阅读说明：本技术 爬行机器人升降平台、图像获取装置以及爬行机器人 (Crawling robot lifting platform, image acquisition device and crawling robot ) 是由 宋有聚 杜联栋 于 2019-11-27 设计创作，主要内容包括：本申请公开一种爬行机器人升降平台、图像获取装置以及爬行机器人。爬行机器人升降平台包括控制舱体、升降组件以及伸缩机构。控制舱体用于安装图像获取设备。升降组件具有驱动端、固定部以及升降部,固定部用于固定于爬行机器人的车体上表面,升降部固定控制舱体。伸缩机构连接于控制舱体,伸缩机构的执行端输出伸缩运动,伸缩机构的执行端驱动驱动端,使得升降部相对于固定部作升降运动。本申请提供的技术方案能够在爬行机器人工作时,调整图像获取设备的高度,充分地获取管道内的图像。(The application discloses climbing robot lift platform, image acquisition device and climbing robot. The climbing robot lifting platform comprises a control cabin body, a lifting assembly and a telescopic mechanism. The control cabin is used for installing the image acquisition equipment. The lifting assembly is provided with a driving end, a fixing part and a lifting part, the fixing part is used for being fixed on the upper surface of the vehicle body of the crawling robot, and the lifting part is used for fixing the control cabin body. The telescopic mechanism is connected to the control cabin body, the actuating end of the telescopic mechanism outputs telescopic motion, and the actuating end of the telescopic mechanism drives the driving end, so that the lifting part can move up and down relative to the fixing part. The technical scheme that this application provided can be when crawling robot work, the height of adjustment image acquisition equipment acquires the image in the pipeline fully.)

1. A climbing robot lift platform, its characterized in that includes:

the control cabin is used for installing image acquisition equipment;

the lifting assembly is provided with a driving end, a fixing part and a lifting part, the fixing part is used for being fixed on the upper surface of the vehicle body of the crawling robot, and the lifting part is fixed on the control cabin body; and

the telescopic mechanism is connected to the control cabin body, telescopic movement is output by the execution end of the telescopic mechanism, and the execution end of the telescopic mechanism drives the driving end, so that the lifting part moves up and down relative to the fixed part.

2. The crawling robot lifting platform of claim 1,

the fixed part and the lifting part are connected through a connecting rod component, so that the lifting part can lift relative to the fixed part, and the driving end is arranged on the lifting part;

the telescopic mechanism is hinged to the control cabin body, and an execution end of the telescopic mechanism is hinged to the driving end.

3. The crawling robot lifting platform of claim 2,

the connecting rod component comprises two supporting parts which are hinged in a crossed mode, and two ends of each supporting part are hinged to the fixing part and the lifting part respectively.

4. The crawling robot lifting platform of claim 3,

the lifting part is provided with a main sliding chute, and the fixing part is provided with an auxiliary sliding chute;

one end of one of the supporting parts is hinged in the main sliding groove and can slide along the main sliding groove, and one end of the other supporting part is hinged in the auxiliary sliding groove and can slide along the auxiliary sliding groove.

5. The crawling robot lifting platform of claim 2,

one end of the control cabin body is provided with a main hinged frame, the telescopic mechanism is hinged to the main hinged frame through a rotating shaft, one end, far away from the main hinged frame, of the lifting portion is provided with an auxiliary hinged frame, and an execution end of the telescopic mechanism is hinged to the auxiliary hinged frame through the rotating shaft.

6. The crawling robot lifting platform of claim 1,

the telescopic mechanism is a screw rod telescopic mechanism.

7. An image pickup apparatus characterized by comprising

An image acquisition device; and

the crawling robot lifting platform of any of claims 1-6;

the image acquisition device is mounted to the control cabin.

8. The image capturing apparatus according to claim 7,

the image acquisition equipment comprises a camera component, an auxiliary light source component and a control PCBA component;

the crawling robot lifting platform further comprises a control cabin cover, and the control cabin cover covers the control cabin body;

the camera component and the auxiliary light source component are arranged at the front end of the control cabin body, and the control PCBA component covers the control cabin body through a control cabin cover.

