An intelligent inspection robot

Abstract

The present invention discloses an intelligent inspection robot, comprising an I-shaped track, a mobile body suspended and movable below the I-shaped track, a mobile assembly driving the mobile body to move along the I-shaped track, a rotating table vertically rotatably arranged at the bottom of the mobile body, a rotating assembly driving the rotating table to rotate relative to the mobile body, a support arm 1 vertically fixed to the bottom of the rotating table, a slider 1 sliding on the support arm 1, a sliding assembly 1 driving the slider 1 to slide up and down along the support arm 1, a support arm 2 parallel to one side of the support arm 1, a slider 2 sliding on the support arm 2, a sliding assembly 2 driving the slider 2 to slide up and down along the support arm 2, a movable arm hingedly connected to the slider 1 and the slider 2 at both ends, a flip assembly driving the two ends of the movable arm to flip relative to the slider 1 and the slider 2, and an inspection camera device fixed to the lower end of the support arm 2. The advantages of the present invention are that it can freely adjust the position of the surveillance camera and flexibly inspect the machine room.

Description

Technical Field

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

[0002] With the rapid development of artificial intelligence technology and mobile robot technology, inspection robots have emerged. They can carry a variety of security monitoring equipment to conduct intelligent inspections within the work area, make autonomous decisions, and transmit the collected information to a remote monitoring system. Current inspection robots usually work by moving along the track with a rail-mounted mobile device, and in conjunction with intelligent monitoring cameras, they dynamically monitor various locations inside the computer room to achieve the inspection effect. However, in actual use, since the inspection robot's monitoring camera is generally fixed at a fixed height, it can only monitor from a high position in the computer room and cannot freely adjust the shooting height, angle, and distance. As a result, its inspection range is limited, its flexibility is poor, and it is difficult to adapt to relatively open working environments or those that require close observation. Summary of the Invention

[0003] The purpose of the present invention is to provide an intelligent inspection robot that can freely adjust the position of a surveillance camera and flexibly inspect a machine room.

[0004] The above-mentioned technical objectives of the present invention are achieved through the following technical solutions: an intelligent inspection robot, comprising an I-shaped track, a mobile body suspended and movable under the I-shaped track, a mobile component that drives the mobile body to move along the I-shaped track, a rotating table vertically arranged at the bottom of the mobile body, a rotating component that drives the rotating table to rotate relative to the mobile body, a support arm 1 vertically fixed to the bottom of the rotating table, a slider 1 slidably arranged on the support arm 1, a sliding component 1 that drives the slider 1 to slide up and down along the support arm 1, a support arm 2 parallel to one side of the support arm 1, a slider 2 slidably arranged on the support arm 2, a sliding component 2 that drives the slider 2 to slide up and down along the support arm 2, a movable arm whose two ends are respectively hingedly connected to the slider 1 and the slider 2, a flipping component that drives the two ends of the movable arm to synchronously flip relative to the slider 1 and the slider 2, and an inspection camera device fixed at the lower end of the support arm 2, the movable arm is located between the support arm 1 and the support arm 2, and the movable arm has the same angle with the support arm 1 and the support arm 2.

[0005] The present invention is further configured as follows: the mobile vehicle body includes a box body, a box cover detachably connected to the box body opening, two pairs of support plates 1 vertically parallel to each other and fixed on the box cover, four rollers 1 respectively rotatably arranged on the two pairs of support plates 1, a pair of rotating shafts 1 horizontally parallel to each other and rotatably connected to the two pairs of support plates 1, two pairs of rollers 2 respectively fixed on the two rotating shafts 1 and respectively located under the four rollers 1, the two pairs of support plates 1 are respectively located on both sides of the I-shaped track, and the rollers 1 and 2 are located on the side of the support plate 1 close to the I-shaped track, the two pairs of rollers 1 are respectively located in the grooves on both sides of the I-shaped track, and roll on the horizontal lower side walls of the I-shaped track grooves, the two rotating shafts 1 are located at the bottom of the I-shaped track, and the rollers on the rotating shaft 1 roll on the bottom wall of the I-shaped track, and the moving component drives a rotating shaft 1 to rotate.

[0006] The present invention is further configured as follows: two pairs of support plates are respectively fixedly connected to a horizontal connecting plate at one upper end, and positioning wheels are respectively arranged on the two connecting plates for horizontal rotation, and the two connecting plates are respectively located in the grooves on both sides of the I-shaped track, and the positioning wheels on the connecting plates roll on the vertical side walls of the I-shaped track groove.

[0007] The present invention is further configured as follows: the moving component includes a sprocket 1 fixedly connected to one end of a rotating shaft, a sprocket 2 rotatably connected to the side wall of the box, a chain 1 sleeved on the sprocket 1 and the sprocket 2, and a servo motor 1 driving the sprocket 2 to rotate, the sprocket 1, the sprocket 2 and the chain 1 are located on one side of the box, one end of the rotating shaft 1 rotates through a support plate 1 to connect to the sprocket 1, the servo motor 1 is fixed to the other side of the box, and the output end of the servo motor 1 rotates through the box to connect to the sprocket 2.

