Gas imaging detection intelligent machine vehicle capable of turning in small radius

Abstract

The invention relates to the field of gas detection, and discloses a gas imaging detection intelligent machine vehicle capable of turning in a small radius, which comprises four moving assemblies, two connecting assemblies; a movable assembly; a detection assembly and a transformation assembly. By installing the conversion assembly, when turning or turning is needed in a narrow space, a two-way hydraulic rod is driven, the telescopic end of the two-way hydraulic rod is pushed in the direction opposite to the turning direction, a long strip can push a first spring and a round rod to deform, bending is completed, and at the moment, four moving assemblies can present the arc shape the same as the turning direction; by combining the differential principle of the inner side and the outer side, the equipment completes small-radius turning around or turning, after turning is completed, the two-way hydraulic rod restores to the initial position, the four moving assemblies can reset under the elastic action of the round rods and the first springs, and the problem that under the narrow channel or pipeline dense area or variable working conditions, the equipment is not prone to falling off is solved. And a conventional wheeled robot is difficult to realize efficient detection due to large turning radius and poor maneuverability.

Description

Technical Field

[0001] This application relates to the field of gas detection technology, and in particular to a smart robotic vehicle capable of turning with a small radius for gas imaging detection. Background Technology

[0002] With the rapid development of intelligent manufacturing and industrial automation, the demand for gas imaging detection technology in high-risk or complex environments such as chemical, energy, and warehousing is increasing. Traditional gas detection equipment mostly relies on fixed installations or large mobile platforms, which have shortcomings such as insufficient flexibility, limited coverage, and weak ability to cope with complex terrain. For example, in narrow passages, dense pipeline areas, or variable working conditions, conventional wheeled robots are difficult to achieve efficient detection due to their large turning radius and poor maneuverability. Currently, although gas imaging technologies (such as infrared thermal imaging and laser spectral imaging) have been used for gas leak detection, their carrier equipment is mostly fixed or large mobile platforms, which limit their mobility and adaptability in complex working conditions. Therefore, this patent aims to provide a gas imaging detection intelligent robot vehicle that can turn with a small radius. By innovatively integrating a compact vehicle structure, a multimodal navigation and obstacle avoidance system, and a high-sensitivity gas imaging module, it solves the problems of insufficient mobility, low detection efficiency, and low intelligence of traditional gas detection equipment in complex environments, and promotes the practical application of gas imaging detection technology in industrial scenarios. Summary of the Invention

[0003] This application proposes a gas imaging detection intelligent robotic vehicle capable of turning with a small radius, which solves the problem of insufficient equipment mobility in complex terrain.

[0004] To achieve the above objectives, this application adopts the following technical solution: a gas imaging detection intelligent robot vehicle capable of turning with a small radius, comprising four moving components, with connecting components installed on the inner side of every two sets of moving components, and also including a linkage transformation detection structure, which includes a movable component, the movable component being fixedly installed in the middle of the two connecting components, and a detection component being fixedly installed on the top of the movable component; A transformation component is fixedly installed inside the two connecting components. The transformation component includes a connecting block. Two bidirectional hydraulic rods are installed at the top center of the connecting block. When in use, the two telescopic ends of the two bidirectional hydraulic rods extend the stroke on one side while shortening the stroke on the other side. Each telescopic end of the two bidirectional hydraulic rods is fixedly connected to an L-shaped rod. Connecting pieces are movably hinged to the outer edges of the four L-shaped rods. The four connecting blocks are installed in an X-shape. Each of the four connecting pieces has two round holes, and the inner round holes are movably hinged to the L-shaped rods.

[0005] Preferably, the moving component includes a long strip, a motor is fixedly mounted on the inner side of the long strip, a tire is fixedly connected to the output shaft of the motor, a bent rod is fixedly mounted on the right side of the motor, and a first spring is elastically connected to the outer side of the long strip.

[0006] Preferably, a vertical round shaft is fixedly installed at the tail end of the bent rod, and the round shaft is movably hinged in the outer round hole of the connecting piece. The first spring is C-shaped, and the other end of the first spring is elastically connected to the outer side of another long strip.

[0007] Preferably, the connecting assembly includes a trapezoidal block, a round rod is installed through the inner part of the trapezoidal block, a second spring is sleeved on the outer edge of the round rod, one end of the second spring is elastically connected to the outer side of the trapezoidal block, the other end of the second spring is fixedly connected to the inner side of the motor, and a control block is fixedly installed on the top of the two trapezoidal blocks, and the control block has a groove inside.

