Machine body shell of amphibious exploration mobile robot

Abstract

The amphibious exploration mobile robot body shell comprises an upper vehicle body, a lower vehicle body and transmission mechanism housings, the top of the lower vehicle body and the upper vehicle body are detachably installed, and the transmission mechanism housings are detachably installed on the two sides of the lower vehicle body. The upper vehicle body, the lower vehicle body and the transmission mechanism housing form a ship-shaped three-cabin thin-wall cabin body; the bottom of the lower vehicle body is designed in a ship-like fluid shape, and the two ends of the bottom of the lower vehicle body are of arc-shaped structures inclining upwards. According to the pipeline detection robot, the upper vehicle body, the lower vehicle body and the transmission mechanism housing form a ship-shaped three-cabin thin-wall cabin body, the upper vehicle body and the lower vehicle body can form an electrical component cabin, and the lower vehicle body and the transmission mechanism housing can form a transmission mechanism cabin, so that the three-cabin thin-wall design ensures the structural strength, and meanwhile, the structural strength is improved. The sealing safety can also be ensured; meanwhile, the lower vehicle body is in ship-like fluid design, the two ends of the lower vehicle body are warped, the running stability of the robot in water is improved, and certain obstacle crossing performance is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of drainage pipe detection, in particular to a body shell of an amphibious exploration mobile robot. Background Art

[0002] Currently, pipeline inspection robots on the market are mainly CCTV carts and all-terrain double-helix robots. CCTV cart inspection is only suitable for new pipeline acceptance or clean waterless pipeline inspection, while all-terrain robots are mostly used for low water level inspection of large-diameter pipelines or box culvert inspection.

[0003] The amphibious exploration mobile robot can realize multiple working conditions such as clean pipes, obstacles, siltation, half-water, full water, etc. Therefore, in order to realize the above working conditions, the robot itself must meet the requirements of normal road driving, floating driving on the water surface, and underwater diving driving. This requires that the robot's body shell structure must be strong enough to meet the load; it must be light enough to float on the water surface; it must have good sealing performance to be able to drive stably in the water, have a certain obstacle crossing ability, and be able to dive. However, most of the existing pipeline inspection robot body shells are small in size, heavy in weight, and made of aluminum alloy and stainless steel, which cannot meet the requirements of amphibious exploration mobile robots for structural strength, buoyancy and sealing at the same time. Utility Model Content

[0004] The technical problem to be solved by the utility model is: how to provide a robot body shell with high strength and strong stability.

[0005] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0006] An amphibious exploration mobile robot body shell comprises an upper body, a lower body and a transmission mechanism cover, wherein the top of the lower body is detachably mounted on the upper body, and transmission mechanism covers are detachably mounted on both sides of the lower body, and the upper body, the lower body and the transmission mechanism cover form a ship-shaped three-cabin thin-walled cabin;

[0007] The bottom of the lower vehicle body is designed in a ship-like fluid shape, and both ends of the bottom are arc-shaped structures inclined upward.

[0008] The pipeline inspection robot of the present application consists of an upper body, a lower body, and a transmission mechanism cover, which form a ship-shaped three-compartment thin-walled cabin. The upper body and the lower body can form an electrical component cabin, and the lower body and the transmission mechanism cover can form a transmission mechanism cabin. The three-compartment thin-wall design can ensure the structural strength while ensuring the safety of the seal; at the same time, the lower body is designed to imitate the ship-shaped fluid, with both ends tilted, which improves the robot's driving stability in water and also has a certain obstacle surmounting ability.

[0009] As a further solution of the utility model: a front buoyancy plate and a rear buoyancy plate are respectively installed on both sides of the lower vehicle body and at the front and rear ends of the transmission mechanism cover.

[0010] As a further solution of the utility model: the upper body, the lower body and the transmission mechanism cover are all made of 6061-T6 aluminum plate.

[0011] As a further solution of the utility model: the upper vehicle body includes an upper frame body, wherein the top of the upper frame body is horizontal in the middle and has convex structures at both ends, and a workpiece reserved hole is also opened in the convex portion at one end.

[0012] As a further solution of the utility model: the outer side of the upper frame is provided with a protruding installation section, and the installation section is provided with a plurality of fastening holes connected with the lower body.

[0013] As a further solution of the utility model: a support frame can be detachably mounted on the top of the upper frame, wherein the height of the support frame is higher than the height of the upper frame.

