Gas emission robot supervision and law enforcement system

Abstract

The invention discloses a gas emission robot supervision and law enforcement system, and relates to the technical field of gas emission supervision and law enforcement equipment, the gas emission robot supervision and law enforcement system comprises a robot mechanism, the robot mechanism comprises an unmanned aerial vehicle main body, and the output end of the unmanned aerial vehicle main body is fixedly connected with unmanned aerial vehicle fan blades arranged at equal intervals; the gas emission robot supervision and law enforcement system comprises an unmanned aerial vehicle main body, the bottom surface of the unmanned aerial vehicle main body is fixedly connected with supporting legs and an unmanned aerial vehicle camera which are arranged at equal intervals, the number of the supporting legs is four, and an extension fixing mechanism is arranged above the unmanned aerial vehicle main body. According to the robot, the arc coaming of the robot extends into the gas emission pipeline, the gas emission detection pipe of the robot is clamped with the pipeline needing gas emission detection, the robot is stably used for monitoring and law enforcement of gas emission at the position, the problem that the flying unmanned aerial vehicle robot shakes and even falls is solved, and the working efficiency is improved. And the service life of the robot is prolonged.

Description

Technical Field

[0001] The present invention relates to the technical field of gas emission supervision and law enforcement equipment, and specifically to a gas emission robot supervision and law enforcement system. Background Art

[0002] The supervision and enforcement of gas emissions are carried out through robots. A robot is a programmable and multifunctional operating machine, or a specialized system with computer-changeable and programmable actions for performing different tasks. Drones are actually also such machines that can be automatically controlled and programmed. Therefore, when supervising and enforcing the gas emission outlets of multiple workshops, drone robots are needed to supervise and enforce the law.

[0003] When using existing gas emission supervision and law enforcement robots, some use land robots that are fixed to the ground and use extended gas emission detection tubes to supervise and enforce the gas emitted from the pipeline at that location. Such robots have large movement limitations and cannot quickly and conveniently move to the next location to supervise and enforce the gas emitted from the pipeline at that location. Some use drone robots to fly to the gas pipeline discharge point to supervise and enforce the gas emitted from the pipeline at that location. Since the airflow emitted from the gas pipeline will blow the flying drone robot, and the gas emission detection tube of the drone robot cannot automatically connect to the pipeline of the emitted gas, the flying drone robot may become unstable or even fall, which not only affects the supervision and enforcement of gas emissions by the gas emission supervision and law enforcement robot, but also reduces the service life of the gas emission supervision and law enforcement robot.

[0004] Combining the above problems, it can be found that it is difficult to avoid the above problems at the same time when using the existing gas emission supervision and law enforcement robots on the market. Even if they can be solved, they need to be solved through external tools, which makes it impossible to achieve the desired effect. Therefore, a gas emission robot supervision and law enforcement system is proposed. Summary of the Invention

[0005] The purpose of the present invention is to provide a gas emission robot supervision and law enforcement system to solve the problems raised in the above background technology.

[0006] To achieve the above objectives, the present invention provides the following technical solutions: a gas emission robot supervision and law enforcement system, comprising a robot mechanism, the robot mechanism comprising a drone body, the output end of the drone body being fixedly connected to drone blades arranged at equal distances, the bottom surface of the drone body being fixedly connected to support legs and a drone camera arranged at equal distances, the number of the support legs being four, and an extension fixing mechanism being provided above the drone body;

[0007] The extension and fixing mechanism includes an extension unit, the extension unit is located above the drone body, and the extension unit is used to extend the connection and fixing structure with the exhaust gas pipeline to the inside of the pipeline;

[0008] The extension fixing mechanism also includes a support fixing unit, which is located above the drone body and is used in conjunction with the extension unit to support and fix the extension end of the gas emission supervision and law enforcement robot to the inside of the exhaust gas pipeline;

[0009] A balancing auxiliary mechanism is provided on the right side of the extension unit. The balancing auxiliary mechanism is used in conjunction with the extension fixing mechanism. The balancing auxiliary mechanism is used to balance and stabilize the drone body and assist in supervisory and law enforcement operations.

[0010] Preferably, the extension unit includes a mounting cylinder, the outer surface of the mounting cylinder is fixedly connected to the upper surface of the drone body, the outer surface of the mounting cylinder is fixedly connected to a rotating motor, the output end of the rotating motor is fixedly connected to a rotating gear, the interior of the mounting cylinder is rotatably connected to a rotating cylinder, the inner wall of the mounting cylinder is fixedly connected to two limiting rings, the two limiting rings are provided with limiting grooves on one side close to each other, the rotating cylinder is rotatably connected to the inside of the two limiting grooves, the outer surface of the rotating cylinder is fixedly inlaid with a rotating toothed belt, the rotating gear is meshed with the rotating toothed belt, and the inner wall of the rotating cylinder is fixedly connected to a driving The movable cylinder, the side surfaces of the two limit rings that are close to each other are respectively in contact with the two side surfaces of the driving cylinder, the inner wall of the driving cylinder is fixedly connected with a spiral guide rod, the internal rotation of the driving cylinder is connected with an extension ring, the left side of the extension ring is fixedly connected with a plurality of circular arc panels, the outer surface of each of the circular arc panels is in contact with the inner wall of the driving cylinder, the outer surfaces of the plurality of circular arc panels are jointly provided with a spiral guide groove, the spiral guide rod slides along the inner cavity of the spiral guide groove, the inner wall of the mounting cylinder is fixedly connected with four limit blocks, and the two side surfaces of the four limit blocks are respectively in contact with the outer surfaces of the plurality of circular arc panels.