[0008] The present invention is further configured as follows: the rotating assembly includes a second rotating shaft vertically arranged inside the box, a worm wheel fixed on the second rotating shaft, a worm horizontally arranged inside the box and engaged with the worm wheel, and a second servo motor driving the worm to rotate; the lower end of the second rotating shaft rotates through the bottom of the box and is fixedly connected to the top of the rotating table; the second servo motor is fixed to the outside of the box, and one end of the worm rotates out of the side wall of the box to connect to the output end of the second servo motor.

[0009] The present invention is further configured as follows: the sliding assembly includes a screw rod rotatably connected to a support arm and parallel to the support arm, a small motor driving the screw rod to rotate, and a nut fixed on a slider and threadedly connected to the screw rod; a long slide groove is provided on one side of the support arm, and the slider slides in the long slide groove; the screw rod is rotatably set in the long slide groove and moves through the slider; the nut is fixed to the through hole of the slider for the screw rod to pass through and is threadedly connected to the screw rod; the small motor is fixed to the lower end of the support arm, and the lower end of the screw rod rotates out of the long slide groove to connect to the output end of the small motor.

[0010] The present invention is further configured as follows: the sliding component 2 includes a screw rod 2 rotatably connected to the support arm 2 and parallel to the support arm 2, a small motor 2 driving the screw rod 2 to rotate, and a nut 2 fixed on the slider 2 and threadedly connected to the screw rod 2. A long slide groove 2 is opened on one side of the support arm 2, and the slider 2 slides in the long slide groove 2. The screw rod 2 is rotatably set in the long slide groove 2 and moves through the slider 2. The nut 2 is fixed to the slider 2 in a through hole for the screw rod 2 to pass through, and is threadedly connected to the screw rod 2. The small motor 2 is fixed to the upper end of the support arm 2, and the upper end of the screw rod 2 rotates out of the long slide groove 2 to connect to the output end of the small motor 2.

[0011] The present invention is further configured as follows: the slider 1 and the slider 2 are respectively detachably connected with an L-shaped support seat 1 and a support seat 2, and one side of the support seat 1 and the support seat 2 are respectively fixed with an articulated shaft 1 and an articulated shaft 2 that can move through the movable arm, and the flip assembly drives the movable arm to rotate synchronously in the same direction relative to the articulated shaft 1 and the articulated shaft 2.

[0012] The present invention is further configured as follows: the flip assembly includes a pair of fixed gears respectively fixed on the hinge shaft 1 and the hinge shaft 2, a pair of rotating shafts 3 parallel to the hinge shaft 1 or the hinge shaft 2 and rotatably connected to the movable arm, a pair of movable gears respectively fixed on the rotating shaft 3 and respectively meshed with the two fixed gears, a pair of sprockets 3 respectively fixed on the rotating shaft 3, a chain 2 sleeved on the two sprockets 3, a slider 3 slidably set on the movable arm and fixedly connected to the chain 2, a screw rod 3 rotatably set on the movable arm and movably passing through the slider 3, a nut 3 fixed on the slider 3 and threadedly connected to the screw rod 3, a bevel gear 1 fixedly connected to one end of the screw rod 3, a bevel gear 2 rotatably set on the movable arm and meshing with the bevel gear 1, and a small motor 3 that drives the bevel gear 2 to rotate.

[0013] A rectangular hole is provided in the middle of the movable arm, which passes through both sides thereof, and sprocket three, chain two, slider three, screw rod three, nut three, bevel gear one and bevel gear two are all located in the rectangular hole. The rotating shaft three rotates through the movable arm, and the part of the rotating shaft three passing through the rectangular hole is connected to the sprocket three. The rectangular hole is located in the middle of the chain two and a pair of support plates two are fixedly provided. The screw rod three is vertically located in the middle of the chain two, and the upper and lower ends of the screw rod three are respectively rotated to connect the two support plates two. The slider three slides back and forth between the two support plates two. The upper end of the screw rod three rotates through the support plate two to connect the bevel gear one. The small motor three is fixed on the outer wall of the movable arm, and the output end of the small motor three rotates and passes through the rectangular hole to connect the bevel gear two.

[0014] The present invention is further configured as follows: long holes connecting to the interior of the rectangular hole are respectively opened on both sides of the movable arm, sliding rods passing through the long holes are respectively fixedly provided at both ends of the slider three, and the sliding rods slide in the long holes, and one end of the sliding rod extending out of the long hole is fixedly connected to a double-headed pointer, and the side walls of the movable arm are located on both sides of the double-headed pointer, and are respectively fixedly provided with scales displaying the horizontal distance and vertical distance between slider one and slider two.

