CN111070220A

CN111070220A - Detection robot with telescopic partial limbs

Info

Publication number: CN111070220A
Application number: CN201911309970.9A
Authority: CN
Inventors: 周永; 潘健; 孙超玉
Original assignee: Nanjing Yuyi Communication Technology Co Ltd
Current assignee: Nanjing Yuyi Communication Technology Co Ltd
Priority date: 2019-12-18
Filing date: 2019-12-18
Publication date: 2020-04-28

Abstract

The invention relates to a detection robot with a part of limbs being telescopic, which comprises a detection robot main body, a cleaning mechanism and a dismounting mechanism, wherein the detection robot main body comprises a driving vehicle, a camera and a lifting rod; through install the air pump additional in drive roof end one side, promoted the main part of detection robot and shot the picture definition for staff's maintenance speed, through install additional in camera bottom both sides and draw piece A and draw piece B, the camera's of being convenient for maintenance has promoted camera life.

Description

Detection robot with telescopic partial limbs

Technical Field

The invention relates to the field, in particular to a detection robot with a telescopic part of limbs.

Background

Robots are the common name for automatic control machines (Robot) that include all machines that simulate human behavior or thought and other creatures (e.g., machine dogs, machine cats, etc.). There are many taxonomies and controversy to define robots in a narrow sense, and some computer programs are even referred to as robots. In the modern industry, robots refer to artificial machines that automatically perform tasks to replace or assist human work. The robot is generally composed of an execution mechanism, a driving device, a detection device, a control system, complex machinery and the like, wherein the execution mechanism is a robot body, an arm part of the robot body generally adopts a space open-chain connecting rod mechanism, a kinematic pair (a revolute pair or a revolute pair) is generally called as a joint, and the number of the joints is generally the degree of freedom of the robot. The robot actuator may be classified into rectangular coordinate type, cylindrical coordinate type, polar coordinate type, joint coordinate type, and the like according to the joint configuration type and the motion coordinate type. For anthropomorphic purposes, the relevant parts of the robot body are often referred to as the base, waist, arms, wrists, hands (gripper or end effector), walking part (for mobile robots), etc., respectively, and the drive device is a mechanism that drives the movement of an actuator and operates the robot by means of a power element in accordance with command signals from a control system. It inputs electric signals and outputs linear and angular displacement. The driving device used by the robot is mainly an electric driving device, such as a stepping motor, a servo motor and the like, and in addition, a hydraulic driving device, a pneumatic driving device and the like are adopted, the control device is used for detecting the motion and the working condition of the robot in real time, feeding the motion and the working condition back to a control system as required, and comparing the motion and the working condition with set information, and then adjusting an executing mechanism to ensure that the motion of the robot meets the preset requirement. Sensors as detection means can be broadly classified into two types: one is an internal information sensor for detecting internal conditions of each part of the robot, such as the position, velocity, acceleration, etc. of each joint, and sending the detected information as a feedback signal to the controller to form closed-loop control. One is an external information sensor, which is used to obtain information about the working object and external environment of the robot, so that the robot can adapt to the change of the external situation, to achieve higher level automation, even to make the robot have a certain sense, and to develop to intellectualization, such as visual sense, sound sense, etc., the external sensors give information about the working object and working environment, and use these information to form a large feedback loop, so as to greatly improve the working accuracy of the robot. The ideal high-simulation robot is a product of advanced integrated control theory, mechano-electronics, computer and artificial intelligence, materials science and bionics, and the rotation of the joint of the robot is realized by a servo motor, however, various detection robots in the market still have various problems.

Although the service life of a transmission gear and a transmission belt of the detection robot is prolonged, the pipeline detection robot disclosed by the invention with the authorization notice number of CN206973160U does not solve the problem that when the detection robot travels in a narrow working environment, dust is easily adhered to the surface of the camera, workers are inconvenient to clean and the quality of a camera shooting meeting is affected, and therefore the detection robot with the telescopic limbs is designed.

Disclosure of Invention

The invention aims to provide a detection robot with telescopic partial limbs, which solves the problems that the existing detection robot camera is lack of a cleaning mechanism, dust is easily adhered to the surface of the camera when the detection robot travels in a narrow working environment, workers are not convenient to clean, and the quality of a meeting shot by the camera is influenced.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a partial limb telescopic inspection robot, includes inspection robot main part, clean mechanism and disassembly body, inspection robot main part is including driving car, camera and lifter, clean mechanism includes the air pump, the air pump passes through bolt fixed connection in driving car top one side, air pump one end fixedly connected with gas-supply pipe, gas-supply pipe one end fixedly connected with shower nozzle, the shower nozzle is located camera one end one side.

