A cross-trench wheel type inspection robot

Abstract

The present application relates to the technical field of inspection robot, particularly relates to a kind of cross-gully wheel type inspection robot, comprising: vehicle body, camera, sensor, internal thread telescopic pipe, electric push rod and support plate, the vehicle body is connected with camera and sensor, and the front end and rear end of vehicle body are slidably connected with two internal thread telescopic pipes, internal thread telescopic pipe is connected with drive mechanism, the end of internal thread telescopic pipe away from vehicle body is connected with the top end of electric push rod, the output end of electric push rod is hinged with support plate, and the bottom end of support plate is arranged above the bottom of vehicle body, the device is stretched out by internal thread telescopic pipe and the stretching of electric push rod output end, so that the vehicle body passes through the gully with larger span, to continue to carry out inspection.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inspection robots, and particularly relates to a cross-gully wheeled inspection robot. BACKGROUND

[0002] An inspection robot is an observation device capable of moving autonomously or semi-autonomously in a specific area, collecting data through various sensors carried thereby, and performing inspection, monitoring, measurement and early warning tasks. The existing inspection robot has high flexibility in the inspection site by using a uniquely designed steering mechanism, or has good passability in the inspection site by setting a walking part in the form of a track.

[0003] However, the prior art still has deficiencies, for example, when the device encounters a gully with a small span, the walking part made of a track can pass through the gully, but when the width of the gully is similar to the length of the device, the device cannot pass through the gully with a large span. SUMMARY

[0004] The present application provides a cross-gully wheeled inspection robot to solve the problems in the background art.

[0005] In order to achieve the above-mentioned application purposes, the present application provides the following technical scheme: a cross-gully wheeled inspection robot, comprising: a vehicle body, a camera, a sensor, an internally threaded telescopic pipe, an electric push rod and a support plate, the camera and the sensor are connected to the vehicle body, two internally threaded telescopic pipes are slidably connected to the front end and the rear end of the vehicle body, the internally threaded telescopic pipes are connected to a driving mechanism, the end of the internally threaded telescopic pipe away from the vehicle body is connected to the top end of the electric push rod, the output end of the electric push rod is hingedly connected to the support plate, and the bottom end of the support plate is arranged above the bottom of the vehicle body.

[0006] Preferably, the driving mechanism comprises: a screw rod, a gear column, a screw rod two, a gear column two and an adjusting mechanism, the screw rod and the screw rod two are parallel to the inner wall of the vehicle body and are rotatably connected, the end of the screw rod is directed towards the front end of the vehicle body and is threadedly connected to one of the internally threaded telescopic pipes, the end of the screw rod two is directed towards the rear end of the vehicle body and is threadedly connected to the other internally threaded telescopic pipe, the gear column is connected to the screw rod, the gear column two is connected to the screw rod two, the end face of the gear column is coplanarly arranged with the end face of the gear column two, the other end face of the gear column is arranged towards the internally threaded telescopic pipe, and the gear column and the gear column two are meshingly connected to the output end of the adjusting mechanism.

[0007] Preferably, the adjusting mechanism comprises: a gear, a gear two, a rotating shaft, a rotating shaft two, a mounting frame and a driving mechanism two, the gear column is connected with the gear, the gear column two is connected with the gear two, the end face of the gear is arranged in the same plane with the end face of the gear two, the other end face of the gear is arranged towards the inner thread telescopic pipe, the gear is rotatably connected with the mounting frame through the rotating shaft, the gear two is rotatably connected with the mounting frame through the rotating shaft two, and the rotating shaft and the rotating shaft two are connected with the driving mechanism two.

[0008] Preferably, the driving mechanism two comprises: a motor, a gear three, a gear four, a transmission wheel component, a flexible transmission component, a transmission wheel component two and an electric push rod two, the mounting frame is connected with the gear three at the output end of the motor, the gear three is connected with the gear four on the rotating shaft two, the transmission wheel component on the rotating shaft two is drivingly connected with the transmission wheel component two through the flexible transmission component, the transmission wheel component two is connected with the rotating shaft, both the mounting frames are connected with the output end of the electric push rod two, and the electric push rod two is connected with the vehicle body.