[0008] Preferably, the movable component includes two rectangular plates, both of which are fixedly installed in the groove, and a lead screw is fixedly installed between the two rectangular plates, with a movable block movably sleeved on the outer edge of the lead screw.

[0009] Preferably, a lead screw motor is installed in the movable block at the position where it contacts the lead screw, which can drive the movable block to move on the outer edge of the lead screw, and a rectangular hole is opened at the center of the movable block.

[0010] Preferably, the detection component includes a circular block, with U-shaped springs fixedly connected to both sides of the circular block, the other side of the two U-shaped springs fixedly connected to the inside of a rectangular hole, a second hydraulic rod fixedly installed on the top of the circular block, and a detector fixedly installed on the telescopic end of the second hydraulic rod.

[0011] The beneficial effects of this invention are as follows: 1. This invention, by installing a transformation component, when encountering a narrow space requiring a turn or U-turn, drives a bidirectional hydraulic rod, pushing its telescopic end in the opposite direction of the desired turn. The long bar then causes the first spring and the round rod to deform, completing the bend. At this time, the four moving components will present an arc shape in the same direction as the turn. Combined with the differential speed principle of the inner and outer sides, the device can complete a small-radius U-turn or turn. After the turn is completed, the bidirectional hydraulic rod returns to its initial position, and the four moving components will reset under the elastic action of the round rod and the first spring. This solves the problem that conventional wheeled robots, due to their large turning radius and poor maneuverability, are unable to achieve efficient detection in narrow passages, densely piped areas, or variable working conditions.

[0012] 2. This invention uses movable components and connecting components that are mutually deformable and coordinated. When the conversion component is driven, the long strip will push the first spring and the round rod to deform and complete the bending. At this time, the four movable components will present an arc shape with the same direction of turning. After turning or turning, the four movable components will return to their original position under the elastic action of the round rod and the first spring. The elastic and bendable chassis ensures the possibility of small-radius turning of the equipment.

[0013] 3. This invention features interconnected moving and detection components. The moving block can move on the lead screw to allow the detector to be as close as possible to the detection area. The detector can also move vertically up and down under the extension and retraction of the second hydraulic rod. In addition, the detector itself can rotate on the top of the second hydraulic rod to further enhance the detection range and make gas imaging detection more flexible. During the operation of the equipment, the circular block can be damped to a certain extent by the U-shaped spring to avoid damage to the detector. Attached Figure Description

[0014] The accompanying drawings, which form part of this specification, illustrate embodiments disclosed in this application and, together with the specification, serve to explain the principles of this application in a clear and understandable manner.

[0015] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a bottom view of the overall structure of the present invention; Figure 3 This is a schematic diagram of the transformation component structure of the present invention; Figure 4 This is a schematic diagram of the structure of the mobile component of the present invention; Figure 5 This is a schematic diagram of the connection component structure of the present invention; Figure 6 For the present invention Figure 5 Enlarged schematic diagram of the structure at point A in the middle; Figure 7 This is a schematic diagram of the detection component structure of the present invention.

[0016] The components include: 1. Moving component; 2. Connecting component; 3. Transformation component; 4. Movable component; 5. Detection component; 11. Strip; 12. Motor; 13. Tire; 14. Bent rod; 15. First spring; 21. Trapezoidal block; 22. Round rod; 23. Second spring; 24. Control block; 25. Groove; 31. Connecting block; 32. Bidirectional hydraulic rod; 33. L-shaped rod; 34. Connecting piece; 41. Rectangular plate; 42. Lead screw; 43. Movable block; 44. Rectangular hole; 51. Round block; 52. U-shaped spring; 53. Second hydraulic rod; 54. Detector. Detailed Implementation

