An adjustable automatic inspection robot

Abstract

The present invention discloses an adjustable automatic inspection robot, comprising a frame, a driving mechanism installed on the frame, the driving mechanism comprising a dual-axis motor, a rotating shaft, a first clamping ring, a positioning shaft, a wheel and a second clamping ring, the dual-axis motor is fixed on the frame, the output end of the dual-axis motor is fixed to the rotating shaft, the rotating shaft bearing is connected to the frame, and the rotating shaft is fixed with a first clamping ring. When the wheel needs to be repaired or replaced, the adjustable automatic inspection robot can lift the entire device through the action of the second hydraulic rod, the movable frame and the bottom plate, so that the wheel is separated from the ground, and at this time, the limit slot plate is separated from the first clamping ring and the second clamping ring, so as to realize the automatic unlocking effect between the wheel and the rotating shaft, and then cooperate with the nested connection between the positioning shaft and the wheel, so as to facilitate the disassembly and assembly of the wheel, thereby facilitating the repair and replacement of the wheel, and thus improving the convenience of the later maintenance of the device.

Description

Technical Field

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

[0002] Inspection robots are inspection devices that can autonomously navigate and conduct inspections along preset routes without human intervention. Compared with manual inspections, they can adapt to various environments, reduce the risks of manual inspections, and improve inspection efficiency. They are widely used in various industries (for example, in the power industry, they can be used for real-time monitoring of equipment such as substations and distribution rooms; in the petrochemical industry, they can conduct equipment inspections and monitor hazardous chemicals in high-risk environments; in data centers, they can monitor the status of servers, cooling systems, and power equipment to ensure the normal operation of key infrastructure in the information society);

[0003] During actual use of existing automatic inspection robots, the wheels of the walking mechanism of the automatic inspection robots are easily damaged when used for a long time or in other complex environments. The wheels of the existing automatic inspection robots are mainly fixed by bolts and are heavy in weight, which makes it troublesome to repair and replace the wheels of the automatic inspection robots in the later stage. To this end, in response to the above problems, an adjustable automatic inspection robot is designed to better meet actual use needs. Summary of the invention

[0004] The purpose of the present invention is to provide an adjustable automatic inspection robot to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an adjustable automatic inspection robot comprises a frame, a driving mechanism is installed on the frame, the driving mechanism comprises a dual-axis motor, a rotating shaft, a first clamping ring, a positioning shaft, a wheel and a second clamping ring, the dual-axis motor is fixed on the frame, the output end of the dual-axis motor is fixed to the rotating shaft, the rotating shaft bearing is connected to the frame, a first clamping ring is fixed on the rotating shaft, a positioning shaft is also fixed on the rotating shaft, the positioning shaft and the wheel are nested, a second clamping ring is fixed on the wheel, and the second clamping ring is equal in size to the first clamping ring, an adjusting mechanism is also installed on the frame, the adjusting mechanism comprises a second hydraulic rod, a movable frame, a bottom plate, a limiting slot plate and a roller, the second hydraulic rod is fixed in the frame, the output end of the second hydraulic rod is fixed on the movable frame, the lower end of the movable frame is fixed with a bottom plate, the movable frame is also fixed with a limiting slot plate with an arc structure, and the limiting slot plate bearing is connected with a roller.

[0006] Preferably, anti-collision plates are fixed symmetrically on the frame, and both ends of the anti-collision plates are inclined structures. A power supply mechanism is installed on the frame. Through the action of the anti-collision plates, the frame can be protected to avoid damage to the device due to collision.

[0007] Preferably, a fixed box is fixed on the upper end surface of the frame, and an inspection mechanism is installed in the fixed box, the inspection mechanism includes a first hydraulic rod, a fixed plate, a first motor, a mounting block, a camera and a sun visor, the first hydraulic rod is fixed in the fixed box, and the output end of the first hydraulic rod is fixed on the fixed plate, and the fixed plate is in contact with the fixed box to achieve sealing, and the use of the first hydraulic rod can realize height adjustment of the fixed plate to better meet the inspection needs.

[0008] Preferably, a first motor is fixed on the fixed plate, and a mounting block is fixed to the output end of the first motor, and cameras are symmetrically mounted on the mounting block front and back. During the inspection of the device, the angle of the mounting block and the camera can be adjusted through the action of the first motor, thereby providing a basic guarantee for achieving comprehensive inspection.