[0011] Preferably, the bottom ends of the four support legs are fixedly connected to two lower base plates, the outer surface of each support leg is fixedly connected to a reinforcement ring, and the bottom surfaces of the four reinforcement rings are respectively fixedly connected to the upper surfaces of the two lower base plates.

[0012] Preferably, the expansion fixing unit includes several extension blocks, the right sides of several extension blocks are fixedly connected to the left sides of several arc panels respectively, the right side of each extension block is in contact with the left side of the mounting cylinder, the inner wall of the extension ring is fixedly connected to several fixing rods, and the ends of several fixing rods close to each other are commonly fixedly connected to the mounting plate, the left side of the mounting plate is fixedly connected to a sliding extension column, the left end of the sliding extension column is fixedly connected to a baffle, the outer surface of the sliding extension column is sleeved with a movable slip ring, the left side of the movable slip ring is in contact with the right side of the baffle, the outer surface of the movable slip ring is fixedly connected to several support rods, and each of the support rods is fixedly connected to a support block at one end away from the movable slip ring, and several support blocks are far away from each other. The side faces away from each other are respectively in contact with the side faces of several extension blocks that are close to each other, and several side faces of the extension blocks that are close to each other are provided with mounting grooves, and several side faces of the support blocks that are away from each other are provided with receiving grooves, and the inner bottom wall of each receiving groove is fixedly connected with a compression spring, and several compression springs are slidably connected to the inside of several mounting grooves, and the ends of several compression springs that are away from each other are fixedly connected with connecting discs, and the sides of several connecting discs that are away from each other are fixedly connected to the inner top wall of the mounting groove, and the sides of several extension blocks that are away from each other are fixedly connected with pressure sensors, and each pressure sensor is connected to the rotating motor signal through a PLC controller, and the sensing end of each pressure sensor is movably hinged with a vacuum suction cup.

[0013] Preferably, a plurality of reinforcing rods are fixedly connected to the outer surface of the sliding extension column, and ends of the plurality of reinforcing rods away from the sliding extension column are respectively fixedly connected to side surfaces of a plurality of circular arc enclosure plates that are close to each other.

[0014] Preferably, the left side of each extension block is fixedly connected to an extension frame, and the side surfaces of several extension frames that are away from each other are fixedly connected to a cleaning brush.

[0015] Preferably, the balancing auxiliary mechanism includes a rotating screw, the left end of the rotating screw is fixedly connected to the right side of the rotating gear, the outer surface of the mounting cylinder is provided with a limiting sliding groove, the internal sliding connection of the limiting sliding groove is provided with a gas detector, the input end of the gas detector is fixedly connected with a plurality of gas sensors, the upper surface of the gas detector is fixedly connected with a movable slide, the bottom surface of the movable slide is in contact with the outer surface of the mounting cylinder, the upper surface of the movable slide is fixedly connected with a balancing block, and the rotating screw is threadedly connected to the inside of the balancing block.

[0016] Preferably, a stabilizing block is fixedly connected to the outer surface of the mounting cylinder, and the rotating screw is rotatably connected to the interior of the stabilizing block.

[0017] Preferably, a stabilizing disk is provided on the right side of the stabilizing block, and the left side of the stabilizing disk is fixedly connected to the right end of the rotating screw.

[0018] Preferably, two stable sliding blocks are fixedly connected to the outer surface of the mounting cylinder, and two stable sliding grooves are provided on the bottom surface of the movable slide, and the two stable sliding blocks are respectively slidably connected to the inside of the two stable sliding grooves.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. By setting an extension unit, the present invention can extend the arc enclosure of the gas emission supervision and law enforcement robot into the gas emission pipe, so that the gas emission detection tube of the gas emission supervision and law enforcement robot can be connected with the pipe where the gas emission needs to be detected, reducing the impact of the airflow generated by the gas emission in the pipe on the flight of the gas emission supervision and law enforcement robot, so that the gas emission supervision and law enforcement robot can be stably used to supervise and enforce the gas emissions at that location, reducing the problem of shaking, instability or even falling of the flying drone robot, and improving the service life of the robot.

[0021] 2. The present invention provides a support and fixing unit, which can extend the outward-supported arc enclosure and extension block into the interior of the gas exhaust pipe through the extension unit, and utilize the outward-supported arc enclosure and extension block to contact the inner wall of the gas exhaust pipe, and utilize the vacuum suction cup to connect with the inner wall of the gas exhaust pipe, so that one side of the gas emission supervision and law enforcement robot can be connected and installed together with the gas emission pipe, so that the gas emission detection tube of the drone robot can be automatically connected to the pipe of the exhaust gas, further reducing the impact of the airflow generated by the gas emission in the pipe on the flight of the gas emission supervision and law enforcement robot, reducing the problem of shaking, instability or even falling of the flying drone robot, and further improving the service life of the robot.

