Inspection off-road vehicle and inspection system

Abstract

The present invention discloses an inspection off-road vehicle and an inspection system, and relates to the technical field of inspection vehicles. The inspection off-road vehicle comprises an inspection mechanism and a traveling mechanism, wherein the traveling mechanism comprises a box, two swinging connecting rods, four first driving wheels and two second driving wheels, the inspection mechanism is arranged in the box and used for surveying the environment, the box has two opposite outer side walls, the middle parts of the two swinging connecting rods are rotatably connected to the two outer side walls respectively, and are both arranged near the front end of the box, the four first driving wheels are connected to the two ends of each of the two swinging connecting rods, the two second driving wheels are respectively connected to the two outer side walls, and are both arranged near the rear end of the box, and the first driving wheel and the second driving wheel are both hub motors to jointly drive the box to move. The inspection off-road vehicle and the inspection system have the characteristics of being able to replace manual inspection and handling work in a tunnel environment after blasting or a mountain environment after blasting.

Description

Technical Field

[0001] The present invention relates to the technical field of patrol vehicles, and in particular to a patrol off-road vehicle and a patrol system. Background Art

[0002] During the construction phase of high-speed rail, subway, light rail, tram or large railway projects in my country, there is a lot of demand for blasting construction in tunnels and caves.

[0003] After the blasting is completed, it is necessary to inspect and survey the tunnel environment and mountain conditions after the blasting. However, the existing inspection and survey methods are manual, which is very dangerous. During the inspection, personnel may be in danger of landslides, collapse of the tunnel at any time, which may easily lead to unnecessary casualties. In addition, it is difficult to carry inspection materials in the tunnel environment and mountain environment after the blasting.

[0004] In view of this, it is particularly important to develop and design an inspection off-road vehicle and an inspection system that can solve the above-mentioned technical problems. Summary of the invention

[0005] The object of the present invention is to provide an off-road inspection vehicle, which has the characteristic of being able to replace manual labor in performing inspection and transportation work in a tunnel environment after blasting or a mountain environment after blasting.

[0006] Another object of the present invention is to provide an inspection system, which includes an inspection off-road vehicle. The inspection off-road vehicle has the characteristic of being able to replace manual labor in performing inspection and transportation work in a tunnel environment after blasting or a mountain environment after blasting.

[0007] The present invention provides a technical solution:

[0008] In the first aspect, an embodiment of the present invention provides an inspection off-road vehicle, including an inspection mechanism and a walking mechanism; the walking mechanism includes a box, two swing links, four first drive wheels and two second drive wheels, the inspection mechanism is arranged in the box and is used to survey the environment, the box has two relative outer walls; the middle parts of the two swing links are rotatably connected to the two outer walls respectively, and are all arranged close to the front end of the box, the four first drive wheels are connected to the two ends of each of the two swing links; the two second drive wheels are respectively connected to the two outer walls, and are both arranged close to the rear end of the box; the first drive wheel and the second drive wheel are both hub motors to jointly drive the box to move.

[0009] In combination with the first aspect, in a first implementation of the first aspect, the front end of the box is located between the first driving wheel and the second driving wheel.

[0010] In combination with the first aspect and its above-mentioned implementation, in a second implementation of the first aspect, the swing link includes a first swing section and a second swing section that are connected to each other and set at an angle; the connection between the first swing section and the second swing section is rotatably connected to the box body, and the connection between the first swing section and the second swing section is higher than the first drive wheel.

[0011] In combination with the first aspect and its above-mentioned implementation manner, in a third implementation manner of the first aspect, the walking mechanism also includes a fixed connecting rod, and the fixed connecting rod includes a first fixed connecting section; one end of the first fixed connecting section is fixedly connected to the outer wall, and the other end extends toward the front end of the box body, and is rotatably connected to the middle part of the swing connecting rod to rotatably connect the swing connecting rod and the box body.

[0012] In combination with the first aspect and the above-mentioned implementation manner, in a fourth implementation manner of the first aspect, a connection point between the middle portion of the swing link and the first fixed connection section is located at the bottom or below the box body.

