Gas emission robot supervisory system

Abstract

The application discloses a kind of gas emission robot supervisory systems, it is related to gas emission supervisory equipment technical field, including robot mechanism, the robot mechanism includes unmanned aerial vehicle main body, the output end of unmanned aerial vehicle main body is fixedly connected with the unmanned aerial vehicle fan leaf of equidistance arrangement, the bottom surface of unmanned aerial vehicle main body is fixedly connected with the unmanned aerial vehicle camera of equidistance arrangement respectively, the number of support leg of the unmanned aerial vehicle main body is four, the upper of unmanned aerial vehicle main body is provided with extension fixed mechanism, this gas emission robot supervisory system, by setting extension unit, make the arc of this robot's fence extend to the inside of gas emission pipeline, make the gas emission detection pipe of this robot and the pipeline that needs to detect gas emission are connected, stably utilize the gas emission supervision of this robot to this position, reduce the problem that unmanned aerial vehicle robot shakes even falls when flying, improve the service life of this robot.

Description

Technical Field

[0001] This invention relates to the field of gas emission monitoring equipment technology, specifically a gas emission robot monitoring system. Background Technology

[0002] Gas emission monitoring is done by robots. A robot is a programmable and multifunctional manipulator, or a specialized system with computer-modifiable and programmable actions to perform different tasks. Drones are also such machines that can be automatically and programmably controlled. Therefore, drone robots are needed to monitor gas emission outlets in multiple workshops.

[0003] Existing gas emission monitoring robots employ various methods. Some utilize land-based robots fixed to the ground and using extended gas emission detection tubes to monitor gas emissions from pipelines at a given location. However, these robots have limited mobility and cannot quickly and easily move to the next location to monitor emissions. Others utilize drone robots that fly to the gas pipeline emission point. However, the airflow from the gas pipeline can cause the drone robot to sway, become unstable, or even fall due to the drone robot's gas emission detection tube not automatically connecting to the pipeline. This not only affects the monitoring of gas emissions but also reduces the robot's lifespan.

[0004] Combining the above issues, it becomes clear that existing gas emission monitoring robots on the market cannot simultaneously avoid the problems mentioned above when in use. Even if they can solve these problems, they require the assistance of external tools, thus failing to achieve the desired effect. Therefore, a gas emission monitoring robot system is proposed. Summary of the Invention

[0005] The purpose of this invention is to provide a gas emission robot monitoring system to solve the problems mentioned in the background art.

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

[0007] The extension fixing mechanism includes an extension unit located above the main body of the UAV. The extension unit is used to extend the connection and fixing structure with the exhaust gas pipeline into the pipeline.

[0008] The extension fixing mechanism also includes a spreading fixing unit, which is located above the main body of the drone. The spreading fixing unit works in conjunction with the extension unit and is used to install the extension end of the gas emission monitoring robot into the interior of the emission gas pipeline.

[0009] A balancing auxiliary mechanism is provided on the right side of the extension unit. The balancing auxiliary mechanism works in conjunction with the extension fixing mechanism. The balancing auxiliary mechanism is used to balance and stabilize the main body of the UAV and assist in the supervision operation.

[0010] Preferably, the extension unit includes a mounting cylinder, the outer surface of which is fixedly connected to the upper surface of the UAV body. A rotating motor is fixedly connected to the outer surface of the mounting cylinder, and a rotating gear is fixedly connected to the output end of the rotating motor. A rotating cylinder is rotatably connected inside the mounting cylinder. Two limiting rings are fixedly connected to the inner wall of the mounting cylinder, and limiting grooves are formed on the sides of the two limiting rings that are close to each other. The rotating cylinder is rotatably connected inside the two limiting grooves. A rotating toothed belt is fixedly embedded on the outer surface of the rotating cylinder, and the rotating gear meshes with the rotating toothed belt. A drive mechanism is fixedly connected to the inner wall of the rotating cylinder. The moving cylinder has two limiting rings on one side that are close to each other, which are in contact with the two sides of the driving cylinder. A spiral guide rod is fixedly connected to the inner wall of the driving cylinder. An extension ring is rotatably connected inside the driving cylinder. Several arc-shaped plates are fixedly connected to the left side of the extension ring. The outer surface of each arc-shaped plate is in contact with the inner wall of the driving cylinder. A spiral guide groove is opened on the outer surface of the several arc-shaped plates. The spiral guide rod slides along the inner cavity of the spiral guide groove. Four limiting blocks are fixedly connected to the inner wall of the mounting cylinder. The two sides of the four limiting blocks are in contact with the outer surfaces of the several arc-shaped plates.

