A mobile robot detection device for confined spaces

Abstract

This utility model discloses a mobile robot detection device for confined spaces, relating to the field of robot detection technology. It includes a main frame with movable components at both ends. An adjustment mechanism is located at the center of the upper surface of the main frame, comprising a drive gear, a driven gear, and a support tray. The driven gear is rotatably connected to the center of the upper surface of the main frame, and one end of the driven gear is rotatably connected to the drive gear, with the drive gear meshing with the driven gear. A support tray is located on the upper surface of the driven gear. A first track is driven by a first servo motor driving the drive wheel, which, in conjunction with the internal driven wheel, achieves the main motion. A second track is assisted in rotation by two sets of internal driven wheels, forming a double-track support and movement structure, which enhances the device's grip and mobility on complex terrain.

Description

Technical Field

[0001] This utility model relates to the field of robot detection technology, specifically a detection device for mobile robots in confined spaces. Background Technology

[0002] With the rapid development of robotics technology, the application scenarios of robots are becoming increasingly diversified. They not only involve conventional open and normal temperature environments, but also often need to perform tasks in special environments such as confined spaces. Examples include equipment inspection in high-temperature workshops in the industrial field, underground pipeline repair, and search and rescue in confined ruins in rescue scenarios.

[0003] Because confined spaces directly restrict a robot's range of motion, limiting its limb movement and overall mobility, the robot may be unable to move along the expected trajectory or even perform basic actions such as turning and obstacle avoidance. Therefore, it is necessary to test the mobile robot before it is put into formal use. However, in confined space scenarios, although the lateral profile of the mobile robot can meet the requirements for static deployment, when it performs stationary spin motion, the dynamic envelope range formed during the rotation may exceed the effective passage threshold of the space, thus causing motion jamming. This prevents the robot from completing subsequent movement actions. In addition, there is often a certain concentration of suspended dust particles in confined spaces. These particles can adhere to the sensitive surfaces of the robot's detection components, such as the sensor's detection window and the lens of the optical lens, through air convection or electrostatic adsorption. As the amount of dust accumulates, it will interfere with the signal acquisition accuracy of the detection components, resulting in the inability to properly feed back environmental information or equipment status parameters.

[0004] Therefore, those skilled in the art have provided a mobile robot detection device for confined spaces to solve the problems mentioned above. Utility Model Content

[0005] The purpose of this invention is to provide a mobile robot detection device for confined spaces, in order to solve the problems mentioned in the background art, such as the mobile robot's spin getting stuck in confined spaces and dust interfering with the detection components.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A mobile robot detection device for confined spaces includes a main frame with movable components at both ends. An adjustment mechanism is located at the center of the upper surface of the main frame, comprising a drive gear, a driven gear, and a support tray. The driven gear is rotatably connected to the center of the upper surface of the main frame, and one end of the driven gear is rotatably connected to the drive gear, with the drive gear meshing with the driven gear. A support tray is located on the upper surface of the driven gear. A first test sensor and a second test sensor are provided at the end of the upper surface of the main frame away from the drive gear. The first and second test sensors are arranged side by side, and each of the first and second test sensors is equipped with a probe on its upper surface. A cleaning mechanism is provided between the two sets of probes.

[0008] As a further embodiment of this utility model: a first servo motor is fixedly connected to the inner wall of one end of the main frame. The power output end of the first servo motor passes through the main frame and is fixedly connected to an active drive wheel. A first track is provided on the outer side of the active drive wheel. A driven drive wheel is provided on the inner side of the first track away from the active drive wheel. A second track is provided on the other end of the main frame away from the first track. Two sets of driven drive wheels are rotatably connected on the inner side of the second track. All sets of driven drive wheels are rotatably connected to the adjacent outer wall of the main frame through a rotating rod.

[0009] As a further embodiment of this utility model: a second servo motor is fixedly connected to the bottom of the main frame, and the power output end of the second servo motor passes through the main frame and is fixedly connected to the drive gear. A pressure sensor is embedded in the upper surface of the bearing tray. An adjustment groove is opened at the center of the upper surface of the driven gear. Adjustment blocks are slidably engaged at both ends of the adjustment groove. A second reset spring is fixedly connected between the outer walls of the two sets of adjustment blocks. A flexible plate is fixedly connected to the upper surface of the two sets of adjustment blocks. The flexible plate is arc-shaped.

