Counterweight structure and wheel type inspection robot

Abstract

The invention relates to the technical field of robots, and discloses a counterweight structure and a wheel type inspection robot, the counterweight structure comprises a counterweight box, the interior of the counterweight box is provided with two cavities, and the inner walls of the two cavities are fixedly connected with corrugated pipes. According to the invention, when the inspection robot body rapidly turns, the counterweight box, the counterweight liquid and the sealing plate move under the influence of the turning centrifugal force of the inspection robot body, and when the counterweight liquid moves, the counterweight liquid flows into the other corrugated pipe from one corrugated pipe through the guide pipe, so that the weight distribution of the counterweight box is changed; therefore, the weight distribution of the inspection robot body is changed, centrifugal force generated when the inspection robot body rapidly turns is resisted, the inspection robot body can rapidly turn, the walking speed of the inspection robot body during inspection is increased, the inspection robot body can rapidly reach an inspection site, and the inspection efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a counterweight structure and a wheeled inspection robot. Background Art

[0002] The inspection robot integrates autonomous walking, charging, obstacle avoidance and voice interaction to improve inspection efficiency. It is equipped with a high-definition camera, supports day and night shooting, and is equipped with infrared temperature measurement and recognition technology to detect abnormalities and alarm immediately. At the same time, it monitors environmental data to fully support managers' decision-making. It replaces manual labor in complex environments, improves efficiency and accuracy, and reduces safety risks. Intelligent inspection robots are becoming an indispensable force in modern industrial and security systems.

[0003] Because it is equipped with cameras and other equipment, the inspection robot's center of gravity is relatively high, so when the inspection robot turns, it can only turn slowly, otherwise there may be a risk of overturning; currently, the inspection robot has to reduce the speed of the robot every time it turns, which will reduce the overall speed of the robot when moving, thereby reducing the efficiency of the inspection. Summary of the invention

[0004] The purpose of the present invention is to solve the problems existing in the prior art, and to propose a counterweight structure and a wheeled inspection robot, so that the inspection robot body can turn quickly, thereby increasing the walking speed of the inspection robot body during inspection, so that the inspection robot body can quickly reach the inspection location, thereby improving the inspection efficiency.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A counterweight structure includes a counterweight box, wherein two cavities are respectively provided inside the counterweight box, the inner walls of the two cavities are fixedly connected with bellows, and one end of the bellows is fixedly connected with a sealing plate, one side wall of the sealing plate is fixedly connected with a spring, and one end of the spring is fixedly connected with an adjustment mechanism, a conduit is provided on one side of the counterweight box, and both ends of the conduit are connected to the counterweight box, a threaded hole connected with the bellows is provided on the outer wall of the counterweight box, and a sealing plug is threadedly connected to the inner wall of the threaded hole, a cavity connected with the cavity is provided inside the counterweight box, and a counterweight wing is provided in the cavity, a through hole is provided on the inner wall of the counterweight box on one side of the counterweight wing, and a sealing member is provided on one side of the through hole.

[0007] Preferably, the adjustment mechanism comprises a threaded column fixedly connected to the counterweight box, and the outer wall threaded sleeve of the threaded column is provided with a threaded sleeve, the outer wall rotating sleeve of the threaded sleeve is provided with a swivel, and one end of the spring is fixedly connected to the swivel.

[0008] Preferably, the counterweight wing includes a counter-wing arranged in the cavity, and a side wall of one side of the counter-wing is fixedly connected to a connecting block, a side wall of one side of the connecting block is fixedly connected to an axle rod, and one end of the axle rod passes through the connecting block and is rotatably connected to the counterweight box, an outer wall of the axle rod is sleeved with a first torsion spring, and one end of the first torsion spring is fixedly connected to the axle rod, and the other end of the first torsion spring is fixedly connected to the counterweight box, a pull rope is wrapped around the outer wall of the axle rod, a strip groove connecting the cavity and the cavity is opened in the counterweight box, and a threaded rod and a connecting rod are arranged in the strip groove, one end of the threaded rod is fixedly connected to a shell, and a sliding column is arranged in the shell, one end of the sliding column passes through the shell and is fixedly connected to the connecting rod, one end of the pull rope is tied to the connecting rod, a second nut is threadedly sleeved on the outer wall of the threaded rod, and a side wall of one side of the second nut is against the counterweight box.

