CN112975922A

CN112975922A - Inspection robot based on thing networking

Info

Publication number: CN112975922A
Application number: CN202110172173.1A
Authority: CN
Inventors: 周韶宁
Original assignee: Zhejiang Baishi Technology Co Ltd
Current assignee: Zhejiang Baishi Technology Co Ltd
Priority date: 2021-02-08
Filing date: 2021-02-08
Publication date: 2021-06-18

Abstract

An inspection robot based on the Internet of things belongs to the technical field of robots and comprises a base, wherein a machine body is rotatably arranged on the upper end face of the base, a machine head is rotatably arranged on the upper end face of the machine body, a central control system is arranged in the machine head, a camera and a sensor group are fixedly arranged on the machine head, the camera and the sensor group are respectively connected with the central control system in a signal mode, and manipulators are rotatably arranged on two sides of the upper end of the machine body; wherein, the left and right end surfaces of the base are fixedly provided with moving components; the robot reduces the overall structural complexity of the robot through reasonable layout, wherein the clamping mechanism in the manipulator is flexibly controlled to carry out multi-dimensional work through the rotating mechanism and the rotating and swinging mechanism, namely, the three-dimensional movement of the clamping mechanism in a space is realized, in addition, the external environment is monitored through the camera and the sensor group, and the remote control is realized by combining a central control system.

Description

Inspection robot based on thing networking

Technical Field

The invention belongs to the technical field of robots, and particularly relates to an inspection robot based on the Internet of things.

Background

A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work.

The inspection robot is from the control of taking 360 degrees, work on ground, mainly used observes southern electric wire netting problem, the electric wire of naked outside of monitoring, the high-voltage line, the circuit problem can be known through the real time monitoring of robot to the people of indoor work, in time overhaul, the inspection robot also can be in outdoor work in rainy snowy day, break through weather obstruction, and to the real-time inspection of high-voltage line, the effectual human cost that has saved, avoid the human accident that appears for the inspection.

However, the existing patrol robot is complex in structure and single in function, is only used for patrol, cannot automatically process events in patrol conditions, and is more capable of remotely notifying operators on duty.

Disclosure of Invention

The invention aims to provide an inspection robot based on the Internet of things, and the inspection robot is used for solving the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme:

an inspection robot based on the Internet of things comprises a base, wherein a machine body is rotatably arranged on the upper end face of the base, a machine head is rotatably arranged on the upper end face of the machine body, a central control system is arranged in the machine head, a camera and a sensor group are fixedly arranged on the machine head, the camera and the sensor group are in signal connection with the central control system, and manipulators are rotatably arranged on two sides of the upper end of the machine body; the manipulator comprises a rotating mechanism, a connecting rod is fixedly arranged at the output end of the rotating mechanism, a rotary swing mechanism is fixedly arranged at one end of the connecting rod far away from the rotating mechanism, a connecting shaft is fixedly connected to the output end of the rotary swing mechanism, and a clamping mechanism is fixedly arranged at one end of the rotary swing mechanism far away from the connecting shaft.

Further, the central control system is a minimum single chip microcomputer system, and specifically adopts an STM32F030K6T6 chip.

Further, the sensor group includes temperature sensor, infrared sensor, displacement sensor and smoke transducer, displacement sensor is used for collecting robot displacement data information, infrared sensor for whether there is living organism on the detection robot path of travel, temperature sensor is used for collecting external temperature data, smoke transducer is used for responding to whether there is smog in the external world.

Further, rotary mechanism includes the roating seat, the roating seat is close to the one end of fuselage pass through the bearing cartridge in on the fuselage, just the roating seat is kept away from the one end of fuselage sets firmly two installation pieces that the interval set up, two the interval department of installation piece rotates and is provided with the pivot, and two the interval department of installation piece is provided with the connecting block, the connecting block cup joint in the pivot, just the connecting block is kept away from the one end of pivot has set firmly the connecting rod.

