A multifunctional inspection robot

Abstract

The application discloses a multifunctional inspection robot, and relates to the technical field of robots, comprising a chassis and a protective shell, wherein the end, away from the chassis, of the protective shell is provided with a plurality of functional components, the end, away from the protective shell, of the chassis is provided with a displacement component, the end, facing the chassis, of the protective shell is provided with an avoiding hole, the avoiding hole is matched with the displacement component, a lifting mechanism is arranged between the protective shell and the chassis, the lifting mechanism comprises a lifting top plate and a supporting plate, the supporting plate is arranged at the end, close to the lifting top plate, of the chassis, and a driving module for driving the lifting top plate to move up and down is arranged between the supporting plate and the lifting top plate. Therefore, the lifting mechanism can lift the protective shell and the various functional components installed on the top of the protective shell to a certain height, which ensures that the robot can pass through a water area without the influence of external water on the electronic elements in the protective shell.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a multifunctional inspection robot. Background Technology

[0002] Inspection robots are automated equipment that integrates environmental perception, dynamic decision-making, behavior control and execution. They are widely used in fields such as power, petrochemicals, and rail transportation, and their purpose is to achieve functions such as equipment status monitoring, environmental parameter acquisition, and fault early warning.

[0003] Existing inspection robots have the following drawbacks: First, the power battery is often fixed at the robot's chassis, which makes it possible for water to seep into the robot when it passes through waterlogged sections, leading to water ingress and short circuits in the internal electronic components; Second, existing detection instruments are limited by the robot's own height, which results in a limited recognition range for the inspection robot, making it difficult to meet daily inspection needs. Summary of the Invention

[0004] To address the above shortcomings, the purpose of this invention is to provide a multifunctional inspection robot that aims to solve the problems of short filter plate lifespan and frequent replacement required in the prior art.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: A multifunctional inspection robot includes a chassis and a protective shell. Several functional components are disposed at the end of the protective shell away from the chassis. These functional components include, but are not limited to, a vision detection component, a radar component, and a robotic arm component. A displacement component is disposed at the end of the chassis away from the protective shell. An avoidance hole is disposed at the end of the protective shell facing the chassis, and the avoidance hole matches the displacement component. A lifting mechanism is disposed between the protective shell and the chassis. The lifting mechanism includes a lifting top plate and a support plate. The support plate is located at the end of the chassis near the lifting top plate. A drive module for driving the lifting top plate to move up and down is disposed between the support plate and the lifting top plate.

[0006] The drive module includes a first hinge assembly and a second hinge assembly, which are arranged opposite to each other and have the same structure. A power motor, a power lead screw, a sliding rod, a first sliding block, and a second sliding block are provided between the first and second hinge assemblies. The power lead screw and the sliding rod are parallel, and one end of the power lead screw is connected to the power motor. The first and second sliding blocks are threadedly connected to the power lead screw and slidably connected to the sliding rod. The first hinge assembly includes a first... The system comprises a first support arm, a second support arm, a third support arm, and a fourth support arm. A first support block is provided between the first support arm and the support plate, and a second support block is provided between the third support arm and the lifting top plate. One end of the first support arm is hinged to the first support block, and one end of the third support arm is hinged to the second support block. The ends of the first and third support arms away from the first and second support blocks are both hinged to a first sliding block. The second support arm is hinged to the first support arm, and the fourth support arm is hinged to the third support arm. The ends of the second and fourth support arms away from the support plate and the ends of the fourth support arm away from the lifting top plate are both hinged to a second sliding block.

[0007] The lifting top plate is equipped with a first fixing plate at one end and a second fixing plate at the other end. A first support plate is provided at one end of the support plate, and a second support plate is provided at the other end. The first fixing plate, second fixing plate, first support plate, and second support plate are all located between a first hinge assembly and a second hinge assembly. A first sliding column and a third sliding block are provided between the first fixing plate and the second fixing plate. A second sliding column and a fourth sliding block are provided between the first support plate and the second support plate. The power screw is located between the first sliding column and the second sliding column. The third sliding block is slidably connected to the first sliding column, and the fourth sliding block is slidably connected to the second sliding column. The end of the second support arm away from the fourth support arm is hinged to the fourth sliding block, and the end of the fourth support arm away from the second support arm is hinged to the third sliding block.

[0008] A sealing shell is provided between the lifting top plate and the protective shell, and the sealing shell is arranged around the lifting mechanism.

