Intelligent inspection robot

Abstract

The present invention discloses an intelligent inspection robot in the field of robot technology, comprising a body and a plurality of guide mechanisms, wherein a driving wheel is arranged on the left side of the lower end of the body, a guide wheel is arranged on the right side of the lower end of the body, a driving motor is fixedly connected to the upper end of the body, the driving motor is transmission-connected to the driving wheel, and a plurality of guide mechanisms are vertically arranged and fixedly connected to the upper end of the body; the guide mechanism is used to guide the travel direction of the driving wheel, and a camera for detection is arranged in the guide mechanism, and the end of the guide mechanism is always in close contact with the side wall of the cable trench; so that the camera can always be kept directly above the cable during the travel of the intelligent inspection robot, so as to continuously and stably monitor the cable.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an intelligent inspection robot. Background Art

[0002] With the continuous development of modern technology, intelligent inspection robots have also begun to flourish. They are used to solve the inspection needs of cable trenches, hazardous chemical industries, underground mines and other environments. For example, many cables are currently laid in cable trenches. The trench walls of the cable trenches are generally designed with multiple rows of cable supports of different heights to lay and support more cables. Cable wells are set at fixed points above the cable trenches to facilitate later maintenance of the cables. During maintenance, general staff need to drill into the cable trench from the cable well. Since the cable trench is located underground and is a narrow and enclosed space, it is extremely difficult for staff to inspect it. Most of the existing inspection methods are completed by inspection robots.

[0003] The existing inspection robots have a single inspection scenario and most of them can only provide route guidance through navigation. When the corresponding inspection robots inspect the cable trench, they need to draw a route map of the cable trench before work, which greatly increases the inspection workload. In addition, since the interior of the cable trench is mostly rough and prone to water accumulation, the inspection robots are prone to slipping and deflection during their movement, which can easily cause the camera to shift from above the cable, resulting in omissions in the detection process and affecting the detection results.

[0004] Based on this, the present invention designs an intelligent inspection robot to solve the above problems. Summary of the invention

[0005] The object of the present invention is to provide an intelligent inspection robot to solve the problem mentioned in the above background technology that the existing inspection robots mostly use navigation for route guidance. The corresponding inspection robots need to draw a route map of the cable trench before work, which greatly increases the workload of the inspection. In addition, since the interior of the cable trench is mostly rough and prone to water accumulation, the inspection robot is prone to slipping and deflection during its movement, which in turn makes it easy for the camera to shift from above the cable, resulting in omissions in the detection process, affecting the detection results.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent inspection robot, comprising a body and multiple guide mechanisms, a driving wheel is arranged on the left side of the lower end of the body, a guide wheel is arranged on the right side of the lower end of the body, a driving motor is fixedly connected to the upper end of the body, the driving motor is transmission-connected to the driving wheel, multiple guide mechanisms are vertically arranged and fixedly connected to the upper end of the body, and a wireless transmission mechanism is externally connected to the upper end of the body; the guide mechanism is used to guide the travel direction of the driving wheel, and a camera for detection is arranged in the guide mechanism, and the end of the guide mechanism is always close to the side wall of the cable trench, and the wireless transmission mechanism is used to transmit the detection data to the outside world for analysis.

[0007] As a further solution of the present invention, the guide mechanism includes a first screw telescopic rod, a first mounting plate is fixedly connected to the upper end of the vehicle body, the upper end of the first mounting plate is fixedly connected to the first screw telescopic rod, the upper end of the first screw telescopic rod is fixedly connected to the second mounting plate, the upper end of the second mounting plate is fixedly connected to the first screw telescopic rod in the upper guide mechanism; the second mounting plate is fixedly connected to the first spring rod on both sides, the first spring rod is fixedly connected to the first connecting plate, the first connecting plate is fixedly connected to the second screw telescopic rod, the second screw telescopic rod is fixedly connected to the second connecting plate, the second connecting plate is fixedly connected to the detection rod, the camera is fixedly arranged at the lower end of the detection rod, the detection rod is fixedly connected to an avoidance mechanism, and the avoidance mechanism is used to pass over the cable rack on the side wall of the cable trench.

