An adaptive dual-drive inspection robot

Abstract

The present invention relates to the technical field of inspection robots, and discloses an adaptive dual-drive inspection robot. The present invention comprises: a mechanical frame and an inspection robot body rotatably mounted on the mechanical frame, so that the inspection robot body can be converted up and down by rotation, and the mechanical frame is rotatably provided with two driving walking mechanisms and two steering walking mechanisms, and the two driving walking mechanisms and the two steering walking mechanisms can be switched from a hanging rail form to a ground form by rotation, and the mechanical frame is provided with two supporting frames, so that the inspection robot is supported when the inspection machine switches its form, so that the inspection robot can smoothly switch its form. The present invention can adaptively switch between the hanging rail form and the road form according to the terrain of the inspection area, combining the strengths of the two inspection robots and making up for the weaknesses of the two inspection robots, so as to improve the applicability of the inspection robot.

Description

Technical Field

[0001] The invention relates to the technical field of inspection robots, and in particular to an adaptive dual-drive inspection robot. Background Art

[0002] Inspection robots are robots specially designed to replace manpower for patrol inspections. They can perceive the surrounding environment through technologies such as lidar and infrared sensors, and move autonomously along a preset path. They can complete inspection tasks without human intervention, ensuring the accuracy and stability of the inspection process. At the same time, inspection robots equipped with high-definition cameras can capture and record various details of the inspection process in real time for post-analysis and problem troubleshooting, thereby improving the transparency and reliability of the work.

[0003] At present, inspection robots are mainly divided into two categories according to the inspection method. One is the rail-mounted inspection robot, which can perform inspection work along the built hanging rails, and the other is the ground inspection robot, which mainly walks on the ground through a mobile mechanism. Compared with the rail-mounted robot, its advantage is that it does not need to build hanging rails, the use cost is relatively low, and the inspection route can be formulated according to needs, but the disadvantage is that it is greatly affected by terrain restrictions. The rail-mounted inspection robot is just the opposite. Since it walks on the hanging rails, it is basically not affected by terrain restrictions, but the cost of building hanging rails is high, and the inspection route is relatively single due to the restrictions of the hanging rails.

[0004] Since the two existing modes of inspection robots have their own advantages and disadvantages, their adaptability to the environment is relatively poor and they cannot be adjusted according to actual needs, resulting in certain limitations in use. Therefore, it is necessary to propose an adaptive dual-drive inspection robot. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides an adaptive dual-drive inspection robot.

[0006] The present invention is implemented by the following technical scheme: a mechanical frame and an inspection robot body rotatably mounted on the mechanical frame, so that the inspection robot body can be converted up and down by rotation, two driving walking mechanisms and two steering walking mechanisms are rotatably arranged on the mechanical frame, and the two driving walking mechanisms and the two steering walking mechanisms can be switched from a hanging rail form to a ground form by rotation, and two supporting frames are arranged on the mechanical frame to support the inspection robot when the inspection machine switches forms, so that the inspection robot can smoothly switch forms.

[0007] As a further improvement of the above scheme, the driving walking mechanism includes a first box body rotatably mounted on a mechanical frame, a shell is provided on the first box body, a first motor is provided in the first box body, a first telescopic rod is rotatably provided in the shell, the bottom end of the first telescopic rod is fixedly connected to the output shaft of the first motor, a first roller is provided on the shell, the shaft of the first roller is transmission-connected to the first telescopic rod, and the first motor can drive the first roller to rotate via the first telescopic rod.

[0008] As a further improvement of the above scheme, a rectangular tube is fixedly installed on the top of the first box body, the sleeve shell is slidably sleeved outside the rectangular tube, a first electric push rod is fixedly installed inside the rectangular tube, and the output rod of the first electric push rod is fixedly connected to the sleeve shell, so that the sleeve shell and the first roller can be driven to rise and fall by the first electric push rod.