[0009] A corrugated sealing cylinder is provided between the lifting top plate and the support plate. The corrugated sealing cylinder is arranged around the drive module. One end of the corrugated sealing cylinder is sealed to the lifting top plate, and the other end of the corrugated sealing cylinder is sealed to the support plate. An air supply pipe is installed on the side wall of the corrugated sealing cylinder, and a ventilation valve is installed at the end of the air supply pipe away from the corrugated sealing cylinder.

[0010] The corrugated sealing cylinder is also equipped with an air outlet pipe on its side wall. An air outlet valve is installed at the end of the air outlet pipe away from the corrugated sealing cylinder. An air outlet valve is connected to an air detection unit and / or an air storage cylinder at the end of the air outlet valve away from the air outlet pipe.

[0011] The displacement assembly includes a wheel, a limiting shell, and a fixed shell. The top of the limiting shell is rotatably connected to the fixed shell. A power cavity is provided on the side of the limiting shell away from the wheel. A reducer is installed in the power cavity. A drive motor is provided between the power cavity and the fixed shell. The power end of the drive motor is poweredly connected to the reducer. A transmission shaft is arranged laterally inside the limiting shell. One end of the transmission shaft is connected to the reducer, and the other end of the transmission shaft is connected to the wheel.

[0012] The limiting shell has a positioning shell at its top, which is located inside the fixed shell and rotatably connected to the bottom of the fixed shell. The fixed shell contains a first steering assembly, a second steering assembly, and a ring gear. The first and second steering assemblies are arranged opposite each other and have the same structure. The ring gear is located at the bottom of the fixed shell and surrounds the positioning shell. The first steering assembly includes a rotating shaft. A first bevel gear is mounted on the end of the rotating shaft facing the second steering assembly, and a second bevel gear is mounted on the end of the rotating shaft away from the first bevel gear. The rotating shaft is rotatably connected to the side wall of the positioning shell. The limiting shell contains a drive shaft. A third bevel gear is mounted on one end of the drive shaft, and a fourth bevel gear is mounted on the other end. A bevel gear is mounted on the outer wall of the drive shaft. The fourth bevel gear meshes with the bevel gear, the third bevel gear meshes with the first bevel gear, and the second bevel gear meshes with the ring gear.

[0013] An electromagnetic clutch is provided inside the limiting housing. The drive shaft includes a first shaft and a second shaft. One end of the first shaft is connected to the electromagnetic clutch, and the fourth bevel gear is located at the end of the first shaft away from the electromagnetic clutch. One end of the second shaft is connected to the electromagnetic clutch, and the third bevel gear is located at the end of the second shaft away from the electromagnetic clutch.

[0014] The rotating shaft includes a first section and a second section, with a secondary clutch between the first section and the second section. The first bevel gear is located at the end of the first section away from the secondary clutch. The second section is rotatably connected to the positioning shell, and the second bevel gear is located at the end of the second section away from the secondary clutch.

[0015] After adopting the above technical solution, the beneficial effects of the present invention are: First, the lifting mechanism can raise the protective shell and the various functional components mounted on top of it to a certain height. This ensures that when the robot passes through wading areas, external water will not affect the electronic components inside the protective shell. Simultaneously, it allows the functional components to perform more thorough inspections and checks at different heights. Second, the displacement components can freely steer under the linkage of the transmission shaft, drive shaft, and rotation shaft, and multiple displacement components can be controlled independently. This reduces the turning radius and also allows the robot to move in a specified direction. Attached Figure Description

[0016] Figure 1 This is a structural diagram of a multi-functional inspection robot; Figure 2 An exploded view of the inspection robot; Figure 3 Here is a structural diagram of the lifting mechanism; Figure 4 This is a structural diagram of the driver module; Figure 5 This is a structural diagram of a corrugated sealing cylinder; Figure 6 The working logic diagram for the corrugated sealing cylinder; Figure 7 Here is a structural diagram of the displacement component; Figure 8 This is a cross-sectional view of the limiting shell; Figure 9 for Figure 7 A magnified view of part 'a'; Figure 10 This is a diagram showing the horizontal placement of the displacement component. Figure 11 This is a diagram showing the placement of the displacement component at different angles.