[0008] As a further solution of the present invention, the avoidance mechanism comprises a U-shaped rod, the U-shaped rod is fixedly connected to the detection rod, and the lower inner wall of the U-shaped rod is fixedly connected to three fixing blocks respectively, and the fixing blocks are fixedly connected to the side walls on one side of the driving wheel, and the second spring rods are fixedly connected to the sliding block, and the sliding block is slidably connected to the inner wall of the U-shaped rod, and the upper end of the sliding block in the middle position is rotatably connected to the first support rod, the end of the first support rod is rotatably connected to the first rotating wheel, and the upper ends of the sliding blocks at the two side positions are rotatably connected to the supporting blocks, the supporting block is fixedly connected to the third spring rod, the third spring rod is fixedly connected to the second support rod, and the end of the second support rod is rotatably connected to the second rotating wheel; the supporting block and the upper end of the first support rod are fixedly connected to the clamping block, and the inner side wall above the U-shaped rod is provided with a sliding groove corresponding to the clamping block position, and the sliding groove consists of a circular groove and a clamping groove; the connection between the first support rod and the support block and the sliding block is provided with a torsion spring for resetting.

[0009] As a further solution of the present invention, the vehicle body is vertically penetrated and rotatably connected with a steering shaft, the lower end of the steering shaft is rotatably connected to the guide wheel, the upper end of the steering shaft is rotatably connected to a gear, the upper end of the vehicle body is fixedly connected to a third mounting plate, the upper end of the third mounting plate is slidably connected to a sliding rod, the sliding rod is fixedly connected to a first telescopic oil cylinder, the first telescopic oil cylinder is fixedly connected to a fixing rod, the fixing rod is fixedly connected to the vehicle body, the upper end of the sliding rod is slidably connected to a rack, the rack is meshed with the gear, the end of the rack away from the first telescopic oil cylinder is fixedly connected to a second telescopic oil cylinder, and the end of the second telescopic oil cylinder is fixedly connected to an end of the sliding rod; the cylinder bodies of the first telescopic oil cylinder and the second telescopic oil cylinder are respectively penetrated with a first oil hole and a second oil hole, the first oil hole and the second oil hole are both connected to a regulating mechanism, and the regulating mechanism can control the volume of hydraulic oil in the cylinder bodies of the first telescopic oil cylinder and the second telescopic oil cylinder according to the force applied at both ends of the guide mechanism.

[0010] As a further solution of the present invention, the lower end of the first connecting plate in the lowest guide mechanism is fixedly connected to a fourth mounting plate, and a third telescopic cylinder is fixedly connected between the fourth mounting plate and the second mounting plate. A third oil hole is penetrated through the cylinder body of the third telescopic cylinder, and the third oil holes on the left and right sides of the third telescopic cylinder are respectively connected to the second oil hole and the first oil hole through external pipes.

[0011] As a further solution of the present invention, the intelligent inspection robot also includes four elastic fourth telescopic cylinders, the four third spring rods in the lowest guide mechanism are replaced with fourth telescopic cylinders, the cylinder body of the fourth telescopic cylinder is penetrated by a third oil hole, the third oil holes in the fourth telescopic cylinders located at the left front and right rear of the vehicle body are connected to the second oil holes through external pipes, and the third oil holes in the fourth telescopic cylinders located at the left rear and right front of the vehicle body are connected to the first oil holes through external pipes.

[0012] As a further solution of the present invention, the first rotating wheel, the second rotating wheel and the outer shell of the vehicle body are all made of plastic material to reduce the impact force during the operation of the equipment and prevent electric sparks from being generated when a collision occurs.

[0013] As a further solution of the present invention, the camera is embedded in the detection rod to prevent the camera from being damaged by impact.

[0014] As a further solution of the present invention, a SLAM navigation system, a gas sensor, an infrared camera, and a sound sensor are provided on the vehicle body for performing more complex inspections of the working environment. The SLAM navigation system is externally connected to a switching mechanism, and the switching mechanism is used to switch the control unit of the travel direction of the guide wheel between the guide mechanism and the SLAM navigation system.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. By making the end of the guide mechanism always close to the side wall of the cable trench, when the distance between the vehicle body and the inner wall of the cable trench changes, the distance between the camera and the inner wall of the cable trench remains unchanged. Furthermore, the camera can always be kept directly above the cable during the movement of the intelligent inspection robot, and the cable can be continuously and stably monitored. At the same time, the travel direction of the driving wheel is guided by the guide mechanism, so that the travel direction of the driving wheel can be adjusted in real time according to the distance between the two side walls of the cable trench. The adjustment method responds more quickly and does not require the help of other work guides, so that the travel route of the vehicle body is more in line with the trajectory of the cable trench, and the workload of the preliminary preparation of the inspection process can be greatly reduced.