[0009] Preferably, the seal includes a baffle plate arranged on one side of the through hole, and both side walls of the baffle plate are fixedly connected with a connecting shaft, and one end of the connecting shaft is rotatably connected with a fixed block, the fixed block is fixedly connected to the counterweight box, and the outer wall of the connecting shaft is sleeved with a second torsion spring, and one end of the second torsion spring is fixed to the baffle plate, and one end of the second torsion spring is fixedly connected to the fixed block.

[0010] Preferably, a cover plate is detachably connected to the lower surface of the counterweight box.

[0011] Preferably, a guide rod is fixedly connected to the inner wall of the cavity, and the guide rod passes through the sealing plate, and the guide rod is slidably connected to the sealing plate.

[0012] Preferably, a first nut is threadedly sleeved on the outer wall of the threaded column, and a side wall of the first nut abuts against the threaded sleeve.

[0013] The present invention also provides a wheeled inspection robot, comprising an inspection robot body, wherein the inspection robot body comprises any of the above-mentioned counterweight structures.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. In the present invention, when the inspection robot body is in use, when the inspection robot body is turning rapidly, the counterweight box, the counterweight liquid and the sealing plate are moved by the centrifugal force of the inspection robot body turning. When the counterweight liquid is moving, the counterweight liquid flows from one bellows into another bellows through a conduit to change the weight distribution of the counterweight box, thereby changing the weight distribution of the inspection robot body, counteracting the centrifugal force generated when the inspection robot body is turning rapidly, so that the inspection robot body can turn rapidly, thereby increasing the walking speed of the inspection robot body during inspection, so that the inspection robot body can quickly reach the inspection location, thereby improving the inspection efficiency;

[0016] 2. The present invention, by setting the anti-wing, threaded rod and connecting rod for use in combination, when turning, when the turning speed is too fast and the centrifugal force generated is too large, the distance that the counterweight liquid and the sealing plate can move increases, and after the sealing plate moves to a certain position, the sealing plate on the inner side of the centrifugal force can push the connecting rod, and the moving connecting rod pulls the pull rope, so that the pull rope pulls the shaft rod to rotate, and the rotating shaft rod drives the connecting block and the anti-wing to rotate, so that the anti-wing rotates out of the cavity, and the anti-wing rotates out of the cavity, so that the center of gravity of the device continues to shift in the direction of the anti-centrifugal force to resist the centrifugal force, thereby increasing the stability of the device when turning. At the same time, since the anti-wing is in the shape of a flat top and a curved bottom, when the device turns quickly, the air flow speed under the anti-wing is high, so that the air pressure under the anti-wing is greater than the air pressure above the anti-wing, so that the air pressure presses down the anti-wing, further avoiding the risk of the device turning over when turning quickly, so that the speed of the device when turning is further improved without turning over. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of a counterweight structure and a wheeled inspection robot proposed by the present invention;

[0018] Figure 2 A schematic diagram of a three-dimensional structure of a counterweight structure proposed by the present invention;

[0019] Figure 3 for Figure 2 The enlarged structural diagram at A in the middle;

[0020] Figure 4 A schematic diagram of a front cross-sectional structure of a counterweight structure proposed by the present invention;

[0021] Figure 5 for Figure 4 The enlarged structural diagram at B in the middle;

[0022] Figure 6 A schematic diagram of a top-sectional structure of a counterweight structure proposed by the present invention;

[0023] Figure 7 for Figure 6 The enlarged structural diagram at C in the middle;

[0024] Figure 8 This is a schematic diagram of the partial structure of a counterweight structure proposed by the present invention.