Preferably, a limiting block is installed on one side of the camera, and the limiting block is fixedly connected with the camera through a screw.

Preferably, a hole is formed in one side of the limiting block, and a gas conveying pipe is arranged in the hole.

Preferably, the cross section of the spray head is trapezoidal, and the inner diameter of the hole is nine times zero of the outer diameter of the gas transmission pipe.

Preferably, the lifting rod is located the other side of the top end of the driving vehicle, the lifting rod is fixedly connected with the driving vehicle, the top end of the lifting rod is fixedly connected with a connecting rod, the connecting rod is located the bottom end of the camera, one end of the connecting rod is fixedly connected with a pulling block A, the other end of the connecting rod is provided with a telescopic rod, and one end of the telescopic rod is fixedly connected with a pulling block B.

Preferably, a mounting groove is formed in one end of the connecting rod, a spring is fixedly connected to one end of the mounting groove, and a telescopic rod is fixedly connected to one end of the spring.

Preferably, one end of the telescopic rod is positioned in the mounting groove, and the cross section of the telescopic rod is T-shaped.

Preferably, the fixed slot has all been seted up to the camera both sides, draw piece B and draw the equal fixedly connected with fixed block in a inboard of piece A, the fixed block is located inside the fixed slot.

Preferably, both sides of one end of the fixed block are provided with inclined planes, and the outer diameter of the telescopic rod is nine times of the inner diameter of the mounting groove.

Preferably, the number of the mounting grooves is two, and the mounting grooves are respectively positioned on two sides of one end of the connecting rod.

Preferably, the specific using method is as follows:

the method comprises the following steps: before the air pump is used, the air pump, the air delivery pipe, the spray head, the pull block A and the pull block B are sequentially installed and fixed with the driving vehicle.

Step two: when dust on the surface of the camera needs to be cleaned, firstly, the air pump is started, the air flow is sprayed out from the spray head through the air delivery pipe, and the dust on the surface of the camera is blown away from the camera by the high-speed sprayed air flow, so that the dust does not exist in the camera;

step three: when the camera needs to be maintained, the pulling block B is pulled to drive the telescopic rod to move through the pulling block B, when the fixed block leaves the fixed groove, the camera is taken out again, and the camera is rapidly maintained

Compared with the prior art, the invention has the beneficial effects that:

(1) through installing the air pump additional in drive roof end one side, when needs clearance camera surface dust, start the air pump, the air current is spout by the shower nozzle through the gas-supply pipe, and high-speed spun air current blows camera surface dust away from the camera, has kept the cleanness on camera surface, has promoted the main part of detection robot and has shot the picture definition for staff's maintenance speed.

(2) Through install additional in camera bottom both sides and draw piece A and draw piece B, when the camera was maintained to needs, the pulling draws piece B, drives the telescopic link by drawing piece B and removes, when the fixed block left the fixed slot, takes out the camera again, and the operation is accomplished, and the camera of being convenient for maintenance has promoted camera life.

Drawings

FIG. 1 is a schematic illustration of a partially telescopic inspection robot;

FIG. 2 is a schematic view of a cleaning mechanism of a partially telescopic inspection robot;

FIG. 3 is a schematic view of a spray head of an inspection robot with partially telescopic limbs;

FIG. 4 is a schematic cross-sectional view of a detachment mechanism of a partially telescopic inspection robot;

FIG. 5 is an enlarged view of a portion a of FIG. 4;

FIG. 6 is an enlarged view of the point b in FIG. 4;

fig. 7 is a schematic diagram of a connecting rod of a partially telescopic robot.

In the figure: 1. driving the vehicle; 2. an air pump; 3. a gas delivery pipe; 4. pulling a block A; 5. a camera; 6. pulling the block B; 7. a limiting block; 8. a spray head; 9. a lifting rod; 10. a connecting rod; 11. a telescopic rod; 12. mounting grooves; 13. a spring; 14. fixing grooves; 15. and (5) fixing blocks.

Detailed Description

In order to solve the above-mentioned problems, the present invention provides an inspection robot with a partially telescopic limb. The technical solutions in the embodiments of the present invention will be clearly 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 of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-7, a partially telescopic limb detection robot comprises a detection robot body, a cleaning mechanism and a detaching mechanism, wherein the detection robot body comprises a driving vehicle 1, a camera 5 and a lifting rod 9, the cleaning mechanism comprises an air pump 2, the air pump 2 is fixedly connected to one side of the top end of the driving vehicle 1 through a bolt, one end of the air pump 2 is fixedly connected with an air pipe 3, one end of the air pipe 3 is fixedly connected with a nozzle 8, the nozzle 8 is positioned at one side of one end of the camera 5, the air pump 2 is additionally arranged at one side of the top end of the driving vehicle 1, when 5 surperficial dusts of camera need be cleared up, start air pump 2, the air current is spout by shower nozzle 8 through gas-supply pipe 3, and high-speed spun air current blows 5 surperficial dusts of camera away from camera 5, has kept the cleanness on 5 surfaces of camera, has promoted the main part of detection robot and has shot the picture definition for staff's maintenance speed.