[0022] 3. The present invention sets a balancing auxiliary mechanism, which can cooperate with the extension unit and the expansion fixing unit to drive the rotating gear by using the rotating motor, and at the same time drive the rotating screw to rotate, so that the balance block can move in the direction opposite to the movement direction of several arc panels on the installation cylinder, and balance the center of gravity of the gas emission supervision and law enforcement robot, so that the gas emission supervision and law enforcement robot can be connected to the gas emission pipeline more stably, and the gas detector and gas sensor are used to detect the exhaust gas passing through the driving cylinder, so that the gas emission supervision and law enforcement robot can be further stably used to supervise and enforce the gas emissions at this position. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the upward-looking structure of the drone camera of the present invention;

[0025] Figure 3 It is a structural schematic diagram of the limit block of the present invention;

[0026] Figure 4 This is a schematic structural diagram of the installation tube of the present invention;

[0027] Figure 5 This is a schematic cross-sectional view of the mounting tube of the present invention;

[0028] Figure 6 It is a structural schematic diagram of the driving cylinder of the present invention;

[0029] Figure 7 It is a structural schematic diagram of the rotating drum of the present invention;

[0030] Figure 8 This is a schematic structural diagram of the arc enclosure of the present invention;

[0031] Figure 9 It is a schematic cross-sectional view of the sliding extension column of the present invention;

[0032] Figure 10 Schematic diagram of the structure of the compression spring of the present invention;

[0033] Figure 11 It is a structural schematic diagram of the balancing weight of the present invention.

[0034] In the figure: 1. Robot mechanism; 11. UAV body; 12. UAV fan blade; 13. Support leg; 14. Lower base; 15. Reinforcement ring; 16. UAV camera; 2. Extension fixing mechanism; 21. Extension unit; 2101. Mounting cylinder; 2102. Rotating motor; 2103. Rotating gear; 2104. Rotating cylinder; 2105. Rotating toothed belt; 2106. Driving cylinder; 2107. Spiral guide rod; 2108. Limiting ring; 2109. Limiting groove; 2110. Extension ring; 2111. Arc plate; 2112. Spiral guide groove; 2113. Limiting block; 22. Spreading fixing unit; 2201. Extension block; 2202. Mounting groove; 2203. Mounting Mounting plate; 2204, fixed rod; 2205, sliding extension column; 2206, reinforcing rod; 2207, baffle; 2208, movable slip ring; 2209, support rod; 2210, support block; 2211, storage groove; 2212, compression spring; 2213, connecting disc; 2214, pressure sensor; 2215, vacuum suction cup; 2216, extension frame; 2217, cleaning brush; 3, balancing auxiliary mechanism; 301, rotating screw; 302, stabilizing block; 303, balancing block; 304, movable slide; 305, gas detector; 306, gas sensor; 307, limiting sliding groove; 308, stabilizing slider; 309, stabilizing slide groove; 310, stabilizing disk. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0036] Example 1: Please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 9 The present invention provides a technical solution: a gas emission robot supervision and law enforcement system, comprising a robot mechanism 1, the robot mechanism 1 comprising a drone body 11, the output end of the drone body 11 being fixedly connected to drone blades 12 arranged at equal distances, the bottom surface of the drone body 11 being fixedly connected to support legs 13 and a drone camera 16 arranged at equal distances, the number of support legs 13 being four, and an extension fixing mechanism 2 being provided above the drone body 11;

[0037] The bottom ends of the four support legs 13 are fixedly connected to two lower base plates 14. The outer surface of each support leg 13 is fixedly connected to a reinforcement ring 15. The bottom surfaces of the four reinforcement rings 15 are respectively fixedly connected to the upper surfaces of the two lower base plates 14. By utilizing the two lower base plates 14, the contact area between the four support legs 13 and the ground is increased, which can improve the stability of the drone body 11 supported on the ground. By utilizing the reinforcement rings 15, the connection stability between the four support legs 13 and the two lower base plates 14 is improved, thereby further improving the stability of the drone body 11 supported on the ground.

[0038] The extension fixing mechanism 2 includes an extension unit 21, which is located above the drone body 11. The extension unit 21 is used to install the extension end of the gas emission supervision and law enforcement robot to be stretched and fixed to the inside of the exhaust gas pipeline.