[0009] Preferably, the vehicle body is provided with a bumper at each of the front end and the rear end, the bumper is arranged below the supporting plate, the electric push rod is arranged between the two bumpers, the bumper is slidingly connected with the vehicle body through the push rod, the vehicle body is connected with the end portions of a plurality of springs, and the other end of the spring is connected with the mounting ring on the push rod.

[0010] Preferably, the end portion of the push rod arranged in the vehicle body is arranged towards the buffer disc, the buffer disc is connected with the end portion of the connecting rod and the spring two, the connecting rod is slidingly and sealingly matched with the pipe, the side wall of the connecting rod is connected with the other end of the spring two, the pipe is connected with the gas pressure pipe, one end of the gas pressure pipe is connected with the nitrogen tank, the other end of the gas pressure pipe is connected with the inner wall of the storage tank, the storage tank is connected with the vehicle body, the storage tank stores perfluorohexanone, the output pipe is connected with the storage tank, the input end of the output pipe is arranged at the bottom of the storage tank, the output pipe is connected with the locking piece, the output end of the output pipe is arranged towards the lithium battery, the connecting rod is sealingly matched with the gas pressure pipe, and the gas guide holes penetratingly arranged on the connecting rod are staggered with the gas pressure pipe.

[0011] Preferably, the pipe is provided with a through slot, a plug rod is slidingly connected in the through slot, the bottom end of the plug rod is slidingly matched with the connecting rod, a plug groove is arranged between the bottom end of the plug rod and the gas guide hole, the plug groove is arranged on the side wall of the connecting rod, the bottom end of a spring three is connected with the side wall of the pipe, and the top end of the spring three is connected with the mounting disc on the top of the plug rod.

[0012] Preferably, the locking piece comprises: a connecting pipe, a spring four, a sealing rod, a through hole and an auxiliary driving piece, the connecting pipe is connected with the output pipe, the bottom wall of the connecting pipe is connected with the bottom of the sealing rod through the spring four, the sealing rod is slidingly and sealingly matched with the connecting pipe, the through hole arranged on the sealing rod is arranged above the output pipe, and the top of the sealing rod is connected with the auxiliary driving piece.

[0013] Preferably, the auxiliary driving member comprises an inclined surface and a push plate, the top of the sealing rod is provided with the inclined surface, the inclined surface is arranged away from the middle part of the vehicle body, the push plate is connected to the other end of the connecting rod away from the pipeline, and the bottom of the push plate is arranged towards the inclined surface.

[0014] Preferably, the end part of the plurality of exhaust pipes is connected to the inner wall of the vehicle body, the one-way valve is connected to the exhaust pipe, and the other end of the exhaust pipe is arranged outside the vehicle body.

[0015] The beneficial effects of the present application are as follows:

[0016] In the scheme of the present application:

[0017] The device is convenient for the vehicle body to pass through a groove with a large span to continue the inspection by the extension of the inner thread telescopic pipe and the extension of the output end of the electric push rod. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a schematic diagram of the main structure of the present application;

[0019] Figure 2 It is a sectional view of the main structure of the present application;

[0020] Figure 3 It is a schematic diagram of the gear column and the gear meshing connection relationship of the present application;

[0021] Figure 4 It is a schematic diagram of the transmission wheel component, the flexible transmission component and the transmission wheel component two transmission connection relationship of the present application;

[0022] Figure 5 It is a schematic diagram of the second installation position of the electric push rod of the present application;

[0023] Figure 6 It is a schematic diagram of the output pipe structure of the present application;

[0024] Figure 7 It is a schematic diagram of the opening position of the air guide hole of the present application;

[0025] Figure 8 It is a schematic diagram of the connection relationship between the storage tank and the output pipe of the present application;

[0026] Figure 9 It is a schematic diagram of the connection relationship between the storage tank and the output pipe of the present application; Figure 8 It is a local enlarged view of A in the present application.