[0010] As a further embodiment of this utility model: both the left and right ends of the upper surface of the driven gear are fixedly connected to a fixing rod, and a first return spring is fixedly connected inside the fixing rod. The other end of the first return spring is fixedly connected to a telescopic rod, and the fixing rod is slidably engaged with the adjacent telescopic rod.

[0011] As a further embodiment of this utility model: a first transmission rod is fixedly connected to one end of a set of driven wheels in the second track near the first track. The first transmission rod passes through the main frame and is fixedly connected to a first bevel gear. A second bevel gear is rotatably connected to the upper end of the first bevel gear. A second transmission rod is fixedly connected to the upper end face of the second bevel gear. A limit component is provided between the second transmission rod and the main frame. The first bevel gear and the second bevel gear are arranged perpendicularly and mesh with each other. A cleaning roller is fixedly connected to the end of the second transmission rod away from the second bevel gear after passing through the main frame. The cleaning roller is located between the two sets of probes and abuts against the outer wall of the two sets of probes.

[0012] As a further improvement of this utility model: a microcontroller is embedded in the main frame, the first test sensor and the second test sensor are both electrically connected to the microcontroller, the pressure sensor is electrically connected to the microcontroller, and the microcontroller is electrically connected to the first servo motor.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. Because of the adjustment mechanism, the second servo motor rotates at a slow speed. When the mobile robot comes into contact with the inner wall, the pressure sensor, microcontroller and servo motor form an automatic feedback mechanism. The servo motor can be reversed, the mobile robot can be reset and the test can be stopped without manual intervention. This reduces the risk of equipment failure due to collision during the test and protects the integrity of the mobile robot. When the device shakes due to uneven bottom in a narrow space, the fixed rod, telescopic rod and the first reset spring form a primary buffer, the bearing tray and the tough plate form a secondary buffer, and the adjustment block, adjustment groove and the second reset spring form a tertiary buffer. The multi-level buffer structure effectively reduces the shaking of the mobile robot and ensures that it can maintain a relatively stable state in a non-planar environment, ensuring the normal progress of the test.

[0015] 2. Because it is equipped with a moving component and a cleaning mechanism, the first track is driven by the first servo motor to drive the active drive wheel, which works in conjunction with the internal driven drive wheel to achieve the main motion; the second track is assisted in rotating by two sets of internal driven drive wheels, forming a double track support and moving structure, which can enhance the device's grip and passability on complex ground (such as uneven or bumpy surfaces that may exist in narrow spaces), reduce slippage, and utilize the rotation of the driven drive wheel in the second track to drive the cleaning roller to work synchronously through the sequential transmission of the first transmission rod, the first bevel gear, the second bevel gear, and the second transmission rod. There is no need to set up an additional cleaning power source, converting the device's moving kinetic energy into cleaning kinetic energy, saving energy and equipment costs, and achieving the automated effect of cleaning while moving. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a mobile robot detection device for confined spaces.

[0017] Figure 2 This is a schematic diagram of the structure between the support tray and the driven gear in a mobile robot detection device for confined spaces.

[0018] Figure 3 This is a schematic diagram of the structure of the second track in a mobile robot detection device for confined spaces.

[0019] Figure 4 for Figure 1 A magnified structural diagram of point A in the middle.