[0017] In the diagram: 1-Chassis, 2-Protective Shell, 3-Functional Component, 4-Displacement Component, 5-Avoidance Hole, 6-Lifting Mechanism, 7-Lifting Top Plate, 8-Support Plate, 9-Drive Module, 10-First Hinge Component, 11-Second Hinge Component, 12-Power Motor, 13-Power Screw, 14-Sliding Rod, 15-First Sliding Block, 16-Second Sliding Block, 17-First Support Arm, 18-Second Support Arm, 19-Third Support Arm, 20-Fourth Support Arm, 21-First Support Block, 22-Second Support Block, 23-First Fixing Plate, 24-Second Fixing Plate, 25-First Support Plate, 26-Second Support Plate, 27-First Sliding Column, 28-Second Sliding Column, 29-Fourth Sliding Block, 30-Sealing Shell, 31-Corrugated Sealing Cylinder, 32-Air Supply Pipe, 33-Ventilation Valve, 34-Air Outlet Pipe, 35-Air Outlet Valve, 36-Air Detection Unit, 3 7-Gas cylinder, 38-Gas distribution pipe, 39-Wheel body, 40-Limiting shell, 41-Fixing shell, 42-Power chamber, 43-Reducer, 44-Drive motor, 45-Transmission shaft, 46-Positioning shell, 47-First steering assembly, 48-Second steering assembly, 49-Ring gear, 50-Rotating shaft, 51-First bevel gear, 52-Second bevel gear, 53-Drive shaft, 54-Third bevel gear, 55-Fourth bevel gear, 56-Bevel gear, 57-Electromagnetic clutch, 58-First shaft, 59-Second shaft, 60-First bearing, 61-Second bearing, 62-Positioning arm, 63-Support ring groove, 64-Boosting ring, 65-Ring groove, 66-Ball, 67-First section, 68-Second section, 69-Secondary clutch, 70-Electromagnetic brake, 71-Transfer shell, 72-Transfer column, 73-Shock absorber. Detailed Implementation

[0018] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0019] Example 1: like Figure 1-4 As shown, the present invention discloses a multifunctional inspection robot, comprising a chassis 1 and a protective shell 2. A plurality of functional components 3 are disposed at the end of the protective shell 2 away from the chassis 1. These functional components 3 are modularly configured and can be selected and assembled according to inspection needs. Therefore, the plurality of functional components 3 include, but are not limited to, a vision detection component, a radar component, and a robotic arm component.

[0020] To facilitate robot movement, a displacement component 4 is provided at the end of the chassis 1 away from the protective shell 2, and an avoidance hole 5 is provided at the end of the protective shell 2 facing the chassis 1, the avoidance hole 5 matching the displacement component 4.

[0021] In this scheme, the displacement component 4 is preferably a wheeled mechanism. The wheeled displacement mechanism enables the robot to move more smoothly and ensures the accuracy of data acquisition.

[0022] To facilitate data collection at different heights, a lifting mechanism 6 is provided between the protective shell 2 and the chassis 1. The lifting mechanism 6 includes a lifting top plate 7 and a support plate 8. The support plate 8 is located at the end of the chassis 1 closest to the lifting top plate 7. A drive module 9 is provided between the support plate 8 and the lifting top plate 7 to drive the lifting top plate 7 to move up and down. In use, the drive module 9 drives the lifting top plate 7 to move upwards. During this process, the lifting top plate 7 lifts the protective shell 2 and the various functional components 3 on its top, thus facilitating the inspection robot's ability to collect data at different heights.

[0023] Meanwhile, since all the electronic components in this solution are located inside the protective shell 2, when encountering areas with water accumulation, the lifting mechanism 6 can also be activated to lift the protective shell 2 and the electronic components inside to a certain height, preventing the water from directly contacting the electronic components and thus avoiding damage to the electronic components.

[0024] To facilitate the vertical movement of the lifting top plate 7 driven by the drive module 9, the drive module 9 includes a first hinge assembly 10 and a second hinge assembly 11. The first hinge assembly 10 and the second hinge assembly 11 are arranged opposite to each other, and the first hinge assembly 10 and the second hinge assembly 11 have the same structure. Multiple sets of both the first hinge assembly 10 and the second hinge assembly 11 can be provided in this solution, and the selection needs to be made according to the size of the inspection robot and the weight of the protective shell 2.

[0025] To facilitate the extension and retraction of the hinge assembly, a power motor 12, a power lead screw 13, a sliding rod 14, a first sliding block 15, and a second sliding block 16 are provided between the first hinge assembly 10 and the second hinge assembly 11. The power lead screw 13 is parallel to the sliding rod 14, and one end of the power lead screw 13 is connected to the power motor 12. The first sliding block 15 and the second sliding block 16 are both threadedly connected to the power lead screw 13, and both are slidably connected to the sliding rod 14. The first hinge assembly 10 includes a first support arm 17, a second support arm 18, a third support arm 19, and a fourth support arm 20. The first support arm 17... A first support block 21 is provided between the support plate 7 and the support plate 8, and a second support block 22 is provided between the third support arm 19 and the lifting top plate 7. One end of the first support arm 17 is hinged to the first support block 21, and one end of the third support arm 19 is hinged to the second support block 22. The ends of the first support arm 17 away from the first support block 21 and the ends of the third support arm 19 away from the second support block 22 are both hinged to the first sliding block 15. The second support arm 18 is hinged to the first support arm 17, and the fourth support arm 20 is hinged to the third support arm 19. The ends of the second support arm 18 away from the support plate 8 and the ends of the fourth support arm 20 away from the lifting top plate 7 are both hinged to the second sliding block 16.