[0027] Wherein: the vehicle body 1, camera 2, sensor 3, inner thread telescopic pipe 4, electric push rod 5, support plate 6, screw 7, gear column 8, gear 9, screw two 10, gear column two 11, gear two 12, adjusting mechanism 13, rotating shaft 14, rotating shaft two 15, mounting frame 16, driving mechanism two 17, motor 18, gear three 19, gear four 20, transmission wheel component 21, flexible transmission component 22, transmission wheel component two 23, electric push rod two 24, bumper 25, push rod 26, spring 27, mounting ring 28, buffer disc 29, connecting rod 30, spring two 31, pipeline 32, air pressure pipe 33, nitrogen tank 34, air guide hole 35, storage tank 36, output pipe 37, plug rod 38, plug groove 39, spring three 40, mounting disc 41, connecting pipe 42, spring four 43, sealing rod 44, through hole 45, inclined surface 46, push plate 47, exhaust pipe 48. DETAILED DESCRIPTION

[0028] The preferred embodiments of the present application will be described below in conjunction with the accompanying drawings, and it should be understood that the preferred embodiments described herein are only used to explain and illustrate the present application, and are not used to limit the present application.

[0029] Embodiment one: reference Figures 1-9 A cross-gully wheeled inspection robot, comprising: a vehicle body 1, a camera 2, a sensor 3, an inner thread telescopic pipe 4, an electric push rod 5 and a support plate 6, the camera 2 and the sensor 3 are connected to the vehicle body 1, two inner thread telescopic pipes 4 are slidably connected to the front end and the rear end of the vehicle body 1, the inner thread telescopic pipes 4 are connected with a driving mechanism, the end of the inner thread telescopic pipes 4 away from the vehicle body 1 is connected with the top end of the electric push rod 5, the output end of the electric push rod 5 is hingedly connected with the support plate 6, and the bottom end of the support plate 6 is arranged above the bottom of the vehicle body 1.

[0030] The principle of the above scheme is:

[0031] When the device encounters a gully with a large span during driving, first, the two inner thread telescopic pipes 4 at the front end of the vehicle body 1 are extended, when the electric push rod 5 at the front end of the vehicle body 1 crosses the gully, the output ends of all the electric push rods 5 are extended, driving the support plate 6 to move downward until it contacts the ground, lifting the vehicle body 1 upward, at this time, the two inner thread telescopic pipes 4 at the rear end of the vehicle body 1 are extended, synchronously with the two inner thread telescopic pipes 4 at the front end of the vehicle body 1 being retracted into the vehicle body 1, after the vehicle body 1 crosses the gully, the output ends of all the electric push rods 5 are retracted, placing the vehicle body 1 on the ground, and finally, after the two inner thread telescopic pipes 4 at the rear end of the vehicle body 1 are retracted into the vehicle body 1, the inspection robot continues to perform inspection work using the camera 2 and the sensor 3 connected thereto.

[0032] The beneficial effects of the above scheme are:

[0033] The device is convenient for the vehicle body 1 to pass through a groove with a large span by the extension of the inner threaded telescopic pipes 4 and the extension of the output end of the electric push rod 5, so as to continue the inspection.

[0034] Embodiment two: refer to Figures 1-9 The driving mechanism comprises a screw rod 7, a gear column 8, a screw rod two 10, a gear column two 11 and an adjusting mechanism 13, the screw rod 7 and the screw rod two 10 are parallelly and rotationally connected on the inner wall of the vehicle body 1, the end of the screw rod 7 is towards the front end of the vehicle body 1 and is threadedly connected with an inner threaded telescopic pipe 4, the end of the screw rod two 10 is towards the rear end of the vehicle body 1 and is threadedly connected with another inner threaded telescopic pipe 4, the gear column 8 is connected on the screw rod 7, the gear column two 11 is connected on the screw rod two 10, the end face of the gear column 8 is coplanarly arranged with the end face of the gear column two 11, the other end face of the gear column 8 is arranged towards the inner threaded telescopic pipe 4, and the gear column 8 and the gear column two 11 are meshingly connected with the output end of the adjusting mechanism 13.

