A stable underground cavity detection robot

Abstract

The present invention discloses a stable underground cavity detection robot, comprising a spherical shell, a mounting groove is provided at the bottom of the spherical shell, a counterweight is movably connected inside the mounting groove, an electric telescopic rod is fixedly connected between the counterweight and the top of the mounting groove, a group of rollers are rotatably connected at the bottom of the counterweight, a power unit is installed inside the counterweight, and the rollers are connected to the power unit. The present invention arranges the mounting groove and the electric telescopic rod at the bottom of the robot. Due to the complex terrain inside the underground cavity and the presence of many slopes, the robot is prone to tipping over when traveling inside the underground cavity. After the robot tips over, the electric telescopic rod is contracted and the counterweight is put into the mounting groove, so that the counterweight and the rollers no longer protrude from the surface of the spherical shell, thereby improving the rolling stability of the robot on the slope, and also facilitating the counterweight to drive the robot to automatically reset, thereby improving the success rate of its reset.

Description

Technical Field

[0001] The invention relates to an underground cavity detection robot, in particular to an underground cavity detection robot with stable operation. Background Art

[0002] A Chinese patent with publication number CN112847393B discloses an explosion-proof fire-fighting robot, including a shell, which is spherical in shape, with a working chamber arranged inside the shell, a balancing block fixedly connected to the middle of the bottom end of the working chamber, symmetrical driving grooves are provided at the bottom end of the shell on both sides of the balancing block, driving motors are symmetrically installed at both ends of the driving grooves, the ends of the driving motors are respectively connected to rollers through rotating shafts, and a camera capable of photographing the external environment is arranged inside the shell; the present invention arranges the structure of the fire-fighting robot so that the shell of the robot can be effectively reset after rolling over, and the rollers can always be in contact with the ground and can drive the shell to move forward stably, thereby preventing the robot from being unable to move forward due to rolling over, greatly improving the robot's ability to cope with complex fire scenes, and enabling the fire-fighting robot to conduct stable and effective surveys of fire scenes.

[0003] The automatic detection robot in the above-mentioned prior art is prone to tipping over due to the complex terrain inside the underground cavity and the presence of many slopes. Setting the robot into a spherical shape is conducive to its automatic reset, but the driving mechanism at the bottom of the robot protruding from the surface of the sphere will hinder the reset of the robot, resulting in a greatly reduced success rate of its reset. Summary of the invention

[0004] The object of the present invention is to provide an underground cavity detection robot with stable operation. By improving the robot structure, the rolling stability of the robot on the slope can be improved, and the success rate of its reset can be improved.

[0005] The technical solution of the present invention is: a stable underground cavity detection robot, including a spherical shell, a mounting groove is provided at the bottom of the spherical shell, a counterweight block is movably connected inside the mounting groove, an electric telescopic rod is fixed between the counterweight block and the top of the mounting groove, a group of rollers is rotatably connected to the bottom of the counterweight block, a power unit is installed inside the counterweight block, and the rollers are connected to the power unit.

[0006] In the aforementioned underground cavity detection robot with stable operation, the closed cavity inside the spherical shell is filled with clean water, and a float is provided inside the spherical shell 1, a control groove is opened on the top of the spherical shell, a conductive sheet is slidably connected inside the control groove, an elastic membrane is fixedly connected to the inner surface of the spherical shell below the control groove, a connecting rod is fixedly connected between the elastic membrane and the conductive sheet, and the connecting rod and the spherical shell are slidably and sealedly connected, a spring is fixedly connected between the conductive sheet and the bottom of the control groove, a pair of No. 1 conductive contacts are fixedly connected to the bottom of the control groove, and the No. 1 conductive contact 11 is electrically connected to the electric telescopic rod 4 through a power supply, and when the float is against the elastic membrane, the spring is in a stretched state.

[0007] In the aforementioned underground cavity detection robot with stable operation, a pair of No. 2 conductive contacts are fixedly connected to the top of the control slot, and the No. 2 conductive contacts are electrically connected to the electric telescopic rod through a power supply.

[0008] In the above-mentioned stable underground cavity detection robot, the outer surface of the floating ball is evenly distributed with magnetic blocks, the inner surface of the ball shell is evenly distributed with inwardly bent elastic sheets, and the end of the elastic sheet 14 away from the ball shell is fixedly connected with a magnetic ball.