[0017] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0018] Please see Figure 1-7 The gas imaging detection intelligent robot vehicle of this embodiment, which can turn with a small radius, includes four moving components 1. A connecting component 2 is installed on the inner side of every two sets of moving components 1. It also includes a linkage transformation detection structure, which includes a movable component 4. The movable component 4 is fixedly installed in the middle of the two connecting components 2, and a detection component 5 is fixedly installed on the top of the movable component 4. The transformation component 3 is fixedly installed inside the two connecting components 2. The transformation component 3 includes a connecting block 31. Two bidirectional hydraulic rods 32 are installed at the top center of the connecting block 31. When in use, the two telescopic ends of the two bidirectional hydraulic rods 32 extend the stroke on one side and shorten the stroke on the other side. The telescopic ends of the two bidirectional hydraulic rods 32 are fixedly connected to L-shaped rods 33. The outer edges of the four L-shaped rods 33 are movably hinged to connecting pieces 34. The four connecting blocks 31 are installed in an X-shape. The four connecting pieces 34 are each provided with two round holes. The inner round holes are movably hinged to the L-shaped rods 33. When encountering a narrow space and needing to turn or make a U-turn, the bidirectional hydraulic rod 32 is driven, and the telescopic end of the bidirectional hydraulic rod 32 is pushed in the opposite direction of the direction of the turn. The long strip 11 will push the first spring 15 and the round rod 22 to deform and complete the bending. At this time, the four moving components 1 will present an arc shape in the same direction of the turn. Combined with the differential speed principle of the inner and outer sides, the equipment can complete a small-radius U-turn or turn. After the turn is completed, the bidirectional hydraulic rod 32 returns to its initial position, and the four moving components 1 will reset under the elastic action of the round rod 22 and the first spring 15. The moving component 1 includes a long strip 11, a motor 12 is fixedly installed on the inner side of the long strip 11, a tire 13 is fixedly connected to the output shaft of the motor 12, a bent rod 14 is fixedly installed on the right side of the motor 12, and a first spring 15 is elastically connected to the outer side of the long strip 11; a vertical round shaft is fixedly installed at the tail end of the bent rod 14, and the round shaft is movably hinged in the outer round hole of the connecting piece 34; the first spring 15 is C-shaped, and the other end of the first spring 15 is elastically connected to the outer side of another long strip 11. The motor 12 can drive the tire 13 to rotate, thereby moving the equipment. Turning can be achieved through the differential principle on both sides. The long strip 11 can push the first spring 15 and the round rod 22 to deform and complete the bending. At this time, the four moving components 1 will present an arc shape in the same direction as the turning direction. The connecting component 2 includes a trapezoidal block 21, a round rod 22 is installed through the inside of the trapezoidal block 21, a second spring 23 is sleeved on the outer edge of the round rod 22, one end of the second spring 23 is elastically connected to the outer side of the trapezoidal block 21, and the other end of the second spring 23 is fixedly connected to the inner side of the motor 12. A control block 24 is fixedly installed on the top of the two trapezoidal blocks 21, and a groove 25 is opened inside the control block 24. The control block 24 contains a computer control module, enabling the device to be remotely controlled or moved via a preset circuit. The long strip 11 can push the first spring 15 and the round rod 22 to deform and complete the bending. At this time, the four moving components 1 will present an arc shape in the same direction as the turning direction. The movable component 4 includes two rectangular plates 41, both of which are fixedly installed in the groove 25. A lead screw 42 is fixedly installed between the two rectangular plates 41, and a movable block 43 is movably sleeved on the outer edge of the lead screw 42. A lead screw motor is installed in the movable block 43 at the position where it contacts the lead screw 42, which can drive the movable block 43 to move on the outer edge of the lead screw 42. A rectangular hole 44 is opened at the center of the movable block 43. When the equipment needs to perform gas imaging detection in the area, the movable block 43 can move on the lead screw 42 to allow the detector 54 to get as close as possible to the detection area. The detection component 5 includes a circular block 51, with U-shaped spring pieces 52 fixedly connected to both sides of the circular block 51. The other side of the two U-shaped spring pieces 52 is fixedly connected to the inside of the rectangular hole 44. A second hydraulic rod 53 is fixedly installed on the top of the circular block 51, and a detector 54 is fixedly installed on the telescopic end of the second hydraulic rod 53. The detector 54 can also move vertically up and down under the extension and retraction of the second hydraulic rod 53. In addition, the detector 54 itself can rotate on the top of the second hydraulic rod 53 to further enhance the detection range and make gas imaging detection more flexible. During the operation of the equipment, the round block 51 can achieve a certain degree of shock absorption through the U-shaped spring 52 to avoid damage to the detector 54.