[0015] The beneficial effects of the present invention are as follows: by adopting the above-mentioned intelligent inspection robot, when the rotating component is used to control the rotation of the rotating table, the angular position of the inspection camera equipment can be adjusted to a certain extent; when the flipping component is used to control the flipping movement of the two ends of the movable arm relative to the support arm one and the support arm two, the relative distance between the support arm one and the support arm two in the horizontal and vertical directions can be increased or decreased, and then the front and rear up and down positions of the inspection camera equipment can be slightly adjusted in the horizontal and vertical directions; when the sliding component one and the sliding component two are used to control the sliding of the slider one and the slider two respectively, the movable arm and the support arm two can be driven to rise and fall relative to the support arm one, and then the height position of the inspection camera equipment can be greatly adjusted. At the same time, if the flipping component is used to make the movable arm and the support arm one and the support arm two vertically parallel to each other, then when the movable arm and the support arm two are raised to the highest position, the effect of the support arm one, the support arm two and the movable arm being folded together in parallel can be achieved.

[0016] The mechanical arm structure composed of the above-mentioned support arm one, support arm two and movable arm and other components can not only flexibly adjust the height, level and angle position of the inspection camera equipment to increase the inspection range of the inspection robot and enhance the inspection flexibility of the inspection robot, but also the support arm one, support arm two and movable arm and other components that adjust the position of the inspection camera equipment can also be folded under certain conditions, so that the inspection robot can fully adapt to different inspection environments. At the same time, after folding, it can easily pass through various narrow gaps and door openings, thereby enhancing the passability of the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 2 is a schematic diagram of the operation of this embodiment;

[0019] Figure 2 This is a diagram showing the flipping effect of the movable arm of this embodiment;

[0020] Figure 3 This is a folding effect diagram of the support arm 1, support arm 2 and movable arm of this embodiment;

[0021] Figure 4 Schematic diagram of the internal structure of the box body in this embodiment;

[0022] Figure 5 1 is a schematic cross-sectional view of the structure of the support arm 1, the support arm 2 and the movable arm of this embodiment;

[0023] In the figure, 1. I-shaped track; 2. moving body; 21. box body; 22. box cover; 23. support plate 1; 24. roller 1; 25. rotating shaft 1; 26. roller 2; 27. connecting plate; 28. positioning wheel; 3. moving assembly; 31. sprocket 1; 32. sprocket 2; 33. chain 1; 34. servo motor 1; 4. rotating table; 5. rotating assembly; 51. rotating shaft 2; 52. worm gear; 53. worm; 54. servo motor 2; 6. support arm 1; 61. long slide 1; 7. slider 1; 71. support seat 1; 72. hinge shaft 1; 8. sliding assembly 1; 81. screw rod 1; 82. small motor 1; 83. nut 1; 9. support arm 2; 91. long slide 1. Slide groove 2; 10. Slider 2; 101. Support seat 2; 102. Articulated shaft 2; 11. Sliding assembly 2; 111. Screw rod 2; 112. Small motor 2; 113. Nut 2; 12. Movable arm; 121. Rectangular hole; 122. Long hole; 123. Scale; 124. Support plate 2; 13. Flip assembly; 131. Fixed gear; 132. Rotating shaft 3; 133. Movable gear; 134. Sprocket 3; 135. Chain 2; 136. Slider 3; 136a. Sliding rod; 136b. Double-headed pointer; 137. Screw rod 3; 138. Nut 3; 139. Bevel gear 1; 13a. Bevel gear 2; 13b. Small motor 3; 14. Inspection camera equipment. DETAILED DESCRIPTION

[0024] The technical solutions of the present invention will be described clearly and completely below with reference to specific embodiments. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0025] Example: An intelligent inspection robot, such as Figure 1 、 Figure 2 As shown, it includes an I-shaped track 1, a mobile body 2 suspended and movable below the I-shaped track 1, a moving component 3 that drives the mobile body 2 to move along the I-shaped track 1, a rotating table 4 vertically rotating at the bottom of the mobile body 2, a rotating component 5 that drives the rotating table 4 to rotate relative to the mobile body 2, a support arm 6 vertically fixed to the bottom of the rotating table 4, a slider 7 slidably set on the support arm 6, a sliding component 8 that drives the slider 7 to slide up and down along the support arm 6, and a support arm 9 parallel to one side of the support arm 6. , a slider 2 10 slidingly set on the support arm 2 9, a sliding component 2 11 driving the slider 2 10 to slide up and down along the support arm 2 9, a movable arm 12 whose two ends are hingedly connected to the slider 1 7 and the slider 2 10, a flipping component 13 driving the two ends of the movable arm 12 to flip synchronously relative to the slider 1 7 and the slider 2 10, and an inspection camera device 14 fixed to the lower end of the support arm 2 9, the movable arm 12 is located between the support arm 1 6 and the support arm 2 9, and the movable arm 12 has the same angle with the support arm 1 6 and the support arm 2 9.