[0025] In the figure: 1. counterweight box; 2. cavity; 3. bellows; 4. sealing plate; 5. spring; 6. conduit; 7. sealing plug; 8. cavity; 9. through hole; 10. threaded column; 11. threaded sleeve; 12. swivel; 13. anti-wing; 14. connecting block; 15. shaft; 16. first torsion spring; 17. pull rope; 18. strip groove; 19. threaded rod; 20. connecting rod; 21. shell; 22. sliding column; 23. second nut; 24. shield; 25. connecting shaft; 26. fixed block; 27. second torsion spring; 28. cover plate; 29. ​​guide rod; 30. first nut; 31. inspection robot body. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] See also Figure 1-Figure 8 A counterweight structure includes a counterweight box 1, wherein two cavities 2 are respectively provided inside the counterweight box 1, the inner walls of the two cavities 2 are fixedly connected with bellows 3, and one end of the bellows 3 is fixedly connected with a sealing plate 4, a side wall of one side of the sealing plate 4 is fixedly connected with a spring 5, and one end of the spring 5 is fixedly connected with an adjusting mechanism, a conduit 6 is provided on one side of the counterweight box 1, and both ends of the conduit 6 are connected with the counterweight box 1, a threaded hole connected with the bellows 3 is provided on the outer wall of the counterweight box 1, and a sealing plug 7 is threadedly connected to the inner wall of the threaded hole, a cavity 8 connected with the cavity 2 is provided inside the counterweight box 1, and a counterweight wing is provided in the cavity 8, a through hole 9 is provided on the inner wall of the counterweight box 1 on one side of the counterweight wing, and a sealing member is provided on one side of the through hole 9.

[0028] It can be seen from the above structure that: by setting the bellows 3, the sealing plate 4 and the conduit 6 for use in combination, during manufacturing, the sealing plug 7 is opened, and the counterweight liquid is added to the bellows 3 through the threaded hole. During use, when the inspection robot body 31 is turning quickly, the counterweight box 1, the counterweight liquid and the sealing plate 4 are affected by the centrifugal force of the inspection robot body 31 turning and move. When the counterweight liquid is moving, the counterweight liquid flows from one bellows 3 to another bellows 3 through the conduit 6 to change the weight distribution of the counterweight box 1, and then change the weight distribution of the inspection robot body 31, counteract the centrifugal force generated when the inspection robot body 31 turns quickly, so that the inspection robot body 31 can turn quickly, thereby increasing the walking speed of the inspection robot body 31 during inspection, so that the inspection robot body 31 can quickly reach the inspection location, thereby improving the inspection efficiency. It should be noted that the sealing plate 4 has sufficient weight, and the centrifugal force generated when the inspection robot runs at a high speed is much larger than the combined force of the tension of the spring 5, the gravity of the counterweight liquid and the bellows 3, so as to ensure that the counterweight liquid can be transported to the bellows 3 at the distal end.

[0029] Furthermore, the adjustment mechanism includes a threaded column 10 fixedly connected to the counterweight box 1, and the outer wall thread sleeve of the threaded column 10 is provided with a threaded sleeve 11, the outer wall rotating sleeve of the threaded sleeve 11 is provided with a swivel 12, and one end of the spring 5 is fixedly connected to the swivel 12; by setting the threaded column 10, the threaded sleeve 11 and the swivel 12 for use together, the threaded sleeve 11 can be rotated, the rotating threaded sleeve 11 can drive the swivel 12 to move, and the moving swivel 12 can pull or press one end of the spring 5, thereby adjusting the position of one end of the spring 5 to adjust the tensioning force of the spring 5, thereby ensuring that the force of the two springs 5 ​​is the same.