Further, the rotary swing mechanism comprises a U-shaped block, the mounting surface of the U-shaped block is fixedly arranged at one end, far away from the connecting block, of the connecting rod, a rotating sleeve is hinged to the opening end of the U-shaped block, a special-shaped piece is arranged in the opening of the U-shaped block, the rotating sleeve is inserted into the special-shaped piece, a driving shaft is fixedly arranged on the end face, far away from the special-shaped piece, of the rotating sleeve, the outer side surface of the U-shaped block is fixedly provided with a motor, and the driving end of the motor is in power connection with one end, far away from the rotating sleeve, of the driving shaft.

Further, the clamping mechanism comprises a shell fixedly arranged at one end of the connecting shaft, which is far away from the rotary swinging mechanism; the inside cavity of casing is provided with the installation cavity, the installation cavity extends forward and runs through the preceding terminal surface of casing, just actuating mechanism has set firmly in the installation cavity inside, actuating mechanism's drive end is fixed and is provided with two first connecting rods, two actuating mechanism's one end is kept away from to first connecting rod all articulates there is the holder, two the holder branch is located the left and right sides of casing, and two the holder orientation the terminal surface of casing all articulates there is the second connecting rod, the second connecting rod is kept away from the one end of holder articulate in the installation cavity.

Further, the driving mechanism comprises a driving gear and two driven gears, wherein the two driven gears are meshed with each other, and one driven gear is meshed with the driving gear.

Further, the moving assembly consists of two crawler-type traveling mechanisms with hub motor drives.

Further, crawler-type running gear includes in-wheel motor drive wheel, walking wheel, track, leading wheel, supporting wheel, in-wheel motor drive wheel, walking wheel, leading wheel, supporting wheel all assemble the reservation through-hole both sides at each link of trapezoidal bracket component through the jackshaft, and the track wraps up whole trapezoidal bracket component is peripheral, and contacts with in-wheel motor drive wheel, walking wheel, leading wheel, supporting wheel.

Compared with the prior art, the invention has the beneficial effects that: through reasonable overall arrangement, reduce the holistic structural complexity of robot, wherein, carry out multidimension's work through rotary mechanism and rotatory swing mechanism control fixture in the manipulator in a flexible way, realize fixture three-dimensional removal in the space promptly, in addition, monitor in the external environment through camera and sensor group to combine central control system to realize remote control.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is an enlarged view of the structure at "B" in the present invention;

FIG. 3 is an enlarged schematic view of the structure at "A" in the present invention;

FIG. 4 is an enlarged view of the structure at "C" in the present invention;

in the figure: 1-a base; 2-a moving assembly; 3-connecting the shaft; 4-a rotary oscillating mechanism; a 40-U shaped block; 41-rotating sleeve; 42-a drive shaft; 43-a profile; 5-a connecting rod; 6-a rotating mechanism; 60-a rotating seat; 61-a rotating shaft; 62-a mounting block; 63-connecting blocks; 7-a fuselage; 8-machine head.

Detailed Description

The technical solutions in the embodiments of the present invention will be eliminated and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.

Example (b):

the inspection robot based on the internet of things comprises a base 1, wherein a machine body 7 is rotatably arranged on the upper end face of the base 1, a machine head 8 is rotatably arranged on the upper end face of the machine body 7, a central control system is arranged in the machine head 8, the central control system is a minimum single chip microcomputer system, and an STM32F030K6T6 chip is specifically adopted, so that the central control system is in signal connection with a cloud server and is convenient for checking inspection history records and real-time inspection conditions through a terminal in real time;

in addition, a camera and a sensor group are fixedly arranged on the machine head 8, the camera and the sensor group are both connected to the central control system through signals, and the two sides of the upper end of the machine body 7 are both rotatably provided with manipulators; wherein, the sensor group includes temperature sensor, infrared sensor, displacement sensor and smoke transducer, displacement sensor is used for collecting robot displacement data information, infrared sensor for detecting whether there is living organism on the robot path of travel, temperature sensor is used for collecting external temperature data, smoke transducer is used for responding to whether there is smog in the external world, its effect is, monitor in the external environment through camera and sensor group, simultaneously, moving block 2 has all been set firmly to the both ends face about base 1, the manipulator includes rotary mechanism 6, the 6 output of rotary mechanism has set firmly connecting rod 5, the one end that rotary mechanism 6 was kept away from to connecting rod 5 has set firmly rotatory swing mechanism 4, the output fixedly connected with connecting axle 3 of rotatory swing mechanism 4, a clamping mechanism is fixedly arranged at one end of the connecting shaft 3, which is far away from the rotary swing mechanism 4; through reasonable layout, the overall structural complexity of the robot is reduced, wherein the clamping mechanism in the manipulator is flexibly controlled to perform multi-dimensional work through the rotating mechanism 6 and the rotary swing mechanism 4, namely, the three-dimensional movement of the clamping mechanism in the space is realized.