[0009] In the aforementioned underground cavity detection robot with stable operation, a pair of arc grooves are symmetrically opened inside the spherical shell body on both sides of the installation groove, an arc plate is slidably connected inside the arc groove, a spring is fixed between the arc plate and the top of the arc groove, and an air storage bag is fixed inside the installation groove near the counterweight block, and the air storage bag is connected to the top of the arc groove through a conduit.

[0010] In the aforementioned underground cavity detection robot with stable operation, grooves are evenly opened on the lower side of the arc plate, movable balls are slidably connected inside the grooves, guide rods are fixed to the movable balls, the guide rods are slidably connected to the top of the grooves, and springs are sleeved on the guide rods.

[0011] In the aforementioned underground cavity detection robot with stable operation, a flexible magnet is fixedly connected to the bottom of the arc plate, and a group of flexible gaskets are evenly distributed on the side of the flexible magnet away from the arc plate. The flexible gaskets are arranged in an arc structure and are bent downward.

[0012] In the aforementioned underground cavity detection robot with stable operation, a sealing film is fixedly connected to the lower side of the flexible gasket, and a closed space formed between the sealing film and the flexible gasket is filled with a viscous gel.

[0013] In the aforementioned underground cavity detection robot with stable operation, a group of slide grooves are evenly opened on the circumferential surface of the roller, a paddle board is slidably connected inside the slide groove, an expansion strip is fixed between the paddle board and the bottom of the slide groove, and the expansion strip is made of water-absorbing material, a through hole is opened in the middle of the roller, and the through hole is connected to the bottom of the slide groove.

[0014] In the aforementioned underground cavity detection robot with stable operation, the paddle board is made of lightweight material.

[0015] Beneficial effects of the invention: Compared with the prior art, the invention has the following advantages:

[0016] 1. The present invention arranges a mounting groove and an electric telescopic rod at the bottom of the robot. Since the terrain inside the underground cavity is complex and there are many slopes, the robot is likely to tip over when it moves inside the underground cavity. After the robot tips over, the electric telescopic rod contracts and retracts the counterweight block into the mounting groove, so that the counterweight block and the roller no longer protrude from the surface of the spherical shell, thereby improving the rolling stability of the robot on the slope, and also facilitating the counterweight block to drive the robot to automatically reset, thereby improving the success rate of its reset.

[0017] 2. The present invention controls the contraction of the electric telescopic rod through the No. 1 conductive contact. The float is always located on the top of the ball shell under the buoyancy of water. When the robot tips over, the float is misaligned with the elastic membrane, and then the spring pulls the conductive sheet downward and connects the No. 1 conductive contacts. At this time, the electric telescopic rod contracts and the counterweight is stored in the installation slot. The operating status of the robot can be detected through this mechanism, and the counterweight is automatically stored when the robot tips over, which facilitates the rolling and resetting of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a stereogram of the present invention;

[0019] Figure 2 is a cross-sectional view of the present invention;

[0020] Figure 3 yes Figure 2 A partial enlarged view of the middle part;

[0021] Figure 4 It is a structural schematic diagram of the curved plate in the present invention;

[0022] Figure 5 yes Figure 4 A partial enlarged view of point B in the middle;

[0023] Figure 6 It is a structural schematic diagram of the roller in the present invention.

[0024] In the figure: ball shell 1, mounting groove 2, counterweight block 3, electric telescopic rod 4, roller 5, floating ball 6, control groove 7, conductive sheet 8, elastic membrane 9, connecting rod 10, conductive contact No. 1 11, conductive contact No. 2 12, magnetic block 13, elastic sheet 14, magnetic ball 15, arc groove 16, arc plate 17, air storage bag 18, catheter 19, groove 20, movable ball 21, guide rod 22, flexible magnet 23, flexible gasket 24, sealing membrane 25, slide groove 26, paddle board 27, expansion strip 28, through hole 29. DETAILED DESCRIPTION

[0025] The present invention is further described below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the present invention.

[0026] Embodiments of the present invention: A stable underground cavity detection robot, such as Figure 1-6 As shown, it includes a spherical shell 1, a mounting groove 2 is provided at the bottom of the spherical shell 1, a counterweight block 3 is movably connected inside the mounting groove 2, an electric telescopic rod 4 is fixed between the counterweight block 3 and the top of the mounting groove 2, a group of rollers 5 are rotatably connected to the bottom of the counterweight block 3, a power unit is installed inside the counterweight block 3, and the rollers 5 are driven by the power unit.