[0030] Furthermore, the counterweight wing includes an anti-wing 13 arranged in the cavity 8, the anti-wing 13 is in the shape of a flat upper part and a curved lower part, and one side wall of the anti-wing 13 is fixedly connected to a connecting block 14, one side wall of the connecting block 14 is fixedly connected to an axle rod 15, and one end of the axle rod 15 passes through the connecting block 14 and is rotatably connected to the counterweight box 1, the outer wall of the axle rod 15 is sleeved with a first torsion spring 16, and one end of the first torsion spring 16 is fixedly connected to the axle rod 15, and the other end of the first torsion spring 16 is fixedly connected to the counterweight box 1, and a pull rope 17 is wrapped around the outer wall of the axle rod 15, a strip groove 18 connecting the cavity 2 and the cavity 8 is opened in the counterweight box 1, and a threaded rod 19 and a connecting rod 20 are arranged in the strip groove 18, one end of the threaded rod 19 is fixedly connected to a shell 21, and a sliding column 22 is arranged in the shell 21, and one end of the sliding column 22 passes through the shell 21 and It is fixedly connected to the connecting rod 20, one end of the pull rope 17 is tied to the connecting rod 20, the outer wall of the threaded rod 19 is threadedly sleeved with a second nut 23, and one side wall of the second nut 23 is against the counterweight box 1; by setting the anti-wing 13, the threaded rod 19 and the connecting rod 20 for use, when turning, when the turning speed is too fast and the centrifugal force generated is too large, the distance that the counterweight liquid and the sealing plate 4 can move increases, and after the sealing plate 4 moves to a certain position, the sealing plate 4 on the inner side of the centrifugal force can push the connecting rod 20, and the moving connecting rod 20 pulls the pull rope 17, so that the pull rope 17 pulls the shaft rod 15 to rotate, and the rotating shaft rod 15 drives the connecting block 14 and the anti-wing 13 to rotate, so that the anti-wing 13 rotates out of the cavity 8, and the anti-wing 13 rotates out of the cavity 8, so that the center of gravity of the device continues to shift in the direction of the anti-centrifugal force to resist the centrifugal force;

[0031] At the same time, since the anti-wing 13 is in a shape of a flat upper part and a curved lower part, when the device turns quickly, the air flow speed below the anti-wing 13 is high, so that the air pressure below the anti-wing 13 is greater than the air pressure above the anti-wing 13, so that the air pressure presses down the anti-wing 13, further avoiding the risk of the device turning over when turning quickly, so that the speed of the device when turning is further increased without turning over.

[0032] Furthermore, the sealing member includes a baffle 24 arranged on one side of the through hole 9, and both side walls of the baffle 24 are fixedly connected with a connecting shaft 25, and one end of the connecting shaft 25 is rotatably connected with a fixed block 26, the fixed block 26 is fixedly connected to the counterweight box 1, and an outer wall of the connecting shaft 25 is sleeved with a second torsion spring 27, and one end of the second torsion spring 27 is fixed to the baffle 24, and one end of the second torsion spring 27 is fixedly connected to the fixed block 26; by setting the baffle 24, the connecting shaft 25 and the second torsion spring 27 for use in combination, when in use, the anti-wing 13 can push open the baffle 24 and rotate out of the cavity 8, and after the anti-wing 13 rotates back into the cavity 8, the second torsion spring 27 can drive the baffle 24 to reset.

[0033] Furthermore, a cover plate 28 is detachably connected to the lower surface of the counterweight box 1 ; by providing the cover plate 28 , the counterweight box 1 can be sealed.

[0034] Furthermore, a guide rod 29 is fixedly connected to the inner wall of the cavity 2, and the guide rod 29 passes through the sealing plate 4, and the guide rod 29 is slidably connected to the sealing plate 4; by providing the guide rod 29, the stability of the sealing plate 4 when moving can be increased.