[0026] In use, the power motor 12 drives the power screw 13 to rotate. Since the first sliding block 15 and the second sliding block 16 are both threadedly connected to the power screw 13, and both are slidably connected to the sliding rod 14, the rotation of the power screw 13 will drive the first sliding block 15 and the second sliding block 16 to move along the length of the power screw 13.

[0027] When lifting is required, the angles between the first arm 17 and the second arm 18, and between the third arm 19 and the fourth arm 20, gradually decrease. Since the length of the arms is fixed, the decrease in angle causes a change in the height of the drive module 9. That is, the decrease in angle causes the height of the lifting top plate 7 to rise, thus completing the lifting of the protective shell 2. When the power screw 13 rotates in the reverse direction, the angles between the first arm 17 and the second arm 18, and between the third arm 19 and the fourth arm 20, gradually increase, causing the lifting top plate 7 to gradually descend, and finally causing the lifting top plate 7 to return to its original position.

[0028] To ensure the smooth lifting of the drive module 9, a first fixing plate 23 is installed at one end of the lifting top plate 7, and a second fixing plate 24 is installed at the other end of the lifting top plate 7. A first support plate 25 is provided at one end of the support plate 8, and a second support plate 26 is provided at the other end of the support plate 8. The first fixing plate 23, the second fixing plate 24, the first support plate 25, and the second support plate 26 are all located between the first hinge assembly 10 and the second hinge assembly 11. A first fixing plate 23 is provided between the first fixing plate 23 and the second fixing plate 24. The sliding column 27 and the third sliding block are provided. The second sliding column 28 and the fourth sliding block 29 are provided between the first support plate 25 and the second support plate 26. The power screw 13 is located between the first sliding column 27 and the second sliding column 28. The third sliding block is slidably connected to the first sliding column 27. The fourth sliding block 29 is slidably connected to the second sliding column 28. The end of the second support arm 18 away from the fourth support arm 20 is hinged to the fourth sliding block 29. The end of the fourth support arm 20 away from the second support arm 18 is hinged to the third sliding block.

[0029] The first sliding column 27, the sliding rod 14, and the second sliding column 28 are located at different heights. Meanwhile, the third sliding block (not shown in the figure due to perspective) and the fourth sliding block 29 provide support points for the ends of the second arm 18 and the fourth arm 20, respectively. This allows the second arm 18 and the fourth arm 20 to extend and retract more smoothly and stably, and also further improves the load-bearing capacity of the drive module 9. This allows more functional components 3 to be installed on the top of the protective shell 2.

[0030] Example 2: like Figure 2 As shown, in order to facilitate the protection of the drive module 9, a sealing shell 30 is provided between the lifting top plate 7 and the protective shell 2, and the sealing shell 30 is arranged around the lifting mechanism 6.

[0031] Example 3: In Embodiment 2, we used a sealing shell 30 to cover the lifting mechanism 6 to protect the drive module 9. However, this design has a drawback: when the drive module 9 is lifted, it will cause the sealing shell 30 to move upward together, thus failing to completely seal the drive module 9.

[0032] Therefore, such as Figure 5-6As shown, a corrugated sealing cylinder 31 is provided between the lifting top plate 7 and the support plate 8. The corrugated sealing cylinder 31 is arranged around the drive module 9. One end of the corrugated sealing cylinder 31 is sealed to the lifting top plate 7, and the other end is sealed to the support plate 8. An air supply pipe 32 is installed on the side wall of the corrugated sealing cylinder 31, and a ventilation valve 33 is installed at the end of the air supply pipe 32 away from the corrugated sealing cylinder 31. In this design, the corrugated sealing cylinder 31 is made of rubber and can extend or fold according to the raising or lowering of the lifting top plate 7. At the same time, in order to ensure sealing, the lifting top plate 7 and the support plate 8 respectively cover both ends of the corrugated sealing cylinder 31, and the corrugated sealing cylinder 31 is sealed to both of them. Since the corrugated sealing cylinder 31 absorbs the surrounding air to fill its interior during the extension process and discharges the air inside when it is folded, in order to avoid hindering its extension and to ensure sealing, an air supply pipe 32 and a ventilation valve 33 are installed on the bottom side wall of the corrugated sealing cylinder 31.