[0013] In combination with the first aspect and the above-mentioned implementation manner, in a fifth implementation manner of the first aspect, the fixed connecting rod also includes a second fixed connecting section, which is connected to an end of the first fixed connecting section away from the swing connecting rod; the second fixed connecting section extends toward the rear end of the box body away from an end of the first fixed connecting section and is connected to the second driving wheel, so that the rear end of the box body is located between the swing connecting rod and the second driving wheel.

[0014] In combination with the first aspect and the above-mentioned implementation manner, in a sixth implementation manner of the first aspect, the first fixed connection section and the second fixed connection section are arranged at an angle, and the connection between the fixed connecting rod and the box body is higher than the first driving wheel and the second driving wheel.

[0015] In combination with the first aspect and the above-mentioned implementation manners, in the seventh implementation manner of the first aspect, the fixed connecting rod also includes a third fixed connecting segment, one end of the third fixed connecting segment is connected to an end of the second fixed connecting segment away from the first fixed connecting segment, and the other end extends downward and is connected to the second driving wheel to connect the second driving wheel and the second fixed connecting segment.

[0016] In combination with the first aspect and the above-mentioned implementation manner, in an eighth implementation manner of the first aspect, the box body includes a crossbeam and a main body connected to each other, the inspection mechanism is arranged on the main body, and the first fixed connection section is connected to the crossbeam.

[0017] In the second aspect, the embodiment of the present invention further provides a patrol system, including the above-mentioned patrol off-road vehicle. The patrol off-road vehicle includes a patrol mechanism and a walking mechanism; the walking mechanism includes a box, two swing links, four first drive wheels and two second drive wheels, the patrol mechanism is arranged in the box, and is used to survey the environment, the box has two opposite outer side walls; the middle parts of the two swing links are rotatably connected to the two outer side walls, and are all arranged close to the front end of the box, the four first drive wheels are connected to the two ends of each of the two swing links; the two second drive wheels are respectively connected to the two outer side walls, and are all arranged close to the rear end of the box; the first drive wheel and the second drive wheel are both hub motors to jointly drive the box to move.

[0018] Compared with the prior art, the inspection off-road vehicle and the inspection system provided by the embodiments of the present invention have the following beneficial effects over the prior art:

[0019] The inspection mechanism is arranged on the box body to survey the environment on the box body, and the box body also has two opposite outer side walls, the middle parts of the two swing links are rotatably connected to the two outer side walls respectively, and are both arranged near the front end of the box body, and the four first driving wheels are connected to the two ends of each of the two swing links, that is, the swing link can rotate along the outer side wall relative to the box body, and the two ends of each swing link are respectively installed with the first driving wheel, when the walking mechanism encounters obstacles such as gravel, the first driving wheel in front can first climb onto the gravel, the swing link rotates relative to the box body, and the first driving wheel in the back climbs onto the gravel again, and the rotating swing link facilitates the two first driving wheels on it to climb over the obstacles in sequence. The two second driving wheels are respectively connected to the two outer side walls, and are both arranged near the rear end of the box body, so as to support the box body together with the first driving wheel one in front and one in the back, and the first driving wheel and the second driving wheel are both hub motors, so that the six driving wheels can drive the box body to move together. In this way, by setting a swing link that is rotatably connected to the box body, when encountering an obstacle, the first driving wheel in front on the swing link can first climb onto the obstacle, and at the same time the swing link rotates relative to the box body, so that the first driving wheel has a higher climbing height, and the first driving wheel at the back will then climb onto the obstacle, so as to facilitate crossing the obstacle and adapt to walking in a tunnel environment after blasting or a mountain environment after blasting. In addition, by setting six driving wheels to drive the movement of the box body, the obstacle crossing ability of the inspection off-road vehicle is further improved.

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative work.

[0022] Figure 1 A schematic structural diagram of an off-road inspection vehicle provided in an embodiment of the present invention applied to an inspection system.

[0023] Figure 2 A schematic diagram of the three-dimensional structure of the inspection off-road vehicle provided in an embodiment of the present invention.

[0024] Figure 3 A schematic structural diagram of a side view of an inspection off-road vehicle provided in an embodiment of the present invention.

[0025] Figure 4 A perspective structural diagram of a patrol off-road vehicle provided in an embodiment of the present invention.

[0026] Figure 5 A schematic diagram of the structure of the inspection off-road vehicle provided in an embodiment of the present invention when the front first driving wheel climbs onto an obstacle.