[0009] Preferably, a sun visor is also fixed on the mounting block, and the sun visor is located directly above the camera. During the use of the device, the sun visor can provide shade and rain protection for the camera, thereby preventing the camera from being damaged by sunlight or rain, thereby extending the service life of the camera. The sun visor can also protect the camera when there are falling objects from high altitude.

[0010] Preferably, the limiting groove plate is nested with the second retaining ring and the first retaining ring, and the limiting groove plate is a semicircular structure, and four limiting groove plates are provided. At the same time, the lower end surface of the limiting groove plate is higher than the lower end surface of the bottom plate. After the wheel and the rotating shaft are formed, the positioning of the wheel and the rotating shaft can be achieved through the nesting effect between the limiting groove plate and the second retaining ring and the first retaining ring, thereby ensuring the stability of the wheel installation, and the nested limitation can facilitate the disassembly and assembly of the wheel, thereby improving the convenience of later maintenance.

[0011] Preferably, the rollers are distributed at equal angles with respect to the circle of the limiting groove plate, and the rollers can roll in contact with the second retaining ring and the first retaining ring. After the limiting groove plate and the second retaining ring and the first retaining ring are nested, when the wheel and the rotating shaft rotate, the second retaining ring and the first retaining ring are synchronously driven to rotate. Combined with the rolling action of the rollers, the friction can be effectively reduced to ensure the stable movement of the device.

[0012] Preferably, the power supply mechanism includes a battery box, a battery, a cylinder, a one-way air outlet valve, a one-way air inlet valve, a piston, a spring and a cam. The battery box is fixed to the upper end surface of the frame, and the battery is installed in the battery box. The battery box can achieve sealed protection for the battery, and the battery can provide power for the entire inspection robot to ensure the normal operation of the inspection robot.

[0013] Preferably, the cylinder is fixed on the frame, and a one-way air outlet valve and a one-way air inlet valve are installed on the cylinder, and the one-way air outlet valve is interconnected with the battery box through a conduit, and a piston is slidably connected inside the cylinder. Through the sliding action between the piston and the cylinder, a basic guarantee can be provided for the exhaust of the cylinder, and in combination with the one-way air outlet valve and the one-way air inlet valve, the one-way flow of the gas in the cylinder can be controlled, thereby providing a basic guarantee for the heat dissipation of the battery.

[0014] Preferably, the piston and one end of the spring are fixed to each other, and the other end of the spring is fixed in the cylinder. The piston and the cam are slidably connected, and the cam is fixed on the right rotating shaft. The sliding action between the piston and the cam can provide a basic force for the movement of the piston. Combined with the elastic action of the spring, a basic force can be provided for the automatic resetting of the piston, thereby providing a basic guarantee for the up and down reciprocating motion of the piston.

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

[0016] 1. When the wheel needs to be repaired or replaced, the adjustable automatic inspection robot can lift the entire device through the second hydraulic rod, the movable frame and the bottom plate, so that the wheel is separated from the ground. At this time, the limit slot plate is separated from the first clamping ring and the second clamping ring, so that the wheel and the rotating shaft are automatically unlocked. In combination with the nested connection between the positioning shaft and the wheel, the wheel can be easily disassembled and assembled, thereby facilitating the repair and replacement of the wheel, thereby improving the convenience of the later maintenance of the device;

[0017] 2. The adjustable automatic inspection robot can adjust the height of the fixed plate and the camera through the first hydraulic rod during the device inspection process, and can rotate the camera in coordination with the first motor to achieve a 360° inspection effect, thereby improving the adaptability of the device;

[0018] 3. During the inspection process of the device, the adjustable automatic inspection robot can power the entire device through the battery, and the operation of the device can synchronously drive the cam to operate. The sliding action between the cam and the piston and the elastic action of the spring can realize the exhaust of the cylinder. The one-way air outlet valve and the one-way air inlet valve can make the gas flow into the battery box in one direction, thereby accelerating the air flow in the battery box and ensuring the heat dissipation effect when the battery is working. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the device of the present invention from a front view;

[0020] Figure 2 It is a schematic diagram of the front view cross-section of the overall composition of the device of the present invention;

[0021] Figure 3 It is a schematic diagram of the three-dimensional structure of the inspection mechanism of the present invention when viewed from above;

[0022] Figure 4 It is a schematic diagram of the three-dimensional structure of the driving mechanism and the adjusting mechanism of the present invention;

[0023] Figure 5 It is a schematic diagram of the exploded three-dimensional structure composed of the driving mechanism and the regulating mechanism of the present invention;

[0024] Figure 6 For the present invention Figure 5 The enlarged structural diagram at A in the middle;

[0025] Figure 7 It is a schematic diagram of the exploded cross-section three-dimensional structure of the power supply mechanism of the present invention.

