CN109176456A - A kind of Multifunctional inspecting robot - Google Patents
A kind of Multifunctional inspecting robot Download PDFInfo
- Publication number
- CN109176456A CN109176456A CN201811223013.XA CN201811223013A CN109176456A CN 109176456 A CN109176456 A CN 109176456A CN 201811223013 A CN201811223013 A CN 201811223013A CN 109176456 A CN109176456 A CN 109176456A
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- China
- Prior art keywords
- mechanical arm
- cursor
- arm
- car body
- fixed arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
Abstract
The present invention relates to robotic technology fields, more particularly, to a kind of Multifunctional inspecting robot, it include car body and mechanical arm, mechanical arm is equipped with the first mechanical arm connecting with car body, and first mechanical arm connect one end with car body and is rotatablely connected equipped with the connecting shaft that connector, connector and car body are equipped with；First mechanical arm is rotatably connected to second mechanical arm, second mechanical arm is rotatably connected to third mechanical arm, third mechanical arm is equipped with fixed arm and cursor, fixed arm and second mechanical arm are rotatablely connected, fixed arm and cursor rotation connection, cursor can be rotated under the action of the driving device that third mechanical arm is equipped with relative to fixed arm；Cursor one end is equipped with detector, detector is equipped with thermal imaging device and photographic device, it can effectively realize the detection to tested equipment, robot can adapt to the tested equipment in different height, different location simultaneously, improve the accuracy of robot adaptability in use and detection process.
Description
Technical field
The present invention relates to robotic technology fields, more particularly, to a kind of Multifunctional inspecting robot.
Background technique
In recent years, with the development of robot industry, security protection inspection class robot is in large-sized workshop, workshop, substation etc.
Every field is risen.The appearance of crusing robot system saves a large amount of human and material resources, financial resources, particularly with Different high risk sites
Inspection, robot become preferred plan.In the prior art, robot has been able to more efficiently patrol tested equipment
Inspection.But since tested equipment present position is more complicated, it is changeable that the detection device that robot is equipped with can not adapt to position
Tested equipment, cause that robot detects tested device efficiency and accuracy is lower.
Summary of the invention
The present invention in order to overcome at least one of the drawbacks of the prior art described above, provides a kind of Multifunctional inspecting robot,
Can effectively realize the detection to tested equipment, at the same robot can adapt in different height, different location it is tested
Equipment improves the accuracy of robot adaptability in use and detection process.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of Multifunctional inspecting robot, wherein
It include car body and mechanical arm, mechanical arm is equipped with the first mechanical arm connecting with car body, and first mechanical arm connect one end with car body
Equipped with connector, the connecting shaft that connector and car body are equipped with is rotatablely connected；First mechanical arm is rotatably connected to second mechanical arm, the
Two mechanical arms are rotatably connected to third mechanical arm, and third mechanical arm is equipped with fixed arm and cursor, fixed arm and second mechanical arm
Rotation connection, fixed arm and cursor rotation connection, cursor can be under the action of the driving device that third mechanical arm is equipped with
It is rotated relative to fixed arm；Cursor one end is equipped with detector, and detector is equipped with thermal imaging device and photographic device
The present invention provides a kind of Multifunctional inspecting robot, is equipped with mechanical arm on the car body, and mechanical arm is equipped with and connect with car body
First mechanical arm.In first mechanical arm be equipped with connector, on the car body be equipped with connecting shaft, first mechanical arm by connector with
The connection with car body is realized in the connection of connecting shaft.Connector and connecting shaft are rotatablely connected, and realize first mechanical arm relative to car body
Rotation.First mechanical arm is rotatably connected to second mechanical arm, can be realized between first mechanical arm and second mechanical arm opposite
Rotation.Second mechanical arm is rotatably connected to third mechanical arm, can be realized opposite between second mechanical arm and third mechanical arm
Rotation.Third mechanical arm is equipped with fixed arm and cursor, fixed arm and cursor rotation connection, can be realized fixed arm and rotation
Relative rotation between arm.Cursor can be rotated under the driving effect of driving device relative to fixed arm, realized and turned
Relative position between swing arm and fixed arm is adjusted.Cursor one end be equipped with detector, detector be equipped with thermal imaging device and
Photographic device detects tested equipment by thermal imaging device and photographic device.