9. The image capturing apparatus according to claim 8,

the image acquisition equipment further comprises a rear-view camera component, and the rear-view camera component is arranged at the rear end of the control cabin.

10. A crawling robot, comprising:

a robot car body; and

the image acquisition apparatus of any one of claims 7 to 9;

the image acquisition device is fixed on the robot car body through a fixing part of the lifting component.

Technical Field

The application relates to the technical field of robots, in particular to a crawling robot lifting platform, an image acquisition device and a crawling robot.

Background

Nowadays, the technology is developed at a high speed, and various municipal pipelines, long-distance pipelines and industrial pipelines are distributed all over the world. The subsequent pipeline maintenance work becomes a serious concern for the continuous development of the assistance force. Although various pipeline conveying media are different, the maintenance difficulty is almost the same. Therefore, various pipeline crawling robots for pipeline detection and maintenance are produced at the same time.

The existing crawling robot can acquire images inside the pipeline, so that pipeline maintenance personnel can know the conditions inside the pipeline conveniently. However, the conventional crawling robot cannot adjust the height of the image capturing device due to structural limitations, and it is difficult to sufficiently capture images of the inside of the pipe.

Disclosure of Invention

The application provides a robot that crawls lift platform, image acquisition device and robot of crawling, robot that crawls lift platform, image acquisition device and robot of crawling can adjust the height of image acquisition equipment, acquires the image in the pipeline fully.

First aspect, the application provides climbing robot lift platform, climbing robot lift platform is including control cabin body, lifting unit and telescopic machanism. The control cabin is used for installing the image acquisition equipment. The lifting assembly is provided with a driving end, a fixing part and a lifting part, the fixing part is used for being fixed on the upper surface of the vehicle body of the crawling robot, and the lifting part is used for fixing the control cabin body. The telescopic mechanism is connected to the control cabin body, the actuating end of the telescopic mechanism outputs telescopic motion, and the actuating end of the telescopic mechanism drives the driving end, so that the lifting part can move up and down relative to the fixing part.

In the above scheme, a climbing robot lifting platform is provided, climbing robot lifting platform is used for installing in climbing robot's automobile body upper surface to and be used for installing image acquisition equipment. When the crawling robot walks in the pipeline, the height of the image acquisition equipment can be adjusted through the lifting of the lifting assembly, so that the image acquisition equipment can acquire images with different heights. The telescopic mechanism is connected to the control cabin, and the execution end of the telescopic mechanism outputs telescopic motion to enable the lifting part to do lifting motion relative to the fixing part, so that the control cabin can lift relative to the vehicle body of the crawling robot, the height of the image acquisition equipment can be adjusted, and images in the pipeline can be fully acquired.

In one possible implementation mode, the fixing part and the lifting part are connected through a connecting rod component, so that the lifting part can lift relative to the fixing part, and the driving end is arranged on the lifting part;

the telescopic mechanism is hinged with the control cabin body, and the execution end of the telescopic mechanism is hinged with the driving end.

Alternatively, in a possible implementation, the link member includes two supporting portions hinged crosswise, and both ends of the supporting portions are hinged to the fixing portion and the lifting portion, respectively.

Optionally, in a possible implementation, the lifting portion is formed with a main chute, and the fixing portion is formed with a sub chute;

one end of one of the supporting parts is hinged in the main sliding groove and can slide along the main sliding groove, and one end of the other supporting part is hinged in the auxiliary sliding groove and can slide along the auxiliary sliding groove.

Optionally, in a possible implementation manner, one end of the control cabin is provided with a main hinge frame, the telescopic mechanism is hinged to the main hinge frame through a rotating shaft, one end of the lifting part, which is far away from the main hinge frame, is provided with an auxiliary hinge frame, and an execution end of the telescopic mechanism is hinged to the auxiliary hinge frame through a rotating shaft.

Optionally, in one possible implementation, the telescoping mechanism is a lead screw telescoping mechanism.