[0017] 2. By setting the first spring rod, a certain pre-tightening force is created between the avoidance mechanism and the inner wall of the cable trench. When the distance between the vehicle body and the inner wall of the cable trench changes, the avoidance mechanism can be kept in close contact with the inner wall of the cable trench by extending the first spring rod, thereby keeping the distance between the detection rod and the inner wall of the cable trench unchanged. Furthermore, the camera can always be kept directly above the cable during the movement of the intelligent inspection robot, so as to continuously and stably monitor the cable.

[0018] 3. The steering of the guide wheel is controlled by changing the length of the first spring rod, so that the guide wheel guides the vehicle body to always remain in the middle position of the cable trench. In view of the complex working environment inside the cable trench, the vehicle body can continuously and effectively calibrate its own position in real time, so that the camera can always remain directly above the cable during the movement of the intelligent inspection robot, and continuously and stably monitor the cable. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention when working in a cable trench;

[0020] Figure 2 It is a structural schematic diagram of the cable trench environment;

[0021] Figure 3 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 4 The present invention only retains the structural schematic diagram of the bottom guide mechanism;

[0023] Figure 5 for Figure 4 Schematic diagram of the side section structure;

[0024] Figure 6 for Figure 4 Schematic diagram of the top-down structure;

[0025] Figure 7 for Figure 6 A schematic diagram of the structure enlargement in the middle;

[0026] Figure 8 for Figure 7 Schematic diagram of the structure of the medium BB;

[0027] Fig. 9 for Figure 4 Schematic diagram of the cross-section structure;

[0028] Fig.10 for Fig. 9 A magnified schematic diagram of the structure at C in the middle;

[0029] Fig.11 Schematic diagram of the structure of the guide mechanism.

[0030] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0031] Car body 1-1, driving wheel 1-2, guide wheel 1-3, driving motor 1-4, first mounting plate 1-5, first screw telescopic rod 2-1, second mounting plate 2-2, first spring rod 2-3, first connecting plate 2-4, second screw telescopic rod 2-5, second connecting plate 2-6, detection rod 2-7, U-shaped rod 3-1, fixing block 3-2, second spring rod 3-3, slider 3-4, first support rod 3-5, first rotating wheel 3-6, support block 3-7, third spring rod 3-8, second support rod 3-9 -9, the second rotating wheel 3-10, the block 3-11, the slide groove 3-12, the circular groove 3-12-1, the slot 3-12-2, the steering shaft 4-1, the gear 4-2, the third mounting plate 4-3, the slide rod 4-4, the first telescopic cylinder 4-5, the first oil hole 4-5-1, the fixed rod 4-6, the rack 4-7, the second telescopic cylinder 4-8, the second oil hole 4-8-1, the fourth mounting plate 5-1, the third telescopic cylinder 5-2, the third oil hole 5-2-1, the fourth telescopic cylinder 6, the third oil hole 6-1. DETAILED DESCRIPTION

[0032] See also Figure 1-11The present invention provides a technical solution: an intelligent inspection robot comprises a body 1-1 and a plurality of guide mechanisms, wherein a driving wheel 1-2 is arranged on the left side of the lower end of the body 1-1, a guide wheel 1-3 is arranged on the right side of the lower end of the body 1-1, a driving motor 1-4 is fixedly connected to the upper end of the body 1-1, and the driving motor 1-4 is transmission-connected to the driving wheel 1-2, a plurality of the guide mechanisms are vertically arranged and fixedly connected to the upper end of the body 1-1, and a wireless transmission mechanism is externally connected to the upper end of the body 1-1; the guide mechanism is used to guide the travel direction of the driving wheel 1-2, and a camera for detection is arranged in the guide mechanism, and the end of the guide mechanism is always close to the side wall of the cable trench, and the wireless transmission mechanism is used to transmit the detection data to the outside for analysis.

[0033] By ensuring that the end of the guide mechanism is always in close contact with the side wall of the cable trench, when the distance between the vehicle body 1-1 and the inner wall of the cable trench changes, the distance between the camera and the inner wall of the cable trench remains unchanged. Furthermore, the camera can always remain directly above the cable during the movement of the intelligent inspection robot, and the cable can be continuously and stably monitored. At the same time, the travel direction of the driving wheel 1-2 is guided by the guide mechanism, so that the travel direction of the driving wheel 1-2 can be adjusted in real time according to the distance between the two side walls of the cable trench. The adjustment method responds more quickly and does not require the aid of other work guides, so that the travel route of the vehicle body 1-1 is more in line with the trajectory of the cable trench, and the workload of the preliminary preparation of the inspection process can be greatly reduced.

