Intelligent obstacle avoidance inspection robot

Abstract

The utility model relates to the technical field of inspection robots, and discloses an intelligent obstacle-avoiding inspection robot which comprises a movable chassis, a roller shaft and a plurality of obstacle-avoiding wheel sets are rotatably arranged on the movable chassis, each obstacle-avoiding wheel set comprises a driving gear and a driven gear which are rotatably arranged, and the driven gears and the driving gears are provided with rotating gears in a meshed mode. The rotating gear is fixedly connected with an eccentric wheel, the eccentric wheel is provided with a notch, the notch is provided with a straight edge and an arc-shaped edge, the straight edge connects the arc-shaped edge with the edge of the long-diameter end of the eccentric wheel, and the arc-shaped edge connects the straight edge with the edge of the short-diameter end of the eccentric wheel; the obstacle avoidance wheel set further comprises a pair of sliding shafts transversely arranged on the movable chassis in a sliding mode, pulleys are rotationally arranged on the sliding shafts, abutting rods are fixedly arranged on the sliding shafts, the edges of the two eccentric wheels abut against the two abutting rods respectively, and springs are connected between the abutting rods and the movable chassis. According to the utility model, the problem that the robot is blocked by a pressing plate bolt on the side surface of the track or an irregular joint and other obstacles and cannot normally advance can be solved.

Description

Technical Field

[0001] This utility model relates to the field of inspection robots, specifically to an intelligent obstacle avoidance inspection robot. Background Technology

[0002] In modern manufacturing plants, overhead cranes are the core equipment of the material handling system, and their operational stability directly affects the efficiency and safety of the entire production system. Overhead cranes not only undertake the precise transfer of materials on the production line, but are also indispensable hoisting tools during the installation and commissioning of large equipment. Their reliable operation is a crucial foundation for ensuring continuous production.

[0003] As a critical component supporting the operation of the equipment, the overhead crane track requires regular professional inspections, including checking the tightness of the track clamping bolts and assessing the wear of the track working surface. These inspections play a decisive role in ensuring the smooth operation of the overhead crane and preventing derailment accidents.

[0004] Currently, intelligent inspection robots are widely used in the industry to perform daily inspections of overhead crane tracks. However, in practical applications, the densely distributed pressure plate bolt protrusions on the sides of the overhead crane tracks and the unavoidable irregular joint structure between the track sections can all hinder the movement of the inspection robot, thus affecting the robot's normal movement on the overhead crane tracks. Utility Model Content

[0005] The present invention aims to provide an intelligent obstacle avoidance inspection robot to solve the problem that the robot cannot move normally due to obstacles such as pressure plate bolts or irregular joints on the side of the track.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: An intelligent obstacle avoidance inspection robot, comprising a mobile chassis, a roller shaft rotatably mounted on the mobile chassis, and multiple obstacle avoidance wheel sets mounted on the mobile chassis. Each obstacle avoidance wheel set includes a drive gear rotatably mounted on the mobile chassis and a driven gear meshing with the drive gear. The drive gear is connected to a drive motor. Both the driven gear and the drive gear are meshed with rotating gears. Each rotating gear is fixedly connected to an eccentric wheel. The eccentric wheel has a notch with a straight edge and an arc edge. The straight edge connects the arc edge to the long diameter end edge of the eccentric wheel, and the arc edge connects the straight edge to the short diameter end edge of the eccentric wheel.

[0007] The obstacle avoidance wheel set also includes a pair of sliding shafts that are laterally slidably mounted on the mobile chassis. The sliding shafts are equipped with pulleys that rotate on them, and the sliding shafts are fixed with abutments. The edges of the two eccentric wheels abut against the two abutments respectively, and the abutments are connected to the mobile chassis with springs.

[0008] The principle and advantages of this scheme are as follows: The roller is placed at the top of the track. When the external power controls the rotation of the roller, the robot moves along the track to perform inspections. Two pulleys in the same obstacle avoidance wheel set are located on both sides of the track and contact the track side to maintain the robot's smooth movement on the track. When the robot encounters an obstacle, the drive motor controls the drive gear to rotate. On one hand, the drive gear directly drives the rotating gear it meshes with to rotate. On the other hand, the drive gear transmits the rotational power to another rotating gear through the driven gear, thereby causing the two rotating gears to rotate in opposite directions. The rotating gear drives the eccentric wheel to rotate, and the edge of the eccentric wheel pushes against the abutment rod. As the diameter of the eccentric wheel changes continuously, the abutment rod drives the sliding shaft to slide laterally on the moving chassis, thereby causing the pulley to be driven by the sliding shaft to move away from the track surface, so that the pulley avoids the obstacle.