[0027] The automatic detection robot in the prior art is prone to tipping over due to the complex terrain inside the underground cavity and the presence of many slopes. Setting the robot in a spherical shape is conducive to its automatic reset, but the driving mechanism at the bottom of the robot protruding from the surface of the sphere will hinder the reset of the robot, resulting in a greatly reduced success rate of its reset. The present invention sets a mounting groove 2 and an electric telescopic rod 4 at the bottom of the robot. Due to the complex terrain inside the underground cavity and the presence of many slopes, the robot is prone to tipping over when traveling inside the underground cavity. After the robot tips over, the electric telescopic rod 4 contracts and retracts the counterweight 3 into the mounting groove 2, so that the counterweight 3 and the roller 5 no longer protrude from the surface of the spherical shell 1, thereby improving the rolling stability of the robot on the slope, and also facilitating the automatic reset of the robot under the gravity of the counterweight 3, thereby improving the success rate of its reset.

[0028] The closed cavity inside the spherical shell 1 is filled with clean water, and a float 6 is provided inside the spherical shell 1. A control groove 7 is opened on the top of the spherical shell 1, and a conductive sheet 8 is slidably connected inside the control groove 7. An elastic membrane 9 is fixedly connected to the inner surface of the spherical shell 1 below the control groove 7, and a connecting rod 10 is fixedly connected between the elastic membrane 9 and the conductive sheet 8, and the connecting rod 10 and the spherical shell 1 are slidably and sealedly connected, a spring is fixedly connected between the conductive sheet 8 and the bottom of the control groove 7, a pair of No. 1 conductive contacts 11 are fixedly connected to the bottom of the control groove 7, and the No. 1 conductive contact 11 is electrically connected to the electric telescopic rod 4 through a power supply, and when the float 6 presses against the elastic membrane 9, the spring is in a stretched state.

[0029] This setting can control the contraction of the electric telescopic rod 4 through the No. 1 conductive contact 11. The float 6 is always located on the top of the ball shell 1 under the buoyancy of water. When the robot tips over, the float 6 and the elastic membrane 9 are misaligned to reset the spring, and then the spring pulls the conductive sheet 8 downward, so that the conductive sheet 8 contacts the No. 1 conductive contact 11, thereby connecting the pair of No. 1 conductive contacts 11. At this time, the electric telescopic rod 4 contracts and the counterweight block 3 is retracted into the installation slot 2. The operating status of the robot can be detected through this mechanism, and the counterweight block 3 is automatically retracted when the robot tips over, which facilitates the rolling and resetting of the robot.

[0030] A pair of No. 2 conductive contacts 12 are fixedly connected to the top of the control slot 7, and the No. 2 conductive contacts 12 are electrically connected to the electric telescopic rod 4 through a power supply. The extension of the electric telescopic rod 4 is controlled by the No. 2 conductive contacts 12. When the robot is reset, the float 6 contacts the elastic membrane 9 again and presses the elastic membrane 9 upward, pushing the conductive sheet 8 to move upward, and then the conductive sheet 8 is separated from the No. 1 conductive contact 11 and the pair of No. 2 conductive contacts 12 are connected. At this time, the electric telescopic rod 4 extends outward, pushing the counterweight block 3 out of the installation slot 2. The operating state of the robot can be detected through this mechanism, and the counterweight block 3 is automatically pushed out when the robot is reset, so that the robot can continue to move.

[0031] A group of magnetic blocks 13 are evenly distributed on the outer surface of the floating ball 6, and a group of inwardly bent elastic sheets 14 are evenly distributed on the inner surface of the ball shell 1. A magnetic ball 15 is fixedly connected to the end of the elastic sheet 14 away from the ball shell 1. During the robot resetting process, the floating ball 6 will slide relatively on the inner surface of the ball shell 1. When the floating ball 6 moves to the position of the elastic sheet 14, the magnetic blocks 13 and the magnetic balls 15 will attract each other and drive the elastic sheet 14 to deform. When the floating ball 6 slides over the elastic sheet 14, the magnetic blocks 13 and the magnetic balls 15 are separated, and the elastic sheet 14 will swing back under its own elastic force, and then the magnetic ball 15 will hit the inner wall of the ball shell 1, thereby shaking off the mud on the outer surface of the ball shell 1.