Through the fixed restriction piece 7 of screw, made things convenient for restriction piece 7 to dismantle and install, in this embodiment, preferably, restriction piece 7 is installed to camera 5 one side, and restriction piece 7 passes through screw and camera 5 fixed connection.

Through seting up the hole in restriction piece 7 one side, be convenient for gas-supply pipe 3 through restriction piece 7, in this embodiment, preferred, restriction piece 7 one side has been seted up the hole, and the hole is inside to be provided with gas-supply pipe 3.

Through setting up the hole internal diameter to nine times zero of 3 external diameters of air-supply pipe, made things convenient for the fixed of air-supply pipe 3, in this embodiment, preferred, 8 cross-sections of shower nozzle are trapezoidal, and the hole internal diameter is nine times zero of 3 external diameters of air-supply pipe.

Through install telescopic link 11 additional in camera 5 bottom, camera 5's installation and dismantlement have been made things convenient for, in this embodiment, it is preferred, lifter 9 is located 1 top opposite sides of drive car, lifter 9 and drive car 1 fixed connection, lifter 9 top fixedly connected with connecting rod 10, connecting rod 10 is located camera 5 bottom, connecting rod 10 one end fixedly connected with draws piece A4, telescopic link 11 is installed to the connecting rod 10 other end, telescopic link 11 one end fixedly connected with draws piece B6.

Through installing spring 13 additional in 11 one ends of telescopic link for draw piece A4 and draw piece B6 firmly grasp camera 5 both sides, the camera 5 of the different models of the disassembly body installation of also being convenient for simultaneously, the shrink of the telescopic link 11 of being convenient for, make, in this embodiment, preferred, connecting rod 10 one end is inside to have seted up mounting groove 12, mounting groove 12 one end fixedly connected with spring 13, spring 13 one end fixedly connected with telescopic link 11.

Set up to the T style of calligraphy through 11 cross-sections with the telescopic link, prevent 11 roll-off mounting grooves 12 of telescopic link, in this embodiment, it is preferred that 11 one end of telescopic link is located inside mounting

grooves

12, and 11 cross-sections of telescopic link are the T style of calligraphy.

Through seting up fixed slot 14 in camera 5 both sides, be convenient for spacing draw piece B6 and draw piece A4, prevent that the inspection robot main part from traveling and fall camera 5 in the highway section of jolting, in this embodiment, preferably, fixed slot 14 has all been seted up to camera 5 both sides, draw piece B6 and draw the equal fixedly connected with fixed block 15 in a4 inboard, fixed block 15 is located inside fixed slot 14, draw piece A4 and draw piece B6 through installing additional in camera 5 bottom both sides, when camera 5 is maintained to needs, the pulling draws piece B6, drive telescopic link 11 by drawing piece B6 and remove, when fixed block 15 leaves fixed slot 14, take out camera 5 again, the operation is accomplished, be convenient for camera 5's maintenance, camera 5 life has been promoted.

Through setting up fixed block 15 one end both sides into the inclined plane, be convenient for slide fixed block 15 into mounting groove 12 inside, in this embodiment, preferentially, 15 one end both sides of fixed block all are provided with the inclined plane, and 11 external diameters of telescopic link are nine times zero of the 12 internal diameters of mounting groove.

Through setting up mounting groove 12 in connecting rod 10 one end both sides, further promote the fastness that detaching mechanism and camera 5 are connected, in this embodiment, preferably, mounting groove 12 is two in quantity, and mounting groove 12 is located connecting rod 10 one end both sides respectively.

The specific using method comprises the following steps:

the method comprises the following steps: before use, the air pump 2, the air pipe 3, the spray head 8, the pull block A4 and the pull block B6 are sequentially installed and fixed with the driving vehicle 1.

Step two: when dust on the surface of the camera 5 needs to be cleaned, firstly, the air pump 2 is started, air flow is sprayed out from the spray head 8 through the air delivery pipe 3, the dust on the surface of the camera 5 is blown away from the camera 5 by the high-speed sprayed air flow, and the camera 5 does not have dust;

step three: when camera 5 is maintained to needs, the pulling draws piece B6, drives telescopic link 11 by drawing piece B6 and removes, when fixed block 15 left fixed slot 14, takes out camera 5 again, realizes quick maintenance function to camera 5.