[0039] As a further limitation of the extension fixing mechanism 2 of the present invention, the extension unit 21 includes a mounting cylinder 2101, the outer surface of the mounting cylinder 2101 is fixedly connected to the upper surface of the drone body 11, the outer surface of the mounting cylinder 2101 is fixedly connected to a rotating motor 2102, the output end of the rotating motor 2102 is fixedly connected to a rotating gear 2103, the internal rotation of the mounting cylinder 2101 is connected to a rotating cylinder 2104, and the inner wall of the mounting cylinder 2101 is fixedly connected to two limiting rings 2108, and the two limiting rings 2108 are both provided with limiting means on the side close to each other. The rotating cylinder 2104 is rotatably connected to the inside of the two limiting grooves 2109. The outer surface of the rotating cylinder 2104 is fixedly inlaid with a rotating toothed belt 2105. The rotating gear 2103 is engaged with the rotating toothed belt 2105. The inner wall of the rotating cylinder 2104 is fixedly connected to the driving cylinder 2106. The side surfaces of the two limiting rings 2108 close to each other are respectively in contact with the two side surfaces of the driving cylinder 2106. The inner wall of the driving cylinder 2106 is fixedly connected to the spiral guide rod 2107. The interior of the driving cylinder 2106 is rotatably connected to the extension ring 2110. The extension ring The left side of 2110 is fixedly connected with a plurality of arc panels 2111, and the outer surface of each arc panel 2111 contacts the inner wall of the driving cylinder 2106. The outer surfaces of the plurality of arc panels 2111 are jointly provided with a spiral guide groove 2112, and the spiral guide rod 2107 slides along the inner cavity of the spiral guide groove 2112. The inner wall of the mounting cylinder 2101 is fixedly connected with four limit blocks 2113, and the two side surfaces of the four limit blocks 2113 are respectively in contact with the outer surfaces of the plurality of arc panels 2111. By setting the extension unit 21, The arc-shaped enclosure 2111 of the gas emission supervision and law enforcement robot extends into the interior of the gas emission pipeline, thereby enabling the gas emission detection tube of the gas emission supervision and law enforcement robot to be clamped and connected with the pipeline where gas emission needs to be detected, reducing the impact of the airflow generated by the gas emission in the pipeline on the flight of the gas emission supervision and law enforcement robot, thereby enabling the gas emission supervision and law enforcement robot to be stably utilized to supervise and enforce gas emissions at the location, reducing the problem of shaking, instability, or even falling of the flying drone robot, and increasing the service life of the robot;

[0040] The specific implementation of this embodiment is as follows: when it is necessary to use the gas emission supervision and law enforcement robot to supervise and enforce the gas discharged from the exhaust gas pipeline, the lower base plate 14 of the gas emission supervision and law enforcement robot is first placed on the horizontal ground manually, so that the support structure composed of the support legs 13 and the lower base plate 14 can be used to stably support the drone body 11 on the horizontal ground, and the remote control of the gas emission supervision and law enforcement robot is used to control the drone body 11 to output power to drive the drone blades 12 to rotate, thereby manipulating the drone robot to fly. Then, since a mounting tube 2101 that can be connected to the exhaust gas pipeline is fixed on the drone body 11, it can be controlled by using The user controls the drone robot to fly to the vicinity of the exhaust end of the exhaust gas pipeline, and makes the fixed ring outside the installation cylinder 2101 contact with the output end of the exhaust gas pipeline, and controls the rotating motor 2102 to start the action through the PLC controller on the remote controller, and uses the rotating motor 2102 to drive the rotating gear 2103 to rotate. Since a rotating cylinder 2104 is provided in the installation cylinder 2101, and a rotating toothed belt 2105 is embedded on the outer surface of the rotating cylinder 2104 to mesh with the rotating gear 2103, the rotating cylinder 2104 is driven to rotate in the installation cylinder 2101 by the rotation of the rotating gear 2103, and since a limiting ring 2108 is provided in the installation cylinder 2101, the rotating cylinder 2104 can be driven to rotate in the installation cylinder 2101. 2104 rotates in the limiting groove 2109 opened on one side of the limiting ring 2108 to limit its rotation. By utilizing the driving cylinder 2106 arranged in the rotating cylinder 2104 to cooperate with the arc enclosure 2111, the spiral guide rod 2107 fixed in the driving cylinder 2106 slides in the spiral guide groove 2112 opened on the outside of the multiple arc enclosures 2111, and the limiting block 2113 is fixed on the inner wall of the installation cylinder 2101, so that the four limiting blocks 2113 slide in the gaps between the multiple arc enclosures 2111 respectively, and the multiple arc enclosures 2111 are connected to form a whole with the extension ring 2110 on one side, which can form a whole of the multiple arc enclosures 2111. The rotation is limited, so that the several arc panels 2111 can slide and extend along the inside of the driving cylinder 2106 through the rotating driving cylinder 2106, until the several arc panels 2111 extend into the exhaust gas pipeline, so that the gas emission detection tube of the gas emission supervision and law enforcement robot can be connected with the pipeline that needs to detect gas emissions, reducing the impact of the airflow generated by the gas emissions in the pipeline on the flight of the gas emission supervision and law enforcement robot, so that the gas emission supervision and law enforcement robot can be stably used to supervise and enforce the gas emissions at this location, reducing the problem of shaking, instability or even falling of the flying drone robot, and improving the service life of the robot.

[0041] Example 2: Please refer to Figure 1 、 Figure 2 、 Figure 7 、 Figure 8 、 Figure 9 and Figure 10 The present invention provides a technical solution: a gas emission robot supervision and law enforcement system. The present invention makes corresponding improvements to the technical problems mentioned in the background technology.