In a second aspect, the application further provides an image acquisition device, and the image acquisition device comprises an image acquisition device and the climbing robot lifting platform provided by the first aspect. The image acquisition equipment is mounted on the control cabin.

In the above scheme, the image acquisition device adopts the climbing robot lifting platform provided by the first aspect, so that when the image acquisition device is installed on the vehicle body of the climbing robot, the height of the image acquisition equipment can be adjusted through the climbing robot lifting platform, so as to fully acquire images in the pipeline.

Optionally, in a possible implementation, the image acquisition device includes a camera component, an auxiliary light source component, and a control PCBA component;

the crawling robot lifting platform further comprises a control cabin cover, and the control cabin cover covers the control cabin body;

the camera component and the auxiliary light source component are arranged at the front end of the control cabin body, and the control PCBA component covers the control cabin body through the control cabin cover.

Optionally, in a possible implementation manner, the image acquisition device further includes a rear-view camera component, and the rear-view camera component is disposed at the rear end of the control cabin.

In a third aspect, the application further provides a crawling robot, and the crawling robot comprises a robot body and the image acquisition device provided by the second aspect. The image acquisition device is fixed on the robot body through the fixing part of the lifting component.

In the above-mentioned scheme, provide one kind and can be to the robot of crawling of image acquisition equipment height adjustment, this robot of crawling can fully acquire the image in the pipeline.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic perspective view of a climbing robot lifting platform in a first state according to the present embodiment;

fig. 2 is a schematic perspective view of the climbing robot lifting platform in the second state in the embodiment;

fig. 3 is an exploded perspective view of the climbing robot lifting platform in the embodiment;

FIG. 4 is a schematic structural diagram of the lifting assembly of the present embodiment;

FIG. 5 is a schematic structural diagram of the retracting mechanism and the lifting assembly in this embodiment;

FIG. 6 is an exploded perspective view of the image capturing device according to the present embodiment;

FIG. 7 is a schematic structural diagram of the control cabin and the control cabin cover in the present embodiment;

fig. 8 is a schematic structural view of the crawling robot in the present embodiment.

Icon: 30-a climbing robot lifting platform; 30 a-an image acquisition device; 30 b-a camera component; 30 c-an auxiliary light source component; 30 d-control PCBA component; 30 e-rear view camera component; 30A-an image acquisition device; 31-controlling the cabin; 31 a-control hatch; 32-a lifting assembly; 33-a telescoping mechanism; 310-a main hinge frame; 320-a driving end; 321-a fixed part; 321 a-an auxiliary chute; 321 b-a fixed rod; 322-a lifting section; 322 a-main chute; 322 b-lifting rod members; 322 c-secondary hinge frame; 323-a link member; 323 a-support bar;

10-a crawling robot; 10 a-robot car body.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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 application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, refer to the orientation or positional relationship as shown in the drawings, or as conventionally placed in use of the product of the application, or as conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.

In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

The technical solution in the present application will be described below with reference to the accompanying drawings.

The present embodiment provides a climbing robot lifting platform 30, and the climbing robot lifting platform 30 is used for installing an image capturing device 30a, and is applied to a climbing robot, and can adjust the height of the image capturing device 30a to sufficiently capture images in a pipeline.

Referring to fig. 1, fig. 2 and fig. 3, fig. 1 shows a three-dimensional structure of the climbing robot lifting platform 30 in the present embodiment in a first state, fig. 2 shows a three-dimensional structure of the climbing robot lifting platform 30 in the present embodiment in a second state, and fig. 3 shows an explosion schematic of the climbing robot lifting platform 30 in the present embodiment.

The elevating platform 30 of the crawling robot includes a control cabin 31, an elevating assembly 32, and a telescoping mechanism 33. The control cabin 31 is used for mounting the image pickup device 30 a. The lifting unit 32 has a driving end 320, a fixing portion 321, and a lifting portion 322, the fixing portion 321 is fixed to the upper surface of the vehicle body of the crawling robot, and the lifting portion 322 is fixed to the control cabin 31. The telescopic mechanism 33 is connected to the control cabin 31, the actuating end of the telescopic mechanism 33 outputs telescopic motion, and the actuating end of the telescopic mechanism 33 drives the driving end 320, so that the lifting part 322 moves up and down relative to the fixing part 321.

