Wall-climbing robot with camera capable of being telescopically adjusted

Abstract

The utility model discloses a wall-climbing robot with a telescopically adjustable camera, and relates to the technical field of wall-climbing robots, the wall-climbing robot comprises a chassis, the top of the chassis is provided with a vehicle body, one side of the vehicle body is provided with the camera, an adjusting mechanism comprises a first motor fixedly connected to the top end of the chassis, and the output end of the first motor is fixedly connected with a rotating shaft; a second motor is fixedly connected to the rear side of the interior of the vehicle body, a shaft rod is fixedly connected to the output end of the second motor, a rotating plate is fixedly connected to the front end of the shaft rod, a round rod is fixedly connected to the bottom end of the front side of the rotating plate, a kidney-shaped frame is hinged to the bottom of a hinge seat, and the round rod is located in the kidney-shaped frame; according to the wall-climbing robot, the direction of the camera on the vehicle body can be adjusted according to an unclearly-shot part, close-range shooting is achieved by controlling the camera to be close to the unclearly-shot part, the wall-climbing robot does not need to be controlled to crawl, the whole operation is simple and convenient, and potential safety hazards are avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of wall-climbing robots, in particular to a wall-climbing robot with a telescopically adjustable camera. Background Art

[0002] The essence of a wall-climbing robot is to generate a positive pressure on the wall through the adsorption force generated by permanent magnets or electromagnets relative to the magnetic wall material. At the same time, the negative pressure generator is equipped with multiple single suction cups, which realize the adsorption of the suction cups through exhaust. When the exhaust volume is greater than the intake volume, negative pressure will be formed. The pressure difference generated in this way will squeeze the robot to the wall. In order to make it fully adsorbed, materials with good elasticity are required to ensure sealing, and it must also be equipped with wear-resistant devices to enable it to adsorb on the wall.

[0003] At present, when a wall-climbing robot for a tower is crawling and moving on a tower, due to the curved surface of the tower, it is difficult for the camera on the wall-climbing robot to clearly capture all parts, especially the curved surface of the tower. It is difficult for the camera to capture specific damage and pollution, which poses a hidden danger to safe and stable operation. In this case, it is necessary to control the front of the wall-climbing robot to capture unclear parts, but the whole operation process is relatively cumbersome. Therefore, a wall-climbing robot with a retractable and adjustable camera is needed to solve the above technical problems. Utility Model Content

[0004] The purpose of the utility model is to make up for the deficiencies of the prior art and to provide a wall-climbing robot with a telescopically adjustable camera.

[0005] To achieve the above object, the utility model provides the following technical solution: a wall-climbing robot with a telescopically adjustable camera, comprising a chassis, a body is provided on the top of the chassis, a camera is provided on one side of the body, and an adjustment mechanism is provided on the top of the chassis;

[0006] The adjusting mechanism comprises a motor 1 fixedly connected to the top of the chassis, the output end of the motor 1 is fixedly connected to a rotating shaft, and the top end of the rotating shaft is fixedly connected to the vehicle body, a motor 2 is fixedly connected to the rear side of the vehicle body, the output end of the motor 2 is fixedly connected to a shaft rod, the front end of the shaft rod is fixedly connected to a rotating plate, the bottom end of the front side of the rotating plate is fixedly connected to a round rod, the top end of the vehicle body is fixedly connected to a hinge seat, the bottom of the hinge seat is hinged to a waist-shaped frame, and the round rod is located in the waist-shaped frame, a telescopic rod is provided at the top of the chassis, a sliding hole is provided at the top of the telescopic rod, and the top of the rotating shaft passes through the sliding hole, the bottom end of the waist-shaped frame is hinged to a hinge plate, and the bottom end of the hinge plate is hinged to the telescopic rod, and the outer sides of both ends of the telescopic rod are sleeved with limiting rings, the tops of the limiting rings are fixedly connected to fixing rods, and the tops of the fixing rods are fixedly connected to the vehicle body.