[0014] As a further solution of the utility model: the lower vehicle body includes a lower frame, wherein the lower frame is an inwardly concave cabin-like structure, and transmission plate mounting holes connected to the transmission mechanism cover are provided on both sides of the lower frame, and buoyancy plate mounting holes connected to the front buoyancy plate or the rear buoyancy plate are also provided on both sides of the transmission plate mounting hole.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] First, the pipeline inspection robot of the present application is composed of an upper body, a lower body, and a transmission mechanism cover, which form a ship-shaped three-cabin thin-walled cabin. The upper body and the lower body can form an electrical component cabin, and the lower body and the transmission mechanism cover can form a transmission mechanism cabin. The three-cabin thin-wall design can ensure the structural strength while ensuring the safety of the seal; at the same time, the lower body is designed to imitate the ship-shaped fluid, with both ends tilted, which improves the driving stability of the robot in the water, and also has a certain obstacle crossing ability;

[0017] Secondly, the present application installs a front buoyancy plate and a rear buoyancy plate on the lower body and the front and rear sides of the transmission mechanism cover respectively. The arrangement of the front buoyancy plate and the rear buoyancy plate can provide buoyancy for the amphibious exploration mobile robot when it floats and travels, so that the present application robot can travel stably in the water;

[0018] Finally, the upper body, lower body and transmission mechanism cover of this application are made of 6061-T6 plate, which can prevent inherent material defects such as air holes and achieve strength requirements while meeting buoyancy requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1This is a schematic diagram of the structure of a body shell of an amphibious exploration mobile robot according to an embodiment of the utility model;

[0020] Figure 2 This is an exploded view of the body shell of an amphibious exploration mobile robot according to an embodiment of the utility model;

[0021] Figure 3 This is a schematic diagram of the structure of the lower vehicle body according to an embodiment of the utility model;

[0022] Figure 4 For the utility model embodiment Figure 3 A front view of

[0023] Figure 5 This is a schematic diagram of the structure of the vehicle body in an embodiment of the utility model;

[0024] Explanation of the accompanying drawings: 1. Upper body; 11. Upper frame; 12. Workpiece reserved hole; 13. Fastening hole; 2. Lower body; 21. Buoyancy plate mounting hole; 22. Lower frame; 23. Transmission plate mounting hole; 3. Transmission mechanism cover; 4. Front buoyancy plate; 5. Rear buoyancy plate; 6. Support frame. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the embodiments of the utility model clearer, the technical solution in the embodiments of the utility model will be clearly and completely described below in combination with the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] Reference Figure 1 and Figure 2 A body shell of an amphibious exploration mobile robot includes an upper body 1, a lower body 2, a transmission mechanism cover 3, a front buoyancy plate 4, a rear buoyancy plate 5 and a support frame 6, wherein the upper body 1 is installed above the lower body 2, and the two can be detachably installed by bolts or pins, etc., and the upper body 1 and the lower body 2 can form an electrical component cabin for storing electrical components required by the robot; the transmission mechanism cover 3 can also be detachably installed on both sides of the lower body 2 by bolts or pins, etc., and the lower body and the transmission mechanism cover 3 can form a transmission mechanism cabin for storing transmission components required for the robot to walk.

[0027] Furthermore, the upper body 1, the lower body 2 and the transmission mechanism cover 3 are all made of 6061-T6 hard aluminum to prevent inherent defects of the material such as pores. The hard aluminum material is subjected to rough machining, annealing solution, and fine machining processes without stress deformation, ensuring the precise size of the body workpiece and the sealing effect. Then, through polishing, sandblasting, color anodizing and other processes, a better appearance quality is obtained.

[0028] Reference Figure 5 The upper body 1 includes an upper frame 11, workpiece reserved holes 12 and fastening holes 13, wherein the top of the upper frame 11 is a middle horizontal structure with raised structures at both ends. The raised structures at both ends can protect the robot from both ends when the robot is walking. A workpiece reserved hole 12 is also provided in the raised part of one end, which can be used to install radar and other devices required by the robot. This application does not limit what kind of devices are installed, and only provides one implementation method. A protruding mounting section is provided on the bottom outer ring of the upper frame 11, and a plurality of fastening holes 13 connected to the lower body 2 are provided on the mounting section. The number of fastening holes 13 depends on the size of the upper body 11. The top of the upper frame 11 can also be detachably installed with a support frame 6, wherein the height of the support frame 6 is higher than the height of the upper frame 11. The support frame 6 can protect the top of the robot. When impurities or heavy objects on the top accidentally fall, the support frame 6 will first bear the gravity to protect the robot body, preventing impurities or heavy objects from falling directly onto the upper body 1 of the robot and causing damage to the robot.