In one embodiment, thermal imaging device is set as infrared thermal imager, and photographic device is set as digital machine core.
The discovery to tested device temperature abnormal position is realized by infrared thermal imager, and passes through the digital machine core time
To the photologging of tested equipment.
In one embodiment, it is connected through a screw thread between fixed arm and cursor, driving device is set as setting solid
Stepper motor in fixed arm, the drive rod that stepper motor is equipped with are connect with cursor.
Thread connecting mode between fixed arm and cursor can allow for fixed arm and cursor real by relatively rotating
The adjusting of existing relative position.Driving device is set as being arranged in the stepper motor in fixed arm, and stepper motor is fixed at fixation
In arm, the drive rod that stepper motor is equipped with is connect with cursor, and driving cursor rotation realizes cursor relative to fixed arm
Position is adjusted.
Preferably, cursor is equipped with sliding slot, and sliding slot is chimeric the connecting rod that can be slided along the chute, connecting rod and drive rod
It is fixedly connected.
It is equipped with sliding slot in cursor, sliding slot is chimeric the connecting rod that can be slided along the chute, drive of the connecting rod in drive rod
Movement is rotated under relative to fixed arm.The rotation of connecting rod drives the rotation of cursor, realizes cursor and fixed arm
Between relative position adjust.Since connecting rod is chimeric with sliding slot, the same of relative position adjusting is carried out in cursor and fixed arm
When, connecting rod can be slided in sliding slot, therefore the relative position between cursor and fixed arm adjusts the company of will not influence
The rotation of extension bar and drive rod.
In one embodiment, car body is equipped with tourelle, and tourelle drives robot motion.
Car body is equipped with tourelle, and car body can realize movement under the action of tourelle, realizes robot to difference
The inspection of tested equipment.
In one embodiment, tourelle is set as four wheel mechanism.
Four wheel mechanism can adapt to different landform, guarantee the stability of robot during the motion, while can have
Effect ground driving robot is acted, and efficiency and accuracy that robot carries out inspection are improved.
Preferably, it is connected between detector and cursor by clamping apparatus.
It is connected between detector and cursor by clamping apparatus, clamping apparatus can be realized between detector and cursor
Be attached and removed from, while other tools can be mounted on cursor by clamping apparatus, the function of expanding machinery people.
Compared with prior art, the present invention can be realized detector to tested by the multiple mechanical arms mutual cooperation being equipped with
The detection of equipment different parts improves the accuracy of inspection.Third mechanical arm is set as simultaneously to be able to carry out relative position variation
Fixed arm and cursor, pass through the mutual cooperation of fixed arm and cursor, realize third mechanical arm length adjustment.Tested
Device height is excessively high, and the length of mechanical arm can pass through the phase of adjusting fixed arm and cursor it is impossible to meet when actual requirement
The length adjustment of third mechanical arm is realized to position, so that the length of mechanical arm can satisfy requirement for height, guarantees patrol worker
That makees goes on smoothly.
Detailed description of the invention
Fig. 1 is present invention overall structure diagram in one embodiment.
Fig. 2 is present invention detector partial structure diagram in one embodiment.
Fig. 3 is present invention cursor and fixed arm the schematic diagram of the section structure in one embodiment.
Specific embodiment
Attached drawing only for illustration, is not considered as limiting the invention；In order to better illustrate this embodiment, attached
Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
The omitting of some known structures and their instructions in the attached drawings are understandable.Being given for example only property of positional relationship is described in attached drawing
Illustrate, is not considered as limiting the invention.
Embodiment 1:
It include car body 1 and the machinery that is arranged on car body 1 as shown in Figure 1, the present invention provides a kind of Multifunctional inspecting robot
Arm, mechanical arm are equipped with the first mechanical arm 2 connecting with car body 1, and connector 21,21 energy of connector are equipped in first mechanical arm 2
It is enough to be connect with the connecting shaft 11 that car body 1 is equipped with.Connection type between connector 21 and connecting shaft 11 uses rotation connection
Mode, rotation connection mode can be realized the relative rotation between connector 21 and connecting shaft 11 by the way of bearing connection,
Realize rotation of the first mechanical arm 2 relative to car body 1.In the present embodiment, mechanical arm is equipped with and is rotatablely connected with first mechanical arm 2
Second mechanical arm 3, second mechanical arm 3 use company identical with 1 connection type of car body with first mechanical arm 2 with first mechanical arm 2
Mode is connect, realizes the relative rotation between second mechanical arm 3 and first mechanical arm 2.