[0009] As a further improvement of the above scheme, the steering walking mechanism includes a second box body rotatably mounted on the mechanical frame, the second box body is transmission-connected to the first box body, a second motor is fixedly mounted in the second box body, a second telescopic rod is fixedly mounted on the output shaft of the second motor, an axle frame is fixedly mounted on the top end of the second telescopic rod, and a second roller is rotatably arranged on the axle frame.

[0010] As a further improvement of the above scheme, an outer sleeve is fixedly installed on the top of the second box body, a telescopic and slidable inner sleeve is arranged inside the outer sleeve, the top end of the second telescopic rod passes through the inner sleeve and is rotatably connected to the inner sleeve, and a second electric push rod is fixedly installed on the top of the second box body, and the output rod of the second electric push rod is fixedly connected to the top inner wall of the inner sleeve.

[0011] As a further improvement of the above scheme, the mechanical frame is provided with a drive motor and a bidirectional worm gear which is transmission-connected to the drive motor and can rotate. One end of the two first box body shafts is provided with a worm wheel which meshes with the bidirectional worm gear. A drive rod is installed between the two first box bodies and the corresponding second box bodies respectively, so that the two driving walking mechanisms can synchronously drive the two steering walking mechanisms to rotate when rotating, thereby completing the shape switching together.

[0012] As a further improvement of the above scheme, two connecting plates are rotatably installed on the mechanical frame, and the two connecting plates are fixedly connected to the inspection robot body by bolts. The shafts of the two connecting plates are respectively connected to the two driving rods, so that the driving walking mechanism can allow the inspection robot body to complete the up and down conversion synchronously when switching the form.

[0013] As a further improvement of the above solution, the support frame includes a third electric push rod and a foot support fixedly mounted on an output rod of the third electric push rod.

[0014] As a further improvement of the above scheme, the two driving walking mechanisms and the two steering walking mechanisms are provided with a wheel-resisting structure, which includes a cylinder body, in which a spring and a telescopic frame are slidably installed, and a wheel-resisting structure is rotatably installed on the telescopic frame.

[0015] As a further improvement of the above solution, a brush wheel is provided on the shaft of the abutment wheel, so that when the inspection robot moves on the ground, the brush wheel can clean the attachments attached to the first roller and the second roller.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] Through the coordination of the mechanical frame, the driving motor, the driving walking mechanism, the steering walking mechanism, etc., an inspection robot capable of switching the mobile mechanism is formed. Compared with the existing road inspection robot or the hanging rail inspection robot, it can be adaptively adjusted according to the inspection area. When encountering an area with a complex road environment, a hanging rail can be built in the area, so that the inspection robot can switch to the hanging rail form and perform mobile inspection on the hanging rail. In an area with a flat road surface, it can be switched to the road surface form for inspection work, so that the area does not need to build a hanging rail, saving costs, and because the inspection range is separated from the limitation of the hanging rail, the inspection range is wider, so that the hanging rail inspection robot and the road inspection robot can complement each other and make up for each other's shortcomings, thereby improving the applicability of the inspection robot;

[0018] At the same time, through the driving rod and the connecting plate, the inspection robot body can be switched up and down when the mobile mechanism is switched, so that when the inspection robot is in the road form, the monitoring camera on it can be switched to the top, and when the inspection robot is in the rail hanging form, the monitoring camera on it can be switched to the bottom, so that after the inspection robot switches the form, its monitoring camera can also maintain a good monitoring angle;

[0019] The driving walking mechanism of the inspection robot is composed of the first box body, the first motor, the first telescopic rod and the first roller. Its structural characteristics make it possible for the two first rollers to be centered when the inspection robot is in the form of a hanging rail above the inspection robot, so that it can adapt to the narrower hanging rail. When the driving walking mechanism is in the form of a road surface below the inspection robot, the distance between the two first rollers is larger, so that the inspection robot is more stable when moving on the road surface. In addition, the steering walking mechanism also has the same characteristics.