[0027] Figure 6 A schematic diagram of the structure of the inspection off-road vehicle provided in an embodiment of the present invention when the first driving wheels have climbed onto an obstacle.

[0028] Figure 7 A schematic diagram of the structure of the inspection off-road vehicle provided in an embodiment of the present invention when the first drive wheel and the second drive wheel both climb onto an obstacle.

[0029] Figure 8 A schematic structural diagram of the first front driving wheel of the inspection off-road vehicle provided in an embodiment of the present invention when crossing an obstacle.

[0030] Fig. 9 A schematic diagram of the structure of the inspection off-road vehicle provided in an embodiment of the present invention when the first driving wheels all cross an obstacle.

[0031] Fig.10 A schematic diagram of the structure of the inspection off-road vehicle provided in an embodiment of the present invention when the first drive wheel and the second drive wheel both cross an obstacle.

[0032] Icons: 100-inspection system; 20-inspection control terminal; 10-inspection off-road vehicle; 12-travel mechanism; 121-box; 1212-mounting support; 1213-crossbeam; 1215-main body; 12151-outer wall; 12152-front side wall; 12153-rear side wall; 12155-top plate; 12156-bottom plate; 126-swing link; 1261-first swing section; 1262-second swing section; 127-fixed link; 1271-first fixed connection section; 1272-second fixed connection section; 1273-third fixed connection section; 128-first drive wheel; 129-second drive wheel; 13-inspection mechanism; 15-main controller; 900-obstacle. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0034] It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. The orientation or position relationship indicated by the terms "upper", "lower", "inner", "outer", "left", "right", etc. is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship usually placed when the invention product is used, or the orientation or position relationship commonly understood by those skilled in the art. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. The terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance. The terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such a process, method, article or device. Without more constraints, an element defined by the phrase "comprising a..." does not exclude the existence of other identical elements in the process, method, article or apparatus comprising the element.

[0035] It should also be noted that, unless otherwise clearly specified and limited, the terms "disposed", "connected" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings.

[0037] Example:

[0038] See also Figure 1 , Figure 1 A schematic structural diagram of an inspection off-road vehicle 10 provided in an embodiment of the present invention applied to an inspection system 100.

[0039] The first embodiment of the present invention provides an off-road inspection vehicle 10, which has the characteristics of being able to replace manual inspection and handling work in a tunnel environment after blasting or a mountain environment after blasting. The off-road inspection vehicle 10 can be applied to an inspection system 100 or an exploration system, etc. Of course, the off-road inspection vehicle 10 can also be used independently.

[0040] Among them, taking the application of the inspection off-road vehicle 10 in the inspection system 100 as an example, the inspection system 100 includes the inspection off-road vehicle 10, and the inspection equipment is carried by the inspection off-road vehicle 10. The inspection system 100 may also include an inspection control terminal 20, and the inspection control terminal 20 is connected to the inspection off-road vehicle 10 for mutual data transmission. For example, the inspection control terminal 20 obtains data such as the working status of the inspection off-road vehicle 10, and the inspection off-road vehicle 10 receives instructions and other information sent by the inspection control terminal 20 to control the movement of the inspection off-road vehicle 10. It can be understood that the inspection control terminal 20 can be a mobile phone, a computer, a server, etc., and the connection method between the inspection control terminal 20 and the inspection off-road vehicle 10 can be a network connection, a Bluetooth connection, and a WIFI (mobile hotspot) connection.

[0041] Since the inspection system 100 adopts the inspection off-road vehicle 10 provided by the embodiment of the present invention, the inspection system 100 also has the characteristic of being able to replace manual inspection and transportation work in a tunnel environment after blasting or a mountain environment after blasting.

[0042] The structural composition, working principle and beneficial effects of the inspection off-road vehicle 10 provided in an embodiment of the present invention will be specifically introduced below.

[0043] See also Figure 2 and Figure 3, Figure 2 A schematic diagram of the three-dimensional structure of the inspection off-road vehicle 10 provided in an embodiment of the present invention. Figure 3 A schematic structural diagram of a side view of an inspection off-road vehicle 10 provided in an embodiment of the present invention.