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

[0012] Preferably, the spreading and fixing unit includes several extension blocks, the right sides of which are respectively fixedly connected to the left sides of several arc-shaped surrounding plates. The right side of each extension block is in contact with the left side of the mounting cylinder. Several fixing rods are fixedly connected to the inner wall of the extension ring. A mounting plate is fixedly connected to one end of each fixing rod that is close to the other. A sliding extension column is fixedly connected to the left side of the mounting plate. A baffle is fixedly connected to the left end of the sliding extension column. A movable slip ring is sleeved on the outer surface of the sliding extension column. The left side of the movable slip ring is in contact with the right side of the baffle. Several support rods are fixedly connected to the outer surface of the movable slip ring. A support block is fixedly connected to the end of each support rod that is away from the movable slip ring. The support blocks are spaced far apart from each other. One side of the support block is in contact with the side of several extension blocks that are close to each other. Each side of the extension blocks that are close to each other has an installation groove. Each side of the support blocks that are far apart from each other has a storage groove. Each storage groove has a compression spring fixedly connected to its inner bottom wall. Each compression spring is slidably connected to the inside of the installation groove. Each end of the compression spring that is far apart from each other is fixedly connected to a connecting disc. Each side of the connecting disc that is far apart from each other is fixedly connected to the inner top wall of the installation groove. Each side of the extension blocks that is far apart from each other is fixedly connected to a pressure sensor. Each pressure sensor is connected to a rotating motor signal via a PLC controller. Each pressure sensor has a vacuum suction cup movably hinged to its sensing end.

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

[0014] Preferably, each of the extension blocks is fixedly connected to an extension frame on its left side, and a cleaning brush is fixedly connected to one of the sides of the extension frames that are far apart from each other.

[0015] Preferably, the balancing auxiliary mechanism includes a rotating screw, the left end of which is fixedly connected to the right side of a rotating gear. A limiting sliding groove is formed on the outer surface of the mounting cylinder. A gas detector is slidably connected inside the limiting sliding groove. Several gas sensors are fixedly connected to the input end of the gas detector. A movable sliding plate is fixedly connected to the upper surface of the gas detector. The bottom surface of the movable sliding plate is in contact with the outer surface of the mounting cylinder. A balance block is fixedly connected to the upper surface of the movable sliding plate. The rotating screw is threadedly connected to the inside of the balance 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 inside 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 stabilizing sliders are fixedly connected to the outer surface of the mounting cylinder, and two stabilizing grooves are formed on the bottom surface of the movable slide plate, with the two stabilizing sliders slidably connected to the inside of the two stabilizing grooves respectively.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] 1. By setting an extension unit, the present invention enables the arc-shaped enclosure of the gas emission monitoring robot to extend into the gas emission pipe, thereby allowing the gas emission detection tube of the gas emission monitoring robot to be connected to the pipe where gas emission needs to be detected. This reduces the impact of airflow generated by gas emission in the pipe on the flight of the gas emission monitoring robot, thus enabling the gas emission monitoring robot to be used stably to monitor gas emission at that location. This reduces the problem of the flying drone robot shaking, instability, or even falling, and improves the service life of the robot.

[0021] 2. By setting up a support and fixing unit, the present invention can extend the outwardly expanding arc-shaped surrounding plate and extension block into the gas emission pipe through the extension unit. The outwardly expanding arc-shaped surrounding plate and extension block contact the inner wall of the gas emission pipe, and the vacuum suction cup connects to the inner wall of the gas emission pipe. This allows one side of the gas emission monitoring robot to be connected and installed together with the gas emission pipe. This enables the gas emission detection tube of the drone robot to automatically connect to the gas emission pipe, further reducing the impact of airflow generated by gas emission in the pipe on the flight of the gas emission monitoring robot, reducing the problem of the flying drone robot shaking, instability or even falling, and further improving the service life of the robot.