[0007] Preferably, an angle adjustment mechanism is provided on the top of the chassis, and the angle adjustment mechanism includes a through hole opened on one side of the vehicle body, a fixing box is provided in the through hole, one end of the telescopic rod close to the fixing box is fixedly connected to the fixing box, and the side of the fixing box close to the camera is hollow, a reduction motor is fixedly connected to the rear side of the inside of the fixing box, a gear is fixedly connected to the output end of the reduction motor, the camera is located on the side of the fixing box away from the gear, a semicircular plate is fixedly connected to the side of the camera close to the gear, a group of gear blocks are fixedly connected to the bottom of the outer side of the semicircular plate, and the gear blocks are meshed with the gears, a rotating shaft is fixedly connected to the middle of the semicircular plate, and the front and rear ends of the rotating shaft are rotatably connected to the inner wall of the fixed box.

[0008] Preferably, a dust blowing mechanism is provided on the top of the chassis, and the dust blowing mechanism includes a high-pressure gas tank fixedly connected to the top of the chassis, a telescopic hose is fixedly connected to the gas outlet end of the high-pressure gas tank, a connecting pipe is fixedly connected to the top of the telescopic hose, and the connecting pipe is located in the fixing box.

[0009] Preferably, one end of the connecting tube away from the telescopic hose is fixedly connected to the bottom of the camera, and a gap is provided between the connecting tube and the bottom of the inner side of the fixing box.

[0010] Preferably, a main board is fixedly connected to the top of the chassis, and the main board is electrically connected to the camera, motor 1, motor 2, reduction motor and high-pressure gas tank respectively.

[0011] Preferably, a receiving module and a sending module are fixedly connected to the top of the chassis, respectively, and both the receiving module and the sending module are electrically connected to the mainboard.

[0012] Beneficial effects:

[0013] Compared with the prior art, the wall-climbing robot with a telescopically adjustable camera has the following beneficial effects:

[0014] 1. The camera of the utility model shoots the outer surface of the tower. When there is a part that is not clearly photographed, the output end of the control motor 1 drives the rotating shaft to rotate, the rotating shaft drives the vehicle body to rotate, and the vehicle body drives the camera to rotate to the side of the unclear shooting direction, and then the output end of the control motor 2 drives the shaft rod to rotate, the shaft rod drives the rotating plate to rotate, the rotating plate drives the waist frame to swing left and right through the round rod, and drives the hinged plate to move, the hinged plate drives the telescopic rod to move horizontally, the telescopic rod drives the camera to move horizontally, and the camera moves close to the unclear shooting part until the shooting is clear. Then, the structure can adjust the direction of the camera on the vehicle body according to the unclear shooting part, and realize close-range shooting by controlling the camera to approach the unclear shooting part, without controlling the wall-climbing robot to crawl, the whole operation is simple and convenient, and safety hazards are avoided.

[0015] 2. The utility model drives the gear to rotate by controlling the output end of the reduction motor, the gear drives the tooth block to rotate upward, and the tooth block drives the semicircular plate to rotate upward around the rotating axis. At this time, the camera rotates downward, which is conducive to clearer and more intuitive shooting of the worn and contaminated parts of the tower. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0017] Figure 2 This is a first exploded schematic diagram of the chassis and body of the utility model;

[0018] Figure 3 This is a second exploded schematic diagram of the chassis and body of the utility model;

[0019] Figure 4 It is a structural schematic diagram of the adjustment mechanism in the utility model;

[0020] Figure 5 It is a schematic cross-sectional structure diagram of the angle adjustment mechanism in the utility model.