[0035] The principle and beneficial effects of the above scheme are:

[0036] When it is needed to extend the inner threaded telescopic pipe 4 located at the front end of the vehicle body 1, the adjusting mechanism 13 first drives the gear column 8 to rotate and drives the screw rod 7 to rotate, under the sliding connection and cooperation of the vehicle body 1 and the inner threaded telescopic pipe 4, the rotation of the screw rod 7 drives the inner threaded telescopic pipe 4 to extend out of the front end of the vehicle body 1.

[0037] After the output end of the electric push rod 5 extends, the height of the vehicle body 1 rises, at this time, the adjusting mechanism 13 drives the gear column 8 to reversely rotate, the screw rod 7 synchronously rotates and drives one inner threaded telescopic pipe 4 to shrink into the inside of the vehicle, the adjusting mechanism 13 synchronously drives the gear column two 11 to rotate, under the sliding connection and cooperation of the vehicle body 1 and another inner threaded telescopic pipe 4, and under the threaded connection and cooperation of the screw rod two 10 and another inner threaded telescopic pipe 4, another inner threaded telescopic pipe 4 extends out of the vehicle body 1, so as to realize that the vehicle body 1 crosses the groove by the inner threaded telescopic pipe 4.

[0038] After the vehicle body 1 moves to the other side of the groove, the output end of the electric push rod 5 shrinks, after the vehicle body 1 moves stably to the ground, the adjusting mechanism 13 drives the gear column two 11 to reversely rotate, the screw rod two 10 synchronously rotates and shrinks another inner threaded telescopic pipe 4 into the inside of the vehicle.

[0039] The rotation of the gear column 8 and the gear column two 11 is controlled by the adjusting mechanism 13, so that the working efficiency of the device for the extension and shrinkage of the inner threaded telescopic pipes 4 at the front end and the rear end of the vehicle body 1 is improved.

[0040] Embodiment three: refer to Figures 1-9The adjusting mechanism 13 comprises a gear 9, a gear two 12, a rotating shaft 14, a rotating shaft two 15, a mounting frame 16 and a driving mechanism two 17, the gear post 8 is in engagement with the gear 9, the gear post two 11 is in engagement with the gear two 12, the end face of the gear 9 is arranged in a plane with the end face of the gear two 12, the other end face of the gear 9 is arranged towards the inner thread telescopic pipe 4, the gear 9 is in rotation connection with the mounting frame 16 through the rotating shaft 14, the gear two 12 is in rotation connection with the mounting frame 16 through the rotating shaft two 15, and the rotating shaft 14 and the rotating shaft two 15 are connected with the driving mechanism two 17.

[0041] The principle and beneficial effects of the above scheme are:

[0042] When it is needed to rotate the gear post 8, the driving mechanism two 17 first moves the mounting frame 16 towards the gear post 8, and ends the engagement of the gear two 12 with the gear post two 11, then rotates the rotating shaft 14, and synchronously rotates the gear 9 on the mounting frame 16, thereby driving the gear post 8 in engagement therewith to rotate;

[0043] When it is needed to reverse the gear post 8, the gear post two 11 is rotated, the driving mechanism two 17 moves the mounting frame 16 towards the gear post two 11, at this time, the gear two 12 is in engagement with the gear post two 11, and the gear 9 is in engagement with the gear post 8, then the driving mechanism two 17 reverses the rotating shaft 14, and synchronously reverses the rotating shaft two 15, the gear 9 reverses the gear post 8 in engagement therewith, and synchronously the gear two 12 drives the gear post two 11 in engagement therewith to rotate;

[0044] When it is needed to reverse the gear post two 11, the driving mechanism two 17 moves the mounting frame 16 again towards the gear post two 11, at this time, the engagement of the gear 9 with the gear post 8 ends, the engagement of the gear two 12 with the gear post two 11 continues to be maintained, and the driving mechanism two 17 rotates the rotating shaft two 15;

[0045] The driving mechanism two 17 not only can move the mounting frame 16 to change the engagement mode between the gear post and the gear component, but also can drive the gear 9 and the gear two 12 to rotate, thereby realizing the adjustment of whether the screw rod 7 and the screw rod two 10 rotate and the rotating direction.