[0022] 3. By setting up a balancing auxiliary mechanism, the present invention can drive the rotating screw to rotate simultaneously with the rotating gear driven by the rotating motor through the cooperation of the extension unit and the expansion and fixing unit. This allows the balance block to move in the opposite direction to the moving direction of several arc-shaped plates on the mounting cylinder, thereby balancing the center of gravity of the gas emission monitoring robot. This makes the connection between the gas emission monitoring robot and the gas emission pipeline more stable. Furthermore, by using a gas detector and a gas sensor to detect the emitted gas passing through the drive cylinder, the gas emission monitoring robot can be used to monitor the gas emission at this location more stably. Attached Figure Description

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

[0024] Figure 2 This is a schematic diagram of the UAV camera structure viewed from below according to the present invention;

[0025] Figure 3 This is a schematic diagram of the structure of the limiting block of the present invention;

[0026] Figure 4 This is a schematic diagram of the structure of the mounting cylinder of the present invention;

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

[0028] Figure 6 This is a schematic diagram of the structure of the drive cylinder of the present invention;

[0029] Figure 7 This is a schematic diagram of the rotating cylinder of the present invention;

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

[0031] Figure 9 This is a cross-sectional view of the sliding extension column of the present invention.

[0032] Figure 10 This is a schematic diagram of the compression spring of the present invention;

[0033] Figure 11 This is a schematic diagram of the structure of the balance block of the present invention.

[0034] In the diagram: 1. Robot mechanism; 11. Drone body; 12. Drone fan blade; 13. Support leg; 14. Lower base plate; 15. Reinforcing ring; 16. Drone camera; 2. Extension and fixing mechanism; 21. Extension unit; 2101. Mounting cylinder; 2102. Rotating motor; 2103. Rotating gear; 2104. Rotating cylinder; 2105. Rotating toothed belt; 2106. Drive cylinder; 2107. Spiral guide rod; 2108. Limiting ring; 2109. Limiting groove; 2110. Extension ring; 2111. Arc-shaped surrounding plate; 2112. Spiral guide groove; 2113. Limiting block; 22. Spreading and fixing unit; 2201. Extension block; 2202. Mounting groove; 2203. Mounting... 2204. Mounting plate; 2205. Fixing rod; 2206. Sliding extension column; 2207. Reinforcing rod; 2208. Baffle plate; 2209. Moving slip ring; 22000. Support rod; 2210. Support block; 2211. Storage slot; 2212. Compression spring; 2213. Connecting disc; 2214. Pressure sensor; 2215. Vacuum suction cup; 2216. Extension frame; 2217. Cleaning brush; 3. Balance auxiliary mechanism; 301. Rotating screw; 302. Stabilizing block; 303. Balance block; 304. Moving slide plate; 305. Gas detector; 306. Gas sensor; 307. Limiting sliding groove; 308. Stabilizing slider; 309. Stabilizing slide groove; 310. Stabilizing disc. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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 monitoring system, including a robot mechanism 1, the robot mechanism 1 including a drone body 11, the output end of the drone body 11 is fixedly connected to drone fan blades 12 arranged at equal distances, the bottom surface of the drone body 11 is fixedly connected to support legs 13 arranged at equal distances and drone camera 16, the number of support legs 13 is four, and an extension fixing mechanism 2 is 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. Each support leg 13 has a reinforcing ring 15 fixedly connected to its outer surface. The bottom surfaces of the four reinforcing rings 15 are fixedly connected to the upper surfaces of the two lower base plates 14 respectively. By using 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 on the ground. By using the reinforcing 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 on the ground.

[0038] The extension fixing mechanism 2 includes an extension unit 21, which is located above the main body 11 of the drone. The extension unit 21 is used to install and fix the extension end of the gas emission monitoring robot to the inside of the emission gas pipeline.