[0020] By cooperating with the first telescopic rod, the second telescopic rod, the first electric push rod, and the second electric push rod, the driving walking mechanism and the steering walking mechanism can satisfy the driving of the first roller and the second roller while having a height adjustment function, so that the inspection robot can be raised when the road surface is in the form of a road, so that the camera monitoring device on it can monitor a relatively larger range, and the road surface form also has a better monitoring field of view;

[0021] The cylinder, spring, telescopic frame and wheel contact structure form a driving walking mechanism and a steering walking mechanism. When the inspection robot is in the rail hanging form, the four wheels can contact the two sides of the rail, thereby preventing the inspection robot from offsetting during movement. When it cooperates with the brush wheel, when the inspection robot is in the ground form, the telescopic frame will drive the wheel contact and the brush wheel to extend under the push of the spring, so that the four brush wheels can contact the first roller and the second roller respectively, so as to clean the attachments on the rollers, thereby preventing the attachments on the rollers from falling onto the rail when switching to the rail hanging form, causing the subsequent movement of the inspection robot on the rail to be affected. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a diagram showing the rail-hanging form of the adaptive dual-drive inspection robot of the present invention;

[0023] Figure 2 This is a first disassembled display diagram of the adaptive dual-drive inspection robot of the present invention;

[0024] Figure 3 This is a second disassembled display diagram of the adaptive dual-drive inspection robot of the present invention;

[0025] Figure 4 This is a third disassembled display diagram of the adaptive dual-drive inspection robot of the present invention;

[0026] Figure 5 This is a diagram showing the road surface morphology of the adaptive dual-drive inspection robot of the present invention;

[0027] Figure 6 This is a cross-sectional view showing the driving mechanism;

[0028] Figure 7 It is a cross-sectional view showing the steering travel mechanism;

[0029] Figure 8 This is a cross-sectional view of the wheel structure;

[0030] Fig. 9 This is a disassembled display diagram of the steering walking mechanism and the wheel structure.

[0031] Description of main symbols:

[0032] 1. Mechanical frame; 2. Driving motor; 3. First box body; 4. Rectangular tube; 5. Shell; 6. First motor; 7. First telescopic rod; 8. First roller; 9. First electric push rod; 10. Second box body; 11. Outer sleeve; 12. Inner sleeve; 13. Second motor; 14. Second telescopic rod; 15. Axle frame; 16. Second roller; 17. Second electric push rod; 18. Cylinder body; 19. Spring; 20. Telescopic frame; 21. Retaining wheel; 22. Brush wheel; 23. Third electric push rod; 24. Foot support; 25. Connecting plate; 26. Inspection robot body. DETAILED DESCRIPTION

[0033] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods.

[0034] Please combine Figures 1 to 9 The adaptive dual-drive inspection robot comprises: a mechanical frame 1 and an inspection robot body 26 rotatably mounted on the mechanical frame 1, so that the inspection robot body 26 can be converted up and down by rotation. Two driving walking mechanisms and two steering walking mechanisms are rotatably arranged on the mechanical frame 1. The two driving walking mechanisms and the two steering walking mechanisms can be switched from a hanging rail form to a ground form by rotation. Two supporting frames are arranged on the mechanical frame 1 to support the inspection robot when the inspection machine switches forms, so that the inspection robot can smoothly switch forms.

[0035] The driving walking mechanism includes a first box body 3 rotatably mounted on the mechanical frame 1, a casing 5 is provided on the first box body 3, a first motor 6 is provided in the first box body 3, a first telescopic rod 7 is rotatably provided in the casing 5, the bottom end of the first telescopic rod 7 is fixedly connected to the output shaft of the first motor 6, a first roller 8 is provided on the casing 5, the shaft of the first roller 8 is transmission-connected to the first telescopic rod 7, the shaft of the first roller 8 and the top of the first telescopic rod 7 are both provided with bevel gears, and the two bevel gears are meshed, and the first motor 6 can drive the first roller 8 to rotate through the first telescopic rod 7.

[0036] Through the above technical solution, the driving walking mechanism is mainly driven by two first motors 6 to drive two first rollers 8, so as to realize the movement of the entire inspection robot. Since it belongs to a separate power mechanism, it can easily switch the form without restriction, and the independent power mechanism is also more convenient to maintain.