[0009] As the robot continues to move forward, after the set of pulleys crosses the obstacle, the drive motor controls the eccentric wheel to continue rotating. Then, the stop rod moves into the notch of the eccentric wheel and abuts against the arc edge. At this time, the eccentric wheel releases its thrust on the stop rod, and the stop rod quickly resets under the action of the spring. This causes the pulley to quickly reset through the sliding shaft, so that the two pulleys in the same group quickly abut against the side of the track, thus ensuring the stability of the robot on the track.

[0010] This design uses an eccentric wheel to adjust the distance between the pulley and the side of the track. When encountering obstacles such as pressure plate bolts or irregular joints, the pulley can move away from the side of the track and avoid the obstacle. After the pulley passes the obstacle, the notch of the eccentric wheel allows the pulley to quickly return to the side of the track, so that the two pulleys in the same group can be quickly clamped on the track, which helps to keep the robot moving smoothly.

[0011] Preferably, as an improvement, there is a circular arc transition between the arc-shaped edge and the short-diameter end of the eccentric wheel.

[0012] The above scheme, which uses a circular arc transition, allows the abutment to move more smoothly from the notch to the short-diameter end, making the structure run more smoothly.

[0013] Preferably, as an improvement, the abutment has an arc-shaped portion that bends and protrudes radially towards the abutment, and the curvature of the arc-shaped portion is adapted to the edge of the eccentric wheel.

[0014] The above-mentioned design of the arc-shaped part allows the edge of the eccentric wheel to be locked inside the arc-shaped part when it pushes against the push rod. This, to a certain extent, limits the pushing part of the eccentric wheel, allowing the eccentric wheel to make better contact with the push rod and enabling the eccentric wheel to push the push rod to move more accurately.

[0015] Preferably, as an improvement, the edge of the eccentric wheel is provided with a raised ring.

[0016] With the above solution, the protrusion can better cooperate with the arc-shaped part on the stop bar, which is more conducive to the eccentric wheel's powerful push on the stop bar.

[0017] Preferably, as an improvement, each sliding shaft is provided with two symmetrically distributed abutments, and each abutment is provided with a matching eccentric wheel, and the two eccentric wheels are fixedly connected.

[0018] By using the above method, the eccentric wheel pushes the abutments on both sides simultaneously, so that the force on the sliding shaft is more even, which is conducive to controlling the sliding shaft to move more smoothly.

[0019] Preferably, as an improvement, a cantilever perpendicular to the sliding shaft is fixed on the sliding shaft, and the pulley is rotatably mounted on the cantilever.

[0020] The above solution provides a carrier for the installation of pulleys, facilitating their assembly.

[0021] Preferably, as an improvement, a reducer is provided between the drive gear and the drive motor, the output shaft of the drive motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the drive gear.

[0022] The above scheme enables the drive gear to rotate at a suitable speed, which facilitates the movement control of the pulley.

[0023] Preferably, as an improvement, each set of obstacle avoidance wheels is equipped with an industrial camera in front of it.

[0024] With the above solution, the industrial camera is used to detect obstacles. When an obstacle is detected, the drive motor starts working and controls the pulley to move to avoid the obstacle. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the robot's structure.

[0026] Figure 2 for Figure 1 A magnified view of part A in the middle.

[0027] Figure 3 This is a side view of the obstacle avoidance wheel assembly.

[0028] Figure 4 This is a top view of the sliding shaft, the stop rod, and the eccentric wheel.

[0029] Figure 5 This is a schematic diagram of the eccentric wheel.