[0039] As a further definition of the extended fixing mechanism 2 of the present invention, the extended unit 21 includes a mounting cylinder 2101. The outer surface of the mounting cylinder 2101 is fixedly connected to the upper surface of the UAV body 11. A rotating motor 2102 is fixedly connected to the outer surface of the mounting cylinder 2101. A rotating gear 2103 is fixedly connected to the output end of the rotating motor 2102. A rotating cylinder 2104 is rotatably connected inside the mounting cylinder 2101. Two limiting rings 2108 are fixedly connected to the inner wall of the mounting cylinder 2101. The two limiting rings 2108 are provided with a side opening close to each other. The limiting groove 2109 and the rotating cylinder 2104 are rotatably connected inside the two limiting grooves 2109. A rotating toothed belt 2105 is fixedly embedded on the outer surface of the rotating cylinder 2104. A rotating gear 2103 meshes with the rotating toothed belt 2105. A driving cylinder 2106 is fixedly connected to the inner wall of the rotating cylinder 2104. The two limiting rings 2108 have their sides close to each other and contact the two sides of the driving cylinder 2106 respectively. A spiral guide rod 2107 is fixedly connected to the inner wall of the driving cylinder 2106. An extension ring 211 is rotatably connected inside the driving cylinder 2106. 0. Several arc-shaped surrounding plates 2111 are fixedly connected to the left side of the extension ring 2110. The outer surface of each arc-shaped surrounding plate 2111 is in contact with the inner wall of the drive cylinder 2106. The outer surfaces of the several arc-shaped surrounding plates 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 limiting blocks 2113 are fixedly connected to the inner wall of the mounting cylinder 2101. The two sides of the four limiting blocks 2113 are respectively in contact with the outer surfaces of the several arc-shaped surrounding plates 2111. By setting the extension ring... Yuan 21 enables the arc-shaped enclosure 2111 of the gas emission monitoring robot to extend into the gas emission pipe, thereby enabling the gas emission detection tube of the gas emission monitoring robot to be connected to the pipe where gas emission needs to be detected. This reduces the impact of airflow generated by gas emission in the pipe on the flight of the gas emission monitoring robot, thereby enabling the gas emission monitoring robot to be used stably to monitor gas emission at this location, reducing the problem of swaying, instability or even falling of the flying drone robot, and improving 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 monitoring robot to monitor the gas discharged from the gas emission pipeline, the lower base plate 14 of the gas emission monitoring robot is first placed manually on a horizontal surface. This allows the drone body 11 to be stably supported on the horizontal surface using the support structure composed of the support legs 13 and the lower base plate 14. Then, the remote controller of the gas emission monitoring robot controls the drone body 11 to output power to drive the drone fan blades 12 to rotate, thus maneuvering the drone robot into flight. Furthermore, since an installation cylinder 2101 that can communicate with the gas emission pipeline is fixed on the drone body 11, it can be operated by the user. The drone robot flies to the vicinity of the exhaust end of the gas duct and brings the ring fixed to the outside of the mounting cylinder 2101 into contact with the output end of the gas duct. The PLC controller on the remote controller then activates the rotating motor 2102, which drives the rotating gear 2103 to rotate. Since a rotating cylinder 2104 is installed inside the mounting cylinder 2101, and a rotating toothed belt 2105 is embedded on the outer surface of the rotating cylinder 2104 that meshes with the rotating gear 2103, the rotation of the rotating gear 2103 causes the rotating cylinder 2104 to rotate within the mounting cylinder 2101. Furthermore, a limiting ring 2108 is installed inside the mounting cylinder 2101 to prevent the rotating cylinder from rotating further. The 2104 rotates within the limiting groove 2109 on one side of the limiting ring 2108 to limit its rotation. The drive cylinder 2106, located within the rotating cylinder 2104, engages with the arc-shaped surrounding plates 2111. A fixed spiral guide rod 2107 within the drive cylinder 2106 slides within the spiral guide grooves 2112 on the outer side of the multiple arc-shaped surrounding plates 2111. Furthermore, a limiting block 2113 is fixed to the inner wall of the mounting cylinder 2101, allowing the four limiting blocks 2113 to slide within the gaps between the arc-shaped surrounding plates 2111. One side of each arc-shaped surrounding plate 2111 is connected by an extension ring 2110 to form a single unit, enabling the assembly of these arc-shaped surrounding plates 2111. The rotation of the whole unit is limited, so that the rotating drive cylinder 2106 can cause several arc-shaped plates 2111 to slide and extend along the inside of the drive cylinder 2106 until the several arc-shaped plates 2111 extend into the exhaust gas pipe. This allows the gas emission detection tube of the gas emission monitoring robot to be connected to 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 monitoring robot. This enables the gas emission monitoring robot to be used stably to monitor the gas emission at this location, reducing the problem of the flying drone robot shaking, instability or even falling, 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 monitoring system, which makes corresponding improvements to address the technical problems mentioned in the background art.