[0033] To fully utilize the air that expands inside the corrugated sealing cylinder 31 during extension, this air can be sent to the detection module for testing or stored. For this purpose, an air outlet pipe 34 is installed on the side wall of the corrugated sealing cylinder 31. An air outlet valve 35 is installed at the end of the air outlet pipe 34 away from the corrugated sealing cylinder 31. The end of the air outlet valve 35 away from the air outlet pipe 34 is connected to an air detection unit 36 ​​and / or an air storage cylinder 37. To prevent air from being discharged through the ventilation valve 33, the ventilation valve 33 is preferably a one-way valve.

[0034] To facilitate the selection of whether air is sent to the air detection unit 36 ​​or the air storage cylinder 37, this solution also introduces a distribution pipe 38, which includes multiple connecting pipes, each equipped with an air outlet valve 35. The distribution pipe 38 receives air from the air outlet pipe 34 and then controls the air to reach the air storage cylinder 37 and / or the air detection unit 36 ​​by opening and closing the air outlet valve 35.

[0035] Example 4: To facilitate the movement of the inspection robot, the displacement assembly 4 includes a wheel 39, a limiting shell 40, and a fixed shell 41. The top of the limiting shell 40 is rotatably connected to the fixed shell 41. A power chamber 42 is provided on the side of the limiting shell 40 away from the wheel 39. A reducer 43 is installed in the power chamber 42. A drive motor 44 is provided between the power chamber 42 and the fixed shell 41. The power end of the drive motor 44 is poweredly connected to the reducer 43. A transmission shaft 45 is transversely arranged inside the limiting shell 40. One end of the transmission shaft 45 is connected to the reducer 43, and the other end of the transmission shaft 45 is connected to the wheel 39.

[0036] The drive motor 44 drives the transmission shaft 45 to rotate through the reducer 43, and the rotation of the transmission shaft 45 will drive the wheel 39 to rotate, thus completing the control of the inspection robot to move forward and backward.

[0037] In this design, there are four sets of displacement components 4, distributed at the four corners of the chassis 1. The wheels 39 in this design are controlled by individual drive motors 44, meaning each wheel 39 in each displacement component 4 is individually controlled. The robot's steering can be achieved by controlling the rotation speed of a specific wheel 39. However, this steering radius is relatively large, which is not suitable for confined spaces. Therefore, as... Figure 7-9 As shown, a positioning shell 46 is provided on the top of the limiting shell 40. The positioning shell 46 is located inside the fixed shell 41, and the bottom of the positioning shell 46 is rotatably connected to the fixed shell 41. A first steering assembly 47, a second steering assembly 48, and a ring gear 49 are provided inside the fixed shell 41. The first steering assembly 47 and the second steering assembly 48 are arranged opposite to each other, and the first steering assembly 47 and the second steering assembly 48 have the same structure. The ring gear 49 is located at the bottom of the fixed shell 41 and is arranged around the positioning shell 46. The first steering assembly 47 includes a rotating shaft 50, and the rotating shaft 50 faces the second steering assembly 46. A first bevel gear 51 is installed at one end of the component 48, and a second bevel gear 52 is installed at the end of the rotating shaft 50 away from the first bevel gear 51. The rotating shaft 50 is rotatably connected to the side wall of the positioning housing 46. A drive shaft 53 is provided inside the limiting housing 40. A third bevel gear 54 is installed at one end of the drive shaft 53, and a fourth bevel gear 55 is installed at the other end of the drive shaft 53. A bevel gear 56 is installed on the outer wall of the transmission shaft 45. The fourth bevel gear 55 is meshed with the bevel gear 56, the third bevel gear 54 is meshed with the first bevel gear 51, and the second bevel gear 52 is meshed with the ring gear 49.

[0038] Since the fourth bevel gear 55 meshes with the bevel gear 56, the drive shaft 53 will rotate when the drive shaft 45 rotates, and the third bevel gear 54 will rotate along with the drive shaft 53. Since the third bevel gear 54 meshes with the first bevel gear 51, the first bevel gear 51 will rotate along with the third bevel gear 54. Simultaneously, the rotating shaft 50 and the second bevel gear 52 will rotate synchronously under the drive of the first bevel gear 51. Since the ring gear 49 is fixed to the bottom of the fixed housing 41, and the second bevel gear 52 meshes with the ring gear 49, the second bevel gear 52 will roll on the ring gear 49. At this time, the positioning housing 46 will rotate under the drive of the second bevel gear 52, thus realizing the steering movement of the single displacement component 4.