[0042] As a further limitation of the extension fixing mechanism 2 of the present invention, the extension fixing mechanism 2 also includes a stretching fixing unit 22, which is located above the drone body 11. The stretching fixing unit 22 is used in conjunction with the extension unit 21. The stretching fixing unit 22 is used to stretch and fix the extension end of the gas emission supervision and law enforcement robot to the inside of the exhaust gas pipeline;

[0043] The support fixing unit 22 includes a plurality of extension blocks 2201, the right sides of the plurality of extension blocks 2201 are respectively fixedly connected to the left sides of the plurality of arc panels 2111, the right side of each extension block 2201 is in contact with the left side of the mounting tube 2101, the inner wall of the extension ring 2110 is fixedly connected with a plurality of fixing rods 2204, and the ends of the plurality of fixing rods 2204 close to each other are fixedly connected with the mounting plate 2203, the left side of the mounting plate 2203 is fixedly connected with a sliding extension column 2205, the left end of the sliding extension column 2205 is fixedly connected with a baffle 2207, the outer surface of the sliding extension column 2205 is provided with a movable slip ring 2208, and the movable slip ring 220 The left side of 8 contacts the right side of the baffle 2207, the outer surface of the movable slip ring 2208 is fixedly connected to a plurality of support rods 2209, and each support rod 2209 is fixedly connected to a support block 2210 at one end away from the movable slip ring 2208, and the side surfaces of the plurality of support blocks 2210 that are away from each other are respectively in contact with the side surfaces of the plurality of extension blocks 2201 that are close to each other, and the side surfaces of the plurality of extension blocks 2201 that are close to each other are provided with mounting grooves 2202, and the side surfaces of the plurality of support blocks 2210 that are away from each other are provided with receiving grooves 2211, and the inner bottom wall of each receiving groove 2211 is fixedly connected to a compression spring 2212, and the plurality of compression springs 2212 are respectively Slidingly connected to the inside of several mounting grooves 2202, several compression springs 2212 are fixedly connected to the ends away from each other with connecting discs 2213, and the sides away from each other of several connecting discs 2213 are fixedly connected to the inner top wall of the mounting groove 2202. The sides away from each other of several extension blocks 2201 are fixedly connected to pressure sensors 2214. Each pressure sensor 2214 is connected to the rotating motor 2102 signal through a PLC controller. The sensing end of each pressure sensor 2214 is movably hinged with a vacuum suction cup 2215. By setting the expansion fixing unit 22, the arc enclosure 2111 and the extension block 2113 that are expanded outwards can be expanded through the extension unit 21. 2201 extends into the interior of the gas exhaust pipe, and utilizes the arc-shaped enclosure plate 2111 and the extension block 2201 that are stretched out outward to contact the inner wall of the gas exhaust pipe, and utilizes the vacuum suction cup 2215 to connect with the inner wall of the gas exhaust pipe, so that one side of the gas emission supervision and law enforcement robot can be connected and installed together with the gas emission pipe, thereby enabling the gas emission detection tube of the drone robot to be automatically connected to the pipe of the exhaust gas, further reducing the impact of the airflow generated by the gas emission in the pipe on the flight of the gas emission supervision and law enforcement robot, reducing the problem of shaking, instability or even falling of the flying gas emission supervision and law enforcement robot, and further improving the service life of the robot;

[0044] A plurality of reinforcing rods 2206 are fixedly connected to the outer surface of the sliding extension column 2205. The ends of the plurality of reinforcing rods 2206 away from the sliding extension column 2205 are respectively fixedly connected to the side surfaces of the plurality of circular arc panels 2111 that are close to each other. The plurality of reinforcing rods 2206 improve the connection stability between the sliding extension column 2205 and the plurality of circular arc panels 2111, thereby enabling the sliding extension column 2205 to be stably fixed inside the cylindrical structure surrounded by the plurality of circular arc panels 2111.

[0045] The left side of each extension block 2201 is fixedly connected to an extension frame 2216, and the side faces of several extension frames 2216 that are away from each other are fixedly connected to a cleaning brush 2217. The cleaning brush 2217 is installed and fixed to the left side of the multiple vacuum suction cups 2215 using multiple extension frames 2216. Since the multiple extension blocks 2201 are extended obliquely into the pipeline, the cleaning brush 2217, which is longer and to the left of the vacuum suction cup 2215, will clean the inner wall of the pipeline, thereby making the connection between the vacuum suction cup 2215 and the inner wall of the pipeline more stable.