As shown in fig. 1 and 2, fig. 1 and 2 illustrate a process of lifting the climbing robot lifting platform 30. It should be noted that fig. 1 and 2 also show an image acquisition device 30 a.

The crawling robot lifting platform 30 is for being mounted on the upper surface of the vehicle body of the crawling robot, and for mounting the image pickup device 30 a. When the crawling robot walks in the pipeline, the height of the image acquisition device 30a can be adjusted through the lifting of the lifting assembly 32, so that the image acquisition device 30a can acquire images with different heights. The telescopic mechanism 33 is connected to the control cabin 31, and since the execution end of the telescopic mechanism 33 outputs telescopic motion to enable the lifting part 322 to perform lifting motion relative to the fixing part 321, the control cabin 31 can be lifted relative to the body of the crawling robot, so that the height of the image capturing device 30a can be adjusted to fully capture the images in the pipeline.

Referring to fig. 4 and 5, fig. 4 shows a specific structure of the lifting assembly 32 in the present embodiment, and fig. 5 shows a specific structure of the telescopic mechanism 33 and the lifting assembly 32.

The fixed portion 321 and the lifting portion 322 are connected by a link member 323 so that the lifting portion 322 can be lifted with respect to the fixed portion 321, and the driving end 320 is provided to the lifting portion 322. The telescopic mechanism 33 is hinged to the control cabin 31, and an execution end of the telescopic mechanism 33 is hinged to the driving end 320.

Alternatively, in a possible implementation, the link member 323 includes two cross-hinged support portions, both ends of which are hinged to the fixed portion 321 and the lifting portion 322, respectively.

In other embodiments, the number of the support portions in the link member 323 is not limited, and four, six, eight, or the like support portions may be sequentially cross-hinged.

In other embodiments, the lifting unit 322 can be slidably engaged with the fixing unit 321, so that when the driving end 320 is pushed by the telescopic mechanism 33, the lifting unit 322 can be relatively lifted along the sliding direction, for example, the lifting unit 322 is formed with an inclined sliding slot, the fixing unit 321 can be slid along the sliding slot, and when the lifting unit 322 is pushed (the driving end 320 is located at the lifting unit 322), the lifting unit 322 and the fixing unit 321 are relatively displaced to form lifting.

Alternatively, in one possible implementation, the lifting portion 322 is formed with a main chute 322a, and the fixing portion 321 is formed with a sub chute 321 a. One end of one of the support portions is hinged in the main sliding groove 322a and can slide along the main sliding groove 322a, and one end of the other support portion is hinged in the auxiliary sliding groove 321a and can slide along the auxiliary sliding groove 321 a.

Referring to fig. 4, the support portion includes two support rods 323a, the link member 323 includes four support rods 323a, each two support rods 323a are hinged in a crossed manner to form a cross-shaped link, and the two cross-shaped links are arranged in parallel. The fixing portion 321 includes two fixing rod members 321b, and the elevating portion 322 includes two elevating rod members 322 b. The lifting rod 322b and the fixing rod 321b form a main sliding groove 322a and an auxiliary sliding groove 321a on one side, two ends of one side of the cross-shaped connecting rod are slidably disposed in the main sliding groove 322a and the auxiliary sliding groove 321a, and two ends of the other side of the cross-shaped connecting rod are respectively hinged to the lifting rod 322b and the fixing rod 321b through a rotating shaft to form a stable connecting rod component 323.

Wherein the fixing rod 321b is formed with a screw hole for connection with a vehicle body of the crawling robot to be fixed to the vehicle body by a bolt.