[0044] The inspection off-road vehicle 10 includes an inspection mechanism 13 and a traveling mechanism 12. The traveling mechanism 12 is used to carry the inspection mechanism 13 and drive the inspection mechanism 13 to perform inspection work in a tunnel environment after blasting or a mountain environment after blasting.

[0045] The walking mechanism 12 includes a box body 121, two swing links 126, four first driving wheels 128 and two second driving wheels 129. The inspection mechanism 13 is arranged on the box body 121 to survey the environment on the box body 121. In addition, the box body 121 also has two opposite outer side walls 12151. In other words, the two outer side walls 12151 are respectively located on two opposite sides of the box body 121, and the two outer side walls 12151 are arranged back to back.

[0046] The middle parts of the two swing links 126 are rotatably connected to the two outer side walls 12151 respectively, and are both arranged near the front end of the box body 121. The four first drive wheels 128 are connected to the two ends of each of the two swing links 126. That is to say, the swing link 126 can rotate along the outer side walls 12151 relative to the box body 121, and the first drive wheels 128 are respectively installed at the two ends of each swing link 126. When the walking mechanism 12 encounters an obstacle 900 such as gravel or steps, the front first drive wheel 128 can first climb onto the gravel, and the swing link 126 rotates relative to the box body 121, and the rear first drive wheel 128 then climbs onto the gravel. By providing a rotatable swing link 126, the two first drive wheels 128 thereon can climb over the obstacle 900 in turn, thereby improving stability when traversing obstacles.

[0047] In addition, the two second drive wheels 129 are respectively connected to the two outer side walls 12151, and are both arranged close to the rear end of the box body 121, so as to support the box body 121 together with the first drive wheel 128 in front and behind, and the first drive wheel 128 and the second drive wheel 129 are both hub motors, so that the six drive wheels can jointly drive the box body 121 to move, thereby improving the driving capacity.

[0048] In this way, by setting a swing link 126 that is rotatably connected to the box body 121, when encountering an obstacle 900, the front first drive wheel 128 on the swing link 126 can first climb onto the obstacle 900, and at the same time, the swing link 126 rotates relative to the box body 121, so that the first drive wheel 128 has a higher climbing height, and the rear first drive wheel 128 then climbs onto the obstacle 900, so as to cross the obstacle 900 and adapt to walking in a tunnel environment after blasting or a mountain environment after blasting. In addition, by setting six drive wheels to drive the box body 121 to move, the obstacle crossing ability of the inspection off-road vehicle 10 is further improved.

[0049] When crossing obstacles, such as gravel or stairs, the front swing link 126 will rotate relative to the box 121 under the action of the first drive wheel 128, and the front first drive wheel 128 will climb up the obstacle 900, and the rear first drive wheel 128 will climb up the obstacle 900 again, so that the first drive wheels 128 on the swing link 126 can successively cross the obstacle 900. After the first drive wheel 128 on the swing link 126 passes the obstacle 900, the four front first drive wheels 128 pull, and at the same time, under the drive of the rear second drive wheel 129, the second drive wheel 129 will cross the obstacle 900 again, so that the inspection off-road vehicle 10 has a strong obstacle crossing function, and can walk or carry objects in a tunnel environment after blasting or a mountain environment after blasting.

[0050] It should be noted that the above-mentioned middle part refers to the middle part when it is divided into three equal parts in the length direction; the above-mentioned hub motor can be a single-axis hub servo motor of model ZLLG65ASM250, and includes a driver (not shown) electrically connected to the hub motor, and the inspection mechanism 13 can also include multiple functional components (not shown), for example, laser radar, depth camera, camera, pan-tilt head, a robotic arm capable of carrying and clamping objects, automatic navigation in outdoor environment, real-time positioning and mapping system, path planning system, automatic tracking system, intelligent obstacle avoidance system, infrared and visible light dual-camera mechanism, etc., to enrich the functions of the inspection off-road vehicle 10.