[0026] In the figure: 1. frame; 101. anti-collision plate; 2. fixed box; 3. inspection mechanism; 301. first hydraulic rod; 302. fixed plate; 303. first motor; 304. mounting block; 305. camera; 306. sun visor; 4. driving mechanism; 401. double-axis motor; 402. rotating shaft; 403. first clamping ring; 404. positioning shaft; 405. wheel; 406. second clamping ring; 5. adjusting mechanism; 501. second hydraulic rod; 502. movable frame; 503. bottom plate; 504. limit slot plate; 505. roller; 6. power supply mechanism; 601. battery box; 602. battery; 603. cylinder; 604. one-way air outlet valve; 605. one-way air inlet valve; 606. piston; 607. spring; 608. cam. DETAILED DESCRIPTION

[0027] 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.

[0028] See also Figure 1-Figure 7The present invention provides a technical solution: an adjustable automatic inspection robot, comprising a frame 1, a driving mechanism 4 is installed on the frame 1, the driving mechanism 4 comprises a dual-axis motor 401, a rotating shaft 402, a first retaining ring 403, a positioning shaft 404, a wheel 405 and a second retaining ring 406, the dual-axis motor 401 is fixed on the frame 1, the output end of the dual-axis motor 401 is fixed to the rotating shaft 402, the rotating shaft 402 bearing is connected to the frame 1, the rotating shaft 402 is fixed with a first retaining ring 403, the rotating shaft 402 is also fixed with a positioning shaft 404, the positioning shaft 404 and the wheel 405 are nested, the wheel 405 is fixed with a second retaining ring 406, and the second retaining ring 406 is equal in size to the first retaining ring 403.

[0029] The frame 1 is symmetrically fixed with an anti-collision plate 101, and both ends of the anti-collision plate 101 are inclined structures. The frame 1 is installed with a power supply mechanism 6; a fixed box 2 is fixed to the upper end surface of the frame 1, and a patrol mechanism 3 is installed in the fixed box 2. The patrol mechanism 3 includes a first hydraulic rod 301, a fixed plate 302, a first motor 303, a mounting block 304, a camera 305 and a sun visor 306. The first hydraulic rod 301 is fixed in the fixed box 2, and the output end of the first hydraulic rod 301 is fixed on the fixed plate 302, and the fixed plate 302 is in contact with the fixed box 2 to achieve sealing; a first motor 303 is fixed on the fixed plate 302, and the first motor 3 A mounting block 304 is fixed to the output end of 03, and a camera 305 is symmetrically mounted on the mounting block 304; a sun visor 306 is also fixed to the mounting block 304, and the sun visor 306 is located directly above the camera 305; the limiting slot plate 504 is nested with the second snap ring 406 and the first snap ring 403, and the limiting slot plate 504 is a semicircular structure, and there are four limiting slot plates 504, and the lower end surface of the limiting slot plate 504 is higher than the lower end surface of the bottom plate 503; the rollers 505 are distributed at equal angles with respect to the circle of the limiting slot plate 504, and the rollers 505 are in contact with the second snap ring 406 and the first snap ring 403 and can roll;

[0030] When using the adjustable automatic inspection robot, Figure 1-Figure 7As shown, the battery box 601 is used to power the entire device to ensure the normal operation of the device. When conducting inspections, the dual-axis motor 401 is started to drive the rotating shaft 402 to rotate, and the transmission effect of the positioning shaft 404 allows the wheel 405 to operate synchronously, so that the entire device can move for inspections. When the rotating shaft 402 and the wheel 405 rotate, the second snap ring 406 and the first snap ring 403 are synchronously driven to rotate. With the rolling effect of the roller 505, the friction between the second snap ring 406 and the first snap ring 403 and the limiting slot plate 504 can be reduced, thereby ensuring the stability of the device operation. In the process of the device moving, when an accident occurs, When a collision occurs, the device can be protected by the anti-collision plate 101 to avoid damage to the device, and the inspection function can be achieved by shooting with the camera 305 during the movement of the device. During the inspection process, the first hydraulic rod 301 can be extended and retracted to drive the fixed plate 302 and the camera 305 to move up and down, so that the height of the camera 305 can be adjusted. With the action of the first motor 303, the angle of the camera 305 can be adjusted to achieve a 360° inspection effect and ensure the comprehensiveness of the inspection. During the device inspection process, the sun visor 306 can be used to block light, keep out rain and prevent falling objects, so as to ensure the safety of the device.

