rod. The sleeve rod is fixedly connected to the support wheel 26. The sleeve 25 contains a compressed spring 251, which gives the support wheel 26 a horizontal rightward thrust. Since the side end face of the support wheel 26 contacts the track 4, the horizontal rightward thrust of the support wheel 26 can tighten the track 4, thereby ensuring that the surface of the track 4 better fits the rollers and that the roller transmission speed is not different due to the looseness of the track 4.

[0041] like Figure 3 As shown, the track 4 passes through the middle wheel 32 and the two auxiliary wheels 34 in a convex shape. This structure ensures that the auxiliary wheels 34 press the lower surface of the track 4 against the ground, so that while the robot moves forward, the part of the track 4 that is in contact with the ground can be lifted up by the middle wheel 32 and the two auxiliary wheels 34 when the slider 3 rises for obstacle avoidance. There are limit rings on both sides of the middle wheel 32 and the auxiliary wheels 34 to prevent the track 4 from coming off the middle wheel 32 and the auxiliary wheels 34 during forward movement and turning, which would cause the robot's forward movement to fail. The protective shell 14 is used to protect the track 4 from being scratched and affecting the robot's forward movement.

[0042] As the robot moves forward, the rangefinder 13 on the top plate 12 will detect the distance between the top plate 12 and the top of the workspace in real time. Through several electrically controlled slide rails 11, the slider 3 drives the side wheel 31, connecting rod 33, intermediate wheel 32 and auxiliary wheel 34 to rise, and the height of the entire robot decreases to prevent the entire robot from getting stuck due to exceeding the height limit. At the same time, the electric push rod 5 will control the platform 51 to raise the detector 6, so that the detection height of the detector 6 relative to the ground is always at a constant value.

[0043] The detector 6 can scan the entire forward direction and road conditions. When small obstacles appear ahead, such as wires or small stones, and the robot needs to pass through them, several electrically controlled slide rails 11 are activated sequentially, and multiple sliders 3 are raised in sequence. This causes the rollers to be lifted upwards when passing over the obstacle, and then lowered back to contact the ground after passing over it. This ensures that the entire robot remains in a horizontal forward motion when passing through small obstacles, and that passing over obstacles does not affect the detection effect of the detector 6. At the same time, it ensures that the distance between the top of the robot and the top of the narrow space remains unchanged, preventing the robot from being lifted upwards due to the presence of obstacles and being unable to pass due to exceeding the height limit. The battery 7 is used to power the robot.

[0044] The above merely describes preferred embodiments of the present application and is not intended to limit the present application. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art will appreciate that modifications can be made to the technical solutions described in the foregoing embodiments, or some of the technical features thereof can be replaced equivalently. Any modifications, equivalent replacements, improvements, and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A detection robot for operation in confined spaces, characterized in that, It comprises a bottom shell (1), a range finder (13), a moving mechanism and a controller. Two protection shells (14) are fixedly installed on the two sides of the bottom shell (1), a top plate (12) is fixedly installed on the top of the bottom shell (1), and the bottom of the top plate (12) is connected with the top of the two protection shells (14); the range finder (13) is installed on the top of the top plate (12); and the range finder (13) is electrically connected with the controller. A plurality of electric control sliding rails (11) are arranged on the two sides of the bottom shell (1), and a plurality of sliding blocks (3) are slidingly connected with the electric control sliding rails (11) respectively; a moving mechanism is arranged on each side of the bottom shell (1), and the moving mechanism comprises a track (4), two side wheels (31) and a plurality of roller assemblies; the two side wheels (31) are symmetrically distributed on the two sides of the plurality of roller assemblies, and the two side wheels (31) and the plurality of roller assemblies correspond to the plurality of sliding blocks (3) on the same side respectively; the side wheel (31) is rotationally connected with the corresponding sliding block (3); a differential (22) is fixedly installed on the bottom shell (1), and the two end output ends of the differential (22) are connected with drive wheels (23) respectively; the two drive wheels (23) correspond to the two moving mechanisms respectively, and the track (4) is sleeved on the drive wheel (23), the side wheel (31) and the roller assembly on the corresponding side.

2. The inspection robot for use in a tight space according to claim 1, wherein The roller assembly comprises a connecting rod (33) installed on the side wall of the sliding block (3), and the connecting rod (33) is rotationally connected with an intermediate wheel (32) and two auxiliary wheels (34); the two auxiliary wheels (34) are symmetrically distributed on the two sides of the intermediate wheel (32).

3. The inspection robot for use in a tight space according to claim 2, wherein The track (4) is in contact with the top of the intermediate wheel (32) and the bottom of the auxiliary wheel (34).

4. The inspection robot for use in a tight space according to claim 3, wherein The two ends of the side wheel (31), the intermediate wheel (32) and the auxiliary wheel (34) are respectively provided with a limiting ring.

5. The inspection robot for use in a tight space according to claim 3 or 4, characterized in that, Two steering wheels (27) are rotationally connected with the two sides of the bottom shell (1) respectively, the two steering wheels (27) correspond to the two side wheels (31) respectively and are located above the side wheels (31), and the two steering wheels (27) are in contact with the track (4) on the corresponding side.

6. The inspection robot for use in a tight space according to claim 1, wherein A detection instrument (6) is installed on the bottom shell (1) through a lifting assembly, and the detection instrument (6) is electrically connected with the controller.

7. The inspection robot for use in a tight space according to claim 6, wherein The lifting assembly comprises an electric push rod (5) installed on the bottom shell (1), and a platform (51) is installed on the top of the electric push rod (5); and the detection instrument (6) is installed on the top of the platform (51).

8. The inspection robot for use in a tight space according to claim 1, wherein A motor (2) is fixedly installed on the bottom shell (1), and the bottom end of the differential (22) is connected with the output end of the motor (2) through a bevel gear set (21).

9. The inspection robot for use in a tight space according to claim 1, wherein Two sides of the bottom shell (1) are respectively provided with a tensioning mechanism, the tensioning mechanism comprises a fixed block (24) installed on the side wall of the bottom shell (1), the fixed block (24) is fixedly connected with a sleeve shell (25), one end of the sleeve shell (25) is slidably connected with a sleeve rod, and the sleeve rod is connected with a spring (251) on the inner wall of the sleeve shell (25), the spring (251) is located in the sleeve shell (25), one end of the sleeve rod is fixedly connected with a supporting wheel (26), the supporting wheel (26) is slidably connected with the side wall of the bottom shell (1), one side of the supporting wheel (26) is in contact with the track (4), and the spring (251) is in a compressed state.

10. The inspection robot for use in a tight space according to claim 1, wherein A storage battery (7) is further included, and the storage battery (7) is installed on the bottom shell (1).

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