[0035] Furthermore, a first nut 30 is provided on the outer wall thread sleeve of the threaded column 10, and a side wall of the first nut 30 abuts against the thread sleeve 11; by providing the first nut 30, the thread sleeve 11 can be fixed tightly to prevent the thread sleeve 11 from moving at will.

[0036] The present invention further provides a wheeled inspection robot, comprising an inspection robot body 31, wherein the inspection robot body 31 comprises any of the above counterweight structures.

[0037] In the present invention, during manufacturing, the sealing plug 7 is opened, and a balancing liquid is added to the bellows 3 through the threaded hole. During use, when the inspection robot body 31 is turning rapidly, the balancing box 1, the balancing liquid and the sealing plate 4 are affected by the centrifugal force of the inspection robot body 31 turning and move. When the balancing liquid is moving, the balancing liquid flows from one bellows 3 to another bellows 3 through the conduit 6 to change the weight distribution of the balancing box 1, and then change the weight distribution of the inspection robot body 31, counteract the centrifugal force generated when the inspection robot body 31 turns rapidly, so that the inspection robot body 31 can turn rapidly, thereby increasing the walking speed of the inspection robot body 31 during inspection, so that the inspection robot body 31 can quickly reach the inspection location, thereby improving the inspection efficiency.

[0038] When turning, when the turning speed is too fast, the centrifugal force generated is too large, and the distance that the counterweight liquid and the sealing plate 4 can move increases. After the sealing plate 4 moves to a certain position, the sealing plate 4 on the inner side of the centrifugal force can push the connecting rod 20, and the moving connecting rod 20 pulls the pull rope 17, so that the pull rope 17 pulls the shaft 15 to rotate, and the rotating shaft 15 drives the connecting block 14 and the anti-wing 13 to rotate, so that the anti-wing 13 pushes the shield 24 to rotate out of the cavity 8, and the anti-wing 13 rotates out of the cavity 8, so that the center of gravity of the device continues to shift in the direction of the anti-centrifugal force to resist the centrifugal force;

[0039] At the same time, since the anti-wing 13 is in the shape of a flat top and an arc bottom, when the device turns quickly, the airflow speed below the anti-wing 13 is high, so that the air pressure below the anti-wing 13 is greater than the air pressure above the anti-wing 13, so that the air pressure presses down the anti-wing 13, further avoiding the risk of the device turning over when turning quickly, so that the speed of the device when turning is further increased without turning over.

[0040] After the bend is completed, the spring 5 can reset the sealing plate 4, and the reset sealing plate 4 resets the counterweight liquid. At the same time, after the sealing plate 4 is reset, the connecting rod 20 loses the pushing force of the sealing plate 4, and the first torsion spring 16 brings the shaft rod 15 and the anti-wing 13 to reset. After the anti-wing 13 is reset, the second torsion spring 27 drives the baffle 24 to reset. At this time, the weight in the counterweight box 1 is restored to a balanced state.

[0041] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A counterweight structure, comprising a counterweight box (1), wherein two cavities (2) are respectively provided inside the counterweight box (1), characterized in that: The inner walls of the two cavities (2) are fixedly connected with a bellows (3), and one end of the bellows (3) is fixedly connected with a sealing plate (4), a side wall of one side of the sealing plate (4) is fixedly connected with a spring (5), and one end of the spring (5) is fixedly connected with an adjustment mechanism, a conduit (6) is provided on one side of the counterweight box (1), and both ends of the conduit (6) are connected with the counterweight box (1), a threaded hole connected with the bellows (3) is provided on the outer wall of the counterweight box (1), and a sealing plug (7) is threadedly connected to the inner wall of the threaded hole, a cavity (8) connected with the cavity (2) is provided inside the counterweight box (1), and a counterweight wing is provided in the cavity (8), a through hole (9) is provided on the inner wall of the counterweight box (1) on one side of the counterweight wing, and a sealing member is provided on one side of the through hole (9).