In the above embodiment, the fixed portion 321 and the lifting portion 322 are connected by the link member 323, and the link of the link member 323 is rotated by the pushing of the telescopic mechanism 33, so that the fixed portion 321 and the lifting portion 322 are relatively lifted, and the ratio of the lifting height to the telescopic stroke of the telescopic mechanism 33 can be increased. In addition, since the main chute 322a is formed in the lifting unit 322 and the sub chute 321a is formed in the fixing unit 321, the ratio of the lifting height to the extending/retracting stroke of the extending/retracting mechanism 33 can be increased as compared with the conventional method in which the main chute is directly pushed and lifted, and the height adjustment range of the image capturing apparatus 30a is increased.

Optionally, in a possible implementation, one end of the control cabin 31 is provided with a main hinge frame 310, the telescopic mechanism 33 is hinged to the main hinge frame 310 through a rotating shaft, one end of the lifting part 322 far away from the main hinge frame 310 is provided with an auxiliary hinge frame 322c, and an execution end of the telescopic mechanism 33 is hinged to the auxiliary hinge frame 322c through a rotating shaft, that is, the auxiliary hinge frame 322c is the driving end 320.

It should be noted that the control cabin 31 is L-shaped, the telescopic mechanism 33 is disposed at one vertical end of the control cabin 31, and one horizontal end of the control cabin 31 is fixed to the two lifting rods 322b by bolts.

Alternatively, in one possible implementation, the telescoping mechanism 33 is a lead screw telescoping mechanism.

In other embodiments, the telescopic mechanism 33 may be other structures capable of providing telescopic motion, such as a cylinder, a hydraulic cylinder, and the like.

The present embodiment also provides an image capturing apparatus 30A, and the image capturing apparatus 30A includes an image capturing device 30A and the climbing robot lifting platform 30 provided above. The image acquisition device 30a is mounted to the control cabin 31.

The image taking apparatus 30A employs the climbing robot elevating platform 30 provided as described above, so that when the image taking apparatus 30A is mounted to the body of the climbing robot, the image taking device 30A can adjust the height by the climbing robot elevating platform 30 to sufficiently take the image in the pipe.

Referring to fig. 6 and 7, fig. 6 shows an explosion schematic diagram of the image capturing device 30A in the present embodiment, and fig. 7 shows a specific structure of the control cabin 31 and the control cabin cover 31 a.

The image pickup apparatus 30a includes a camera section 30b, an auxiliary light source section 30c, and a control PCBA section 30 d. The control PCBA component 30d is a circuit board that can control the camera head component 30b, the auxiliary light source component 30c, and the telescopic mechanism 33.

The climbing robot lifting platform 30 further comprises a control cabin cover 31a, and the control cabin cover 31a covers the control cabin 31.

The camera head unit 30b and the auxiliary light source unit 30c are provided at the front end of the control pod 31, i.e., at the vertical end of the control pod 31, and the control PCBA unit 30d is fitted to the control pod 31 via the control pod cover 31 a.

Optionally, in a possible implementation manner, the image acquisition device 30a further includes a rear-view camera component 30e, and the rear-view camera component 30e is disposed at the rear end of the control cabin 31. The image acquisition can be performed on the traveling rear side of the crawling robot by the rear-view camera part 30 e.

Please refer to fig. 8, fig. 8 shows a specific structure of the crawling robot. The present embodiment also provides a crawling robot 10, the crawling robot 10 including a robot body 10A and the image acquisition apparatus 30A provided above. The image capturing device 30A is fixed to the robot body 10A by the fixing portion 321 of the elevating unit 32.

When the crawling robot 10 travels in the pipeline, the execution end of the telescoping mechanism 33 outputs telescoping motion to enable the lifting part 322 to perform lifting motion relative to the fixing part 321, and then the cabin 31 is controlled to be capable of lifting relative to the robot body 10a, so that the height of the image acquisition device 30a can be adjusted to fully acquire images in the pipeline, and as the fixing part 321 and the lifting part 322 are connected through the connecting rod member 323, the connecting rod of the connecting rod member 323 rotates by the pushing of the telescoping mechanism 33, so that the relative lifting of the fixing part 321 and the lifting part 322 is realized, and the ratio of the lifting height to the telescoping stroke of the telescoping mechanism 33 can be increased.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.