[0021] In the figure: 1. chassis; 2. body; 3. camera; 4. adjustment mechanism; 40. motor 1; 41. rotating shaft; 42. motor 2; 43. shaft; 44. rotating plate; 45. round rod; 46. hinge seat; 47. waist frame; 48. telescopic rod; 49. sliding hole; 490. hinge plate; 491. limiting ring; 492. fixing rod; 5. angle adjustment mechanism; 51. through hole; 52. fixing box; 53. reduction motor; 54. gear; 55. semicircular plate; 56. gear block; 57. rotating shaft; 6. dust blowing mechanism; 61. high-pressure gas tank; 62. telescopic hose; 63. connecting pipe; 7. main board; 8. receiving module; 9. sending module. DETAILED DESCRIPTION

[0022] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0023] like Figure 1 to Figure 5 As shown, a wall-climbing robot with a telescopically adjustable camera comprises a chassis 1, a vehicle body 2 is provided on the top of the chassis 1, a camera 3 is provided on one side of the vehicle body 2, the camera 3 shoots the outer surface of the tower, and an adjustment mechanism 4 is provided on the top of the chassis 1;

[0024] The adjusting mechanism 4 includes a motor 1 40 fixedly connected to the top of the chassis 1, the output end of the motor 1 40 is fixedly connected to a rotating shaft 41, and the top of the rotating shaft 41 is fixedly connected to the vehicle body 2. The motor 1 40 can only drive the rotating shaft 41 to rotate positively and negatively by 90 degrees, so that the camera 3 can only shoot in the front and on both sides. The rear side of the vehicle body 2 is fixedly connected to a motor 2 42, the output end of the motor 2 42 is fixedly connected to a shaft 43, the front end of the shaft 43 is fixedly connected to a rotating plate 44, the bottom end of the front side of the rotating plate 44 is fixedly connected to a round rod 45, and the top of the vehicle body 2 is fixedly connected to a hinge Seat 46, the bottom of the articulated seat 46 is hinged with a waist-shaped frame 47, and the round rod 45 is located in the waist-shaped frame 47, a telescopic rod 48 is provided on the top of the chassis 1, a sliding hole 49 is opened at the top of the telescopic rod 48, and the top of the rotating shaft 41 passes through the sliding hole 49, the bottom end of the waist-shaped frame 47 is hinged with a hinge plate 490, and the bottom end of the hinge plate 490 is hinged to the telescopic rod 48, and the outer sides of both ends of the telescopic rod 48 are sleeved with limiting rings 491, the top of the limiting rings 491 are fixedly connected to fixed rods 492, and the top of the fixed rods 492 are fixedly connected to the vehicle body 2.

[0025] When working, the wall-climbing robot crawls on the tower, and the camera 3 takes pictures of the outer surface of the tower. When there is a part that is not clearly photographed, the motor 1 40 is controlled to rotate, and the output end of the motor 1 40 drives the rotating shaft 41 to rotate, and the rotating shaft 41 drives the body 2 to rotate, and the body 2 drives the camera 3 to rotate to the side of the unclear shooting direction, and then the motor 2 42 is controlled to rotate, and the output end of the motor 2 42 drives the shaft 43 to rotate, and the shaft 43 drives the rotating plate 44 to rotate, and the rotating plate 44 drives the waist frame 47 to swing left and right through the round rod 45, and drives the hinged plate 490 to move, and the hinged plate 490 drives the telescopic rod 48 to move horizontally, and the telescopic rod 48 drives the camera 3 to move horizontally, and the camera 3 moves close to the unclear shooting part until the shooting is clear. Then, the structure can adjust the direction of the camera 3 on the body 2 according to the unclear shooting part, and achieve close-range shooting by controlling the camera 3 to approach the unclear shooting part, without controlling the wall-climbing robot to crawl, the whole operation is simple and convenient, and safety hazards are avoided.