[0046] Embodiment four: refer to Figures 1-9The driving mechanism two 17 comprises a motor 18, a gear three 19, a gear four 20, a transmission wheel component 21, a flexible transmission component 22, a transmission wheel component two 23 and an electric push rod two 24, the motor 18 at the mounting frame 16 is connected with the gear three 19, the gear three 19 is connected with the gear four 20 on the rotating shaft two 15 in a meshing mode, the transmission wheel component 21 on the rotating shaft two 15 is connected with the transmission wheel component two 23 through the flexible transmission component 22, the transmission wheel component two 23 is connected with the rotating shaft 14, both the mounting frames 16 are connected with the output end of the electric push rod two 24, and the electric push rod two 24 is connected with the vehicle body 1.

[0047] The principle and beneficial effects of the above scheme are:

[0048] The flexible transmission component 21 and the transmission wheel component two 23 can be synchronous pulleys or chain wheels, and the corresponding flexible transmission component 22 can be a synchronous belt or a chain; when the motor 18 is started, the rotation of the gear three 19 drives the gear four 20 connected therewith to rotate, the gear four 20 drives the rotating shaft two 15 to rotate, the rotating shaft two 15 drives the transmission wheel component two 23 to rotate synchronously through the flexible transmission component 22 connected with the transmission wheel component 21, so that the rotating shaft 14 connected with the transmission wheel component two 23 can rotate, and since the rotating shaft 14 and the rotating shaft two 15 are in a synchronous rotation state after the motor 18 is started, in order to avoid misoperation of the rotation of the screw rod 7 and the screw rod two 10, the mounting frame 16 can be moved through the starting control of the electric push rod two 24, so that the gear 9 and the gear two 12 on the mounting frame 16 are in a synchronous working state or one gear part is in a working state.

[0049] The transmission wheel component 21, the flexible transmission component 22 and the transmission wheel component two 23 not only ensure the synchronization of the rotation of the rotating shaft 14 and the rotating shaft two 15, but also reduce the number of gear parts in the mechanism, further reduce the noise of the device during work, and reduce the difficulty of checking and maintaining the parts.

[0050] Embodiment five: Figures 1-9 The vehicle body 1 is provided with one bumper 25 at each of the front end and the rear end, the bumper 25 is arranged below the supporting plate 6, the electric push rod 5 is arranged between the two bumpers 25, the bumper 25 is connected with the vehicle body 1 in a sliding mode through the push rod 26, the vehicle body 1 is connected with the end portions of a plurality of springs 27, and the other end portions of the springs 27 are connected with the mounting ring 28 on the push rod 26.

[0051] The principle and beneficial effects of the above scheme are:

[0052] The bumper 25 can be provided to increase the safety of the device when the inspection robot is running. The bumper 25 is provided below the support plate 6 and away from the end of the vehicle body 1. When the electric push rod 5 is not working, the bumper 25 can be in contact with the obstacle in advance when the vehicle body 1 collides with the obstacle, thereby avoiding damage to the vehicle body 1 and the electric push rod 5. When the inner threaded telescopic pipe 4 needs to be extended or retracted, the synchronously operated electric push rod 5 will not interfere with the mechanical movement of the bumper 25.

[0053] Under normal impact, the bumper 25 can not only be in contact with the obstacle to protect the vehicle body 1. When the impact force is too large, the push rod 26 connected with the bumper 25 will move to the inside of the vehicle body 1, and the spring 27 on the mounting ring 28 will be compressed to absorb the impact force, thereby further improving the buffering effect of the bumper 25 on the impact. After the impact ends, the spring 27 resets the mounting ring 28 and the push rod 26, and then the bumper 25 resets.

[0054] Embodiment six: Figures 1-9 The end of the push rod 26 inside the vehicle body 1 is provided towards the buffer disc 29. The buffer disc 29 is connected with the end of the connecting rod 30 and the spring 31. The connecting rod 30 is in sliding sealing cooperation with the pipe 32. The side wall of the connecting rod 30 is connected with the other end of the spring 31. The pipe 32 is connected with the gas pressure pipe 33. One end of the gas pressure pipe 33 is connected with the nitrogen tank 34. The other end of the gas pressure pipe 33 is connected with the inner wall of the storage tank 36. The storage tank 36 is connected with the vehicle body 1. The storage tank 36 stores perfluorohexanone. The output pipe 37 is connected with the storage tank 36. The input end of the output pipe 37 is provided at the bottom of the storage tank 36. The output pipe 37 is connected with the locking member. The output end of the output pipe 37 is provided towards the lithium battery. The connecting rod 30 is in sealing cooperation with the gas pressure pipe 33. The gas guide hole 35 penetratingly provided on the connecting rod 30 is staggered with the gas pressure pipe 33.