[0039] The four displacement components 4 in this design are independent of each other, meaning that the rotation direction of each displacement component 4 can be controlled independently, thereby minimizing the turning radius. Simultaneously, because the wheel 39 in the displacement component 4 can rotate at large angles, such as... Figure 10 As shown, when all four wheels 39 rotate 90°, the four wheels 39 change from longitudinal to transverse, at which point the robot can move laterally.

[0040] To facilitate separate control of steering and straight-line driving, an electromagnetic clutch 57 is provided inside the limiting housing 40. The drive shaft 53 includes a first shaft 58 and a second shaft 59. One end of the first shaft 58 is connected to the electromagnetic clutch 57, and the fourth bevel gear 55 is located at the end of the first shaft 58 away from the electromagnetic clutch 57. One end of the second shaft 59 is connected to the electromagnetic clutch 57, and the third bevel gear 54 is located at the end of the second shaft 59 away from the electromagnetic clutch 57.

[0041] When steering is required, the electromagnetic clutch 57 connects the first shaft 58 and the second shaft 59. At this time, the first shaft 58 and the second shaft 59 rotate synchronously, meaning the drive shaft 53 drives the third bevel gear 54 to rotate. Depending on the direction of steering, the wheel 39 can turn left or right. When only forward movement in a specific direction is needed, the electromagnetic clutch 57 simply disengages the first shaft 58 from the second shaft 59. After disengagement, the fourth bevel gear 55 cannot drive the third bevel gear 54 to rotate, and the robot can only move straight in that direction.

[0042] To facilitate the fixing of the drive shaft 53, a first bearing 60 and a second bearing 61 are provided inside the limiting housing 40. The first bearing 60 is arranged around the first shaft 58, and the second bearing 61 is arranged around the second shaft 59. A positioning arm 62 is provided between the first bearing 60, the second bearing 61 and the inner wall of the limiting housing 40. The first bearing 60 and the second bearing 61 are used to fix the first shaft 58 and the second shaft 59 respectively, and the use of bearings for fixing can also avoid hindering the rotation of the first shaft 58 and the second shaft 59. The positioning arm 62 is used to connect the bearings to the inner wall of the limiting housing 40.

[0043] To reduce the frictional force experienced by the positioning shell 46 when it rotates, a support ring groove 63 is provided at the bottom of the positioning shell 46. An assist ring 64 is provided between the support ring groove 63 and the bottom of the fixed shell 41. The assist ring 64 includes an annular groove 65, and a plurality of rolling balls 66 are provided in the annular groove 65. Part of the rolling balls 66 are in contact with the support ring groove 63.

[0044] To facilitate more precise steering control, the rotating shaft 50 includes a first section 67 and a second section 68. A secondary clutch 69 is provided between the first section 67 and the second section 68. The first bevel gear 51 is located at the end of the first section 67 away from the secondary clutch 69. The second section 68 is rotatably connected to the positioning housing 46. The second bevel gear 52 is located at the end of the second section 68 away from the secondary clutch 69.

[0045] Taking the example of the first steering assembly 47 controlling the wheel 39 to turn left and the second steering assembly 48 controlling the wheel 39 to turn right: When the wheel 39 needs to turn left, the first segment 67 and the second segment 68 in the first steering assembly 47 rotate synchronously under the control of the secondary clutch 69, while the first segment 67 and the second segment 68 in the second steering assembly 48 are in a separated state. When the wheel 39 needs to turn right, the first segment 67 and the second segment 68 in the first steering assembly 47 separate, and the first segment 67 and the second segment 68 in the second steering assembly 48 rotate synchronously under the control of the secondary clutch 69.

[0046] The advantage of this design is that the first steering component 47 and the second steering component 48 do not interfere with each other, thus ensuring steering accuracy.

[0047] Because the displacement component 4 is independently controlled, the rotation angle of the wheel 39 can be selected as needed, such as... Figure 11 As shown, the robot can also brake when the tilt angles of the four wheels 39 are different.