[0031] The power supply mechanism 6 includes a battery box 601, a storage battery 602, a cylinder 603, a one-way air outlet valve 604, a one-way air inlet valve 605, a piston 606, a spring 607 and a cam 608. The battery box 601 is fixed to the upper end surface of the frame 1, and the battery box 601 is installed with the storage battery 602; the cylinder 603 is fixed to the frame 1, and the one-way air outlet valve 604 and the one-way air inlet valve 605 are installed on the cylinder 603, and the one-way air outlet valve 604 is connected to the battery box 601 through a conduit, and the piston 606 is slidably connected in the cylinder 603; the piston 606 and one end of the spring 607 are fixed to each other, and the other end of the spring 607 is fixed in the cylinder 603, the piston 606 and the cam 608 are slidably connected, and the cam 608 is fixed on the right rotating shaft 402;

[0032] During use of the device, if Figure 1-Figure 7As shown, since the battery 602 generates heat when supplying power to the device, the rotation of the rotating shaft 402 when the device is moving can synchronously drive the cam 608 to rotate, and the sliding action of the cam 608 and the lower end of the piston 606 and the elastic action of the spring 607 make the piston 606 move up and down in the cylinder 603 in an orderly manner. When the piston 606 moves upward in the cylinder 603, the one-way air outlet valve 604 is opened and the one-way air inlet valve 605 is closed, so that the air in the cylinder 603 enters the battery box 601 through the one-way air outlet valve 604 and the conduit. In this way, the air flow in the battery box 601 is accelerated. With the function of the heat dissipation holes on the battery box 601, the heat dissipation of the battery 602 can be achieved. When the piston 606 moves downward in the cylinder 603, the one-way air outlet valve 604 is closed and the one-way air inlet valve 605 is opened, so that the outside air enters the cylinder 603. According to the above principle, the exhaust function of the cylinder 603 can be achieved. With the function of the one-way air outlet valve 604 and the one-way air inlet valve 605, the gas in the cylinder 603 can flow in one direction, providing a basic guarantee for the rapid heat dissipation of the battery 602.

[0033] The frame 1 is also provided with an adjustment mechanism 5, which includes a second hydraulic rod 501, a movable frame 502, a bottom plate 503, a limit slot plate 504 and a roller 505. The second hydraulic rod 501 is fixed in the frame 1, and the output end of the second hydraulic rod 501 is fixed on the movable frame 502. The bottom plate 503 is fixed at the lower end of the movable frame 502. The movable frame 502 is also provided with a limit slot plate 504 with an arc structure, and the limit slot plate 504 is connected to the roller 505 by a bearing.

[0034] During use of the device, if Figure 1-Figure 7As shown, when the wheel 405 is damaged and needs to be repaired and replaced, it is only necessary to control the second hydraulic rod 501 to extend, thereby driving the movable frame 502 and the bottom plate 503 to move downward. When the bottom plate 503 contacts the ground, the second hydraulic rod 501 continues to extend, thereby realizing the jacking effect of the entire device, thereby separating the wheel 405 from the ground, and when the movable frame 502 moves downward, the limiting slot plate 504 is synchronously driven to move downward. When the limiting slot plate 504 is separated from the second clamping ring 406 and the first clamping ring 403, the wheel 405 is unlocked from the rotating shaft 402. When the wheel 405 is separated from the ground, it is only necessary to pull the wheel 405 outward to realize the removal of the wheel 405, thereby facilitating the repair and replacement of the wheel 405. When installing the wheel 405, it is only necessary to realize the nesting effect between the positioning shaft 404 and the wheel 405. The wheel 405 and the rotating shaft 402 are assembled until the second snap ring 406 contacts the first snap ring 403, and since the positioning shaft 404 is a square structure, a basic guarantee is provided for the synchronous rotation of the wheel 405 and the rotating shaft 402. After the wheel 405 and the rotating shaft 402 are assembled, the second snap ring 406 and the first snap ring 403 can be driven to move toward the limiting groove plate 504 by controlling the contraction of the second hydraulic rod 501, until the second snap ring 406 and the first snap ring 403 are nested with the limiting groove plate 504, and the second snap ring 406 and the first snap ring 403 contact the roller 505, thereby completing the assembly. At this time, the positions of the second snap ring 406 and the first snap ring 403 can be limited by the limiting groove plate 504 to ensure the stability of the assembly of the wheel 405 and the rotating shaft 402. This is the working principle of the adjustable automatic inspection robot.