[0032] A pair of arc grooves 16 are symmetrically provided at the bottom of the spherical shell 1 near the mounting groove 2, and an arc plate 17 is slidably connected inside the arc groove 16, a spring is fixed between the arc plate 17 and the top of the arc groove 16, and an air bag 18 is fixedly connected to the position of the counterweight block 3 inside the mounting groove 2, and the air bag 18 is connected to the top of the arc groove 16 through a conduit 19. When the robot is tipped over, the electric telescopic rod 4 contracts and retracts the counterweight block 3 into the mounting groove 2, and then the counterweight block 3 squeezes the air bag 18, and the compressed air inside the air bag 18 is filled into the arc groove 16 through the conduit 19, and pushes the arc plate 17 out of the arc groove 16, and then the pair of arc plates 17 blocks the mounting groove 2, so as to prevent a large amount of soil from entering the mounting groove 2 when the robot rolls on the slope.

[0033] A group of grooves 20 are evenly formed on the lower side of the arc plate 17, and movable balls 21 are slidably connected inside the grooves 20. A spring is fixed between the movable balls 21 and the top of the grooves 20. A guide rod 22 is fixed on the side of the movable balls 21 close to the spring, and the guide rod 22 is slidably connected to the top of the grooves 20. When the arc plate 17 extends from the arc groove 16, multiple movable balls 21 extend from the grooves 20 under the push of the spring, and the surface of the movable balls 21 is kept flush with the bottom contour of the ball shell 1, and then the spherical shape of the ball shell 1 is completed by the multiple movable balls 21, further improving the rolling stability of the robot on the slope, reducing the vibration amplitude of the robot's rolling, and avoiding the problem of damage to its internal components due to large vibration amplitude.

[0034] A flexible magnet 23 is fixed to the bottom of the arc plate 17, and a group of flexible gaskets 24 are evenly distributed on the side of the flexible magnet 23 away from the arc plate 17. The flexible gaskets 24 are set to an arc structure, and the flexible gaskets 24 are bent downward. After the arc plate 17 extends out of the arc groove 16, a pair of flexible magnets 23 are automatically attracted together, which is convenient for the alignment and sealing of the arc plate 17. By setting the flexible gasket 24, the flexible gasket 24 gradually bends during the process of the pair of flexible magnets 23 squeezing each other, thereby pushing the soil in the gap between the pair of flexible magnets 23 to the outside of the installation groove 2, avoiding the problem of poor sealing effect caused by the soil being sandwiched between the pair of flexible magnets 23 when they are closed. At the same time, the flexible gasket 24 can act as a gasket after being squeezed, further improving the sealing performance.

[0035] The lower side of the flexible gasket 24 is fixed with a sealing film 25, and the closed space formed between the sealing film 25 and the flexible gasket 24 is filled with a viscous colloid. By providing the sealing film 25 and the viscous colloid, the viscous colloid is squeezed and creeps toward the outside of the installation slot 2 during the gradual bending of the flexible gasket 24, and then the sealing film 25 bulges toward the outside of the installation slot 2, thereby further pushing the soil in the gap between the flexible magnet 23 outward, and preventing the soil from being mixed in the angle between the flexible gasket 24 and the flexible magnet 23.

[0036] A group of chutes 26 are evenly provided on the circumferential surface of the roller 5, and paddles 27 are slidably connected inside the chutes 26. An expansion strip 28 is fixedly connected between the paddles 27 and the bottom of the chutes 26, and the expansion strip 28 is made of water-absorbing material. A through hole 29 is provided in the middle of the roller 5, and the through hole 29 is connected to the bottom of the chutes 26. If the robot accidentally falls into the water, water enters the chutes 26 through the through hole 29, and then the expansion strip 28 absorbs water and expands and stretches, pushing out multiple paddles 27, so that the roller 5 can paddle through the paddles 27 when it rotates, and then the robot 5 can also move in the water. When the robot runs to the shore, the paddles 27 are squeezed by the ground, and then the water in the expansion strip 28 is squeezed out, and the paddles 27 are smoothly put into the chutes 26.