[0051] In addition, the inspection off-road vehicle 10 may also include a main controller 15, which is respectively connected to the first drive wheel 128, the second drive wheel 129 and each functional component of the inspection mechanism 13, and is used to communicate with the inspection control terminal 20 to control the rotation of the first drive wheel 128 and the second drive wheel 129. For example, when turning, the main controller 15 controls the first drive wheel 128 and the second drive wheel 129 on one side to be stationary and not rotate, and the first drive wheel 128 and the second drive wheel 129 on the other side rotate at a low speed. It can turn when there is a speed difference between the left and right drive wheel speeds, or control the first drive wheel 128 and the second drive wheel 129 on both sides to rotate in opposite directions, so as to realize the inspection off-road vehicle 10 turning in place. The inspection vehicle may also include a remote controller (not shown), which is connected to the main controller 15 in communication to control the movement of the inspection off-road vehicle 10 through the remote controller. The model of the remote controller may be AT9S. The inspection off-road vehicle 10 may also include a battery, which may be a lithium battery, etc., which provides power to the main controller 15, the first drive wheel 128, the second drive wheel 129, etc. Of course, the inspection off-road vehicle 10 can also be powered by an external cable.

[0052] It is understandable that the main controller 15 can also be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a voice processor, and a video processor, etc.; it can also be a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The main controller 15 can also be any conventional processor, such as a PLC (Programmable Logic Controller), a single-chip microcomputer, etc.

[0053] Furthermore, the front end of the box 121 can be located between the first drive wheel 128 and the second drive wheel 129. In other words, when the inspection off-road vehicle 10 overcomes an obstacle, the first drive wheel 128 in front first abuts against the obstacle 900. When the first drive wheel 128 overcomes the obstacle 900, the swing link 126 rotates accordingly, thereby raising the position of the middle part of the swing link 126 to lift the box 121, so as to facilitate the first drive wheel 128 to overcome the obstacle.

[0054] Furthermore, the swing link 126 may include a first swing section 1261 and a second swing section 1262 which are connected to each other and set at an angle, and the connection between the first swing section 1261 and the second swing section 1262 is rotatably connected to the box body 121, and the connection between the first swing section 1261 and the second swing section 1262 is higher than the first drive wheel 128. In other words, the swing link 126 is set in an inverted V-shape, and its corresponding two first drive wheels 128 are respectively connected to the two ends of the swing link 126. In this way, when surmounting an obstacle, the first drive wheel 128 in front surmounts the obstacle first. At this time, the angle of the swing link 126 is facing the obstacle 900. The swing link 126 set at an angle makes it difficult for the swing link 126 to collide with the obstacle 900 when surmounting the obstacle, thereby further improving the obstacle surmounting ability of the inspection off-road vehicle 10.

[0055] Please continue reading Figure 2 and Figure 3 The walking mechanism 12 may also include a fixed link 127, which is used to connect the drive wheel so as to set the drive wheel in a suitable position. The fixed link 127 may include a first fixed connection section 1271, one end of which is fixedly connected to the outer side wall 12151, and the other end extends to the front end of the box body 121 and is rotatably connected to the middle part of the swing link 126 to rotatably connect the swing link 126 and the box body 121. In other words, the swing link 126 is connected to the box body 121 through the first fixed section, and the middle position of the swing link 126 is fixed by the first fixed connection section 1271 connected to the outer side wall 12151. The structure is relatively simple, which is convenient for design and assembly, and has little effect on the internal structure of the box body 121, so that the box body 121 can carry corresponding functional components.

[0056] It should be noted that a mounting bracket 1212 may be provided on the outer wall 12151, and the fixed link 127 may be detachably mounted on the mounting bracket 1212 to be connected to the box body 121. In addition, in this embodiment, two mounting brackets 1212 are provided on the same outer wall 12151, and the two mounting brackets 1212 are arranged at different heights so that the height of the inspection off-road vehicle 10 can be adjusted by replacing the mounting bracket 1212 connected to the fixed link 127.

[0057] Furthermore, the connection between the middle part of the swing link 126 and the first fixed connecting section 1271 is located at the bottom of the box 121, so that when the off-road vehicle overcomes an obstacle, the bottom of the box 121 is not easy to scratch the obstacle 900, further improving the obstacle-overcoming ability of the off-road vehicle, and the position of the middle part of the swing link 126 is fixed at the bottom of the box 121 by the first fixed section, which is easy to implement.

[0058] It should be noted that, in other embodiments, the connection between the middle portion of the swing link 126 and the first fixed connection section 1271 may also be located below the box body 121 to further improve the obstacle surmounting capability of the off-road vehicle.