The air pump 2 of the invention has the following types: and (2) X-001.

The working principle and the using process of the invention are as follows: after the device accomplishes, through installing air pump 2 additional in 1 top one side of driving car, when 5 surperficial dusts of camera need be cleared up, start air pump 2, the air current is spout by shower nozzle 8 through gas-supply pipe 3, high-speed spun air current, blow 5 surperficial dusts of camera away from camera 5, the cleanness on 5 surperficial cameras has been kept, the main part of detection robot that has promoted is shot the picture definition, staff's maintenance speed has been accelerated, through install additional in 5 bottom both sides of camera and draw piece A4 and draw piece B6, when camera 5 is maintained to needs, the pulling draws piece B6, drive telescopic link 11 by drawing piece B6 and remove, when fixed block 15 leaves fixed slot 14, take out camera 5 again, the operation is accomplished, be convenient for camera 5's maintenance, camera 5 life has been promoted.

In the description of the present invention, it should be further noted that, unless otherwise specifically stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, connected through an intermediate medium, or connected through the insides of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a partial limb telescopic inspection robot, includes inspection robot main part, clean mechanism and disassembly body, its characterized in that: the detection robot comprises a drive vehicle (1), a camera (5) and a lifting rod (9), wherein the cleaning mechanism comprises an air pump (2), the air pump (2) is fixedly connected to one side of the top end of the drive vehicle (1) through a bolt, one end of the air pump (2) is fixedly connected with an air pipe (3), one end of the air pipe (3) is fixedly connected with a spray head (8), and the spray head (8) is located on one side of one end of the camera (5).

2. The partially collapsible inspection robot of claim 1, further comprising: the camera is characterized in that a limiting block (7) is installed on one side of the camera (5), and the limiting block (7) is fixedly connected with the camera (5) through a screw.

3. A partially telescopic inspection robot as claimed in claim 1 or 2, wherein: a hole is formed in one side of the limiting block (7), and a gas pipe (3) is arranged in the hole.

4. A partially telescopic inspection robot as claimed in claim 1 or 3, wherein: the cross section of the spray head (8) is trapezoidal, and the inner diameter of the hole is nine times zero of the outer diameter of the air conveying pipe (3).

5. The partially collapsible inspection robot of claim 1, further comprising: lifter (9) are located drive car (1) top opposite side, lifter (9) and drive car (1) fixed connection, lifter (9) top fixedly connected with connecting rod (10), connecting rod (10) are located camera (5) bottom, connecting rod (10) one end fixedly connected with draws piece A (4), telescopic link (11) are installed to the connecting rod (10) other end, telescopic link (11) one end fixedly connected with draws piece B (6).

6. The partially collapsible inspection robot of claim 5, further comprising: mounting groove (12) have been seted up to connecting rod (10) one end inside, mounting groove (12) one end fixedly connected with spring (13), spring (13) one end fixedly connected with telescopic link (11).

7. The partially collapsible inspection robot of claim 6, further comprising: one end of the telescopic rod (11) is positioned in the mounting groove (12), and the cross section of the telescopic rod (11) is T-shaped.

8. The partially collapsible inspection robot of claim 5, further comprising: fixed slot (14) have all been seted up to camera (5) both sides, draw piece B (6) and draw the equal fixedly connected with fixed block (15) in piece A (4) inboard, fixed block (15) are located inside fixed slot (14).

9. A partially telescopic inspection robot as claimed in claim 6 or 8, wherein: fixed block (15) one end both sides all are provided with the inclined plane, telescopic link (11) external diameter is nine times zero of mounting groove (12) internal diameter, mounting groove (12) quantity is two, mounting groove (12) are located connecting rod (10) one end both sides respectively.

10. The partial limb telescopic detection robot as claimed in claim 6, wherein the specific use method is as follows:

the method comprises the following steps: before use, the air pump (2), the air delivery pipe (3), the spray head (8), the pull block A (4) and the pull block B (6) are sequentially installed and fixed with the driving vehicle (1);

step two: when dust on the surface of the camera (5) needs to be cleaned, firstly, the air pump (2) is started, air flow is sprayed out from the spray head (8) through the air conveying pipe (3), the dust on the surface of the camera (5) is blown away from the camera (5) by the high-speed sprayed air flow, and dust does not exist in the camera (5);

step three: when camera (5) were maintained to needs, piece B (6) were drawn in the pulling, were driven telescopic link (11) by drawing piece B (6) and removed, when fixed block (15) left fixed slot (14), took out camera (5) again, realized the maintenance function to camera (5) fast.