[0020] In the diagram: 1. Main frame; 2. Moving component; 201. First track; 202. Drive wheel; 203. First servo motor; 204. Second track; 205. Driven wheel; 3. Adjustment mechanism; 301. Second servo motor; 302. Drive gear; 303. Driven gear; 304. Carrying pallet; 305. Pressure sensor; 306. Fixed rod; 307. Telescopic rod; 308. First return spring; 309. Adjustment groove; 310. Adjustment block; 311. Second return spring; 312. Flexible plate; 4. Cleaning mechanism; 401. First transmission rod; 402. First bevel gear; 403. Second bevel gear; 404. Second transmission rod; 405. Cleaning roller; 5. First test sensor; 6. Second test sensor; 7. Probe. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] Reference Figure 1-4A mobile robot detection device for confined spaces is provided, comprising a main frame 1, a moving component 2, a first track 201, an active drive wheel 202, a first servo motor 203, a second track 204, a driven drive wheel 205, an adjustment mechanism 3, a second servo motor 301, an active gear 302, a driven gear 303, a support tray 304, a pressure sensor 305, a fixed rod 306, a telescopic rod 307, a first return spring 308, an adjustment groove 309, an adjustment block 310, a second return spring 311, a flexible plate 312, a cleaning mechanism 4, a first transmission rod 401, a first bevel gear 402, a second bevel gear 403, a second transmission rod 404, a cleaning roller 405, a first test sensor 5, a second test sensor 6, and a probe 7; the moving component 2 is provided at both ends of the main frame 1, and the adjustment mechanism 3 is provided at the center of the upper surface of the main frame 1, the adjustment mechanism 3 including... The main frame 1 includes a drive gear 302, a driven gear 303, and a support tray 304. The driven gear 303 is rotatably connected to the center of the upper surface of the main frame 1. The drive gear 302 is rotatably connected to one end of the driven gear 303, and the drive gear 302 meshes with the driven gear 303. The support tray 304 is provided on the upper surface of the driven gear 303. The end of the upper surface of the main frame 1 away from the drive gear 302 is equipped with a first test sensor 5 and a second test sensor 6. The first test sensor 5 and the second test sensor 6 are arranged side by side. The upper surface of the first test sensor 5 and the second test sensor 6 are each equipped with a probe 7. A cleaning mechanism 4 is provided between the two sets of probes 7. A microcontroller is embedded in the main frame 1. The first test sensor 5 and the second test sensor 6 are both electrically connected to the microcontroller. The pressure sensor 305 is electrically connected to the microcontroller. The microcontroller is also electrically connected to the first servo motor 203.

[0023] The mobile robot is connected to the carrying tray 304. The installed mobile robot and the whole device are placed in the narrow space to be tested. The mobile component 2 moves in a straight line in the narrow space to simulate the movement of the mobile robot. The adjustment mechanism 3 is used to check whether the profile size of the mobile robot exceeds the effective passage threshold of the space. The upper end of the adjustment component is equipped with a component to prevent damage to the mobile robot, which can effectively prevent the mobile robot from being damaged.

[0024] When the entire device moves in a confined space, the first test sensor 5 and the second test sensor 6 detect various values ​​during the movement through the equipped probe 7, and transmit the data to the processor of the operator in real time through the microcontroller. When the moving component 2 moves, it will automatically drive the cleaning mechanism 4 to clean the probe 7.

[0025] It should be added that the mobile robot and the 304 carrier pallet can be connected by additional tools or external bolts;

[0026] It should be added that the overall device is set up in a way that corresponds to the space within the confined area.

[0027] Reference Figure 1 and Figure 2 The bottom end of the main frame 1 is fixedly connected to a second servo motor 301. The power output end of the second servo motor 301 passes through the main frame 1 and is fixedly connected to the drive gear 302. The upper end face of the bearing tray 304 is embedded with a pressure sensor 305. An adjustment groove 309 is opened at the center of the upper end face of the driven gear 303. Adjustment blocks 310 are slidably engaged at both ends of the adjustment groove 309. A second return spring 311 is fixedly connected between the outer walls of the two sets of adjustment blocks 310. A tough plate 312 is fixedly connected to the upper end face of the two sets of adjustment blocks 310. The tough plate 312 is arc-shaped. Fixed rods 306 are fixedly connected to both ends of the upper end face of the driven gear 303. A first return spring 308 is fixedly connected inside the fixed rod 306. A telescopic rod 307 is fixedly connected to the other end of the first return spring 308. The fixed rod 306 is slidably engaged with the adjacent telescopic rod 307.

[0028] The second servo motor 301 is started, which drives the drive gear 302 to rotate. The drive gear 302 drives the meshing driven gear 303 to rotate. The driven gear 303 drives the upper support tray 304 to rotate through the fixed rod 306 and the telescopic rod 307, thereby driving the installed mobile robot to rotate in a circle. The slow circular rotation is used to test whether the mobile robot will contact the inner wall of the narrow space when rotating.

[0029] When the mobile robot comes into contact with the inner wall of the confined space while rotating, the mobile robot will vibrate and trigger the pressure sensor 305 set at the bottom. The pressure sensor 305 sends a signal to the microcontroller, and the microcontroller immediately controls the second servo motor 301 to reverse, so that the mobile robot synchronously reverses and resets, and stops the test.