[0037] A rectangular tube 4 is fixedly installed on the top of the first box body 3, a casing 5 is slidably mounted outside the rectangular tube 4, a first electric push rod 9 is fixedly installed inside the rectangular tube 4, and an output rod of the first electric push rod 9 is fixedly connected to the casing 5, so that the casing 5 and the first roller 8 can be lifted and lowered by the first electric push rod 9.

[0038] Through the above technical solution, the first electric push rod 9 is matched with the retractable first telescopic rod 7, so that the driving walking mechanism can not only drive the first roller 8, but also be lifted and lowered as needed, thereby improving its functionality and applicability. At the same time, the rectangular tube 4 is matched with the upper shell 5, which can not only store and protect various transmission structures, but also ensure its overall stability without affecting the lifting and lowering of the driving walking mechanism.

[0039] The steering walking mechanism includes a second box body 10 rotatably mounted on the mechanical frame 1, the second box body 10 is transmission-connected to the first box body 3, a second motor 13 is fixedly mounted in the second box body 10, a second telescopic rod 14 is fixedly mounted on the output shaft of the second motor 13, an axle frame 15 is fixedly mounted on the top end of the second telescopic rod 14, and a second roller 16 is rotatably arranged on the axle frame 15.

[0040] Through the above technical solution, the steering walking mechanism also serves as an independent power mechanism, which is mainly responsible for controlling the steering control of the entire inspection robot. At the same time, it also has the characteristics of convenient form switching and easy maintenance.

[0041] An outer sleeve 11 is fixedly installed on the top of the second box body 10, and a telescopic and slidable inner sleeve 12 is arranged inside the outer sleeve 11. The top end of the second telescopic rod 14 passes through the inner sleeve 12 and is rotatably connected to the inner sleeve 12. A second electric push rod 17 is fixedly installed on the top of the second box body 10, and the output rod of the second electric push rod 17 is fixedly connected to the top inner wall of the inner sleeve 12.

[0042] Through the above technical solution, the second electric push rod 17 cooperates with the second telescopic rod 14, so that the steering walking machine can simultaneously control the second roller 16 and extend and retract itself. When it cooperates with the driving walking mechanism, it can realize the height adjustment of the inspection robot, so that the inspection robot can have a better monitoring angle when it comes to the road surface shape.

[0043] The mechanical frame 1 is provided with a driving motor 2 and a bidirectional worm gear which is transmission-connected to the driving motor 2 and can rotate. The output shaft of the driving motor 2 and the bidirectional screw are provided with bevel gears, and the two bevel gears are meshed with each other. One end of the shaft rods of the two first box bodies 3 is provided with a worm wheel which is meshed with the bidirectional worm gear. A driving rod is installed between the two first box bodies 3 and the corresponding second box bodies 10 respectively, so that the two driving walking mechanisms can synchronously drive the two steering walking mechanisms to rotate when rotating, and complete the form switching together. Two connecting plates 25 are rotatably installed on the mechanical frame 1, and the two connecting plates 25 are fixedly connected to the inspection robot body 26 by bolts. The shaft rods of the two connecting plates 25 are respectively transmission-connected with the two driving rods, and bevel gears are provided on the driving rod and the connecting plate 25, and the two bevel gears are meshed with each other, so that the driving walking mechanism can allow the inspection robot body 26 to synchronously complete the up and down conversion when switching the form.

[0044] Through the above technical solution, the shape switching of the entire inspection robot can be completed through the above driving mechanism, and the entire switching process is relatively simple and efficient, and will not affect the normal inspection work of the inspection robot.

[0045] The supporting frame includes a third electric push rod 23 and a foot support 24 fixedly mounted on the output rod of the third electric push rod 23 .

[0046] Through the above technical solution, in order to allow the inspection robot to smoothly complete the shape switching without being restricted by the ground, it is necessary to support the inspection robot through a support frame, so that the distance between the inspection robot and the ground is larger, so as to successfully complete the shape switching.