[0059] Furthermore, the fixed connecting rod 127 may also include a second fixed connecting section 1272, which is connected to one end of the first fixed connecting section 1271 away from the swing connecting rod 126, and the second fixed connecting section 1272 extends toward the rear end of the box body 121 away from one end of the first fixed connecting section 1271, and is connected to the second driving wheel 129, so that the rear end of the box body 121 is located between the swing connecting rod 126 and the second driving wheel 129. In other words, the second fixed connecting section 1272 extends toward the rear end of the box body 121 and extends out of the rear end of the box body 121, so that the second driving wheel 129 is located behind the rear end of the box body 121, so as to improve the walking stability of the inspection off-road vehicle 10.

[0060] It should be noted that the first fixed connection section 1271 and the second fixed connection section 1272 can be set at an angle, and the connection between the fixed link 127 and the box body 121 is higher than the first drive wheel 128 and the second drive wheel 129. In other words, the first fixed connection section 1271 extends obliquely downward from the outer wall 12151 to a position close to the front end of the box body 121, and the second fixed connection section 1272 extends obliquely downward from the outer wall 12151 to a position close to the rear end of the box body 121, so as to increase the height of the box body 121 relative to the first drive wheel 128 and the second drive wheel 129, thereby improving the obstacle surmounting ability of the inspection off-road vehicle 10.

[0061] Furthermore, the fixed connecting rod 127 may also include a third fixed connecting segment 1273, one end of the third fixed connecting segment 1273 is connected to one end of the second fixed connecting segment 1272 away from the first fixed connecting segment 1271, and the other end of the third fixed connecting segment 1273 extends downward and is connected to the second driving wheel 129 to connect the second driving wheel 129 and the second fixed connecting segment 1272. In other words, the second driving wheel 129 is connected to the second fixed connecting segment 1272 through the third fixed connecting segment 1273, and the third fixed connecting segment 1273 extends the second fixed connecting segment 1272 downward to further increase the height of the second driving wheel 129 from the position where the fixed connecting rod 127 is connected to the box body 121, thereby further improving the obstacle surmounting ability of the inspection off-road vehicle 10.

[0062] See also Figure 4 , Figure 4 A perspective structural diagram of an inspection off-road vehicle 10 provided in an embodiment of the present invention.

[0063] The box body 121 includes a crossbeam 1213 and a main body 1215 that can be connected to each other. The inspection mechanism 13 is arranged on the main body 1215, and the first fixed connection section 1271 is connected to the crossbeam 1213. In other words, the first fixed connection section 1271 is connected to the main body 1215 carrying the inspection mechanism 13 through the crossbeam 1213 to improve the stability of the fixed connecting rod 127 connecting the box body 121. In this embodiment, two mounting brackets 1212 located on the same outer side wall 12151 are respectively connected to the upper and lower parts of the crossbeam 1213.

[0064] It should be noted that the outer side wall 12151 is located on the main body 1215, and the main body 1215 may also include a front side wall 12152 located at the front end and a rear side wall 12153 located at the rear end, and the front side wall 12152, the outer side wall 12151, the rear side wall 12153 and another outer side wall 12151 are connected end to end in sequence and together form the outer side surface of the main body 1215, and the main body 1215 also includes a plurality of top plates 12155 and a plurality of bottom plates 12156, and the plurality of top plates 12155 are respectively connected to the top of the front side wall 12152, the outer side wall 12151 and the rear side wall 12153, and the plurality of bottom plates 12156 are respectively connected to the bottom of the front side wall 12152, the outer side wall 12151 and the rear side wall 12153 to jointly enclose a accommodating space, and the accommodating space is used to accommodate the inspection mechanism 13.

[0065] In addition, in the present embodiment, the bottom plate 12156 at the front end of the box body 121 is set at an angle, the bottom plate 12156 in the middle is set horizontally, and the bottom plate 12156 at the rear end of the box body 121 is also set at an angle, and the bottom plate 12156 at the front end and the bottom plate 12156 at the rear end are both higher than the bottom plate 12156 in the middle, and the rotational connection between the swing link 126 and the fixed link 127 is close to the bottom plate 12156 and the front side plate set at an angle, and is higher than the bottom plate 12156 in the middle, so that when the off-road vehicle is overcoming obstacles, the front end is not easy to scratch the obstacle 900, thereby improving the obstacle-overcoming ability of the inspection off-road vehicle 10, and a lower bottom plate 12156 in the middle of the box body 121 is set to improve the accommodating capacity of the accommodating space.