[0034] As a further scheme of the present invention, the guide mechanism includes a first screw telescopic rod 2-1, a first mounting plate 1-5 is fixedly connected to the upper end of the vehicle body 1-1, the upper end of the first mounting plate 1-5 is fixedly connected to the first screw telescopic rod 2-1, the upper end of the first screw telescopic rod 2-1 is fixedly connected to the second mounting plate 2-2, the upper end of the second mounting plate 2-2 is fixedly connected to the first screw telescopic rod 2-1 in the upper guide mechanism; both sides of the second mounting plate 2-2 are fixedly connected to the first spring rod 2-3, the first spring rod 2-3 is fixedly connected to the first connecting plate 2-4, the first connecting plate 2-4 is fixedly connected to the second screw telescopic rod 2-5, the second screw telescopic rod 2-5 is fixedly connected to the second connecting plate 2-6, the second connecting plate 2-6 is fixedly connected to the detection rod 2-7, the camera is fixedly arranged at the lower end of the detection rod 2-7, the detection rod 2-7 is fixedly connected to the avoidance mechanism, and the avoidance mechanism is used to cross the cable rack of the side wall of the cable trench.

[0035] By setting the first spring rod 2-3, a certain pre-tightening force is created between the avoidance mechanism and the inner wall of the cable trench. When the distance between the vehicle body 1-1 and the inner wall of the cable trench changes, the avoidance mechanism can be kept in close contact with the inner wall of the cable trench by extending the first spring rod 2-3, thereby keeping the distance between the detection rod 2-7 and the inner wall of the cable trench unchanged. Furthermore, the camera can always be kept directly above the cable during the movement of the intelligent inspection robot, thereby continuously and stably monitoring the cable.

[0036] As a further solution of the present invention, the avoidance mechanism includes a U-shaped rod 3-1, the U-shaped rod 3-1 is fixedly connected to the detection rod 2-7, the lower inner wall of the U-shaped rod 3-1 is respectively fixedly connected with three fixed blocks 3-2, the fixed blocks 3-2 are fixedly connected with a second spring rod 3-3 on the side wall of the driving wheel 1-2, the second spring rod 3-3 is fixedly connected with a slider 3-4, the slider 3-4 is slidably connected to the inner wall of the U-shaped rod 3-1, the upper end of the slider 3-4 in the middle position is rotatably connected to the first support rod 3-5, the end of the first support rod 3-5 is rotatably connected to the first rotating wheel 3-6, the sliders 3- 4 is rotatably connected to a support block 3-7 at the upper end, the support block 3-7 is fixedly connected to a third spring rod 3-8, the third spring rod 3-8 is fixedly connected to a second support rod 3-9, and the end of the second support rod 3-9 is rotatably connected to a second rotating wheel 3-10; the upper ends of the support block 3-7 and the first support rod 3-5 are fixedly connected to a clamping block 3-11, and a slide groove 3-12 is provided on the inner side wall above the U-shaped rod 3-1 corresponding to the position of the clamping block 3-11, and the slide groove 3-12 consists of a circular groove 3-12-1 and a clamping groove 3-12-2; a torsion spring for resetting is provided at the connection between the first support rod 3-5 and the support block 3-7 and the slider 3-4.

[0037] By setting three pairs of wheels, when one pair of wheels passes over the cable rack, the other two pairs of second wheels 3-10 or first wheels 3-6 still maintain normal support and calibration with the side walls of the cable trench, so that the guide mechanism can pass over the cable rack while maintaining a normal movement state with the side walls of the cable trench, thereby playing a continuous calibration role on the vehicle body 1-1.