[0042] As a further limitation of the extension fixing mechanism 2 of the present invention, the extension fixing mechanism 2 also includes a spreading fixing unit 22, which is located above the main body 11 of the drone. The spreading fixing unit 22 is used in conjunction with the extension unit 21. The spreading fixing unit 22 is used to install the extension end of the gas emission monitoring robot into the interior of the emission gas pipeline.

[0043] The expansion and fixing unit 22 includes several extension blocks 2201. The right side of each extension block 2201 is fixedly connected to the left side of several arc-shaped surrounding plates 2111. The right side of each extension block 2201 is in contact with the left side of the mounting cylinder 2101. Several fixing rods 2204 are fixedly connected to the inner wall of the extension ring 2110. The ends of the fixing rods 2204 that are close to each other are fixedly connected to a mounting plate 2203. A sliding extension column 2205 is fixedly connected to the left side of the mounting plate 2203. 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 sliding ring 2208 contacts the right side of the baffle 2207. Several support rods 2209 are fixedly connected to the outer surface of the sliding ring 2208. A support block 2210 is fixedly connected to the end of each support rod 2209 away from the sliding ring 2208. The sides of the support blocks 2210 that are away from each other contact the sides of the extension blocks 2201 that are close to each other. Each side of the extension blocks 2201 that is close to each other has an installation groove 2202. Each side of the support blocks 2210 that is away from each other has a storage groove 2211. A compression spring 2212 is fixedly connected to the inner bottom wall of each storage groove 2211. Several compression springs 2212... 2. Several compression springs 2212 are slidably connected to the interior of several mounting slots 2202. Each of the opposite ends of several compression springs 2212 is fixedly connected to a connecting disc 2213. The opposite sides of the connecting discs 2213 are fixedly connected to the inner top wall of the mounting slots 2202. Each of the opposite sides of several extension blocks 2201 is fixedly connected to a pressure sensor 2214. Each pressure sensor 2214 is signal-connected to a rotating motor 2102 via a PLC controller. The sensing end of each pressure sensor 2214 is movably hinged to a vacuum suction cup 2215. By setting up a spreading and fixing unit 22, the outwardly spreading arc-shaped enclosure 2111 can be extended by the extension unit 21. The extension block 2201 extends into the gas emission pipe, and the outwardly expanding arc-shaped enclosure 2111 and the extension block 2201 contact the inner wall of the gas emission pipe. The vacuum suction cup 2215 connects to the inner wall of the gas emission pipe, enabling one side of the gas emission monitoring robot to be connected and installed with the gas emission pipe. This allows the gas emission detection tube of the drone robot to automatically connect with the gas emission pipe, further reducing the impact of airflow generated by gas emission in the pipe on the flight of the gas emission monitoring robot, reducing the problem of the flying gas emission monitoring robot shaking, instability or even falling, and further improving the service life of the robot.

[0044] A number of reinforcing rods 2206 are fixedly connected to the outer surface of the sliding extension column 2205. The ends of the reinforcing rods 2206 away from the sliding extension column 2205 are respectively fixedly connected to the sides of the arc-shaped surrounding plates 2111 that are close to each other. The connection stability between the sliding extension column 2205 and the arc-shaped surrounding plates 2111 is improved by the reinforcing rods 2206, so that the sliding extension column 2205 can be stably fixed inside the cylindrical structure formed by the arc-shaped surrounding plates 2111.

[0045] Each extension block 2201 has an extension frame 2216 fixedly connected to its left side. Each of the extension frames 2216 has a cleaning brush 2217 fixedly connected to its opposite side. The cleaning brush 2217 is installed and fixed to the left side of the multiple vacuum suction cups 2215 by using multiple extension frames 2216. Since the multiple extension blocks 2201 extend into the pipe at an angle, the cleaning brush 2217, which is longer and located to the left of the vacuum suction cup 2215, will clean the inner wall of the pipe, thereby making the connection between the vacuum suction cup 2215 and the inner wall of the pipe more stable.