[0066] See also Figure 5 , Figure 6 and Figure 7 , Figure 5 A schematic diagram of the structure of the inspection off-road vehicle 10 provided in an embodiment of the present invention when the front first driving wheel 128 climbs onto an obstacle 900. Figure 6 This is a schematic structural diagram of the inspection off-road vehicle 10 provided in an embodiment of the present invention when the first driving wheels 128 have climbed onto the obstacle 900. Figure 7This is a schematic structural diagram of the inspection off-road vehicle 10 provided in an embodiment of the present invention when the first drive wheel 128 and the second drive wheel 129 both climb onto an obstacle 900.

[0067] When the inspection off-road vehicle 10 climbs over the obstacle 900, the first driving wheel 128 in front climbs up the obstacle 900 under the combined effect of its own driving force and the driving force of the first driving wheel 128 and the second driving wheel 129 in the rear. At the same time, the swing link 126 at the front rotates relative to the box body 121 as the first driving wheel 128 rises. After the first driving wheel 128 in front climbs up the obstacle 900, the first swing section 1261 and the second swing section 129 of the swing link 126 rotate relative to the box body 121. The angle between 262 faces the obstacle 900, and then the first driving wheel 128 at the rear climbs up the obstacle 900 again, so that the first driving wheels 128 on the swing link 126 successively cross the obstacle 900. When the first driving wheel 128 on the swing link 126 passes the obstacle 900, the four first driving wheels 128 at the front are pulled, and at the same time, under the driving force of the second driving wheel 129 at the rear, the second driving wheel 129 crosses the obstacle 900 again, and then climbs over the obstacle 900.

[0068] See also Figure 8 , Fig. 9 and Fig.10 , Figure 8 A schematic structural diagram of the inspection off-road vehicle 10 provided in an embodiment of the present invention when the front first driving wheel 128 passes over an obstacle 900. Fig. 9 This is a schematic structural diagram of the first driving wheels 128 of the inspection off-road vehicle 10 provided in an embodiment of the present invention when both of them have crossed an obstacle 900 . Fig.10 This is a schematic structural diagram of the first driving wheel 128 and the second driving wheel 129 of the inspection off-road vehicle 10 provided in an embodiment of the present invention when both of them pass over an obstacle 900.

[0069] When the inspection off-road vehicle 10 passes over the obstacle 900, the first driving wheel 128 in front passes over the obstacle 900 under the action of its own driving force and the driving force of the first driving wheel 128 and the second driving wheel 129 in the rear. At the same time, the swing link 126 at the front end rotates relative to the box body 121 as the first driving wheel 128 is lowered, and after the first driving wheel 128 in front passes over the obstacle 900, the angle between the first swing section 1261 and the second swing section 1262 of the swing link 126 is approximately facing the obstacle 900. The first driving wheel 128 of the swing link 126 then passes over the obstacle 900, so that the first driving wheel 128 on the swing link 126 successively passes over the obstacle 900, and the structural setting of gradually passing over the obstacle 900 makes the box 121 more stable when passing over the obstacle, so as to facilitate the inspection mechanism 13 to conduct inspections. When the first driving wheels 128 on the swing link 126 have all passed over the obstacle 900, the four first driving wheels 128 in front are pulled, and at the same time, under the driving force of the second driving wheel 129 at the back, the second driving wheel 129 passes over the obstacle 900 again, thereby completing the obstacle crossing. Thereby, the inspection off-road vehicle 10 has a strong obstacle crossing function and can travel in a tunnel environment after blasting or a mountain environment after blasting. At the same time, since the first driving wheel 128 and the second driving wheel 129 are both hub motors, the obstacle crossing ability of the inspection off-road vehicle 10 is further improved.

[0070] In summary:

[0071] The embodiment of the present invention provides an off-road inspection vehicle 10, which has the characteristic of being able to replace manual labor in performing inspection and transportation work in a tunnel environment after blasting or a mountain environment after blasting.