[0035] 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. An adjustable automatic inspection robot, comprising a frame (1), characterized in that: The frame (1) is provided with a driving mechanism (4), the driving mechanism (4) comprising a dual-axis motor (401), a rotating shaft (402), a first snap ring (403), a positioning shaft (404), a wheel (405) and a second snap ring (406); the dual-axis motor (401) is fixed to the frame (1); the output end of the dual-axis motor (401) is fixed to the rotating shaft (402); the rotating shaft (402) is bearing-connected to the frame (1); the first snap ring (403) is fixed to the rotating shaft (402); the positioning shaft (404) is also fixed to the rotating shaft (402); the positioning shaft (404) and the wheel (405) are nested in connection; the wheel (405) is provided with a second snap ring (406); the second snap ring (406) and the first snap ring (403) are of equal size; the frame (1) is provided with a The adjusting mechanism (5) comprises a second hydraulic rod (501), a movable frame (502), a bottom plate (503), a limiting slot plate (504) and a roller (505); the second hydraulic rod (501) is fixed in the vehicle frame (1); the output end of the second hydraulic rod (501) is fixed on the movable frame (502); the bottom plate (503) is fixed on the lower end of the movable frame (502); the limiting slot plate (504) with an arc structure is also fixed on the movable frame (502); the limiting slot plate (504) is bearing-connected with the roller (505); the limiting slot plate (504) is nested with the second snap ring (406) and the first snap ring (403); the limiting slot plate (504) is a semicircular structure; four limiting slot plates (504) are provided; and the lower end surface of the limiting slot plate (504) is higher than the lower end surface of the bottom plate (503).

2. The adjustable automatic inspection robot according to claim 1, characterized in that: The vehicle frame (1) is provided with anti-collision plates (101) symmetrically on the left and right, and both ends of the anti-collision plates (101) are inclined structures. The anti-collision plates (101) and the vehicle frame (1) are connected and fixed via a buffer block (102), and a power supply mechanism (6) is installed on the vehicle frame (1).

3. The adjustable automatic inspection robot according to claim 1, characterized in that: A fixing box (2) is fixed to the upper end surface of the vehicle frame (1), a support rod (201) is fixed in the fixing box (2), a cross bar (202) is fixed to the upper end of the support rod (201), and a sponge pad (203) is fixed to the cross bar (202). An inspection mechanism (3) is installed in the fixing box (2), and the inspection mechanism (3) comprises a first hydraulic rod (301), a fixing plate (302), a first motor (303), a mounting block (304), a camera (305) and a sun visor (306). The first hydraulic rod (301) is fixed in the fixing box (2), and an output end of the first hydraulic rod (301) is fixed on the fixing plate (302), and the fixing plate (302) is in contact with the fixing box (2) to achieve sealing.

4. The adjustable automatic inspection robot according to claim 3, characterized in that: The fixing plate (302) is fixed with a first motor (303), and a mounting block (304) is fixed to the output end of the first motor (303), and cameras (305) are symmetrically mounted on the mounting block (304) in the front and rear directions, and the cameras (305) are in contact with the sponge pad (203).

5. The adjustable automatic inspection robot according to claim 3, characterized in that: A sunshade (306) is also fixed on the mounting block (304), and the sunshade (306) is located directly above the camera (305).

6. The adjustable automatic inspection robot according to claim 1, characterized in that: The rollers (505) are distributed at equal angles with respect to the circle of the limiting slot plate (504), and the rollers (505) are in contact with the second clamping ring (406) and the first clamping ring (403) and can roll.

7. The adjustable automatic inspection robot according to claim 2, characterized in that: The power supply mechanism (6) comprises a battery box (601), a storage battery (602), a cylinder (603), a one-way air outlet valve (604), a one-way air inlet valve (605), a piston (606), a spring (607) and a cam (608); the battery box (601) is fixed to the upper end surface of the vehicle frame (1), and the storage battery (602) is installed in the battery box (601).

8. The adjustable automatic inspection robot according to claim 7, characterized in that: The cylinder (603) is fixed on the vehicle frame (1), and a one-way air outlet valve (604) and a one-way air inlet valve (605) are installed on the cylinder (603), and the one-way air outlet valve (604) is connected to the battery box (601) via a conduit, and a piston (606) is slidably connected inside the cylinder (603).

9. The adjustable automatic inspection robot according to claim 7, characterized in that: The piston (606) and one end of the spring (607) are fixed to each other, and the other end of the spring (607) is fixed in the cylinder (603). The piston (606) and the cam (608) are slidably connected, and the cam (608) is fixed on the right rotating shaft (402).

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