[0046] The specific implementation of this embodiment is as follows: while making a plurality of circular arc panels 2111 slide along the inside of the driving cylinder 2106 into the exhaust gas pipeline, since a plurality of fixing rods 2204 are fixed in the extension ring 2110, the mounting plate 2203 is fixed in the middle position between the plurality of circular arc panels 2111, the mounting plate 2203 can be used to fix the sliding extension column 2205 between the plurality of circular arc panels 2111, and the other end of the sliding extension column 2205 is flush with the extension block 2201 fixed at one end of the plurality of circular arc panels 2111, and since a movable slip ring 2208 is arranged on the outer surface of the sliding extension column 2205, the plurality of support blocks 2210 can be fixed at a position close to the plurality of extension blocks 2201 through the support rod 2209, and A mounting groove 2202 is provided on one side of the plurality of extension blocks 2201, and a receiving groove 2211 is provided at the corresponding position of the plurality of support blocks 2210, so that a compressed compression spring 2212 is fixedly provided between the plurality of mounting grooves 2202 and the corresponding plurality of receiving grooves 2211, and one end of the compression spring 2212 is stably connected to the inner wall of the mounting groove 2202 by connecting the disc 2213. By utilizing the large amount of elastic force accumulated in the plurality of compression springs 2212, the elastic force of the compression spring 2212 between the plurality of extension blocks 2201 and the support blocks 2210 can be released after the plurality of arc panels 2111 extend out of the mounting cylinder 2101, and the plurality of support blocks 2210 are fixedly connected to the movable slip ring 2208 through the support rod 2209. The movable slip ring 2208 can only slide along the sliding extension column 2205 by releasing the elastic force of the compression spring 2212, and the sliding of the movable slip ring 2208 can be limited and blocked by the baffle 2207, so that the extension block 2201 at one end of the plurality of arc panels 2111 can move in the direction away from the support block 2210 under the action of the elastic force of the compression spring 2212, and the plurality of arc panels 2111 can be bent. As the plurality of arc panels 2111 extend longer into the exhaust gas pipeline, the elastic force of the compression spring 2212 can be released to make the extension block 2201 at one end of the arc panel 2111 move further away from the support block 2210, and the vacuum suction cup 221 fixed on the outside of the plurality of extension blocks 2201 When the vacuum cup 2215 is about to contact the inner wall of the exhaust gas pipe, the cleaning brushes 2217 fixed on one side of the extension block 2201 by the extension frame 2216 have already contacted the inner wall of the exhaust gas pipe. The moving cleaning brushes 2217 clean the inner wall of the exhaust gas pipe, so that the vacuum cup 2215 can stably contact and squeeze the inner wall of the exhaust gas pipe. Since the vacuum cup 2215 is connected to the extension block 2201 through the pressure sensor 2214, the pressure applied to the vacuum cup 2215 by the inner wall of the exhaust gas pipe can be detected by the pressure sensor 2214. When the maximum pressure set by the pressure sensor 2214 is reached, the rotating motor 2102 can be automatically controlled by the PLC controller to stop working.At this time, multiple vacuum suction cups 2215 are connected to the inner wall of the exhaust gas pipeline, so that one side of the gas emission supervision and law enforcement robot is connected and installed together with the gas exhaust pipeline. This can automatically connect the gas emission detection tube of the drone robot to the exhaust gas pipeline, further reducing the impact of the airflow generated by the gas exhaust in the pipeline on the flight of the gas emission supervision and law enforcement robot, reducing the problem of shaking, instability or even falling of the flying drone robot, and further improving the service life of the robot.

[0047] Example 3: Please refer to Figure 1 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 and Figure 11 The present invention provides a technical solution: a gas emission robot supervision and law enforcement system. The present invention makes corresponding improvements to the technical problems mentioned in the background technology.

[0048] As a further limitation of the extension fixing mechanism 2 of the present invention, a balancing auxiliary mechanism 3 is provided on the right side of the extension unit 21. The balancing auxiliary mechanism 3 is used in conjunction with the extension fixing mechanism 2. The balancing auxiliary mechanism 3 is used to balance and stabilize the drone body 11 and assist in supervision and law enforcement operations.

[0049] The balancing auxiliary mechanism 3 includes a rotating screw 301, the left end of the rotating screw 301 is fixedly connected to the right side of the rotating gear 2103, the outer surface of the mounting cylinder 2101 is provided with a limited sliding groove 307, the inner sliding connection of the limited sliding groove 307 is a gas detector 305, the gas detector 305 is an instrument tool for gas leakage concentration detection, the model of the gas detector 305 is QT04-SW40-M40, the input end of the gas detector 305 is fixedly connected to a plurality of gas sensors 306, the gas sensor 306 is a converter that converts the volume fraction of a certain gas into a corresponding electrical signal, the model of the gas sensor 306 is TGS2600-B00, the upper surface of the gas detector 305 is fixedly connected to a movable slide 304, the bottom surface of the movable slide 304 is in contact with the outer surface of the mounting cylinder 2101, and the movable slide 30 4 is fixedly connected to the upper surface of the balancing block 303, and the rotating screw 301 is threadedly connected to the inside of the balancing block 303. By setting up the balancing auxiliary mechanism 3, the extension unit 21 and the support fixing unit 22 can be cooperated to use the rotating motor 2102 to drive the rotating gear 2103, and at the same time, the rotating screw 301 can be driven to rotate, so that the balancing block 303 can be moved on the installation cylinder 2101 in the opposite direction of the movement direction of the plurality of circular arc panels 2111, and the center of gravity of the gas emission supervision and law enforcement robot can be balanced, so that the gas emission supervision and law enforcement robot can be connected to the gas emission pipeline more stably, and the gas detector 305 and the gas sensor 306 are used to detect the exhaust gas passing through the driving cylinder 2106, so that the gas emission supervision and law enforcement robot can be further stably used to supervise and enforce the gas emission at this position;

[0050] A stabilizing block 302 is fixedly connected to the outer surface of the mounting cylinder 2101. The rotating screw 301 is rotatably connected to the interior of the stabilizing block 302. The stabilizing block 302 can support the right end of the rotating screw 301, thereby improving the rotational stability of the rotating screw 301.

[0051] A stabilizing plate 310 is provided on the right side of the stabilizing block 302. The left side of the stabilizing plate 310 is fixedly connected to the right end of the rotating screw 301. The stabilizing plate 310 on the right end of the rotating screw 301 can limit the rotation of the rotating screw 301 in the stabilizing block 302, thereby further improving the rotational stability of the rotating screw 301.