[0026] like Figure 2 、 Figure 3As shown, the mobile body 2 includes a box body 21, a box cover 22 detachably connected to the opening of the box body 21, two pairs of support plates 23 vertically parallel to each other and fixed on the box cover 22, four rollers 24 rotatably arranged on the two pairs of support plates 23, a pair of rotating shafts 25 horizontally parallel to each other and rotatably connected to the two pairs of support plates 23, two pairs of rollers 26 fixed on the two rotating shafts 25 and respectively located below the four rollers 24, the two pairs of support plates 23 are respectively located on both sides of the I-shaped track 1, and the rollers 1 24 and the rollers 26 are respectively located on the side of the support plate 23 close to the I-shaped track 1, the two pairs of rollers 24 are respectively located in the grooves on both sides of the I-shaped track 1, and roll on the horizontal lower side wall of the groove of the I-shaped track 1, the two rotating shafts 25 are located at the bottom of the I-shaped track 1, and the rollers on the rotating shaft 25 roll on the bottom wall of the I-shaped track 1, and the mobile component 3 drives a rotating shaft 25 to rotate. By adopting the above-mentioned mobile body 2, not only can the suspension movement effect of the mobile body 2 on the I-shaped track 1 be achieved, but the detachable connection structure of the box body 21 and the box cover 22 also allows the staff to remove important components of the inspection robot from the I-shaped track 1 at any time for maintenance and repair work.

[0027] like Figure 2 、 Figure 3 As shown, the upper ends of the two pairs of support plates 1 23 are fixedly connected to horizontal connecting plates 27. Positioning wheels 28 are mounted on the two connecting plates 27 for horizontal rotation. The two connecting plates 27 are located in grooves on either side of the I-shaped track 1, and the positioning wheels 28 on the connecting plates 27 roll on the vertical sidewalls of the grooves of the I-shaped track 1. The use of these connecting plates 27 and positioning wheels 28 not only further ensures the stable movement of the mobile body 2, but also serves as a guide structure, guiding the mobile body 2 smoothly through the curved portion of the I-shaped track 1.

[0028] like Figure 2-4 As shown, the moving assembly 3 includes a sprocket 1 31 fixedly connected to one end of a rotating shaft 1 25, a sprocket 2 32 rotatably connected to the side wall of the housing 21, a chain 1 33 sleeved on the sprocket 1 31 and the sprocket 2 32, and a servo motor 1 34 that drives the rotation of the sprocket 2 32. The sprocket 1 31, the sprocket 2 32, and the chain 1 33 are located on one side of the housing 21. One end of the rotating shaft 1 rotatably passes through the support plate 1 23 to connect to the sprocket 1 31. The servo motor 1 34 is fixed to the other side of the housing 21, and the output end of the servo motor 1 34 rotates through the housing 21 to connect to the sprocket 2 32. By using the above-mentioned moving assembly 3, the servo motor first drives the rotation of the sprocket 2 32, then the sprocket 2 32 drives the rotation of the sprocket 1 31 through the chain 1 33, and finally the sprocket 1 31 drives the rotation of the rotating shaft 1 25 and the roller 2 26 to rotate, thereby achieving the effect of moving the moving body 2 relative to the I-shaped track 1.

[0029] like Figure 3 、 Figure 4 As shown, the rotating assembly 5 includes a rotating shaft 2 51 vertically rotatingly arranged inside the housing 21, a worm gear 52 fixed on the rotating shaft 2 51, a worm 53 horizontally rotatingly arranged inside the housing 21 and meshing with the worm gear 52, and a servo motor 2 54 driving the worm 53 to rotate. The lower end of the rotating shaft 2 51 rotates through the bottom of the housing 21 and is fixedly connected to the top of the rotating table 4. The servo motor 2 54 is fixed to the outside of the housing 21, and one end of the worm 53 rotates out of the side wall of the housing 21 and connects to the output end of the servo motor 2 54. By adopting the above-mentioned rotating assembly 5, when it is necessary to drive the rotating table 4 to rotate, the servo motor 2 54 first drives the worm 53 to rotate, then the worm 53 meshes with the worm gear 52 to rotate, and finally the worm gear 52 drives the rotating table 4 to rotate through the rotating shaft 2 51, thereby achieving the angle adjustment effect of the inspection camera equipment 14.

[0030] like Figure 5 As shown, the sliding assembly 8 includes a screw rod 81 that is rotatably connected to the support arm 6 and is parallel to the support arm 6, a small motor 82 that drives the screw rod 81 to rotate, and a nut 83 that is fixed to the slider 7 and threadedly connected to the screw rod 81. A long slide groove 61 is provided on one side of the support arm 6, and the slider 7 slides in the long slide groove 61. The screw rod 81 is rotatably set in the long slide groove 61 and moves through the slider 7. The nut 83 is fixed to the slider 7 in a through hole for the screw rod 81 to pass through and is threadedly connected to the screw rod 81. The small motor 82 is fixed to the lower end of the support arm 6, and the lower end of the screw rod 81 rotates to pass through the long slide groove 61 to connect to the output end of the small motor 82. By adopting the above-mentioned sliding assembly 8, when the slider 7 needs to slide up and down, the small motor 82 will drive the screw rod 81 to rotate, and then the nut 83 threadedly connected to the screw rod 81 will drive the slider 7 to slide up and down along the long slide groove 61 under the rotation of the screw rod 81, thereby achieving the height adjustment effect of the inspection camera equipment 14 by lifting the movable arm 12 and the support arm 9.