[0046] The specific implementation of this embodiment is as follows: While several arc-shaped retaining plates 2111 slide along the inside of the drive cylinder 2106 into the exhaust gas pipe, multiple fixing rods 2204 are fixed inside the extension ring 2110, fixing the mounting plate 2203 at the middle position between the arc-shaped retaining plates 2111. The mounting plate 2203 can be used to fix the sliding extension column 2205 between the arc-shaped retaining plates 2111, and the other end of the sliding extension column 2205 is flush with the extension block 2201 fixed at one end of the arc-shaped retaining plates 2111. Since a movable slip ring 2208 is sleeved on the sliding extension column 2205, multiple support blocks 2210 can be fixed near the multiple extension blocks 2201 by support rods 2209. Mounting grooves 2202 are formed on one side of multiple extension blocks 2201, and receiving grooves 2211 are formed at corresponding positions on multiple support blocks 2210. Compression springs 2212 are fixedly installed between the multiple mounting grooves 2202 and the corresponding multiple receiving grooves 2211. One end of the compression spring 2212 is stably connected to the inner wall of the mounting groove 2202 through a connecting disc 2213. The large amount of elastic force stored in the multiple compression springs 2212 allows the elastic force of the compression springs 2212 between the multiple extension blocks 2201 and the support blocks 2210 to be released after several arc-shaped plates 2111 extend out from the mounting cylinder 2101. The multiple support blocks 2210 are connected and fixed to the movable slip ring 2208 through support rods 2209. The sliding ring 2208 can only slide along the sliding extension post 2205 by utilizing the elastic force of the compression spring 2212, and the sliding of the sliding ring 2208 is limited and blocked by the baffle 2207. This causes the extension blocks 2201 at one end of several arc-shaped side panels 2111 to move away from the support block 2210 under the action of the elastic force of the compression spring 2212, and causes several arc-shaped side panels 2111 to bend. As the several arc-shaped side panels 2111 extend further into the exhaust gas pipe, the extension blocks 2201 at one end of the arc-shaped side panels 2111 will move further away from the support block 2210 by utilizing the elastic force of the compression spring 2212. The vacuum suction cup 221 fixed on the outside of the several extension blocks 2201... 5. When the vacuum suction cup 2215 is about to contact the inner wall of the exhaust gas pipe, the cleaning brushes 2217 fixed on one side of several extension blocks 2201 via extension frames 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, ensuring stable contact and compression between the vacuum suction cup 2215 and the inner wall of the exhaust gas pipe. Since the vacuum suction cup 2215 is connected to the extension blocks 2201 via pressure sensors 2214, the pressure applied to the vacuum suction cup 2215 by the pressure sensors 2214 can be detected. When the maximum pressure set by the pressure sensors 2214 is reached, the PLC controller automatically controls the rotating motor 2102 to stop working.At this point, by connecting multiple vacuum suction cups 2215 to the inner wall of the exhaust gas pipe, one side of the gas emission monitoring robot is connected and installed together with the gas emission pipe. This allows the gas emission detection tube of the drone robot to automatically connect to the exhaust gas pipe, further reducing the impact of airflow generated by gas emission from the pipe on the flight of the gas emission monitoring robot. This reduces the risk of the drone robot swaying, becoming unstable, or even falling during flight, and further extends the robot's service life.

[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 monitoring system, which makes corresponding improvements to address the technical problems mentioned in the background art.

[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 main body 11 of the UAV and to assist in the supervision operation.

[0049] The balancing auxiliary mechanism 3 includes a rotating screw 301, the left end of which is fixedly connected to the right side of the rotating gear 2103. A limiting sliding groove 307 is formed on the outer surface of the mounting cylinder 2101. A gas detector 305 is slidably connected inside the limiting sliding groove 307. The gas detector 305 is an instrument for detecting gas leakage concentration. The model of the gas detector 305 is QT04-SW40-M40. Several gas sensors 306 are fixedly connected to the input end of the gas detector 305. Each 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. A movable sliding plate 304 is fixedly connected to the upper surface of the gas detector 305. The bottom surface of the movable sliding plate 304 contacts the outer surface of the mounting cylinder 2101. A balance block 303 is fixedly connected to the upper surface of the slide plate 304. A rotating screw 301 is threaded into the interior of the balance block 303. By setting a balance auxiliary mechanism 3, the rotating screw 301 can be driven to rotate by the rotating motor 2102 driving the rotating gear 2103 through the cooperation of the extension unit 21 and the opening and fixing unit 22. This allows the balance block 303 to move in the opposite direction to the moving direction of several arc-shaped plates 2111 on the mounting cylinder 2101, thereby balancing the center of gravity of the gas emission monitoring robot. This makes the connection between the gas emission monitoring robot and the gas emission pipeline more stable. Furthermore, the gas detector 305 and the gas sensor 306 are used to detect the emitted gas passing through the drive cylinder 2106, thereby enabling the gas emission monitoring robot to monitor the gas emission at this location more stably.