[0019] Working principle: When using this invention, the device is first moved to a designated area by the moving component 1. The control block 24 is equipped with a computer control module, which allows the device to be remotely controlled or moved via a preset route. The motor 12 can drive the tires 13 to rotate, thereby moving the device. Turning can be achieved through the differential principle on both sides. When encountering a narrow space and needing to turn or make a U-turn, the bidirectional hydraulic rod 32 is driven, and the telescopic end of the bidirectional hydraulic rod 32 is pushed in the opposite direction of the direction of the turn. The long strip 11 will push the first spring 15 and the round rod 22 to deform and complete the bending. At this time, the four moving components 1 will present an arc shape in the same direction of the turn. Combined with the differential speed principle of the inner and outer sides, the equipment can complete a small-radius U-turn or turn. After the turn is completed, the bidirectional hydraulic rod 32 returns to its initial position, and the four moving components 1 will reset under the elastic action of the round rod 22 and the first spring 15. When the equipment needs to perform gas imaging detection in the area, the movable block 43 can move on the lead screw 42 to allow the detector 54 to get as close as possible to the detection area. The detector 54 can also move vertically up and down under the extension and retraction of the second hydraulic rod 53. In addition, the detector 54 itself can rotate on the top of the second hydraulic rod 53 to further enhance the detection range and make gas imaging detection more flexible. During the movement of the equipment, the round block 51 can achieve a certain degree of shock absorption through the U-shaped spring 52 to avoid damage to the detector 54.

[0020] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A gas imaging detection intelligent robotic vehicle capable of turning with a small radius, characterized in that, It includes four moving components (1), and a connecting component (2) is installed on the inner side of every two sets of moving components (1). It also includes... The linkage transformation detection structure includes a movable component (4), which is fixedly installed in the middle of the two connecting components (2), and a detection component (5) is fixedly installed on the top of the movable component (4). The transformation component (3) is fixedly installed inside the two connecting components (2). The transformation component (3) includes a connecting block (31). Two bidirectional hydraulic rods (32) are installed at the top center of the connecting block (31). When the two bidirectional hydraulic rods (32) are in use, one end increases the stroke while the other end shortens the stroke. The two bidirectional hydraulic rods (32) are fixedly connected to L-shaped rods (33). The outer edges of the four L-shaped rods (33) are movably hinged with connecting pieces (34). The four connecting blocks (31) are installed in an X-shape. The four connecting pieces (34) have two round holes. The inner round holes are movably hinged to the L-shaped rods (33).

2. The intelligent robotic vehicle for gas imaging detection capable of turning with a small radius according to claim 1, characterized in that, The moving component (1) includes a long strip (11), a motor (12) is fixedly installed on the inner side of the long strip (11), a tire (13) is fixedly connected to the output shaft of the motor (12), a bent rod (14) is fixedly installed on the right side of the motor (12), and a first spring (15) is elastically connected to the outer side of the long strip (11).

3. The intelligent robotic vehicle for gas imaging detection capable of turning with a small radius according to claim 2, characterized in that, The tail end of the bent rod (14) is fixedly installed with a vertical round shaft, which is movably hinged in the outer round hole of the connecting piece (34). The first spring (15) is C-shaped, and the other end of the first spring (15) is elastically connected to the outer side of another strip (11).

4. The intelligent robotic vehicle for gas imaging detection capable of turning with a small radius according to claim 2, characterized in that, The connecting component (2) includes a trapezoidal block (21), a round rod (22) is installed through the inside of the trapezoidal block (21), a second spring (23) is sleeved on the outer edge of the round rod (22), one end of the second spring (23) is elastically connected to the outside of the trapezoidal block (21), and the other end of the second spring (23) is fixedly connected to the inside of the motor (12). A control block (24) is fixedly installed on the top of the two trapezoidal blocks (21), and a groove (25) is opened inside the control block (24).

5. The intelligent robotic vehicle for gas imaging detection capable of turning with a small radius according to claim 1, characterized in that, The active component (4) includes two rectangular plates (41), both of which are fixedly installed in the groove (25). A lead screw (42) is fixedly installed between the two rectangular plates (41), and a movable block (43) is movably sleeved on the outer edge of the lead screw (42).

6. The intelligent robotic vehicle for gas imaging detection capable of turning with a small radius according to claim 5, characterized in that, A screw motor is installed in the movable block (43) at the position where it contacts the screw (42), which can drive the movable block (43) to move on the outer edge of the screw (42). A rectangular hole (44) is provided at the center of the movable block (43).

7. The intelligent robotic vehicle for gas imaging detection capable of turning with a small radius according to claim 6, characterized in that, The detection component (5) includes a circular block (51), with U-shaped spring pieces (52) fixedly connected to both the left and right sides of the circular block (51). The other side of the two U-shaped spring pieces (52) is fixedly connected to the inside of the rectangular hole (44). A second hydraulic rod (53) is fixedly installed on the top of the circular block (51), and a detector (54) is fixedly installed on the telescopic end of the second hydraulic rod (53).

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