[0055] The principle and beneficial effects of the above scheme are as follows:

[0056] When a huge impact occurs, the end of the push rod 26 inside the vehicle body 1 will impact the buffer disc 29, so as to further buffer the impact force by the spring 31, thereby further improving the safety of the device itself;

[0057] When the impact on the device reaches the upper limit of its structural strength design value, the lithium battery used to drive the vehicle body 1 to move will be damaged, and in this state, the lithium battery has the risk of explosion. The absorption of the impact force from the buffer disc 29 by the spring 31 reaches the upper limit, so that the connecting rod 30 moves significantly to the inside of the vehicle body 1, the gas guide hole 35 is in communication with the air pressure pipe 33, the compressed nitrogen gas stored in the nitrogen tank 34 is input to the inside of the storage tank 36 through the air pressure pipe 33, after the air pressure in the storage tank 36 rapidly rises, the perfluorohexanone enters the input end of the output pipe 37 located at the bottom of the storage tank 36, and the perfluorohexanone is sprayed to the lithium battery through the opening of the locking member, so as to prevent fire and quickly extinguish the fire after the fire.

[0058] Embodiment seven: Figures 1-9 The pipe 32 is provided with a through slot, and a plug rod 38 is slidably connected in the through slot. The bottom end of the plug rod 38 is in sliding fit with the connecting rod 30, and a plug slot 39 is arranged between the bottom end of the plug rod 38 and the gas guide hole 35. The plug slot 39 is arranged on the side wall of the connecting rod 30. The bottom end of a spring 40 is connected to the side wall of the pipe 32, and the top end of the spring 40 is connected to a mounting disc 41 at the top of the plug rod 38.

[0059] The principle and beneficial effects of the above scheme are:

[0060] After the gas guide hole 35 is in communication with the air pressure pipe 33, in order to maintain the continuous spraying of perfluorohexanone, not only is the locking member in an open state, but also the movement of the connecting rod 30 causes the plug slot 39 to move synchronously. When the plug slot 39 moves below the bottom end of the plug rod 38, the mounting disc 41 and the plug rod 38 slide along the through slot under the action of the spring 40. When the plug rod 38 and the plug slot 39 are inserted and matched, the connecting rod 30 is limited in the pipe 32, so that the gas guide hole 35 and the air pressure pipe 33 are in continuous communication until the compressed nitrogen gas in the nitrogen tank 34 is completely released, so as to achieve the purpose of completely extinguishing the fire.

[0061] Embodiment eight: Figures 1-9 The locking member comprises a connecting pipe 42, a spring 43, a sealing rod 44, a through hole 45, and an auxiliary driving member. The output pipe 37 is connected with the connecting pipe 42. The bottom wall of the connecting pipe 42 is connected with the bottom of the sealing rod 44 through the spring 43. The sealing rod 44 is in sliding sealing fit with the connecting pipe 42. The through hole 45 arranged on the sealing rod 44 is arranged above the output pipe 37. The top of the sealing rod 44 is connected with the auxiliary driving member.

[0062] The principle and beneficial effects of the above scheme are:

[0063] When the air guide hole 35 is communicated with the air pressure pipe 33, the auxiliary driving member moves the sealing rod 44 along the connecting pipe 42, the spring 43 is compressed, the through hole 45 is communicated with the output pipe 37, thus the perfluorocyclohexanone in the output pipe 37 can be safely discharged, and the fire extinguishing for the lithium battery is carried out; when the connecting rod 30 is not impacted, the sealing rod 44 seals the output pipe 37, thus preventing the perfluorocyclohexanone in the storage tank 36 from leaking.