[0031] like Figure 5As shown, the sliding assembly 11 includes a screw rod 111 rotatably connected to the support arm 9 and parallel to the support arm 9, a small motor 112 driving the screw rod 111 to rotate, and a nut 113 fixed on the slider 10 and threadedly connected to the screw rod 111. A long slide groove 91 is provided on one side of the support arm 9, and the slider 10 slides in the long slide groove 91. The screw rod 111 is rotatably set in the long slide groove 91 and moves through the slider 10. The nut 113 is fixed on the slider 10 in a through hole for the screw rod 111 to pass through, and is threadedly connected to the screw rod 111. The small motor 112 is fixed to the upper end of the support arm 9, and the upper end of the screw rod 111 rotates out of the long slide groove 91 to connect to the output end of the small motor 112. By adopting the above-mentioned sliding assembly 2 11, when the slider needs to slide up and down, the small motor 2 112 will drive the screw rod 2 111 to rotate, and then the nut 2 113 threadedly connected to the screw rod 2 111 will drive the slider 2 10 to slide up and down along the long slide groove 2 91 under the rotation of the screw rod 2 111, thereby realizing the height adjustment effect of the inspection camera equipment 14 by lifting the support arm 2 9.

[0032] like Figure 4 、 Figure 5 As shown, the slider 1 7 and the slider 2 10 are detachably connected to an L-shaped support base 1 71 and a support base 2 101, respectively. A hinge shaft 1 72 and a hinge shaft 2 102 are fixedly mounted on one side of the support base 1 71 and the support base 2 101, respectively, and are movable through the movable arm 12. The flip assembly 13 drives the movable arm 12 to rotate synchronously and in the same direction relative to the hinge shaft 1 72 and the hinge shaft 2 102. By adopting the above-mentioned support base 1 71, support base 2 101, hinge shaft 1 72 and hinge shaft 2 102, not only can the two ends of the movable arm 12 be hingedly connected to the slider 1 7 and the slider 2 10, respectively, but the detachable support base 1 71 and support base 2 101 also make it convenient for workers to disassemble and repair the parts on the movable arm 12.

[0033] like Figure 3 、 Figure 5As shown, the flip assembly 13 includes a pair of fixed gears 131 respectively fixed on the hinge shaft 1 72 and the hinge shaft 2 102, a pair of rotating shafts 3 132 parallel to the hinge shaft 1 72 or the hinge shaft 2 102 and rotatably connected to the movable arm 12, a pair of movable gears 133 respectively fixed on the rotating shaft 3 132 and respectively engaged with the two fixed gears 131, a pair of sprockets 3 134 respectively fixed on the rotating shaft 3 132, a chain 2 135 sleeved on the two sprockets 3 134, Sliding block 3 136 slidably mounted on movable arm 12 and fixedly connected to chain 2 135 ; screw rod 3 137 rotatably mounted on movable arm 12 and movable through sliding block 3 136 ; nut 3 138 fixed to sliding block 3 136 and threadedly connected to screw rod 3 137 ; bevel gear 1 139 fixedly connected to one end of screw rod 3 137 ; bevel gear 2 13a rotatably mounted on movable arm 12 and meshing with bevel gear 1 139 ; and small motor 3 13b driving bevel gear 2 13a to rotate. A rectangular hole 121 is opened in the middle of the movable arm 12 and passes through both sides thereof, and the sprocket three 134, the chain two 135, the slider three 136, the screw three 137, the nut three 138, the bevel gear one 139 and the bevel gear two 13a are all located in the rectangular hole 121. The rotating shaft three 132 rotates through the movable arm 12, and the rotating shaft three 132 passes through the rectangular hole 121 to connect the sprocket three 134. The rectangular hole 121 is located in the middle of the chain two 135 and a pair of support plates are fixedly provided. 2 124, screw rod 3 137 is vertically located in the middle of chain 2 135, and the upper and lower ends of screw rod 3 137 are respectively rotated to connect the two support plates 2 124, slider 3 136 is located between the two support plates 2 124 and slides back and forth, the upper end of screw rod 3 137 rotates to pass through support plate 2 124 to connect bevel gear 1 139, small motor 3 13b is fixed on the outer wall of movable arm 12, and the output end of small motor 3 13b rotates to pass through the rectangular hole 121 to connect bevel gear 2 13a.