2. A counterweight structure according to claim 1, characterized in that: The adjustment mechanism comprises a threaded column (10) fixedly connected to the counterweight box (1), wherein the outer wall of the threaded column (10) is threadedly sleeved with a threaded sleeve (11), the outer wall of the threaded sleeve (11) is rotatably sleeved with a swivel (12), and one end of the spring (5) is fixedly connected to the swivel (12).

3. A counterweight structure according to claim 2, characterized in that: A first nut (30) is provided on the threaded sleeve on the outer wall of the threaded column (10), and a side wall of the first nut (30) abuts against the threaded sleeve (11).

4. A counterweight structure according to claim 1, 2 or 3, characterized in that: The counterweight wing comprises a counterwing (13) arranged in the cavity (8), and a side wall of one side of the counterwing (13) is fixedly connected to a connecting block (14), and a side wall of one side of the connecting block (14) is fixedly connected to a shaft rod (15), and one end of the shaft rod (15) passes through the connecting block (14) and is rotatably connected to the counterweight box (1), an outer wall of the shaft rod (15) is sleeved with a first torsion spring (16), and one end of the first torsion spring (16) is fixedly connected to the shaft rod (15), and the other end of the first torsion spring (16) is fixedly connected to the counterweight box (1), and a pull rope (17) is wound around the outer wall of the shaft rod (15). A strip groove (18) is provided in the counterweight box (1) for connecting the cavity (2) and the hollow cavity (8), and a threaded rod (19) and a connecting rod (20) are arranged in the strip groove (18), one end of the threaded rod (19) is fixedly connected to a shell (21), and a sliding column (22) is arranged in the shell (21), one end of the sliding column (22) passes through the shell (21) and is fixedly connected to the connecting rod (20), one end of the pull rope (17) is tied to the connecting rod (20), and a second nut (23) is threadedly sleeved on the outer wall of the threaded rod (19), and one side wall of the second nut (23) is against the counterweight box (1).

5. A counterweight structure according to claim 1, 2 or 3, characterized in that: The sealing member comprises a shielding plate (24) arranged on one side of the through hole (9), and both side walls of the shielding plate (24) are fixedly connected with a connecting shaft (25), and one end of the connecting shaft (25) is rotatably connected with a fixing block (26), and the fixing block (26) is fixedly connected to the counterweight box (1), and the outer wall of the connecting shaft (25) is sleeved with a second torsion spring (27), and one end of the second torsion spring (27) is fixed to the shielding plate (24), and one end of the second torsion spring (27) is fixedly connected to the fixing block (26).

6. A counterweight structure according to claim 4, characterized in that: The sealing member comprises a shielding plate (24) arranged on one side of the through hole (9), and both side walls of the shielding plate (24) are fixedly connected with a connecting shaft (25), and one end of the connecting shaft (25) is rotatably connected with a fixing block (26), and the fixing block (26) is fixedly connected to the counterweight box (1), and the outer wall of the connecting shaft (25) is sleeved with a second torsion spring (27), and one end of the second torsion spring (27) is fixed to the shielding plate (24), and one end of the second torsion spring (27) is fixedly connected to the fixing block (26).

7. A counterweight structure according to claim 1, 2, 3 or 5, characterized in that: A cover plate (28) is detachably connected to the lower surface of the counterweight box (1).

8. A counterweight structure according to claim 3, characterized in that: A cover plate (28) is detachably connected to the lower surface of the counterweight box (1).

9. A counterweight structure according to claim 1, 2, 3, 5 or 7, characterized in that: A guide rod (29) is fixedly connected to the inner wall of the cavity (2), and the guide rod (29) is arranged to penetrate the sealing plate (4), and the guide rod (29) is slidably connected to the sealing plate (4).

10. A wheeled inspection robot, comprising an inspection robot body (31), characterized in that: The inspection robot body (31) comprises the counterweight structure described in any one of the above claims.

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