[0038] As a further solution of the present invention, the vehicle body 1-1 vertically penetrates and is rotatably connected with a steering shaft 4-1, the lower end of the steering shaft 4-1 is rotatably connected to the guide wheel 1-3, the upper end of the steering shaft 4-1 is rotatably connected to a gear 4-2, the upper end of the vehicle body 1-1 is fixedly connected to a third mounting plate 4-3, the upper end of the third mounting plate 4-3 is slidably connected to a slide rod 4-4, the slide rod 4-4 is fixedly connected to a first telescopic cylinder 4-5, the first telescopic cylinder 4-5 is fixedly connected to a fixed rod 4-6, the fixed rod 4-6 is fixedly connected to the vehicle body 1-1, and the upper end of the slide rod 4-4 is slidably connected to a rack 4-7, The rack 4-7 is meshed with the gear 4-2, and the end of the rack 4-7 away from the first telescopic cylinder 4-5 is fixedly connected to the second telescopic cylinder 4-8, and the end of the second telescopic cylinder 4-8 is fixedly connected to the end of the slide rod 4-4; the cylinder bodies of the first telescopic cylinder 4-5 and the second telescopic cylinder 4-8 are respectively penetrated by a first oil hole 4-5-1 and a second oil hole 4-8-1, and the first oil hole 4-5-1 and the second oil hole 4-8-1 are both connected to the regulating mechanism, and the regulating mechanism can control the volume of hydraulic oil in the cylinder bodies of the first telescopic cylinder 4-5 and the second telescopic cylinder 4-8 according to the force at both ends of the guide mechanism.

[0039] The steering of the guide wheel 1-3 is controlled by changing the length of the first spring rod 2-3, so that the guide wheel 1-3 guides the vehicle body 1-1 to always remain in the middle position of the cable trench. In view of the complex working environment inside the cable trench, the vehicle body 1-1 can continuously and effectively calibrate its own position in real time, so that the camera can always remain directly above the cable during the movement of the intelligent inspection robot, and continuously and stably monitor the cable.

[0040] As a further solution of the present invention, the lower end of the first connecting plate 2-4 in the lowermost guide mechanism is fixedly connected to the fourth mounting plate 5-1, and the third telescopic cylinder 5-2 is fixedly connected between the fourth mounting plate 5-1 and the second mounting plate 2-2. The cylinder body of the third telescopic cylinder 5-2 is penetrated by a third oil hole 5-2-1, and the third oil holes 5-2-1 on the left and right sides of the third telescopic cylinder 5-2 are respectively connected to the second oil hole 4-8-1 and the first oil hole 4-5-1 through external pipes.

[0041] By keeping the length of the third telescopic cylinder 5-2 consistent with that of the first spring rod 2-3, the response of the equipment is more accurate and less prone to errors, thereby maintaining a stable travel route for the equipment and ensuring the smooth progress of the inspection work.

[0042] As a further solution of the present invention, the intelligent inspection robot also includes four elastic fourth telescopic cylinders 6, the four third spring rods 3-8 in the lowest guide mechanism are replaced with fourth telescopic cylinders 6, the cylinder body of the fourth telescopic cylinder 6 is penetrated with a third oil hole 6-1, the third oil holes 6-1 in the fourth telescopic cylinders 6 located at the left front and right rear of the vehicle body 1-1 are connected to the second oil hole 4-8-1 through an external pipe, and the third oil holes 6-1 in the fourth telescopic cylinders 6 located at the left rear and right front of the vehicle body 1-1 are connected to the first oil hole 4-5-1 through an external pipe.

[0043] As a further solution of the present invention, the shells of the first rotating wheel 3-6, the second rotating wheel 3-10 and the vehicle body 1-1 are all made of plastic material to reduce the impact force during the operation of the equipment and prevent electric sparks from being generated when a collision occurs; further, the equipment is prevented from operating in a working environment with flammable gas and explosions caused by electric sparks generated by collision, and has an explosion-proof function.

[0044] As a further solution of the present invention, the camera is embedded in the detection rod 2-7 to prevent the camera from being damaged by impact.

[0045] As a further solution of the present invention, a SLAM navigation system, a gas sensor, an infrared camera, and a sound sensor are provided on the vehicle body for performing more complex inspections of the working environment. The SLAM navigation system is externally connected to a switching mechanism, and the switching mechanism is used to switch the control unit of the travel direction of the guide wheels 1-3 between the guide mechanism and the SLAM navigation system; making the functions of the equipment more diversified and able to adapt to inspection work in factories and other environments.