[0030] It should be added that the second servo motor 301 starts at a relatively slow speed, and its rotation speed will not be damaged immediately after the mobile robot contacts the inner wall of the space.

[0031] It should be added that staff need to pre-set the trigger threshold of pressure sensor 305;

[0032] When the entire device moves in a confined space, it is impossible to ensure that the bottom of the confined space is flat. Therefore, when shaking occurs, the fixed rod 306, the telescopic rod 307 and the first return spring 308 provide initial buffering. Then, the bearing tray 304 contacts and presses down on the flexible plate 312 for secondary buffering. After the flexible plate 312 is pressed down, it drives the adjusting blocks 310 at both ends to slide in the adjusting groove 309, and drives the second return spring 311 for tertiary buffering. This prevents the mobile robot on the upper end of the bearing tray 304 from shaking too much. After the shaking ends, the first return spring 308 and the second return spring 311 drive all the components to automatically reset.

[0033] Reference Figure 1 , 3 and Figure 4 A first servo motor 203 is fixedly connected to the inner wall of one end of the main frame 1. The power output end of the first servo motor 203 passes through the main frame 1 and is fixedly connected to an active drive wheel 202. A first track 201 is equipped on the outer side of the active drive wheel 202. A driven drive wheel 205 is equipped on the inner side of the first track 201 away from the active drive wheel 202. A second track 204 is equipped on the other end of the main frame 1 away from the first track 201. Two sets of driven drive wheels 205 are rotatably connected to the inner side of the second track 204. The multiple sets of driven drive wheels 205 are rotatably connected to the adjacent outer wall of the main frame 1 through a rotating rod. One set of driven drive wheels 205 in the second track 204 is close to... One end of the first track 201 is fixedly connected to a first transmission rod 401. The first transmission rod 401 passes through the main frame 1 and is fixedly connected to a first bevel gear 402. The upper end of the first bevel gear 402 is rotatably connected to a second bevel gear 403. The upper end face of the second bevel gear 403 is fixedly connected to a second transmission rod 404. A limit assembly is provided between the second transmission rod 404 and the main frame 1. The first bevel gear 402 and the second bevel gear 403 are arranged perpendicularly and mesh with each other. The end of the second transmission rod 404 away from the second bevel gear 403 passes through the main frame 1 and is fixedly connected to a cleaning roller 405. The cleaning roller 405 is located between two sets of probes 7 and abuts against the outer wall of the two sets of probes 7.

[0034] The first servo motor 203 is started, which drives the active drive wheel 202 to rotate. The active drive wheel 202 cooperates with the first track 201 to drive the first track 201 to move. The relative movement of the first track 201 drives the internal driven drive wheel 205 to rotate, assisting the first track 201 to move. As a result, the whole device moves forward continuously following the movement of the first track 201. The second track 204 assists in the movement of the whole device, and the two sets of internal driven drive wheels 205 will rotate to assist in the rotation.

[0035] When the driven wheel 205 connected to the first transmission rod 401 inside the second track 204 rotates, it drives the first transmission rod 401 to rotate. The first transmission rod 401 drives the first bevel gear 402 to rotate. The first bevel gear 402 drives the upper meshing second bevel gear 403 to rotate. The second bevel gear 403 drives the second transmission rod 404 and the upper cleaning roller 405 to rotate. The cleaning roller 405 cleans the outer wall of the two sets of probes 7.

[0036] It should be added that the probes 7 at the top of the first test sensor 5 and the second test sensor 6 are rotatable, so that when they rotate, they can be cleaned in all directions by the cleaning roller 405.

[0037] It should be added that the first test sensor 5 and the second test sensor 6 can be a GP2D12 infrared ranging sensor, a DS-2DC4120IY-D surveillance camera, an NK-FS4001 gas flow mass sensor, a DHT11 temperature and humidity sensor, etc. The staff can install the specified sensor according to the testing requirements.

[0038] It should be added that the detection ends of the above sensors are all located on the side of the probe. When the probe needs to be cleaned, the probe can be rotated to perform the cleaning work.