[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 inside 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 disk 310 is provided on the right side of the stabilizing block 302. The left side of the stabilizing disk 310 is fixedly connected to the right end of the rotating screw 301. By using the stabilizing disk 310 at the right end of the rotating screw 301, the rotation of the rotating screw 301 within the stabilizing block 302 can be limited, thereby further improving the rotational stability of the rotating screw 301.

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

[0053] The specific implementation of this embodiment is as follows: While connecting and installing one side of the gas emission monitoring robot to the gas emission pipeline, the rotating motor 2102 drives the rotating gear 2103 to rotate. A rotating screw 301 is fixed to one end of the rotating gear 2103. Using a stabilizing block 302 and a stabilizing disc 310, the rotating screw 301 rotates stably on the mounting cylinder 2101. By using a movable sliding plate 304 and a balance block 303 mounted on the mounting cylinder 2101, the rotating screw 301 rotates within the balance block 303 via a threaded connection. Since the bottom surface of the balance block 303 is fixed to the movable sliding plate 304 on the mounting cylinder 2101, and a stabilizing slider 308 on the mounting cylinder 2101 engages with a stabilizing groove 309 formed under the movable sliding plate 304, the rotation of the balance block 303 is controlled. The limit switch allows the balance block 303 to move along the rotating screw 301 under its rotation. By using the power output of the rotating motor 2102 to drive several arc-shaped plates 2111 to extend outward, the center of gravity of the gas emission monitoring robot can be shifted, preventing it from flying stably and connecting to the gas emission pipeline. By driving the balance block 303 to move in the opposite direction to the several arc-shaped plates 2111, the center of gravity of the gas emission monitoring robot can be balanced. At the same time, the gas detector 305 and gas sensor 306 fixed under the moving slide plate 304 can be used to easily monitor the gas discharged through the gas emission pipeline and through the installation cylinder 2101, thereby enabling the gas emission monitoring robot to monitor the gas emission at this location more stably.