[0052] Two stable sliders 308 are fixedly connected to the outer surface of the mounting cylinder 2101, and two stable grooves 309 are provided on the bottom surface of the movable slide 304. The two stable sliders 308 are respectively slidably connected to the inside of the two stable grooves 309. By sliding the two stable sliders 308 inside the two stable grooves 309, the sliding of the movable slide 304 on the mounting cylinder 2101 can be limited, thereby improving the sliding stability of the movable slide 304 on the mounting cylinder 2101.

[0053] The specific implementation of this embodiment is as follows: while one side of the gas emission supervision and law enforcement robot is connected and installed with the gas emission pipeline, the rotating motor 2102 can be used to drive the rotating gear 2103 to rotate, and a rotating screw 301 is fixed at one end of the rotating gear 2103, and the stabilizing block 302 and the stabilizing disk 310 are used to make the rotating screw 301 stably rotate on the mounting cylinder 2101, and the movable slide 304 and the balancing block 303 are arranged on the mounting cylinder 2101, and the rotating screw 301 can be connected and rotated in the internal thread of the balancing block 303 by the rotating screw 301, and the bottom surface of the balancing block 303 fixes the movable slide 304 on the mounting cylinder 2101, and the stabilizing slider 308 on the mounting cylinder 2101 is used to be stuck in the stabilizing slide groove 309 opened under the movable slide 304, so as to limit the rotation of the balancing block 303. In this way, the balance block 303 can move along the rotating screw 301 under the rotation of the rotating screw 301. Since the power output by the rotating motor 2102 drives the several arc panels 2111 to extend outward, the center of gravity of the gas emission supervision and law enforcement robot can be shifted, making it unable to fly stably and be connected and installed together with the gas emission pipe. By driving the balance block 303 to move in the opposite direction of the several arc panels 2111, the center of gravity of the gas emission supervision and law enforcement robot can be balanced. At the same time, the gas detector 305 and the gas sensor 306 fixed under the moving slide 304 can be used to facilitate the supervision and law enforcement operation of the gas discharged through the gas emission pipe and passing through the installation cylinder 2101, so that the gas emission supervision and law enforcement robot can be further stably used to supervise and enforce the gas emissions at this position.

[0054] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0055] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A gas emission robot supervision and law enforcement system, comprising a robot mechanism (1), characterized in that: The robot mechanism (1) comprises a drone body (11), an output end of the drone body (11) is fixedly connected to drone blades (12) arranged at equal distances, a bottom surface of the drone body (11) is fixedly connected to supporting legs (13) and a drone camera (16) arranged at equal distances, the number of the supporting legs (13) being four, and an extension fixing mechanism (2) is provided above the drone body (11); The extending and fixing mechanism (2) comprises an extending unit (21), the extending unit (21) being located above the drone body (11), and the extending unit (21) being used to extend the connecting and fixing structure with the exhaust gas pipeline to the interior of the pipeline; The extension fixing mechanism (2) further comprises a stretching fixing unit (22), the stretching fixing unit (22) being located above the drone body (11), the stretching fixing unit (22) being used in conjunction with the extension unit (21), and the stretching fixing unit (22) being used to enable the extension end of the gas emission supervision and law enforcement robot to be installed in a stretching and fixed manner to the interior of the exhaust gas pipeline; A balancing auxiliary mechanism (3) is provided on the right side of the extension unit (21). The balancing auxiliary mechanism (3) is used in conjunction with the extension fixing mechanism (2). The balancing auxiliary mechanism (3) is used to balance and stabilize the drone body (11) and assist in supervisory and law enforcement operations.

2. A gas emission robot supervision and law enforcement system according to claim 1, characterized in that: The extension unit (21) includes a mounting tube (2101), the outer surface of the mounting tube (2101) is fixedly connected to the upper surface of the drone body (11), the outer surface of the mounting tube (2101) is fixedly connected to a rotating motor (2102), the output end of the rotating motor (2102) is fixedly connected to a rotating gear (2103), the interior of the mounting tube (2101) is rotatably connected to a rotating tube (2104), and the mounting tube (2101) is fixedly connected to the outer surface of the mounting tube (2101). The inner wall is fixedly connected to two limiting rings (2108), and the side surfaces of the two limiting rings (2108) close to each other are provided with limiting grooves (2109). The rotating cylinder (2104) is rotatably connected to the inside of the two limiting grooves (2109). The outer surface of the rotating cylinder (2104) is fixedly inlaid with a rotating toothed belt (2105), and the rotating gear (2103) is meshed with the rotating toothed belt (2105). The inner wall of the rotating cylinder (2104) is fixedly connected to the inner wall of the rotating cylinder (2104). There is a driving cylinder (2106), and the side surfaces of the two limiting rings (2108) close to each other are in contact with the two side surfaces of the driving cylinder (2106). The inner wall of the driving cylinder (2106) is fixedly connected with a spiral guide rod (2107). The inner part of the driving cylinder (2106) is rotatably connected with an extension ring (2110). The left side of the extension ring (2110) is fixedly connected with a plurality of arc panels (2111). Each of the arc panels (2111) has a The outer surfaces are all in contact with the inner wall of the driving cylinder (2106), and the outer surfaces of several circular arc panels (2111) are jointly provided with a spiral guide groove (2112). The spiral guide rod (2107) slides along the inner cavity of the spiral guide groove (2112). Four limit blocks (2113) are fixedly connected to the inner wall of the installation cylinder (2101), and the two side surfaces of the four limit blocks (2113) are respectively in contact with the outer surfaces of several circular arc panels (2111).