[0026] An angle adjustment mechanism 5 is provided on the top of the chassis 1. The angle adjustment mechanism 5 includes a through hole 51 opened on one side of the vehicle body 2. A fixed box 52 is provided in the through hole 51. One end of the telescopic rod 48 close to the fixed box 52 is fixedly connected to the fixed box 52, and the fixed box 52 is hollow on the side close to the camera 3. A reduction motor 53 is fixedly connected to the rear side of the fixed box 52. A gear 54 is fixedly connected to the output end of the reduction motor 53. The camera 3 is located on the side of the fixed box 52 away from the gear 54. A semicircular plate 55 is fixedly connected to the side of the camera 3 close to the gear 54. A group of tooth blocks 56 are fixedly connected to the bottom of the outer side of the semicircular plate 55, and the tooth blocks 56 are meshed with the gear 54. A rotating shaft 57 is fixedly connected to the middle of the semicircular plate 55, and the front and rear ends of the rotating shaft 57 are rotatably connected to the inner wall of the fixed box 52. A dust blowing mechanism 6 is provided on the top of the chassis 1. The dust blowing mechanism 6 includes a high-pressure gas tank 61 fixedly connected to the top of the chassis 1. A telescopic hose 62 is fixedly connected to the gas outlet of the high-pressure gas tank 61. A connecting pipe 63 is fixedly connected to the top of the telescopic hose 62. The connecting pipe 63 is located in the fixed box 52. The gas inside the high-pressure gas tank 61 enters the connecting pipe 63 through the telescopic hose 62 and then sprays out from the connecting pipe 63. It can remove dust and other impurities on the shooting part, which is beneficial to improve the clarity of the shooting. The end of the connecting pipe 63 away from the telescopic hose 62 is fixedly connected to the bottom of the camera 3, and a gap is provided between the connecting pipe 63 and the bottom of the inner side of the fixed box 52. The direction of the connecting pipe 63 will always follow the angle change of the camera 3, and the design of the gap can prevent the connecting pipe 63 from being squeezed by the camera 3, resulting in the phenomenon that the gas cannot be discharged. The top of the chassis 1 is fixedly connected with a main board 7, and the main board 7 is electrically connected to the camera 3, the motor 1 40, the motor 2 42, the reduction motor 53 and the high-pressure gas tank 61, which is conducive to improving the degree of automation and is controlled by the main board 7. The top of the chassis 1 is fixedly connected with a receiving module 8 and a sending module 9, and the receiving module 8 and the sending module 9 are both electrically connected to the main board 7. The receiving module 8 receives the signal content captured by the camera 3 and sends the signal to the main board 7. After processing, the main board 7 sends the signal to the sending module 9, and the sending module 9 sends it to the external host.

[0027] During operation, the output end of the control reduction motor 53 drives the gear 54 to rotate, the gear 54 drives the tooth block 56 to rotate upward, the tooth block 56 drives the semicircular plate 55 to rotate upward around the rotating shaft 57. At this time, the camera 3 rotates downward, which is conducive to more clear and intuitive shooting of the worn and contaminated parts of the tower.

[0028] Working principle: the wall-climbing robot crawls on the tower, and the camera 3 shoots the outer surface of the tower. When there is a part that is not clearly photographed, the motor 1 40 is controlled to rotate, and the output end of the motor 1 40 drives the shaft 41 to rotate, and the shaft 41 drives the body 2 to rotate, and the body 2 drives the camera 3 to rotate to the side of the unclear shooting direction, and then the motor 2 42 is controlled to rotate, and the output end of the motor 2 42 drives the shaft 43 to rotate, and the shaft 43 drives the rotating plate 44 to rotate, and the rotating plate 44 drives the waist frame 47 to swing left and right through the round rod 45, and drives the hinged plate 490 to move, and the hinged plate 490 drives the telescopic rod 48 to move horizontally, and the telescopic rod 48 drives the camera 3 to move horizontally, and the camera 3 moves close to the unclear shooting part until the shooting is clear, and then the structure can adjust the direction of the camera 3 on the body 2 according to the unclear shooting part, and by controlling the camera 3 to approach the unclear shooting part, close-range shooting is achieved, and there is no need to control the wall-climbing robot to crawl. The whole operation is simple and convenient, avoiding safety hazards.

[0029] The output end of the control reduction motor 53 drives the gear 54 to rotate, the gear 54 drives the tooth block 56 to rotate upward, and the tooth block 56 drives the semicircular plate 55 to rotate upward around the rotation axis 57. At this time, the camera 3 rotates downward, which is conducive to more clear and intuitive shooting of the worn and contaminated parts of the tower.