[0048] Because the second bevel gear 52 has inertia when rotating along the ring gear 49, it will continue to rotate along the ring gear 49 even when the electromagnetic clutch 57 and secondary clutch 69 are disengaged. This makes it difficult to guarantee the rotational accuracy of the wheel 39. To address this, an electromagnetic brake 70 is installed between the top of the positioning housing 46 and the fixed housing 41. One end of the electromagnetic brake 70 is connected to the top of the fixed housing 41, and the other end is rotatably connected to the top of the positioning housing 46. After the steering action is completed, the electromagnetic clutch 57 or secondary clutch 69 disengages, at which point the electromagnetic brake 70 engages, braking the positioning housing 46 to prevent it from continuing to rotate under the influence of the inertia of the second bevel gear 52, thus ensuring steering accuracy.

[0049] To reduce the damage of vibration to the internal electrical components of the robot, a transition shell 71 is provided between the displacement component 4 and the chassis 1. A transition post 72 is provided on the side wall of the transition shell 71, and a shock absorber 73 is provided between the transition post 72 and the chassis 1.

[0050] In summary, the advantages of this solution are as follows: First, the lifting mechanism 6 can raise the protective shell 2 and the various functional components 3 mounted on top of the protective shell 2 to a certain height, ensuring that external water does not affect the electronic components inside the protective shell 2 when the robot passes through wading areas. Simultaneously, it allows the functional components 3 to perform more thorough inspections and checks at different heights. Second, the displacement components 4 can freely rotate under the linkage of the transmission shaft 45, drive shaft 53, and rotation shaft 50, and multiple displacement components 4 can be independently controlled. This reduces the turning radius and also allows the robot to move in a specified direction.

[0051] This invention is not limited to the specific embodiments described above. Any modifications made by those skilled in the art based on the above concept without creative effort are within the scope of protection of this invention.

Claims

1. A multifunctional inspection robot, comprising a chassis (1) and a protective shell (2), wherein a plurality of functional components (3) are disposed at the end of the protective shell (2) away from the chassis (1), the plurality of functional components (3) including but not limited to a visual inspection component, a radar component, and a robotic arm component, characterized in that, A displacement component (4) is provided at the end of the chassis (1) away from the protective shell (2). A clearance hole (5) is provided at the end of the protective shell (2) facing the chassis (1). The clearance hole (5) matches the displacement component (4). A lifting mechanism (6) is provided between the protective shell (2) and the chassis (1). The lifting mechanism (6) includes a lifting top plate (7) and a support plate (8). The support plate (8) is located at the end of the chassis (1) near the lifting top plate (7). A drive module (9) for driving the lifting top plate (7) to move up and down is provided between the support plate (8) and the lifting top plate (7).

2. The multifunctional inspection robot according to claim 1, characterized in that: The drive module (9) includes a first hinge assembly (10) and a second hinge assembly (11), which are arranged opposite to each other and have the same structure. A power motor (12), a power lead screw (13), a sliding rod (14), a first sliding block (15), and a second sliding block (16) are provided between the first hinge assembly (10) and the second hinge assembly (11). The power lead screw (13) is parallel to the sliding rod (14), and one end of the power lead screw (13) is connected to the power motor (12). The first sliding block (15) and the second sliding block (16) are both threadedly connected to the power lead screw (13) and slidably connected to the sliding rod (14). The first hinge assembly (10) includes a first support arm (17). The first arm (17) is connected to the support plate (8) by a first support block (21), and the third arm (19) is connected to the lifting top plate (7) by a second support block (22). One end of the first arm (17) is hinged to the first support block (21), and one end of the third arm (19) is hinged to the second support block (22). The end of the first arm (17) away from the first support block (21) and the end of the third arm (19) away from the second support block (22) are both hinged to the first sliding block (15). The second arm (18) is hinged to the first arm (17), and the fourth arm (20) is hinged to the third arm (19). The end of the second arm (18) away from the support plate (8) and the end of the fourth arm (20) away from the lifting top plate (7) are both hinged to the second sliding block (16).

3. The multi-functional inspection robot according to claim 2, characterized in that: A first fixing plate (23) is installed at one end of the lifting top plate (7), and a second fixing plate (24) is installed at the other end of the lifting top plate (7). A first support plate (25) is provided at one end of the support plate (8), and a second support plate (26) is provided at the other end of the support plate (8). The first fixing plate (23), the second fixing plate (24), the first support plate (25), and the second support plate (26) are all located between the first hinge assembly (10) and the second hinge assembly (11). A first sliding column (27) is provided between the first fixing plate (23) and the second fixing plate (24). The third sliding block, the second sliding column (28) and the fourth sliding block (29) are provided between the first support plate (25) and the second support plate (26), the power screw (13) is located between the first sliding column (27) and the second sliding column (28), the third sliding block is slidably connected to the first sliding column (27), the fourth sliding block (29) is slidably connected to the second sliding column (28), the end of the second support arm (18) away from the fourth support arm (20) is hinged to the fourth sliding block (29), and the end of the fourth support arm (20) away from the second support arm (18) is hinged to the third sliding block.