[0030] The reference numerals in the accompanying drawings include: 1. movable chassis; 2. roller; 3. drive gear; 4. driven gear; 5. rotating gear; 6. eccentric wheel; 7. notch; 8. straight edge; 9. curved edge; 10. sliding shaft; 11. pulley; 12. stop bar; 13. curved part; 14. protrusion; 15. cantilever; 16. industrial camera; 17. track. Detailed Implementation

[0031] The following detailed description provides further details on specific embodiments, but the embodiments of this utility model are not limited thereto. Unless otherwise specified, the technical means used in the following embodiments are conventional means well known to those skilled in the art; the experimental methods used are all conventional methods; and the materials and reagents used are all commercially available.

[0032] Example 1

[0033] This implementation example Figure 1 and Figure 3 As shown, the intelligent obstacle avoidance inspection robot includes a mobile chassis 1, a roller 2 rotatably mounted on the mobile chassis 1, and multiple sets of obstacle avoidance wheels on the mobile chassis 1. In this embodiment, there are three sets of obstacle avoidance wheels, which are arranged sequentially along the robot's walking direction.

[0034] Combination Figure 2 and Figure 3 As shown, the obstacle avoidance wheel assembly includes a drive gear 3 rotatably mounted on a movable chassis 1 and a driven gear 4 meshing with the drive gear 3. The drive gear 3 is connected to a drive motor, which is fixed to the movable chassis 1. Both the driven gear 4 and the drive gear 3 are meshed with rotating gears 5, and each rotating gear 5 is fixedly connected to an eccentric wheel 6. Figure 5 As shown, the eccentric wheel 6 has a notch 7 with a straight edge 8 and an arc edge 9. The straight edge 8 connects the arc edge 9 to the edge of the long diameter end of the eccentric wheel 6, and the arc edge 9 connects the straight edge 8 to the edge of the short diameter end of the eccentric wheel 6. The arc edge 9 and the short diameter end of the eccentric wheel 6 are connected by a circular arc transition.

[0035] like Figure 2 and Figure 3 As shown, the obstacle avoidance wheel assembly also includes a pair of sliding shafts 10 that are laterally slidably mounted on the mobile chassis 1. Pulleys 11 are rotatably mounted on the sliding shafts 10, and the two sets of pulleys 11 are located on opposite sides of the track 17 during operation. Figure 4 As shown, a stop rod 12 is fixed on the sliding shaft 10, and the edges of the two eccentric wheels 6 respectively abut against the two stop rods 12. Springs connect the stop rods 12 to the movable base 1. Figure 4 As shown, the abutment 12 has an arc-shaped portion 13, which bends and protrudes 14 in the radial direction of the abutment 12. The curvature of the arc-shaped portion 13 is adapted to the edge of the eccentric wheel 6. The edge of the eccentric wheel 6 is provided with a ring of protrusions 14.

[0036] In specific implementation, this embodiment combines... Figure 3 As we understand it, when the robot is working, the roller 2 is placed on the upper surface of the track 17. Driven by external power, the roller 2 rolls on the track 17, thereby moving the robot along the track 17 to inspect it. During the robot's movement, the two pulleys 11 in the same obstacle avoidance wheel group are located on both sides of the track 17. The two pulleys 11 rotate on the side of the track 17 at the same time to support the robot and ensure its smooth movement.

[0037] When the robot moves to an obstacle on the side of the track, such as a pressure plate bolt or an irregular seam, the obstacle avoidance wheel assembly at that location begins to operate to avoid the obstacle. Specifically, the drive motor operates and rotates the drive gear 3. The drive gear 3 simultaneously drives the driven gear 4 and a rotating gear 5 to rotate. The driven gear 4 pushes another rotating gear 5, which meshes with it, to rotate. The two rotating gears 5 rotate and drive their respective matched eccentric wheels 6 to rotate. The edge of the eccentric wheel 6 pushes against the abutment rod 12, causing the abutment rod 12 to drive the sliding shaft 10 to slide laterally on the moving chassis 1. The sliding shaft 10 drives the pulley 11 to move away from the side of the track 17, so that the pulley 11 avoids the obstacle. The robot continues to move forward. After the set of pulleys 11 passes the obstacle, the drive gear 3 continues to rotate, causing the stop rod 12 to move into the notch 7 of the eccentric wheel 6 and abut against the arc edge 9. Due to the sudden reduction in the radius of the eccentric wheel 6, the stop rod 12 quickly resets under the action of the spring, and the sliding shaft 10 moves and resets accordingly, causing the two pulleys 11 to quickly fall back onto the side of the track 17, thereby clamping the track 17 and ensuring the robot moves smoothly forward on the track 17.