[0072] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the features in the above embodiments can be combined with each other without conflict, and the present invention can also have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention. In addition, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the attached claims rather than the above description, and it is intended to include all changes within the meaning and scope of the equivalent elements of the claims. Any figure mark in the claims should not be regarded as limiting the claims involved.

Claims

1. A patrol off-road vehicle, characterized in that: Including inspection mechanism and walking mechanism; The walking mechanism includes a box, two swing links, four first drive wheels and two second drive wheels. The inspection mechanism is arranged in the box and used for surveying the environment. The box has two opposite outer side walls. The middle parts of the two swing links are rotatably connected to the two outer side walls respectively, and are both arranged near the front end of the box body; the four first driving wheels are connected to the two ends of each of the two swing links; the two second driving wheels are respectively connected to the two outer side walls, and are both arranged near the rear end of the box body; the first driving wheels and the second driving wheels are both hub motors, so as to jointly drive the box body to move; The walking mechanism further includes a fixed link, and the fixed link includes a first fixed connection section; one end of the first fixed connection section is fixedly connected to the outer side wall, and the other end of the first fixed connection section extends to the front end of the box body and is rotatably connected to the middle part of the swing link to rotatably connect the swing link and the box body; The fixed connecting rod further comprises a second fixed connecting section, the second fixed connecting section being connected to an end of the first fixed connecting section away from the swing connecting rod; an end of the second fixed connecting section away from the first fixed connecting section extends toward the rear end of the box body and is connected to the second driving wheel, so that the rear end of the box body is located between the swing connecting rod and the second driving wheel; The first fixed connection section and the second fixed connection section are arranged at an angle, and the connection between the fixed connecting rod and the box body is higher than the first driving wheel and the second driving wheel; The box body comprises a crossbeam and a main body connected to each other, the inspection mechanism is arranged on the main body, and the first fixed connection section is connected to the crossbeam; The side wall is located on the main body, and the main body may also include a front side wall located at the front end and a rear side wall located at the rear end, and the front side wall, the outer side wall, the rear side wall and another outer side wall are connected end to end in sequence and together form the outer side surface of the main body, and the main body also includes a plurality of top plates and a plurality of bottom plates, the plurality of top plates are respectively connected to the upper part of the front side wall, the outer side wall and the rear side wall, and the plurality of bottom plates are respectively connected to the lower part of the front side wall, the outer side wall and the rear side wall to jointly enclose a containing space, and the containing space is used to contain the inspection mechanism; The bottom plate at the front end of the box is set at an angle, the bottom plate in the middle is set horizontally, and the bottom plate at the rear end of the box is also set at an angle, and the bottom plate at the front end and the bottom plate at the rear end are both higher than the bottom plate in the middle, and the rotating connection between the swing link and the fixed link is close to the bottom plate and the front side plate set at an angle, and is higher than the bottom plate in the middle, so that the front end of the off-road vehicle is not easy to scratch the obstacle when overcoming the obstacle, thereby improving the obstacle-overcoming ability of the inspection off-road vehicle, and a lower bottom plate in the middle of the box is set to improve the accommodating capacity of the accommodating space.

2. The inspection off-road vehicle according to claim 1, characterized in that: The front end of the box is located between the first driving wheel and the second driving wheel.

3. The inspection off-road vehicle according to claim 1, characterized in that: The swing link comprises a first swing section and a second swing section which are connected to each other and arranged at an angle; The connection point between the first swing section and the second swing section is rotatably connected to the box body, and the connection point between the first swing section and the second swing section is higher than the first driving wheel.

4. The inspection off-road vehicle according to claim 1, characterized in that: The connection point between the middle portion of the swing link and the first fixed connection section is located at the bottom or below of the box body.

5. The inspection off-road vehicle according to claim 1, characterized in that: The fixed connecting rod also includes a third fixed connecting section, one end of which is connected to an end of the second fixed connecting section away from the first fixed connecting section, and the other end of the third fixed connecting section extends downward and is connected to the second driving wheel to connect the second driving wheel and the second fixed connecting section.

6. A patrol inspection system, characterized in that: It comprises the inspection off-road vehicle as described in any one of claims 1 to 5.

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