Second mechanical arm 3 is rotatably connected to third mechanical arm 4, and third mechanical arm 4 and second mechanical arm 3 are rotatablely connected, the
Three-mechanical arm 4 and second mechanical arm 3 can be realized relative rotation.First mechanical arm 2, second mechanical arm 3, third mechanical arm 4
It relatively rotates, can be realized freely adjusting for the position for the detector 5 being arranged on third mechanical arm 4, realize robot to quilt
Examine comprehensive inspection of equipment.
In the present embodiment, third mechanical arm 4 is equipped with fixed arm 41 and cursor 42, and fixed arm 41 and the rotation of cursor 42 connect
It connects, fixed arm 41 and second mechanical arm 3 are rotatablely connected, and realize the relative rotation of fixed arm 41 and second mechanical arm 3.Fixed arm 41
Using being threadedly coupled between cursor 42, driving device 411 is equipped in fixed arm 41, driving device 411 is set as stepping electricity
Machine, the drive rod 412 of stepper motor are fixedly connected with connecting rod 413, and connecting rod 413 and the sliding slot being arranged on cursor 42 are embedding
It closes, connecting rod 413 can be slided in sliding slot.Driving device 411 drives drive rod 412 to rotate, and drive rod 412 is rotatablely connected bar
413 rotations.Connecting rod 413 is chimeric with sliding slot, and connecting rod 413 drives cursor 42 to rotate, and realizes cursor 42 relative to fixation
The rotation of arm 41.Cursor 42 is threadedly coupled with fixed arm 41, since screw thread is made in cursor 42 and 41 rotation process of fixed arm
With the opposite change in location with fixed arm 41 of realization cursor 42.During 42 change in location of cursor, connecting rod 413 relative to
Sliding slot sliding, cooperates the change in location of cursor 42.
The thermal imaging device 51 that detector 5 is equipped with is set as infrared thermal imager, and photographic device 52 is set as high-definition digital machine core,
Infrared thermal imager can detect tested equipment in the insufficient situation of light, detect that the temperature of tested equipment is different
The problems such as normal.High-definition digital machine core can carry out image operation to tested equipment, record to inspection process.
Embodiment 2:
The present embodiment is similar to Example 1, the difference is that, in the present embodiment, mechanical device is equipped with several sections, and several sections are mechanical
Arm is all made of the mode of rotation connection between each other and is attached.Several section mechanical arms realize detector 5 by mutually rotating
The flexible modulation of position.
In the present embodiment, car body 1 is equipped with tourelle, and tourelle is set as four wheel mechanism, and four wheel mechanism can be effectively
Driving robot is acted, and efficiency and accuracy that robot carries out inspection are improved.
Embodiment 3:
The present embodiment is similar to Example 2, the difference is that, in the present embodiment, card is equipped between cursor 42 and detector 5
Connection device can will test instrument 5 by clamping apparatus and be removed, while can be installed to other tools by clamping apparatus
On cursor 42, the function of expanding machinery people.
Obviously, the above embodiment of the present invention be only to clearly illustrate example of the present invention, and not be pair
The restriction of embodiments of the present invention.For those of ordinary skill in the art, may be used also on the basis of the above description
To make other variations or changes in different ways.There is no necessity and possibility to exhaust all the enbodiments.It is all this
Made any modifications, equivalent replacements, and improvements etc., should be included in the claims in the present invention within the spirit and principle of invention
Protection scope within.
Claims (7)
1. a kind of Multifunctional inspecting robot, which is characterized in that include car body and mechanical arm, the mechanical arm is equipped with and car body
The first mechanical arm of connection, the first mechanical arm connect one end with car body equipped with connector, and the connector is equipped with car body
Connecting shaft rotation connection；The first mechanical arm is rotatably connected to second mechanical arm, and the second mechanical arm is rotatably connected to
Third mechanical arm, the third mechanical arm are equipped with fixed arm and cursor, and the fixed arm and second mechanical arm are rotatablely connected, institute
Fixed arm and cursor rotation connection are stated, the cursor can be opposite under the action of the driving device that third mechanical arm is equipped with
It is rotated in fixed arm；Described cursor one end is equipped with detector, and the detector is equipped with thermal imaging device and photographic device.