4. The multi-functional inspection robot according to claim 1, characterized in that: A sealing shell (30) is provided between the lifting top plate (7) and the protective shell (2), and the sealing shell (30) is arranged around the lifting mechanism (6).

5. A multi-functional inspection robot according to claim 1, characterized in that: A corrugated sealing cylinder (31) is provided between the lifting top plate (7) and the support plate (8). The corrugated sealing cylinder (31) is arranged around the drive module (9). One end of the corrugated sealing cylinder (31) is sealed to the lifting top plate (7), and the other end of the corrugated sealing cylinder (31) is sealed to the support plate (8). An air supply pipe (32) is installed on the side wall of the corrugated sealing cylinder (31), and a ventilation valve (33) is installed at the end of the air supply pipe (32) away from the corrugated sealing cylinder (31).

6. A multi-functional inspection robot according to claim 5, characterized in that: An air outlet pipe (34) is also installed on the side wall of the corrugated sealing cylinder (31). An air outlet valve (35) is installed at the end of the air outlet pipe (34) away from the corrugated sealing cylinder (31). An air outlet valve (35) is connected to an air detection unit (36) and / or an air storage cylinder (37) at the end of the air outlet valve (35) away from the air outlet pipe (34).

7. A multi-functional inspection robot according to claim 1, characterized in that: The displacement assembly (4) includes a wheel body (39), a limiting shell (40), and a fixed shell (41). The top of the limiting shell (40) is rotatably connected to the fixed shell (41). A power cavity (42) is provided on the side of the limiting shell (40) away from the wheel body (39). A reducer (43) is installed in the power cavity (42). A drive motor (44) is provided between the power cavity (42) and the fixed shell (41). The power end of the drive motor (44) is poweredly connected to the reducer (43). A transmission shaft (45) is arranged laterally in the limiting shell (40). One end of the transmission shaft (45) is connected to the reducer (43), and the other end of the transmission shaft (45) is connected to the wheel body (39).

8. A multi-functional inspection robot according to claim 7, characterized in that: The top of the limiting shell (40) is provided with a positioning shell (46), which is located inside the fixed shell (41), and the bottom of the positioning shell (46) is rotatably connected to the fixed shell (41). The fixed shell (41) is provided with a first steering assembly (47), a second steering assembly (48), and a ring gear (49). The first steering assembly (47) and the second steering assembly (48) are arranged opposite to each other, and the first steering assembly (47) and the second steering assembly (48) have the same structure. The ring gear (49) is located at the bottom of the fixed shell (41) and is arranged around the positioning shell (46). The first steering assembly (47) includes a rotating shaft (50), which faces the second steering assembly. A first bevel gear (51) is installed at one end of the component (48), and a second bevel gear (52) is installed at the end of the rotating shaft (50) away from the first bevel gear (51). The rotating shaft (50) is rotatably connected to the side wall of the positioning shell (46). A drive shaft (53) is provided inside the limiting shell (40). A third bevel gear (54) is installed at one end of the drive shaft (53), and a fourth bevel gear (55) is installed at the other end of the drive shaft (53). A bevel gear (56) is installed on the outer wall of the transmission shaft (45). The fourth bevel gear (55) meshes with the bevel gear (56), the third bevel gear (54) meshes with the first bevel gear (51), and the second bevel gear (52) meshes with the ring gear (49).

9. A multi-functional inspection robot according to claim 8, characterized in that: An electromagnetic clutch (57) is provided inside the limiting shell (40). The drive shaft (53) includes a first shaft (58) and a second shaft (59). One end of the first shaft (58) is connected to the electromagnetic clutch (57). The fourth bevel gear (55) is located at the end of the first shaft (58) away from the electromagnetic clutch (57). One end of the second shaft (59) is connected to the electromagnetic clutch (57). The third bevel gear (54) is located at the end of the second shaft (59) away from the electromagnetic clutch (57).

10. A multi-functional inspection robot according to claim 9, characterized in that: The rotating shaft (50) includes a first section (67) and a second section (68). A secondary clutch (69) is provided between the first section (67) and the second section (68). The first bevel gear (51) is located at the end of the first section (67) away from the secondary clutch (69). The second section (68) is rotatably connected to the positioning shell (46). The second bevel gear (52) is located at the end of the second section (68) away from the secondary clutch (69).

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