[0047] The two driving walking mechanisms and the two steering walking mechanisms are both provided with a wheel-resisting structure, which includes a cylinder 18, in which a spring 19 and a telescopic frame 20 are slidably installed, and a wheel 21 is rotatably installed on the telescopic frame 20. The four wheel-resisting structures are respectively fixedly connected to the two casings 5 ​​and the two axle frames 15, and a brush wheel 22 is provided on the shaft rod of the wheel-resisting structure, so that when the inspection robot moves on the ground, the brush wheel 22 can clean the attachments attached to the first roller 8 and the second roller 16, and the shape of the telescopic frame 20 of the wheel-resisting structure installed on the axle frame 15 is adaptively adjusted, so that it can follow the axle frame 15 and the second roller 16 for angle adjustment, and can also contact with the hanging rail, and can also allow the brush wheel 22 to smoothly contact with the second roller 16 and clean it.

[0048] Through the above technical solution, when the inspection robot is in the rail-hanging form, the four wheels 21 can be against the two sides of the rail, and the telescopic frame 20 will squeeze the spring 19 at this time, so that the brush wheel 22 is separated from the first roller 8 and the second roller 16, so that when the inspection robot is in the rail-hanging form, the wheels 21 can be used to limit the inspection robot to avoid deviation on the rail, and when the inspection robot is converted to the ground form, the telescopic frame 20 and the wheels 21 lose the restriction of the rail, and under the push of the spring 19, the telescopic frame 20 will drive the wheels 21 and the brush wheel 22 to extend, so that the brush wheel 22 can contact the first roller 8 and the second roller 16, so as to clean the attachments on the rollers, and avoid these attachments on the rollers from falling onto the rail when switching to the rail-hanging form, which will affect the normal movement of the inspection robot later.

[0049] The implementation principle of an adaptive dual-drive inspection robot in the embodiment of the present application is:

[0050] According to the inspection route of the inspection robot, a hanging rail can be built according to actual needs, and the two ends of the hanging rail are set close to the ground, so that the inspection robot can be directly fixed on the hanging rail when switching to the hanging rail form, and can smoothly fall from the hanging rail to the ground when switching to the ground form, so that the inspection robot can perform inspection work in different forms in different areas during the inspection process, thereby absorbing the advantages of the hanging rail inspection robot and the road inspection robot and avoiding the disadvantages of both;

[0051] When the inspection robot moves to the inspection area with a flat road surface through the hanging rail, the two third electric push rods 23 drive the two foot supports 24 to descend through the output rod until the two foot supports 24 contact the ground, then the driving motor 2 drives the two worm gears to rotate through the bidirectional worm, and the two worm gears drive the two driving walking mechanisms to rotate 180 degrees, and the two driving walking mechanisms drive the two steering walking mechanisms to rotate 180 degrees through the two driving rods, so that the two first rollers 8 and the two second rollers 16 are transferred from the top of the inspection robot body 26 to the bottom, at the same time, the two driving rods drive the two steering walking mechanisms to rotate while also driving the inspection robot body 26 to rotate through the two connecting plates 25, so that the inspection robot body 26 synchronously completes the up and down conversion, so that its camera is transferred from the bottom to the top, and then the camera adjusts itself, then the two third electric push rods 23 drive the two foot supports 24 to retract, so that the two first rollers 8 and the two second rollers 16 are in contact with the ground, so that the inspection robot is switched from the hanging rail form to the ground form, so that the inspection robot can perform inspection work on the ground;

[0052] When the inspection robot moves to an area with a complex road environment, it moves its position to the starting end of the hanging rail, first props up the foot support 24 through the third electric push rod 23, so that the first roller 8 and the second roller 16 are off the ground, and then completes the conversion of the driving walking mechanism and the steering walking mechanism, so that the two are clamped on the hanging rail, thereby switching the inspection robot from the ground form to the hanging rail form, so that the inspection robot can perform inspection work through the hanging rail in areas with complex road conditions.