[0064] Embodiment nine: Figures 1-9 The auxiliary driving member comprises a slope 46 and a push plate 47, the top of the sealing rod 44 is provided with the slope 46, the slope 46 is away from the middle part of the vehicle body 1, the other end of the connecting rod 30 away from the pipeline 32 is connected with the push plate 47, and the bottom of the push plate 47 is away from the slope 46.

[0065] The principle and beneficial effects of the above scheme are:

[0066] When the connecting rod 30 is impacted, the connecting rod 30 moves to the center of the vehicle body 1 before being locked, and the push plate 47 is moved at the same time, the push plate 47 moves to the bottom of the slope 46, and after the push plate 47 contacts with the top of the slope 46, the push plate 47 starts to press the sealing rod 44 downwards, so that the through hole 45 on the sealing rod 44 is in a communicated state with the output pipe 37; since the connecting rod 30 is locked after being moved to the position, the through hole 45 and the output pipe 37 are also in a locked and communicated state, so that the perfluorocyclohexanone can be continuously discharged, and the phenomenon that the fire extinguishing is not complete can be avoided.

[0067] Embodiment ten: Figures 1-9 The inner wall of the vehicle body 1 is connected with the end of a plurality of exhaust pipes 48, the exhaust pipe 48 is connected with a one-way valve, and the other end of the exhaust pipe 48 is arranged outside the vehicle body 1.

[0068] The principle and beneficial effects of the above scheme are:

[0069] The end of the exhaust pipe 48 is connected with the inner wall of the vehicle body 1, and the other end of the exhaust pipe 48 is arranged away from the side wall of the vehicle body 1; the one-way valve in the exhaust pipe 48 can keep the vehicle body 1 in a closed state in a safe state, so that the water or dirt outside the vehicle body 1 cannot enter the inside of the vehicle body 1; when the inside of the vehicle body 1 is extinguished, the inside of the vehicle body 1 can be depressurized through the one-way valve of the exhaust pipe 48, so that the air pressure in the inside of the vehicle body 1 is not too high.

[0070] Although the embodiments of the present application have been disclosed as above, they are not limited to the application and implementation listed in the specification and the embodiments, and can be fully applied to various fields suitable for the present application, and other modifications can be easily realized by those skilled in the art, and therefore the present application is not limited to specific details and the figures shown and described herein, and falls within the general concept defined by the claims and the equivalent scope.

Claims

1. A cross-trench wheel type inspection robot, characterized by, Include: The vehicle body (1), the camera (2) and the sensor (3) are connected on the vehicle body (1), the front end and the rear end of the vehicle body (1) are both slidingly connected with two inner threaded telescopic tubes (4), the inner threaded telescopic tube (4) is connected with the driving mechanism, the end of the inner threaded telescopic tube (4) away from the vehicle body (1) is connected with the top end of the electric push rod (5), the output end of the electric push rod (5) is hinged with the supporting plate (6), the bottom end of the supporting plate (6) is arranged above the bottom of the vehicle body (1); The driving mechanism comprises: a screw rod (7), a screw rod (7) and a screw rod (10) are parallelly rotatably connected on the inner wall of the vehicle body (1), the end of the screw rod (7) is towards the front end of the vehicle body (1), and is threadedly connected with one inner threaded telescopic tube (4), the end of the screw rod (10) is towards the rear end of the vehicle body (1), and is threadedly connected with the other inner threaded telescopic tube (4), the gear column (8) is connected on the screw rod (7), the gear column (11) is connected on the screw rod (10), the end face of the gear column (8) and the end face of the gear column (11) are coplanarly arranged, the other end face of the gear column (8) is arranged towards the inner threaded telescopic tube (4), the gear column (8) and the gear column (11) are meshingly connected with the output end of the adjusting mechanism (13); The adjusting mechanism (13) comprises: a gear (9), the gear column (8) is meshingly connected with the gear (9), the gear column (11) is meshingly connected with the gear (12), the end face of the gear (9) and the end face of the gear (12) are coplanarly arranged, the other end face of the gear (9) is arranged towards the inner threaded telescopic tube (4), the gear (9) is rotatably connected with the mounting bracket (16) through the rotating shaft (14), the gear (12) is rotatably connected with the mounting bracket (16) through the rotating shaft (15), the rotating shaft (14) and the rotating shaft (15) are both connected with the second driving mechanism (17); The second driving mechanism (17) comprises: a motor (18), the output end of the motor (18) on the mounting bracket (16) is connected with the gear (19), the gear (19) is meshingly connected with the gear (20) on the rotating shaft (15), the transmission wheel component (21) on the rotating shaft (15) is drivingly connected with the transmission wheel component (23) through the flexible transmission component (22), the transmission wheel component (23) is connected with the rotating shaft (14), the output end of the electric push rod (24) is connected with the two mounting brackets (16), the electric push rod (24) is connected with the vehicle body (1).