[0046] Working principle: When the intelligent inspection robot is working in the cable trench, first place the intelligent inspection robot in the middle of the cable trench. Figure 1 Combination Figure 3 ) and then adjust the length of the first screw telescopic rod 2-1 in each guide mechanism in turn, so that each guide mechanism is located above the corresponding cable in turn, and then adjust the length of the second screw telescopic rod 2-5, so that the avoidance mechanism is close to the inner wall of the cable trench (it should be noted that when the avoidance mechanism is close to the inner wall of the cable trench, the first spring rod 2-3 should be in a partially compressed state, so that there is a certain pre-tightening force between the avoidance mechanism and the inner wall of the cable trench, and further when the distance between the vehicle body 1-1 and the inner wall of the cable trench changes, the avoidance mechanism can be kept in a state of close contact with the inner wall of the cable trench by extending the first spring rod 2-3, so that the distance between the detection rod 2-7 and the inner wall of the cable trench remains unchanged, and further, the camera can always be kept directly above the cable during the movement of the intelligent inspection robot, and the cable can be continuously and stably monitored);

[0047] Then the driving motor 1-4 is started, so that the driving motor 1-4 drives the driving wheel 1-2 to rotate, and further, the driving wheel 1-2 drives the vehicle body 1-1 forward. During this process, the initial direction of the guide wheel 1-3 is straight ahead, so that the guide wheel 1-3 guides the vehicle body 1-1 to move straight ahead. During the moving process, when the distance between the vehicle body 1-1 and the inner wall of one side of the cable trench changes, the length of the corresponding first spring rod 2-3 will be extended or shortened. Further changes in the length of the first spring rod 2-3 will control the direction of the guide wheel 1-3, so that the guide wheel 1-3 guides the vehicle body 1-1 to always remain in the middle position of the cable trench; (with Figure 4 For reference, distance description) When the vehicle body 1-1 deviates to the left, the distance from the second mounting plate 2-2 to the left side wall of the cable trench decreases, and the distance to the right side wall of the cable trench increases, and further the first spring rod 2-3 on the left side is compressed, and the first spring rod 2-3 on the right side is extended under the action of elastic force; the third telescopic oil cylinder 5-2 on the left side is shortened and hydraulic oil is injected into the first telescopic oil cylinder 4-5, so that the first telescopic oil cylinder 4-5 is extended, and further, the first telescopic oil cylinder 4-5 pushes the sliding rod 4-4 to the right, and further the sliding rod 4-4 drives the upper The rack 4-7 and the second telescopic cylinder 4-8 move rightward as a whole; the third telescopic cylinder 5-2 on the right side extends and extracts hydraulic oil from the second telescopic cylinder 4-8, shortening the second telescopic cylinder 4-8. Further, the second telescopic cylinder 4-8 pulls the rack 4-7 to the right relative to the slide bar 4-4; during the rightward movement of the rack 4-7, the gear 4-2 is driven to rotate counterclockwise, and the gear 4-2 drives the guide wheel 1-3 to turn right through the steering shaft 4-1, thereby guiding the vehicle body 1-1 to turn right, and the vehicle body 1-1 remains in the middle position of the cable trench;

[0048] When the vehicle body 1-1 is offset relative to the cable trench as a whole, such as the vehicle body 1-1 is deflected clockwise as a whole, (refer to Figure 4 ) Then the distance between the part of the guide mechanism located at the left rear and right front of the vehicle body 1-1 and the side wall of the cable trench becomes larger, and the distance between the part located at the left front and right rear of the vehicle body 1-1 and the side wall of the cable trench becomes smaller. Further, the fourth telescopic oil cylinder 6 at the left rear and right front is extended, and the fourth telescopic oil cylinder 6 at the left front and right rear is shortened. Further, the fourth telescopic oil cylinder 6 at the left rear and right front is extracted with hydraulic oil from the second telescopic oil cylinder 4-8 to shorten the second telescopic oil cylinder 4-8, and the fourth telescopic oil cylinder 6 at the left front and right rear is injected with hydraulic oil into the first telescopic oil cylinder 4-5 to move the rack 4-7 to the right, so that the guide wheel 1-3 turns right, and then guides the vehicle body 1-1 to turn right, and then makes the vehicle body 1-1 return to the center relative to the cable trench;