[0038] The next two sets of obstacle avoidance wheels repeat the above process and move to avoid obstacles in turn.

[0039] Example 2

[0040] This embodiment is based on embodiment 1, such as... Figure 2 and Figure 3 As shown, each sliding shaft 10 is provided with two symmetrically distributed abutment rods 12, and each abutment rod 12 is provided with a matching eccentric wheel 6, which are fixedly connected to each other. A cantilever 15 perpendicular to the sliding shaft 10 is fixedly provided on the sliding shaft 10, and the pulley 11 is rotatably mounted on the cantilever 15. A reducer is provided between the drive gear 3 and the drive motor, the output shaft of the drive motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the drive gear 3. In addition, in this embodiment, an industrial camera 16 is provided in front of each set of obstacle avoidance wheels.

[0041] Based on the implementation process of Example 1, in this embodiment, when the robot moves along track 17, the industrial camera 16 detects obstacles on track 17 and controls the drive motor to start via the controller to control the obstacle avoidance wheel assembly to move in time to avoid obstacles. The specific structure, model, installation method, and working principle of the industrial camera 16 and the controller are all mature existing technologies and will not be described in detail here. The reducer enables the drive gear 3 to rotate at a suitable speed, which is beneficial for the movement control of the pulley 11.

[0042] The two eccentric wheels 6 and the two abutment rods 12 work simultaneously, which allows the sliding shaft 10 to be subjected to force smoothly, making the movement more stable.

[0043] The above descriptions are merely embodiments of this utility model. Commonly known technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solution of this utility model. These modifications and improvements should also be considered within the scope of protection of this utility model, and will not affect the effectiveness of the implementation of this utility model or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. An intelligent obstacle avoidance inspection robot, comprising a mobile chassis, wherein a roller is rotatably mounted on the mobile chassis, characterized in that: The mobile chassis is also equipped with multiple sets of obstacle avoidance wheel sets. Each obstacle avoidance wheel set includes a drive gear rotatably mounted on the mobile chassis and a driven gear meshing with the drive gear. The drive gear is connected to a drive motor. Both the driven gear and the drive gear are meshed with rotating gears. Each rotating gear is fixedly connected to an eccentric wheel. The eccentric wheel has a notch with a straight edge and an arc edge. The straight edge connects the arc edge to the edge of the long diameter end of the eccentric wheel, and the arc edge connects the straight edge to the edge of the short diameter end of the eccentric wheel. The obstacle avoidance wheel set also includes a pair of sliding shafts that are laterally slidably mounted on the mobile chassis. The sliding shafts are equipped with pulleys that rotate on them, and the sliding shafts are fixed with abutments. The edges of the two eccentric wheels abut against the two abutments respectively, and the abutments are connected to the mobile chassis with springs.

2. The intelligent obstacle avoidance inspection robot according to claim 1, characterized in that: The arc-shaped edge transitions smoothly with the short-diameter end of the eccentric wheel.

3. The intelligent obstacle avoidance inspection robot according to claim 2, characterized in that: The abutment has an arc-shaped part that bends and protrudes radially towards the abutment, and the curvature of the arc-shaped part is adapted to the edge of the eccentric wheel.

4. The intelligent obstacle avoidance inspection robot according to claim 3, characterized in that: The edge of the eccentric wheel has a raised ring.

5. The intelligent obstacle avoidance inspection robot according to claim 4, characterized in that: Each sliding shaft is equipped with two symmetrically distributed abutments, and each abutment is equipped with a matching eccentric wheel, which is fixedly connected to the other two eccentric wheels.

6. The intelligent obstacle avoidance inspection robot according to claim 5, characterized in that: A cantilever perpendicular to the sliding shaft is fixed on the sliding shaft, and a pulley is rotatably mounted on the cantilever.

7. The intelligent obstacle avoidance inspection robot according to claim 6, characterized in that: A reducer is provided between the drive gear and the drive motor. The output shaft of the drive motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the drive gear.

8. The intelligent obstacle avoidance inspection robot according to claim 7, characterized in that: Each set of obstacle avoidance wheels is equipped with an industrial camera in front.

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