In the embodiment, the moving assembly 2 consists of two crawler-type traveling mechanisms with hub motor drive; specifically, the crawler type travelling mechanism comprises a hub motor driving wheel, travelling wheels, a crawler belt, guide wheels and supporting wheels, wherein the hub motor driving wheel, the travelling wheels, the guide wheels and the supporting wheels are all assembled on two sides of a reserved through hole of each connecting end of the trapezoidal bracket assembly through intermediate shafts, the crawler belt wraps the periphery of the whole trapezoidal bracket assembly and is in contact with the hub motor driving wheel, the travelling wheels, the guide wheels and the supporting wheels; the crawler-type walking structure can adapt to more scenes, so that the good maneuvering performance of the robot is guaranteed, and the obstacle crossing capability of the robot is greatly improved.

It can be known by combining fig. 2, rotary mechanism 6 includes roating seat 60, roating seat 60 is close to the one end of fuselage 7 pass through the bearing cartridge in on the fuselage 7, just roating seat 60 keeps away from the one end of fuselage 7 has set firmly two installation pieces 62 that the interval set up, two the interval department of installation piece 62 rotates and is provided with pivot 61, and two the interval department of installation piece 62 is provided with connecting block 63, connecting block 63 cup joints in on the pivot 61, just connecting block 63 keeps away from the one end of pivot 61 has set firmly connecting rod 5.

Referring to fig. 3, the rotary swing mechanism 4 includes a U-shaped block 40, an installation surface of the U-shaped block is fixedly disposed on one end of the connecting rod 5 away from the connecting block 63, an open end of the U-shaped block 40 is hinged to a rotating sleeve 41, a special-shaped member 43 is disposed in an opening of the U-shaped block 40, the rotating sleeve 41 is inserted into the special-shaped member 43, and a driving shaft 42 is fixedly disposed on an end surface of the rotating sleeve 41 away from the special-shaped member 43, wherein a motor is fixedly disposed on an outer side surface of the U-shaped block 40, and the driving shaft is in power connection with one end of the driving shaft 42 away from the rotating sleeve 41;

it should be noted that in this embodiment, the profiled element 43 is composed of two cranks spaced apart from each other and a connecting block fixed on the side close to the connecting shaft 3, so as to connect the two cranks.

As can be seen from fig. 4, the clamping mechanism includes a housing fixedly disposed at an end of the connecting shaft 3 away from the rotary swing mechanism 4; the mounting cavity is arranged in the hollow shell, the mounting cavity extends forwards to penetrate through the front end face of the shell, a driving mechanism is fixedly arranged in the mounting cavity, the driving end of the driving mechanism is fixedly provided with two first connecting rods, one ends of the two first connecting rods, which are far away from the driving mechanism, are hinged with clamping pieces, the two clamping pieces are respectively arranged on the left side and the right side of the shell, the end faces, which face the shell, of the two clamping pieces are hinged with second connecting rods, and one ends, which are far away from the clamping pieces, of the second connecting rods are hinged in the mounting cavity; the driving mechanism comprises a driving gear and two driven gears, the two driven gears are meshed with each other, and one driven gear is meshed with the driving gear.

In the description of the present invention, it is to be understood that the terms "center", "lateral", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified. Furthermore, the term "comprises" and any variations thereof is intended to cover non-exclusive inclusions.

The present invention has been described in terms of embodiments, and several variations and modifications can be made to the device without departing from the principles of the present invention. It should be noted that all the technical solutions obtained by means of equivalent substitution or equivalent transformation, etc., fall within the protection scope of the present invention.