[0049] When the guide mechanism passes through the cable rack, (refer to Figure 6) The second rotating wheel 3-10 at the rear first contacts the cable rack and is squeezed forward by the relative guide mechanism of the cable rack, so that the support block 3-7 slides forward relative to the U-shaped rod 3-1 (at this time, since the block 3-11 is in the slot 3-12-2, the slot 3-12-2 restricts the rotation of the block 3-11, further restricting the rotation of the support block 3-7). After the support block 3-7 slides until the block 3-11 is out of the slot 3-12-2, the support block 3-7 rotates relative to the slider 3-4, so that the second rotating wheel 3-10 is retracted into the U-shaped rod 3-1, thereby enabling the second rotating wheel 3-10 here to pass over the cable rack. At the same time, the second rotating wheel 3-10 and the first rotating wheel 3-6 in front still maintain normal support alignment with the side wall of the cable trench. , so that the guide mechanism can maintain a normal movement state with the side wall of the cable trench; after the second rotating wheel 3-10 at the rear passes over the cable rack, the support block 3-7 first rotates and resets under the elastic force of the torsion spring, so that the clamping block 3-11 is facing the clamping slot 3-12-2 again and can re-enter the clamping slot 3-12-2, and then under the elastic force of the second spring rod 3-3, the support block 3-7 slides backward relative to the U-shaped rod 3-1, so that the clamping block 3-11 re-enters the clamping slot 3-12-2, and the second rotating wheel 3-10 at the rear is reset and plays a supporting and calibrating role for the guide mechanism again, and then the second rotating wheel 3-10 and the first rotating wheel 3-6 in front successively pass over the cable rack in this way, so that the equipment can complete the inspection work normally and stably;

[0050] When the intelligent inspection robot works in an environment such as a chemical plant, the guide mechanism is first removed and replaced with a detection device corresponding to the inspection environment requirements, and then the control unit of the travel direction of the guide wheels 1-3 is replaced from the guide mechanism to the SLAM navigation system through the switching mechanism, and then the inspection route is planned for the intelligent inspection robot through the SLAM navigation system;

[0051] When the intelligent inspection robot is conducting inspections, each detection element transmits and controls data through a wireless transmission mechanism.

Claims

1. Intelligent inspection robot, characterized by: The invention comprises a vehicle body (1-1) and a plurality of guide mechanisms, wherein a driving wheel (1-2) is arranged on the left side of the lower end of the vehicle body (1-1), a guide wheel (1-3) is arranged on the right side of the lower end of the vehicle body (1-1), a driving motor (1-4) is fixedly connected to the upper end of the vehicle body (1-1), the driving motor (1-4) is drivingly connected to the driving wheel (1-2), a plurality of guide mechanisms are vertically arranged and fixedly connected to the upper end of the vehicle body (1-1), and a wireless transmission mechanism is externally connected to the upper end of the vehicle body (1-1); the guide mechanism is used to guide the travel direction of the driving wheel (1-2), a camera for detection is arranged in the guide mechanism, and the end of the guide mechanism is always in close contact with the side wall of the cable trench, and the wireless transmission mechanism is used to transmit the detection data to the outside for analysis; The guide mechanism comprises a first screw telescopic rod (2-1); the upper end of the vehicle body (1-1) is fixedly connected to a first mounting plate (1-5); the upper end of the first mounting plate (1-5) is fixedly connected to the first screw telescopic rod (2-1); the upper end of the first screw telescopic rod (2-1) is fixedly connected to a second mounting plate (2-2); the upper end of the second mounting plate (2-2) is fixedly connected to the first screw telescopic rod (2-1) in the upper guide mechanism; both sides of the second mounting plate (2-2) are fixedly connected to first spring rods ( 2-3), the first spring rod (2-3) is fixedly connected to a first connecting plate (2-4), the first connecting plate (2-4) is fixedly connected to a second screw telescopic rod (2-5), the second screw telescopic rod (2-5) is fixedly connected to a second connecting plate (2-6), the second connecting plate (2-6) is fixedly connected to a detection rod (2-7), the camera is fixedly arranged at the lower end of the detection rod (2-7), the detection rod (2-7) is fixedly connected to an avoidance mechanism, and the avoidance mechanism is used for the cable rack to pass over the side wall of the cable trench; The avoidance mechanism comprises a U-shaped rod (3-1), the U-shaped rod (3-1) is fixedly connected to the detection rod (2-7), the lower inner wall of the U-shaped rod (3-1) is respectively fixedly connected with three fixed blocks (3-2), the fixed blocks (3-2) are fixedly connected with a second spring rod (3-3) on the side wall of one side of the driving wheel (1-2), the second spring rod (3-3) is fixedly connected with a slider (3-4), the slider (3-4) is slidably connected to the inner wall of the U-shaped rod (3-1), the upper end of the slider (3-4) at the middle position is rotatably connected with a first support rod (3-5), the end of the first support rod (3-5) is rotatably connected with a first rotating wheel (3-6), and the upper ends of the sliders (3-4) at the two side positions are rotatably connected with A support block (3-7), wherein the support block (3-7) is fixedly connected to a third spring rod (3-8), wherein the third spring rod (3-8) is fixedly connected to a second support rod (3-9), and the end of the second support rod (3-9) is rotatably connected to a second rotating wheel (3-10); the upper ends of the support block (3-7) and the first support rod (3-5) are fixedly connected to a clamping block (3-11), and a slide groove (3-12) is provided on the inner side wall above the U-shaped rod (3-1) corresponding to the position of the clamping block (3-11), wherein the slide groove (3-12) consists of a circular groove (3-12-1) and a clamping groove (3-12-2); a torsion spring for resetting is provided at the connection between the first support rod (3-5) and the support block (3-7) and the slider (3-4).