[0034] By adopting the above-mentioned flip assembly 13, when the two ends of the movable arm 12 need to flip relative to the slider 1 7 and the slider 2 10 respectively, first the small motor 3 13b drives the bevel gear 2 13a, so that the bevel gear 2 13a engages with the transmission bevel gear 1 139 to rotate, and then the bevel gear 1 139 drives the screw rod 3 137 to rotate. Since the nut 3 138 is threadedly connected to the screw rod 3 137 and the nut 3 138 is fixed on the slider 3 136, under the rotation of the screw rod 3 137, the nut 3 138 will drive the slider 3 136 to slide along the axis direction of the screw rod 3 137, and then the slider 3 136 drives the chain The movement of the second hinge 135 causes the two sprockets 3 134 to rotate synchronously. Subsequently, the two sprockets 3 134, via their respective connected rotating shafts 3 132, drive the two movable gears 133 to rotate. Because the fixed gear 131 is fixed to the first hinge 72 or the second hinge 102 and cannot rotate on its own, the movable gears 133 rotate and move around the fixed gear 131. Finally, the two ends of the flip arm flip relative to the first hinge 72 and the second hinge 102, respectively, under the movement of the two movable gears 133, thereby achieving the effect of fine-tuning the front, back, and up and down position of the inspection camera device 14. The rectangular hole 121 of the movable arm 12 not only provides installation space for most of the components of the flip assembly 13, but also ensures the transmission safety of each component.

[0035] like Figure 3 、 Figure 4 As shown, each side of the movable arm 12 is provided with an elongated hole 122 that communicates with the interior of the rectangular hole 121. A sliding rod 136a is fixedly mounted at each end of the slider 3 136, passing through the elongated hole 122. The sliding rod 136a slides within the elongated hole 122. A double-headed pointer 136b is fixedly connected to the end of the sliding rod 136a extending out of the elongated hole 122. Scales 123 displaying the horizontal and vertical distances between the slider 1 7 and the slider 2 10 are fixedly mounted on the sidewall of the movable arm 12, located on either side of the double-headed pointer 136b. The use of the elongated holes 122 and sliding rod 136a not only further enhances the sliding stability of the slider 3 136 within the rectangular hole 121, but also, in conjunction with the double-headed pointer 136b and scale 123, allows for real-time display of the horizontal and vertical distances between the slider 1 7 and the slider 2 10, facilitating precise adjustment of the front, back, and top, bottom positions of the inspection camera 14.

[0036] The working principle of this embodiment is as follows:

[0037] When the rotating component 5 is used to control the rotation of the rotating table 4, the angular position of the inspection camera equipment 14 can be adjusted to a certain extent; when the flipping component 13 is used to control the flipping movement of the two ends of the movable arm 12 relative to the support arm 1 6 and the support arm 2 9, the relative distance between the support arm 1 6 and the support arm 2 9 in the horizontal and vertical directions can be increased or decreased, and the front and rear up and down positions of the inspection camera equipment 14 can be slightly adjusted in the horizontal and vertical directions; when the sliding component 1 8 and the sliding component 2 11 are used to control the sliding of the slider 1 7 and the slider 2 10 respectively, the movable arm 12 and the support arm 2 9 can be driven to rise and fall relative to the support arm 1 6, thereby greatly adjusting the height position of the inspection camera equipment 14. At the same time, if the flipping component 13 is used to make the movable arm 12 and the support arm 1 6 and the support arm 2 9 vertically parallel to each other, then when the movable arm 12 and the support arm 2 9 are raised to the highest position, the effect of the support arm 1 6, the support arm 2 9 and the movable arm 12 being folded together in parallel can be achieved.

[0038] The mechanical arm structure composed of the above-mentioned support arm 1 6, support arm 2 9 and movable arm 12 and other components can not only flexibly adjust the height, level and angle position of the inspection camera equipment 14 to improve the inspection range of the inspection robot and enhance the inspection flexibility of the inspection robot, but also the support arm 1 6, support arm 2 9 and movable arm 12 and other components that adjust the position of the inspection camera equipment 14 can also be folded under certain conditions, so that the inspection robot can fully adapt to different inspection environments. At the same time, after folding, it can also easily pass through various narrow gaps and door openings, thereby enhancing the passability of the inspection robot.