Claims

1. The utility model provides a patrol robot based on thing networking which characterized in that: the automatic feeding device comprises a base (1), wherein a machine body (7) is rotatably arranged on the upper end face of the base (1), a machine head (8) is rotatably arranged on the upper end face of the machine body (7), a central control system is arranged in the machine head (8), a camera and a sensor group are fixedly arranged on the machine head (8), the camera and the sensor group are in signal connection with the central control system, and manipulators are rotatably arranged on two sides of the upper end of the machine body (7); the manipulator comprises a rotating mechanism (6), a connecting rod (5) is fixedly arranged at the output end of the rotating mechanism (6), the connecting rod (5) is far away from one end of the rotating mechanism (6), a connecting shaft (3) is fixedly connected to the output end of the rotating mechanism (4), and a clamping mechanism is fixedly arranged at one end of the rotating mechanism (4) and far away from the connecting shaft (3).

2. The inspection robot based on the internet of things according to claim 1, wherein: the central control system is a minimum single chip microcomputer system, and specifically adopts an STM32F030K6T6 chip.

3. The inspection robot based on the internet of things as claimed in claim 2, wherein: the sensor group comprises a temperature sensor, an infrared sensor, a displacement sensor and a smoke sensor, wherein the displacement sensor is used for collecting displacement data information of the robot, the infrared sensor is used for detecting whether living organisms exist on a running path of the robot or not, the temperature sensor is used for collecting external temperature data, and the smoke sensor is used for sensing whether smoke exists outside or not.

4. The inspection robot based on the internet of things as claimed in claim 3, wherein: rotary mechanism (6) are including roating seat (60), roating seat (60) are close to the one end of fuselage (7) pass through the bearing cartridge in on fuselage (7), just roating seat (60) are kept away from the one end of fuselage (7) has set firmly two installation piece (62) that the interval set up, two the interval department of installation piece (62) rotates and is provided with pivot (61), and two the interval department of installation piece (62) is provided with connecting block (63), connecting block (63) cup joint in on pivot (61), just connecting block (63) are kept away from the one end of pivot (61) has set firmly connecting rod (5).

5. The inspection robot based on the internet of things as claimed in claim 4, wherein: rotatory swing mechanism (4) are including U type piece (40), the installation face of U type piece sets firmly in connecting rod (5) are kept away from one of connecting block (63) is served, just the open end of U type piece (40) articulates there is rotating sleeve (41), just the opening of U type piece (40) embeds there is profile shape (43), rotating sleeve (41) cartridge in profile shape (43) are last, just rotating sleeve (41) are kept away from the terminal surface of profile shape (43) sets firmly drive shaft (42), wherein, U type piece (40) outside surface sets firmly the motor, the motor drive end with drive shaft (42) are kept away from the one end power connection who rotates sleeve (41).

6. An inspection robot based on the internet of things according to any one of claims 1 to 5, wherein: the clamping mechanism comprises a shell fixedly arranged at one end of the connecting shaft (3) far away from the rotary swing mechanism (4); the inside cavity of casing is provided with the installation cavity, the installation cavity extends forward and runs through the preceding terminal surface of casing, just actuating mechanism has set firmly in the installation cavity inside, actuating mechanism's drive end is fixed and is provided with two first connecting rods, two actuating mechanism's one end is kept away from to first connecting rod all articulates there is the holder, two the holder branch is located the left and right sides of casing, and two the holder orientation the terminal surface of casing all articulates there is the second connecting rod, the second connecting rod is kept away from the one end of holder articulate in the installation cavity.

7. The inspection robot based on the internet of things as claimed in claim 6, wherein: the driving mechanism comprises a driving gear and two driven gears, the two driven gears are meshed with each other, and one driven gear is meshed with the driving gear.

8. The inspection robot based on the internet of things according to claim 1, wherein: the moving assembly (2) consists of two crawler-type traveling mechanisms driven by hub motors.

9. The inspection robot based on the internet of things according to claim 8, wherein: crawler-type running gear includes in-wheel motor drive wheel, walking wheel, track, leading wheel, supporting wheel, in-wheel motor drive wheel, walking wheel, leading wheel, supporting wheel all assemble the reservation through-hole both sides at each link of trapezoidal bracket component through the jackshaft, and the track wraps up whole trapezoidal bracket component is peripheral, and contacts with in-wheel motor drive wheel, walking wheel, leading wheel, supporting wheel.