2. The intelligent inspection robot according to claim 1, characterized in that: The vehicle body (1-1) vertically penetrates and is rotatably connected to a steering shaft (4-1); the lower end of the steering shaft (4-1) is rotatably connected to a guide wheel (1-3); the upper end of the steering shaft (4-1) is rotatably connected to a gear (4-2); the upper end of the vehicle body (1-1) is fixedly connected to a third mounting plate (4-3); the upper end of the third mounting plate (4-3) is slidably connected to a sliding rod (4-4); the sliding rod (4-4) is fixedly connected to a first telescopic oil cylinder (4-5); the first telescopic oil cylinder (4-5) is fixedly connected to a fixing rod (4-6); the fixing rod (4-6) is fixedly connected to the vehicle body (1-1); the upper end of the sliding rod (4-4) is slidably connected to a rack (4-7); the rack The rack (4-7) is meshed with the gear (4-2); one end of the rack (4-7) away from the first telescopic oil cylinder (4-5) is fixedly connected to the second telescopic oil cylinder (4-8); the end of the second telescopic oil cylinder (4-8) is fixedly connected to the end of the slide bar (4-4); the cylinder bodies of the first telescopic oil cylinder (4-5) and the second telescopic oil cylinder (4-8) are respectively penetrated with a first oil hole (4-5-1) and a second oil hole (4-8-1); the first oil hole (4-5-1) and the second oil hole (4-8-1) are both connected to the regulating mechanism, and the regulating mechanism can control the volume of hydraulic oil in the cylinder bodies of the first telescopic oil cylinder (4-5) and the second telescopic oil cylinder (4-8) according to the force applied to the two ends of the guide mechanism.

3. The intelligent inspection robot according to claim 2, characterized in that: The lower end of the first connecting plate (2-4) in the lowermost guide mechanism is fixedly connected to a fourth mounting plate (5-1), and a third telescopic oil cylinder (5-2) is fixedly connected between the fourth mounting plate (5-1) and the second mounting plate (2-2). A third oil hole (5-2-1) is provided through the cylinder body of the third telescopic oil cylinder (5-2), and the third oil holes (5-2-1) on the third telescopic oil cylinder (5-2) on the left and right sides are respectively connected to the second oil hole (4-8-1) and the first oil hole (4-5-1) through external pipes.

4. The intelligent inspection robot according to claim 3, characterized in that: The intelligent inspection robot further comprises four elastic fourth telescopic oil cylinders (6), the four third spring rods (3-8) in the guide mechanism at the bottom are all replaced with fourth telescopic oil cylinders (6), a cylinder body of the fourth telescopic oil cylinder (6) is provided with a third oil hole (6-1), the third oil holes (6-1) in the fourth telescopic oil cylinders (6) located at the left front and right rear of the vehicle body (1-1) are connected to the second oil hole (4-8-1) through an external pipe, and the third oil holes (6-1) in the fourth telescopic oil cylinders (6) located at the left rear and right front of the vehicle body (1-1) are connected to the first oil hole (4-5-1) through an external pipe.

5. The intelligent inspection robot according to claim 1, characterized in that: The shells of the first rotating wheel (3-6), the second rotating wheel (3-10) and the vehicle body (1-1) are all made of plastic material to reduce the impact force during the operation of the equipment and prevent electric sparks from being generated when a collision occurs.

6. The intelligent inspection robot according to claim 3, characterized in that: The camera is embedded in the detection rod (2-7) to prevent the camera from being damaged by impact.

7. The intelligent inspection robot according to claim 1, characterized in that: The vehicle body (1-1) is provided with a SLAM navigation system, a gas sensor, an infrared camera, and a sound sensor for conducting more complex inspections of the working environment. The SLAM navigation system is externally connected to a switching mechanism, and the switching mechanism is used to switch the control unit of the travel direction of the guide wheel (1-3) between the guide mechanism and the SLAM navigation system.

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