2. a kind of Multifunctional inspecting robot according to claim 1, which is characterized in that the thermal imaging device is set as red
Outer thermal imaging system, the photographic device are set as digital machine core.
3. a kind of Multifunctional inspecting robot according to claim 1, which is characterized in that the fixed arm and cursor it
Between be connected through a screw thread, the driving device is set as being arranged in the stepper motor in fixed arm, the drive that the stepper motor is equipped with
Lever is connect with cursor.
4. a kind of Multifunctional inspecting robot according to claim 3, which is characterized in that the cursor is equipped with sliding slot,
The sliding slot is chimeric the connecting rod that can be slided along the chute, and connecting rod is fixedly connected with drive rod.
5. a kind of Multifunctional inspecting robot according to claim 1, which is characterized in that the car body, which is equipped with, rolls dress
It sets, the tourelle drives robot motion.
6. a kind of Multifunctional inspecting robot according to claim 5, which is characterized in that the tourelle is set as four-wheel
Mechanism.
7. a kind of Multifunctional inspecting robot according to any one of claims 1 to 6, which is characterized in that the detector
It is connect between cursor by clamping apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811223013.XA CN109176456A (en) | 2018-10-19 | 2018-10-19 | A kind of Multifunctional inspecting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811223013.XA CN109176456A (en) | 2018-10-19 | 2018-10-19 | A kind of Multifunctional inspecting robot |
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| CN109176456A true CN109176456A (en) | 2019-01-11 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811223013.XA Pending CN109176456A (en) | 2018-10-19 | 2018-10-19 | A kind of Multifunctional inspecting robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109920081A (en) * | 2019-03-28 | 2019-06-21 | 中铁第四勘察设计院集团有限公司 | A kind of urban rail transit vehicles automatic detecting vehicle and method for inspecting |
| CN111002287A (en) * | 2019-12-26 | 2020-04-14 | 北京海益同展信息科技有限公司 | Robot, image acquisition method, electronic device, and computer-readable storage medium |
| CN111906754A (en) * | 2020-08-07 | 2020-11-10 | 广东电科院能源技术有限责任公司 | Indoor inspection robot and chassis structure thereof |
| CN111981977A (en) * | 2020-07-02 | 2020-11-24 | 广东电网有限责任公司 | Distribution network automatic line patrol system based on edge computing technology |
| CN112077817A (en) * | 2020-08-05 | 2020-12-15 | 嘉兴学院 | Warship type pipe gallery inspection robot |
| CN116922418A (en) * | 2023-09-14 | 2023-10-24 | 国网天津市电力公司电力科学研究院 | Power equipment state detection robot under dangerous power scene |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109920081A (en) * | 2019-03-28 | 2019-06-21 | 中铁第四勘察设计院集团有限公司 | A kind of urban rail transit vehicles automatic detecting vehicle and method for inspecting |
| CN111002287A (en) * | 2019-12-26 | 2020-04-14 | 北京海益同展信息科技有限公司 | Robot, image acquisition method, electronic device, and computer-readable storage medium |
| CN111002287B (en) * | 2019-12-26 | 2021-11-30 | 北京海益同展信息科技有限公司 | Robot, image acquisition method, electronic device, and computer-readable storage medium |
| CN111981977A (en) * | 2020-07-02 | 2020-11-24 | 广东电网有限责任公司 | Distribution network automatic line patrol system based on edge computing technology |
| CN112077817A (en) * | 2020-08-05 | 2020-12-15 | 嘉兴学院 | Warship type pipe gallery inspection robot |
| CN111906754A (en) * | 2020-08-07 | 2020-11-10 | 广东电科院能源技术有限责任公司 | Indoor inspection robot and chassis structure thereof |
| CN116922418A (en) * | 2023-09-14 | 2023-10-24 | 国网天津市电力公司电力科学研究院 | Power equipment state detection robot under dangerous power scene |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190111 |
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| RJ01 | Rejection of invention patent application after publication |