[0039] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0040] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A detection device for a mobile robot in a confined space, comprising a main frame (1), characterized in that, The main frame (1) is provided with moving components (2) at both ends. An adjustment mechanism (3) is provided at the center of the upper surface of the main frame (1). The adjustment mechanism (3) includes a driving gear (302), a driven gear (303), and a carrying tray (304). The driven gear (303) is rotatably connected to the center of the upper surface of the main frame (1). The driving gear (302) is rotatably connected to one end of the driven gear (303), and the driving gear (302) meshes with the driven gear (303). The carrying tray (304) is provided on the upper surface of the driven gear (303). A first test sensor (5) and a second test sensor (6) are provided on the upper surface of the main frame (1) away from the driving gear (302). The first test sensor (5) and the second test sensor (6) are arranged side by side. The upper surfaces of the first test sensor (5) and the second test sensor (6) are both equipped with probes (7). A cleaning mechanism (4) is provided between the two sets of probes (7).

2. The detection device for a mobile robot in a confined space according to claim 1, characterized in that, The moving component (2) includes a first track (201), an active drive wheel (202), a first servo motor (203), a second track (204), and a driven drive wheel (205). The first servo motor (203) is fixedly connected to the inner wall of one end of the main frame (1). The power output end of the first servo motor (203) passes through the main frame (1) and is fixedly connected to the active drive wheel (202). The first track (201) is equipped on the outer side of the active drive wheel (202), and the driven drive wheel (205) is equipped on the inner side of the first track (201) away from the active drive wheel (202).

3. The detection device for a mobile robot in a confined space according to claim 2, characterized in that, The main frame (1) is equipped with a second track (204) at the other end away from the first track (201). Two sets of driven wheels (205) are rotatably connected to the inner side of the second track (204). The multiple sets of driven wheels (205) are rotatably connected to the outer wall of the adjacent main frame (1) through a rotating rod.

4. The detection device for a mobile robot in a confined space according to claim 1, characterized in that, The bottom end of the main frame (1) is fixedly connected to a second servo motor (301). The power output end of the second servo motor (301) passes through the main frame (1) and is fixedly connected to the drive gear (302). A pressure sensor (305) is embedded in the upper surface of the bearing tray (304).

5. The detection device for a mobile robot in a confined space according to claim 1, characterized in that, An adjustment groove (309) is provided at the center of the upper end face of the driven gear (303). Adjustment blocks (310) are slidably engaged at both ends of the adjustment groove (309). A second reset spring (311) is fixedly connected between the outer walls of the two sets of adjustment blocks (310). A tough plate (312) is fixedly connected to the upper end face of the two sets of adjustment blocks (310). The tough plate (312) is arc-shaped.

6. The detection device for a mobile robot in a confined space according to claim 5, characterized in that, The driven gear (303) has fixed rods (306) fixedly connected to both ends of its upper surface. The fixed rods (306) have first return springs (308) fixedly connected inside each fixed rod (306). The other end of each first return spring (308) has a telescopic rod (307) fixedly connected. The fixed rods (306) are slidably engaged with the adjacent telescopic rods (307).

7. The detection device for a mobile robot in a confined space according to claim 3, characterized in that, One of the driven drive wheels (205) in the second track (204) is fixedly connected to a first transmission rod (401) at one end near the first track (201). The first transmission rod (401) passes through the main frame (1) and is fixedly connected to a first bevel gear (402). The upper end of the first bevel gear (402) is rotatably connected to a second bevel gear (403). The upper end face of the second bevel gear (403) is fixedly connected to a second transmission rod (404). A limit assembly is provided between the second transmission rod (404) and the main frame (1). The first bevel gear (402) and the second bevel gear (403) are arranged perpendicularly and mesh with each other.

8. The detection device for a mobile robot in a confined space according to claim 7, characterized in that, The end of the second transmission rod (404) away from the second bevel gear (403) passes through the main frame (1) and is fixedly connected to a cleaning roller (405). The cleaning roller (405) is located between the two sets of probes (7) and abuts against the outer wall of the two sets of probes (7).

9. The detection device for a mobile robot in a confined space according to claim 1, characterized in that, The main frame (1) is embedded with a microcontroller. The first test sensor (5) and the second test sensor (6) are both electrically connected to the microcontroller. The pressure sensor (305) is electrically connected to the microcontroller. The microcontroller is also electrically connected to the first servo motor (203).

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