Claims

1. An intelligent inspection robot, characterized in that: The invention comprises an I-shaped track (1), a mobile body (2) suspended and movable below the I-shaped track (1), a moving assembly (3) for driving the mobile body (2) to move along the I-shaped track (1), a rotating table (4) vertically rotating and arranged at the bottom of the mobile body (2), a rotating assembly (5) for driving the rotating table (4) to rotate relative to the mobile body (2), a supporting arm (6) vertically fixed at the bottom of the rotating table (4), a slider (7) slidingly arranged on the supporting arm (6), a sliding assembly (8) for driving the slider (7) to slide up and down along the supporting arm (6), a supporting arm (9) parallel to one side of the supporting arm (6), a sliding assembly (9) for driving the slider (7) to slide up and down along the supporting arm (6), a supporting arm (10) parallel to one side of the supporting arm (10), a sliding assembly (11) for driving the slider (11) to slide up and down along the supporting arm (10), a supporting arm (11) parallel to one side of the supporting arm (10), a sliding assembly (12) for driving the slider (12) to slide up and down along the supporting arm (10), a supporting arm (13) parallel to one side of the supporting arm (10), a sliding assembly (14) for driving the slider (14) to slide up and down along the supporting arm (10), a supporting arm (15) parallel to one side of the supporting arm (10), a sliding assembly (15) for driving the slider (15) to slide up and down along the supporting arm (10), a supporting arm (16) parallel to one side of the supporting arm (10), a sliding assembly (16) for driving the slider (16) to slide up and down along the supporting arm (10), a supporting arm (17) parallel to one side of the supporting arm (10), a sliding assembly (18) for driving the slider (17) to slide up and down along the supporting arm (10), a supporting arm (18) parallel to one side of the supporting arm (10), a sliding assembly (19) for driving the A slider 2 (10) movably arranged on the support arm 2 (9), a sliding assembly 2 (11) for driving the slider 2 (10) to slide up and down along the support arm 2 (9), a movable arm (12) whose two ends are respectively hingedly connected to the slider 1 (7) and the slider 2 (10), a flip assembly (13) for driving the two ends of the movable arm (12) to synchronously flip relative to the slider 1 (7) and the slider 2 (10), and an inspection camera device (14) fixed to the lower end of the support arm 2 (9), wherein the movable arm (12) is located between the support arm 1 (6) and the support arm 2 (9), and the angles between the movable arm (12) and the support arm 1 (6) and the support arm 2 (9) are the same; The slider 1 (7) and the slider 2 (10) are detachably connected to an L-shaped support seat 1 (71) and a support seat 2 (101), respectively. One side of the support seat 1 (71) and the support seat 2 (101) is fixedly provided with an articulated shaft 1 (72) and an articulated shaft 2 (102) that movably passes through the movable arm (12), respectively. The flip assembly (13) drives the movable arm (12) to rotate synchronously in the same direction relative to the articulated shaft 1 (72) and the articulated shaft 2 (102); The flip assembly (13) includes a pair of fixed gears (131) respectively fixed on the hinge shaft 1 (72) and the hinge shaft 2 (102), a pair of rotating shafts 3 (132) parallel to the hinge shaft 1 (72) or the hinge shaft 2 (102) and rotatably connected to the movable arm (12), a pair of movable gears (133) respectively fixed on the rotating shaft 3 (132) and respectively engaged with the two fixed gears (131), a pair of sprockets 3 (134) respectively fixed on the rotating shaft 3 (132), a chain 2 (135) sleeved on the two sprockets 3 (134), a sliding A slider 3 (136) is movably provided on the movable arm (12) and fixedly connected to the chain 2 (135); a screw rod 3 (137) is rotatably provided on the movable arm (12) and movably passes through the slider 3 (136); a nut 3 (138) is fixed on the slider 3 (136) and threadedly connected to the screw rod 3 (137); a bevel gear 1 (139) is fixedly connected to one end of the screw rod 3 (137); a bevel gear 2 (13a) is rotatably provided on the movable arm (12) and meshed with the bevel gear 1 (139); and a small motor 3 (13b) drives the bevel gear 2 (13a) to rotate. A rectangular hole (121) is provided in the middle of the movable arm (12) and passes through both sides thereof, and sprocket three (134), chain two (135), slider three (136), screw rod three (137), nut three (138), bevel gear one (139) and bevel gear two (13a) are all located in the rectangular hole (121). The rotating shaft three (132) rotates through the movable arm (12), and the rotating shaft three (132) is connected to the sprocket three (134) through the rectangular hole (121). A pair of support plates are fixedly provided in the middle of the rectangular hole (121) and the chain two (135). The second (124), the screw rod three (137) is vertically located in the middle of the chain two (135), and the upper and lower ends of the screw rod three (137) are respectively rotated to connect the two support plates two (124), the slider three (136) is located between the two support plates two (124) and slides back and forth, the upper end of the screw rod three (137) rotates through the support plate two (124) to connect the bevel gear one (139), the small motor three (13b) is fixed on the outer wall of the movable arm (12), and the output end of the small motor three (13b) rotates through the rectangular hole (121) to connect the bevel gear two (13a).