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

[0055] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A gas emission robot monitoring system, comprising a robot mechanism, characterized in that: The robot mechanism includes a drone body, with drone fan blades arranged at equal intervals fixedly connected to the output end of the drone body, and support legs and drone cameras arranged at equal intervals fixedly connected to the bottom surface of the drone body respectively. The number of support legs is four, and an extension fixing mechanism is provided on the top of the drone body. The extension fixing mechanism includes an extension unit located above the main body of the UAV. The extension unit is used to extend the connection and fixing structure with the exhaust gas pipeline into the pipeline. The extension fixing mechanism also includes a spreading fixing unit, which is located above the main body of the drone. The spreading fixing unit works in conjunction with the extension unit and is used to install the extension end of the gas emission monitoring robot into the interior of the emission gas pipeline. A balancing auxiliary mechanism is provided on the right side of the extension unit. The balancing auxiliary mechanism works in conjunction with the extension fixing mechanism. The balancing auxiliary mechanism is used to balance and stabilize the main body of the UAV and assist in the supervision operation. The extension unit includes a mounting cylinder, the outer surface of which is fixedly connected to the upper surface of the drone body. A rotating motor is fixedly connected to the outer surface of the mounting cylinder, and a rotating gear is fixedly connected to the output end of the rotating motor. A rotating cylinder is rotatably connected inside the mounting cylinder. Two limiting rings are fixedly connected to the inner wall of the mounting cylinder, and limiting grooves are formed on the sides of the two limiting rings that are close to each other. The rotating cylinder is rotatably connected inside the two limiting grooves. A rotating toothed belt is fixedly embedded on the outer surface of the rotating cylinder, and the rotating gear meshes with the rotating toothed belt. A drive cylinder is fixedly connected to the inner wall of the rotating cylinder. The two limiting rings are close to each other on one side and respectively contact the two sides of the driving cylinder. A spiral guide rod is fixedly connected to the inner wall of the driving cylinder. An extension ring is rotatably connected inside the driving cylinder. Several arc-shaped plates are fixedly connected to the left side of the extension ring. The outer surface of each arc-shaped plate is in contact with the inner wall of the driving cylinder. A spiral guide groove is opened on the outer surface of the several arc-shaped plates. The spiral guide rod slides along the inner cavity of the spiral guide groove. Four limiting blocks are fixedly connected to the inner wall of the mounting cylinder. The two sides of the four limiting blocks are respectively in contact with the outer surfaces of the several arc-shaped plates. The expanding and fixing unit includes several extension blocks. The right sides of each extension block are fixedly connected to the left sides of several arc-shaped surrounding plates. The right side of each extension block is in contact with the left side of the mounting cylinder. Several fixing rods are fixedly connected to the inner wall of the extension ring. A mounting plate is fixedly connected to one end of each fixing rod that is close to each other. A sliding extension column is fixedly connected to the left side of the mounting plate. A baffle is fixedly connected to the left end of the sliding extension column. A movable slip ring is fitted onto the outer surface of the sliding extension column. The left side of the movable slip ring is in contact with the right side of the baffle. Several support rods are fixedly connected to the outer surface of the movable slip ring. A support block is fixedly connected to the end of each support rod that is away from the movable slip ring. The support blocks are spaced far apart from each other. One side of each support block is in contact with the side of several extension blocks that are close to each other. Each side of the several extension blocks that are close to each other has an installation groove. Each side of the several support blocks that are far apart from each other has a storage groove. Each storage groove has a compression spring fixedly connected to its inner bottom wall. Each compression spring is slidably connected to the inside of the several installation grooves. Each end of the compression spring that is far apart from each other is fixedly connected to a connecting disc. Each side of the connecting disc that is far apart from each other is fixedly connected to the inner top wall of the installation groove. Each side of the extension blocks that is far apart from each other is fixedly connected to a pressure sensor. Each pressure sensor is connected to a rotating motor signal via a PLC controller. Each pressure sensor has a vacuum suction cup movably hinged to its sensing end.

2. The gas emission robot monitoring system according to claim 1, characterized in that: The bottom ends of the four support legs are fixedly connected to two lower base plates. Each support leg has a reinforcing ring fixedly connected to its outer surface. The bottom surfaces of the four reinforcing rings are fixedly connected to the upper surfaces of the two lower base plates, respectively.

3. The gas emission robot monitoring system according to claim 1, characterized in that: The outer surface of the sliding extension column is fixedly connected with several reinforcing rods, and the ends of the reinforcing rods away from the sliding extension column are respectively fixedly connected to the sides of several arc-shaped panels that are close to each other.

4. The gas emission robot monitoring system according to claim 1, characterized in that: Each of the extension blocks is fixedly connected to an extension frame on its left side, and a cleaning brush is fixedly connected to one of the sides of the extension frames that are far apart from each other.

5. The gas emission robot monitoring system according to claim 1, characterized in that: The balancing auxiliary mechanism includes a rotating screw, the left end of which is fixedly connected to the right side of a rotating gear. A limiting sliding groove is formed on the outer surface of the mounting cylinder, and a gas detector is slidably connected inside the limiting sliding groove. Several gas sensors are fixedly connected to the input end of the gas detector. A movable sliding plate is fixedly connected to the upper surface of the gas detector, and the bottom surface of the movable sliding plate is in contact with the outer surface of the mounting cylinder. A balance block is fixedly connected to the upper surface of the movable sliding plate, and the rotating screw is threadedly connected to the inside of the balance block.

6. The gas emission robot monitoring system according to claim 5, characterized in that: A stabilizing block is fixedly connected to the outer surface of the mounting cylinder, and the rotating screw is rotatably connected to the inside of the stabilizing block.

7. A gas emission robot monitoring system according to claim 6, characterized in that: 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.

8. A gas emission robot monitoring system according to claim 5, characterized in that: Two stabilizing sliders are fixedly connected to the outer surface of the mounting cylinder, and two stabilizing grooves are opened on the bottom surface of the movable slide plate. The two stabilizing sliders are slidably connected to the inside of the two stabilizing grooves respectively.

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