[0037] The paddle board 27 is made of a lightweight material. By making the paddle board 27 of a lightweight material, the resistance of the roller 5 during rotation can be reduced, thereby improving the traveling efficiency of the robot.

Claims

1. A stable underground cavity detection robot, characterized in that: The invention comprises a spherical shell (1), wherein a mounting groove (2) is provided at the bottom of the spherical shell (1), a counterweight block (3) is movably connected inside the mounting groove (2), an electric telescopic rod (4) is fixedly connected between the counterweight block (3) and the top of the mounting groove (2), a group of rollers (5) are rotatably connected at the bottom of the counterweight block (3), a power unit is installed inside the counterweight block (3), and the rollers (5) are connected to the power unit; The closed cavity inside the spherical shell (1) is filled with clean water, and a floating ball (6) is arranged inside the spherical shell (1). A control groove (7) is opened on the top of the spherical shell (1), and a conductive sheet (8) is slidably connected inside the control groove (7). An elastic membrane (9) is fixedly connected to the inner surface of the spherical shell (1) below the control groove (7), a connecting rod (10) is fixedly connected between the elastic membrane (9) and the conductive sheet (8), and the connecting rod (10) is slidably sealed and connected to the spherical shell (1), a spring is fixedly connected between the conductive sheet (8) and the bottom of the control groove (7), a pair of No. 1 conductive contacts (11) are fixedly connected to the bottom of the control groove (7), and the No. 1 conductive contacts (11) are electrically connected to the electric telescopic rod (4) through a power supply, and when the floating ball (6) abuts against the elastic membrane (9), the spring is in a stretched state.

2. The stable underground cavity detection robot according to claim 1, characterized in that: A pair of No. 2 conductive contacts (12) are fixedly connected to the top of the control slot (7), and the No. 2 conductive contacts (12) are electrically connected to the electric telescopic rod (4) via a power source.

3. The stable underground cavity detection robot according to claim 1, characterized in that: The outer surface of the floating ball (6) is evenly distributed with magnetic blocks (13), the inner surface of the ball shell (1) is evenly distributed with inwardly bent elastic sheets (14), and one end of the elastic sheet (14) away from the ball shell (1) is fixedly connected with a magnetic ball (15).

4. The stable underground cavity detection robot according to claim 1, characterized in that: A pair of arc grooves (16) are symmetrically provided inside the spherical shell (1) on both sides of the installation groove (2), an arc plate (17) is slidably connected inside the arc groove (16), a spring is fixedly connected between the arc plate (17) and the top of the arc groove (16), an air storage bag (18) is fixedly connected inside the installation groove (2) near the counterweight block (3), and the air storage bag (18) is connected to the top of the arc groove (16) through a conduit (19).

5. The stable underground cavity detection robot according to claim 4, characterized in that: The arc-shaped plate (17) is evenly provided with grooves (20) on the lower side, and a movable ball (21) is slidably connected inside the groove (20). A guide rod (22) is fixedly connected to the movable ball (21), and the guide rod (22) is slidably connected to the top of the groove (20). A spring is sleeved on the guide rod (22).

6. The stable underground cavity detection robot according to claim 4, characterized in that: A flexible magnet (23) is fixedly connected to the bottom of the arc-shaped plate (17), and a group of flexible gaskets (24) are evenly distributed on one side of the flexible magnet (23) away from the arc-shaped plate (17). The flexible gaskets (24) are arranged in an arc-shaped structure and are bent downwards.

7. The stable underground cavity detection robot according to claim 6, characterized in that: A sealing film (25) is fixedly connected to the lower side of the flexible gasket (24), and a closed space formed between the sealing film (25) and the flexible gasket (24) is filled with a viscous colloid.

8. The stable underground cavity detection robot according to claim 1, characterized in that: A group of slide grooves (26) are evenly formed on the peripheral surface of the roller (5), a paddle plate (27) is slidably connected inside the slide groove (26), an expansion strip (28) is fixedly connected between the paddle plate (27) and the bottom of the slide groove (26), and the expansion strip (28) is made of a water-absorbing material. A through hole (29) is formed in the middle of the roller (5), and the through hole (29) is connected to the bottom of the slide groove (26).

9. The stable underground cavity detection robot according to claim 8, characterized in that: The paddle board (27) is made of lightweight material.

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