[0053] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. An adaptive dual-drive inspection robot, characterized in that: include: A mechanical frame (1) and an inspection robot body (26) rotatably mounted on the mechanical frame (1), whereby the inspection robot body (26) can be turned up and down by rotation; The mechanical frame (1) is rotatably provided with two driving walking mechanisms and two steering walking mechanisms, and the two driving walking mechanisms and the two steering walking mechanisms can be switched from a rail-hanging form to a ground form by means of rotation; The driving walking mechanism comprises a first box body (3) rotatably mounted on a mechanical frame (1), a casing (5) being provided on the first box body (3), a first motor (6) being provided in the first box body (3), a first telescopic rod (7) being rotatably provided in the casing (5), a bottom end of the first telescopic rod (7) being fixedly connected to an output shaft of the first motor (6), a first roller (8) being provided on the casing (5), a shaft of the first roller (8) being transmission-connected to the first telescopic rod (7), and the first motor (6) being capable of rotating the first telescopic rod (7) through the first roller body (8). The first telescopic rod (7) drives the first roller (8) to rotate, the steering walking mechanism comprises a second box body (10) rotatably mounted on the mechanical frame (1), the second box body (10) is drivingly connected to the first box body (3), a second motor (13) is fixedly mounted in the second box body (10), a second telescopic rod (14) is fixedly mounted on the output shaft of the second motor (13), a shaft frame (15) is fixedly mounted on the top end of the second telescopic rod (14), and a second roller (16) is rotatably arranged on the shaft frame (15); The mechanical frame (1) is provided with a driving motor (2) and a bidirectional worm gear which is transmission-connected to the driving motor (2) and can rotate. One end of the shaft rods of the two first box bodies (3) is provided with a worm wheel which meshes with the bidirectional worm gear. A driving rod is installed between the two first box bodies (3) and the corresponding second box bodies (10), so that the two driving walking mechanisms can synchronously drive the two steering walking mechanisms to rotate when rotating, and complete the form switching together. Two connecting plates (25) are rotatably installed on the mechanical frame (1), and the two connecting plates (25) are fixedly connected to the inspection robot body (26) through bolts. The shaft rods of the two connecting plates (25) are transmission-connected to the two driving rods respectively, so that the driving walking mechanism can synchronously complete the up and down conversion of the inspection robot body (26) when the form switching is performed. The mechanical frame (1) is provided with two supporting frames, so as to support the inspection robot when the inspection robot switches its form, so that the inspection robot can smoothly switch its form.

2. The adaptive dual-drive inspection robot according to claim 1, characterized in that: A rectangular tube (4) is fixedly mounted on the top of the first box body (3); the casing (5) is slidably mounted outside the rectangular tube (4); a first electric push rod (9) is fixedly mounted inside the rectangular tube (4); an output rod of the first electric push rod (9) is fixedly connected to the casing (5), so that the casing (5) and the first roller (8) can be driven to rise and fall by the first electric push rod (9).

3. The adaptive dual-drive inspection robot according to claim 1, characterized in that: An outer sleeve (11) is fixedly mounted on the top of the second box body (10), a telescopic and slidable inner sleeve (12) is arranged inside the outer sleeve (11), the top end of the second telescopic rod (14) passes through the inner sleeve (12) and is rotatably connected to the inner sleeve (12), and a second electric push rod (17) is fixedly mounted on the top of the second box body (10), the output rod of the second electric push rod (17) is fixedly connected to the inner wall of the top of the inner sleeve (12).

4. The adaptive dual-drive inspection robot according to claim 1, characterized in that: The support frame comprises a third electric push rod (23) and a foot support (24) fixedly mounted on an output rod of the third electric push rod (23).

5. The adaptive dual-drive inspection robot according to claim 1, characterized in that: The two driving walking mechanisms and the two steering walking mechanisms are both provided with a wheel-resisting structure, the wheel-resisting structure comprising a cylinder (18), a spring (19) and a telescopic frame (20) being slidably mounted in the cylinder (18), and a wheel-resisting structure (21) being rotatably mounted on the telescopic frame (20).

6. The adaptive dual-drive inspection robot according to claim 5, characterized in that: A brush wheel (22) is provided on the shaft of the stop wheel (21), so that when the inspection robot moves on the ground, the brush wheel (22) can clean the attachments attached to the first roller (8) and the second roller (16).

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