2. The cross-trench wheel type inspection robot according to claim 1, wherein The bumper (25) is arranged below the supporting plate (6), the electric push rod (5) is arranged between the two bumpers (25), the bumper (25) is slidingly connected with the vehicle body (1) through the push rod (26), the vehicle body (1) is connected with the end of the plurality of springs (27), the other end of the spring (27) is connected with the mounting ring (28) on the push rod (26).

3. The cross-trench wheel type patrol robot according to claim 2, characterized in that, The end of the push rod (26) placed in the vehicle body (1) is arranged towards the buffer disc (29), the buffer disc (29) is connected with the end of the connecting rod (30) and the spring two (31), the connecting rod (30) is in sliding sealing fit with the pipeline (32), the side wall of the connecting rod (30) is connected with the other end of the spring two (31), the pipeline (32) is connected on the gas pressure pipe (33), one end of the gas pressure pipe (33) is connected with the nitrogen tank (34), the other end of the gas pressure pipe (33) is connected on the inner wall of the storage tank (36), the storage tank (36) is connected with the vehicle body (1), the storage tank (36) stores perfluorocyclohexanone, the output pipe (37) is connected on the storage tank (36), the input end of the output pipe (37) is arranged at the bottom of the storage tank (36), the output pipe (37) is connected with the locking piece, the output end of the output pipe (37) is arranged towards the lithium battery, the connecting rod (30) is in sealing fit with the gas pressure pipe (33), the gas guide hole (35) is arranged on the connecting rod (30) in a penetrating manner and is staggered with the gas pressure pipe (33).

4. The cross-trench wheel type patrol robot according to claim 3, characterized in that, The pipeline (32) is provided with a through slot, the plug rod (38) is slidably connected in the through slot, the bottom end of the plug rod (38) is in sliding fit with the connecting rod (30), the plug slot (39) is arranged between the bottom end of the plug rod (38) and the gas guide hole (35), the plug slot (39) is arranged on the side wall of the connecting rod (30), the bottom end of the spring three (40) is connected on the side wall of the pipeline (32), the top end of the spring three (40) is connected with the mounting disc (41) on the top of the plug rod (38).

5. The trans-trench wheeled patrol robot according to claim 3, wherein, The locking piece comprises a connecting pipe (42), the connecting pipe (42) is connected on the output pipe (37), the bottom wall of the connecting pipe (42) is connected with the bottom of the sealing rod (44) through the spring four (43), the sealing rod (44) is in sliding sealing fit with the connecting pipe (42), the through hole (45) arranged on the sealing rod (44) is arranged above the output pipe (37), the top of the sealing rod (44) is connected with the auxiliary driving piece.

6. The trans-trench wheeled patrol robot according to claim 5, wherein, The auxiliary driving piece comprises an inclined surface (46) and a push plate (47), the top of the sealing rod (44) is provided with the inclined surface (46), the inclined surface (46) is arranged away from the middle part of the vehicle body (1), the other end of the connecting rod (30) away from the pipeline (32) is connected with the push plate (47), the bottom of the push plate (47) is arranged towards the inclined surface (46).

7. The trans-trench wheeled patrol robot according to claim 6, wherein, The end of the vehicle body (1) is connected with a plurality of exhaust pipes (48), the one-way valve is connected in the exhaust pipe (48), the other end of the exhaust pipe (48) is arranged outside the vehicle body (1).

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