[0029] Reference Figure 3 and Figure 4 The lower body 2 includes a buoyancy plate mounting hole 21, a lower frame 22 and a transmission plate mounting hole 23, wherein the lower frame 22 is an inwardly recessed cabin-like structure for installing electrical components required for the robot; transmission plate mounting holes 23 connected to the transmission mechanism cover 3 are provided on both sides of the lower frame 22, wherein the transmission plate mounting holes 23 and the transmission mechanism cover 3 can be detachably installed by bolts or pins; buoyancy plate mounting holes 21 connected to the front buoyancy plate 4 or the rear buoyancy plate 5 are also provided on both sides of the transmission plate mounting hole 23, and the buoyancy plate mounting holes 21 and the front buoyancy plate 4 or the rear buoyancy plate 5 can be detachably installed by bolts or pins.

[0030] Reference Figure 1 The upper body 1, the lower body 2 and the transmission mechanism cover 3 form a ship-shaped three-compartment thin-walled cabin. The three-compartment thin-wall design can ensure the structural strength while ensuring the sealing safety. Here, when the reserved holes on the upper body 1 and the lower body 2 are installed with corresponding workpieces or components, the robot as a whole forms a sealed structure; the bottom of the lower body 2 is designed to imitate the ship-shaped fluid, and the two ends of the bottom are arc-shaped structures inclined upward. The lower body 2 of this application is designed to imitate the ship-shaped fluid, and the two ends are tilted upward, which improves the robot's driving stability in water and a certain obstacle surmounting ability.

[0031] The specific operating principle of the present application is as follows: When installing the present application, all the devices required by the robot are installed in the cabin inside the lower body 2 as required. After the installation is completed, the upper body 1 is installed above the lower body 2, and then the transmission mechanism cover 3 is installed on both sides of the lower body 2. At this time, the upper body 1, the lower body 2 and the transmission mechanism cover 3 form a ship-shaped three-cabin thin-walled sealed cabin, and then the front buoyancy plate 4 and the rear buoyancy plate 5 are connected to the buoyancy plate mounting holes 21 on the lower body 2, plus 4 front buoyancy plates and 5 rear buoyancy plates, to provide buoyancy for the amphibious exploration mobile robot when it floats and travels.

[0032] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An amphibious exploration mobile robot body shell, characterized in that: The vehicle comprises an upper vehicle body (1), a lower vehicle body (2) and a transmission mechanism cover (3); the top of the lower vehicle body (2) is detachably mounted on the upper vehicle body (1); the transmission mechanism cover (3) is detachably mounted on both sides of the lower vehicle body (2); the upper vehicle body (1), the lower vehicle body (2) and the transmission mechanism cover (3) form a ship-shaped three-compartment thin-walled cabin; The two ends of the bottom of the lower vehicle body (2) are arc-shaped structures inclined upward.

2. The body shell of an amphibious exploration mobile robot according to claim 1, characterized in that: A front buoyancy plate (4) and a rear buoyancy plate (5) are respectively installed on both sides of the lower vehicle body (2) and at the front and rear ends of the transmission mechanism cover (3).

3. The body shell of an amphibious exploration mobile robot according to claim 1, characterized in that: The upper vehicle body (1), the lower vehicle body (2) and the transmission mechanism cover (3) are all made of 6061-T6 aluminum plate.

4. The body shell of an amphibious exploration mobile robot according to claim 1, characterized in that: The upper vehicle body (1) comprises an upper frame body (11), wherein the top of the upper frame body (11) is horizontal in the middle and has convex structures at both ends, and a workpiece reserved hole (12) is also provided in the convex portion at one end.

5. The body shell of an amphibious exploration mobile robot according to claim 4, characterized in that: The outer side of the upper frame body (11) is provided with a protruding installation section, and the installation section is provided with a plurality of fastening holes (13) connected to the lower vehicle body (2).

6. The body shell of an amphibious exploration mobile robot according to claim 4, characterized in that: A support frame (6) is also detachably mounted on the top of the upper frame (11), wherein the height of the support frame (6) is higher than the height of the upper frame (11).

7. The body shell of an amphibious exploration mobile robot according to claim 2, characterized in that: The lower vehicle body (2) includes a lower frame (22), wherein the lower frame (22) is an inwardly concave cabin-shaped structure, and transmission plate mounting holes (23) connected to the transmission mechanism cover (3) are provided on both sides of the lower frame (22), and buoyancy plate mounting holes (21) connected to the front buoyancy plate (4) or the rear buoyancy plate (5) are also provided on both sides of the transmission plate mounting hole (23).

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