2. The intelligent inspection robot according to claim 1, characterized in that: The mobile vehicle body (2) comprises a box body (21), a box cover (22) detachably connected to the opening of the box body (21), two pairs of support plates (23) vertically parallel to each other and fixed on the box cover (22), four rollers (24) rotatably arranged on the two pairs of support plates (23), a pair of rotating shafts (25) horizontally parallel to each other and rotatably connected to the two pairs of support plates (23), two pairs of rollers (26) fixed on the two rotating shafts (25) and respectively located below the four rollers (24), the two pairs of support plates (23) They are respectively located on both sides of the I-shaped track (1), and roller one (24) and roller two (26) are located on one side of the support plate one (23) close to the I-shaped track (1), the two pairs of roller one (24) are respectively located in the grooves on both sides of the I-shaped track (1), and roll on the horizontal lower side wall of the groove of the I-shaped track (1), the two rotating shafts one (25) are located at the bottom of the I-shaped track (1), and the rollers on the rotating shaft one (25) roll on the bottom wall of the I-shaped track (1), and the moving component (3) drives one rotating shaft one (25) to rotate.

3. The intelligent inspection robot according to claim 2, characterized in that: The upper ends of the two pairs of support plates (23) are respectively fixedly connected to a horizontal connecting plate (27), and the two connecting plates (27) are respectively provided with positioning wheels (28) that rotate horizontally. The two connecting plates (27) are respectively located in the grooves on both sides of the I-shaped track (1), and the positioning wheels (28) on the connecting plates (27) roll on the vertical side walls of the groove of the I-shaped track (1).

4. The intelligent inspection robot according to claim 2, characterized in that: The moving assembly (3) includes a sprocket wheel (31) fixedly connected to one end of a rotating shaft (25), a sprocket wheel (32) rotatably connected to the side wall of the box body (21), a chain (33) sleeved on the sprocket wheel (31) and the sprocket wheel (32), and a servo motor (34) for driving the sprocket wheel (32) to rotate. The sprocket wheel (31), the sprocket wheel (32) and the chain (33) are located on one side of the box body (21), one end of the rotating shaft (25) rotates through the support plate (23) to connect to the sprocket wheel (31), the servo motor (34) is fixed to the other side of the box body (21), and the output end of the servo motor (34) rotates through the box body (21) to connect to the sprocket wheel (32).

5. The intelligent inspection robot according to claim 2, characterized in that: The rotating assembly (5) includes a second rotating shaft (51) vertically rotatably arranged inside the box (21), a worm wheel (52) fixed on the second rotating shaft (51), a worm (53) horizontally rotatably arranged inside the box (21) and meshing with the worm wheel (52), and a second servo motor (54) driving the worm (53) to rotate. The lower end of the second rotating shaft (51) rotates through the bottom of the box (21) and is fixedly connected to the top of the rotating table (4). The second servo motor (54) is fixed to the outside of the box (21), and one end of the worm (53) rotates through the side wall of the box (21) to connect to the output end of the second servo motor (54).

6. The intelligent inspection robot according to claim 1, characterized in that: The sliding assembly (8) includes a screw rod (81) that is rotatably connected to the support arm (6) and is parallel to the support arm (6), a small motor (82) that drives the screw rod (81) to rotate, and a nut (83) that is fixed on the slider (7) and threadedly connected to the screw rod (81). A long slide groove (61) is opened on one side of the support arm (6), and the slider (7) slides in the long slide groove (61). The screw rod (81) is rotatably set in the long slide groove (61) and moves through the slider (7). The nut (83) is fixed in the through hole of the slider (7) for the screw rod (81) to pass through and is threadedly connected to the screw rod (81). The small motor (82) is fixed to the lower end of the support arm (6), and the lower end of the screw rod (81) rotates out of the long slide groove (61) and connects to the output end of the small motor (82).

7. The intelligent inspection robot according to claim 1, characterized in that: The sliding assembly 2 (11) includes a screw rod 2 (111) that is rotatably connected to the support arm 2 (9) and is parallel to the support arm 2 (9), a small motor 2 (112) that drives the screw rod 2 (111) to rotate, and a nut 2 (113) that is fixed to the slider 2 (10) and is threadedly connected to the screw rod 2 (111). A long groove 2 (91) is provided on one side of the support arm 2 (9), and the slider 2 (10) slides in the long groove 2 (91). The screw rod 2 ( 111) is rotatably arranged in the long slide groove 2 (91) and moves through the slider 2 (10), the nut 2 (113) is fixed in the through hole of the slider 2 (10) for the screw rod 2 (111) to pass through, and is threadedly connected to the screw rod 2 (111), the small motor 2 (112) is fixed to the upper end of the support arm 2 (9), and the upper end of the screw rod 2 (111) rotates out of the long slide groove 2 (91) to connect to the output end of the small motor 2 (112).

8. The intelligent inspection robot according to claim 1, characterized in that: The movable arm (12) is provided with a long hole (122) on both sides thereof, which is connected to the interior of the rectangular hole (121). The two ends of the slider (136) are fixedly provided with a slide rod (136a) passing through the long hole (122), and the slide rod (136a) slides in the long hole (122). One end of the slide rod (136a) extending out of the long hole (122) is fixedly connected to a double-headed pointer (136b). The side walls of the movable arm (12) are located on both sides of the double-headed pointer (136b), and are respectively fixedly provided with scales (123) for displaying the horizontal distance and vertical distance between the slider (7) and the slider (10).

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