3. The gas emission robot supervision and law enforcement system according to claim 1, characterized in that: The bottom ends of the four support legs (13) are fixedly connected to two lower base plates (14); the outer surface of each support leg (13) is fixedly connected to a reinforcement ring (15); and the bottom surfaces of the four reinforcement rings (15) are fixedly connected to the upper surfaces of the two lower base plates (14).

4. A gas emission robot supervision and law enforcement system according to claim 2, characterized in that: The expansion fixing unit (22) includes a plurality of extension blocks (2201), the right sides of the plurality of extension blocks (2201) are fixedly connected to the left sides of the plurality of arc panels (2111), the right side of each extension block (2201) is in contact with the left side of the mounting tube (2101), the inner wall of the extension ring (2110) is fixedly connected to a plurality of fixing rods (2204), the ends of the plurality of fixing rods (2204) close to each other are fixedly connected to the mounting plate (2203), and the left side of the mounting plate (2203) is fixedly connected to the inner wall of the extension ring (2110). A sliding extension column (2205) is fixedly connected to the left end of the sliding extension column (2205) and a baffle (2207) is fixedly connected to the left end of the sliding extension column (2205). A movable slip ring (2208) is sleeved on the outer surface of the sliding extension column (2205). The left side of the movable slip ring (2208) contacts the right side of the baffle (2207). The outer surface of the movable slip ring (2208) is fixedly connected to a plurality of support rods (2209). The end of each support rod (2209) away from the movable slip ring (2208) is fixedly connected to a support block (2210). The side faces of the support blocks (2210) that are away from each other are in contact with the side faces of the extension blocks (2201) that are close to each other, and the side faces of the extension blocks (2201) that are close to each other are provided with mounting grooves (2202). The side faces of the support blocks (2210) that are away from each other are provided with receiving grooves (2211), and the inner bottom wall of each receiving groove (2211) is fixedly connected with a compression spring (2212), and the compression springs (2212) are respectively slidably connected to the inside of the mounting grooves (2202). The ends of the compression springs (2212) that are away from each other are fixedly connected to a connecting disc (2213), and the side surfaces of several connecting discs (2213) that are away from each other are fixedly connected to the inner top wall of the mounting groove (2202). The side surfaces of several extension blocks (2201) that are away from each other are fixedly connected to a pressure sensor (2214). Each of the pressure sensors (2214) is connected to the rotating motor (2102) via a PLC controller, and the sensing end of each of the pressure sensors (2214) is movably hinged to a vacuum suction cup (2215).

5. A gas emission robot supervision and law enforcement system according to claim 4, characterized in that: The outer surface of the sliding extension column (2205) is fixedly connected to a plurality of reinforcing rods (2206), and the ends of the plurality of reinforcing rods (2206) away from the sliding extension column (2205) are respectively fixedly connected to the side surfaces of the plurality of circular arc panels (2111) close to each other.

6. A gas emission robot supervision and law enforcement system according to claim 4, characterized in that: The left side of each extension block (2201) is fixedly connected to an extension frame (2216), and the side faces away from each other of a plurality of extension frames (2216) are fixedly connected to a cleaning brush (2217).

7. The gas emission robot supervision and law enforcement system according to claim 2, characterized in that: The balancing auxiliary mechanism (3) comprises a rotating screw (301), the left end of the rotating screw (301) is fixedly connected to the right side of the rotating gear (2103), the outer surface of the mounting cylinder (2101) is provided with a limiting sliding groove (307), the interior of the limiting sliding groove (307) is slidably connected to a gas detector (305), the input end of the gas detector (305) is fixedly connected to a plurality of gas sensors (306), the upper surface of the gas detector (305) is fixedly connected to a moving slide (304), the bottom surface of the moving slide (304) is in contact with the outer surface of the mounting cylinder (2101), the upper surface of the moving slide (304) is fixedly connected to a balancing block (303), and the rotating screw (301) is threadedly connected to the interior of the balancing block (303).

8. The gas emission robot supervision and law enforcement system according to claim 7, characterized in that: The outer surface of the installation cylinder (2101) is fixedly connected to a stabilizing block (302), and the rotating screw (301) is rotatably connected to the inside of the stabilizing block (302).

9. A gas emission robot supervision and law enforcement system according to claim 8, characterized in that: A stabilizing disk (310) is provided on the right side of the stabilizing block (302), and the left side of the stabilizing disk (310) is fixedly connected to the right end of the rotating screw (301).

10. The gas emission robot supervision and law enforcement system according to claim 7, characterized in that: Two stable sliders (308) are fixedly connected to the outer surface of the mounting tube (2101), and two stable slide grooves (309) are provided on the bottom surface of the movable slide plate (304). The two stable sliders (308) are respectively slidably connected to the inside of the two stable slide grooves (309).

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