[0030] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A wall-climbing robot with a telescopically adjustable camera, comprising a chassis (1), characterized in that: A vehicle body (2) is provided on the top of the chassis (1), a camera (3) is provided on one side of the vehicle body (2), and an adjustment mechanism (4) is provided on the top of the chassis (1); The adjusting mechanism (4) comprises a motor 1 (40) fixedly connected to the top of the chassis (1); the output end of the motor 1 (40) is fixedly connected to a rotating shaft (41), and the top end of the rotating shaft (41) is fixedly connected to the vehicle body (2); the rear side of the vehicle body (2) is fixedly connected to a motor 2 (42); the output end of the motor 2 (42) is fixedly connected to a shaft (43); the front end of the shaft (43) is fixedly connected to a rotating plate (44); the bottom end of the front side of the rotating plate (44) is fixedly connected to a round rod (45); the top end of the vehicle body (2) is fixedly connected to a hinge seat (46); the bottom of the hinge seat (46) is hinged to a waist-shaped frame (45); 7), and the round rod (45) is located in the waist-shaped frame (47), a telescopic rod (48) is provided on the top of the chassis (1), a sliding hole (49) is provided at the top of the telescopic rod (48), and the top of the rotating shaft (41) passes through the sliding hole (49), the bottom end of the waist-shaped frame (47) is hinged with a hinge plate (490), and the bottom end of the hinge plate (490) is hinged with the telescopic rod (48), the outer sides of both ends of the telescopic rod (48) are sleeved with limiting rings (491), the top of the limiting ring (491) is fixedly connected to a fixing rod (492), and the top of the fixing rod (492) is fixedly connected to the vehicle body (2).

2. A wall-climbing robot with a telescopically adjustable camera according to claim 1, characterized in that: The top of the chassis (1) is provided with an angle adjustment mechanism (5), the angle adjustment mechanism (5) comprising a through hole (51) opened on one side of the vehicle body (2), a fixing box (52) being provided in the through hole (51), one end of the telescopic rod (48) close to the fixing box (52) being fixedly connected to the fixing box (52), and a side of the fixing box (52) close to the camera (3) is hollow, a reduction motor (53) is fixedly connected to the rear side of the fixing box (52), and an output end of the reduction motor (53) is fixedly connected to the fixing box (52). A gear (54) is connected to the camera (3), the camera (3) is located on a side of the fixed box (52) away from the gear (54), a semicircular plate (55) is fixedly connected to a side of the camera (3) close to the gear (54), a group of tooth blocks (56) are fixedly connected to the bottom of the outer side of the semicircular plate (55), and the tooth blocks (56) are meshed with the gear (54), a rotating shaft (57) is fixedly connected to the middle of the semicircular plate (55), and the front and rear ends of the rotating shaft (57) are rotatably connected to the inner wall of the fixed box (52).

3. A wall-climbing robot with a telescopically adjustable camera according to claim 2, characterized in that: A dust blowing mechanism (6) is provided on the top of the chassis (1), and the dust blowing mechanism (6) comprises a high-pressure gas tank (61) fixedly connected to the top of the chassis (1), a telescopic hose (62) is fixedly connected to the gas outlet end of the high-pressure gas tank (61), a connecting pipe (63) is fixedly connected to the top of the telescopic hose (62), and the connecting pipe (63) is located in the fixing box (52).

4. The wall-climbing robot with a telescopically adjustable camera according to claim 3, characterized in that: One end of the connecting tube (63) away from the telescopic hose (62) is fixedly connected to the bottom of the camera (3), and a gap is provided between the connecting tube (63) and the bottom of the inner side of the fixing box (52).

5. The wall-climbing robot with a telescopically adjustable camera according to claim 3, characterized in that: A main board (7) is fixedly connected to the top of the chassis (1), and the main board (7) is electrically connected to the camera (3), motor 1 (40), motor 2 (42), reduction motor (53) and high-pressure gas tank (61) respectively.

6. The wall-climbing robot with a telescopically adjustable camera according to claim 5, characterized in that: A receiving module (8) and a sending module (9) are respectively fixedly connected to the top of the chassis (1), and both the receiving module (8) and the sending module (9) are electrically connected to the mainboard (7).

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