Camera moving and lifting type inspection robot

Abstract

The utility model relates to the field of inspection robots, and discloses a camera moving and lifting type inspection robot which comprises a robot shell, and a lifting assembly used for driving an inspection camera to ascend and descend is arranged at the upper end of the robot shell; the lifting assembly is provided with a movable toothed plate, the movable toothed plate is meshed with the bearing gear, the lower right end of the bearing gear is meshed with a rotating gear, and the rotating gear is coaxially provided with a first rotating plate. According to the camera moving and lifting type inspection robot, the inspection camera can ascend and descend to drive the detection radar to rotate, the purpose of adjusting the use angle of the detection radar is achieved, it is guaranteed that the environment around the inspection camera is detected when the inspection camera ascends, and a second rotating plate can be supported and limited through a limiting rod; and the situation that the movable toothed plate moves too high and consequently the movable toothed plate is disengaged from the bearing gear is avoided, and the detection radar is arranged to be of a detachable structure, so that the detection radar can be replaced when damaged.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, in particular to a camera movable lifting inspection robot. Background Art

[0002] An inspection robot is a mobile robot that can autonomously inspect, test, and monitor the operating status of equipment in the surrounding environment, thereby effectively reducing manual inspections. It not only provides faster, more accurate, and more reliable inspections, but also greatly improves the reliability and safety of equipment operation and reduces errors in human inspections. Therefore, inspection robots are widely used in finance, electricity, manufacturing, and other fields.

[0003] At present, the patent with announcement number CN211440003U discloses a patrol robot, including a chassis, a frame and a head; the chassis includes a frame, an upper cover, a side plate and a steering wheel assembly; the frame is a box with a sunken middle part, and the periphery is a number of independent wheel grooves, and its upper edge is provided with a support angle, and there is a slot between two adjacent support angles; the upper cover is installed on the upper part of the closed frame on the support angle; the side plate is inserted into the side of the closed frame in the slot; each steering wheel assembly is installed in the corresponding wheel slot; the frame includes a leg and a mounting seat, the leg stands on the upper cover, and the top is connected to the mounting seat; the head is set on the top of the mounting seat. The chassis used is driven by multiple steering wheel assemblies that are separately set, with diverse driving, flexible steering, and strong climbing and obstacle inspection capabilities; on the other hand, a frame for installing various modules is provided in the chassis, and a mounting seat for installing various sensors is provided on the frame. The head is only used to carry an imager, and multiple module installation positions are provided, which can carry multiple modules so that multiple types of signals can be collected, making the patrol comprehensive.

[0004] However, the above inspection robots still have the following problems during use:

[0005] When it is necessary to inspect a higher position during use, the inspection camera needs to be raised using a lifting structure, while the detection radar on the front side is fixedly installed. Therefore, the detection angle of the radar is very limited. As the camera rises, the detection radar cannot detect the camera during the rising process, that is, if the camera hits an obstacle during the rising process, the camera will be damaged. Utility Model Content

[0006] In view of the deficiencies in the prior art, the utility model provides a camera mobile lifting inspection robot, which can drive the radar to rotate by lifting the inspection camera, so that the use angle of the radar can be adjusted to ensure that the camera can avoid obstacles during lifting.

[0007] The utility model provides the following technical solutions: a camera mobile lifting inspection robot, including a robot shell, a lifting component for driving the inspection camera to lift and lower is arranged on the upper end of the robot shell; a movable tooth plate is arranged on the lifting component, and the movable tooth plate is meshed with a receiving gear, and a rotating gear is meshed with the receiving gear at the lower right end, and a first rotating plate is coaxially arranged on the rotating gear, and a mounting component is fixedly arranged on the first rotating plate, and a detection radar is fitted on the first rotating plate.

[0008] Furthermore, a first fixed plate is provided on the robot housing, and the receiving gear forms a rotating mechanism through a rotating shaft and a bearing installed on the first fixed plate. Through the above structure, it is convenient to support the receiving gear without affecting the rotation of the receiving gear.

[0009] Furthermore, the first rotating plate is configured as a "U"-shaped plate structure, and the rear side of the first rotating plate is rotatably connected to a second fixed plate via a rotating shaft, and the second fixed plate is fixedly mounted on the robot housing. Through the above structure, the first rotating plate can be driven to rotate by rotating the receiving gear.

[0010] Furthermore, a limiting assembly is provided on the rear side of the second fixed plate, and the limiting assembly includes a second rotating plate and a limiting rod, and the second rotating plate is coaxially mounted on the first rotating plate, the limiting rod is fixedly mounted on the second fixed plate, and the limiting rod is slidably arranged in a groove opened on the second rotating plate. Through the above structure, it is convenient to limit the rotation range of the second rotating plate by the limiting rod.

[0011] Furthermore, the limit assembly also includes a connecting spring, and the connecting spring is fixedly installed in a semicircular groove opened on the second rotating plate, and the connecting spring and the limiting rod are connected to each other. Through the above structure, the second rotating plate can be pushed through the connecting spring, thereby avoiding the disengagement of the receiving gear and the movable gear plate.

[0012] Furthermore, the mounting assembly includes a first screw, an extrusion plate and a second screw, and the first screw is arranged through the front side of the detection radar, and the first screw is connected to the first rotating plate through a threaded hole opened on the front side of the first rotating plate, the extrusion plate is arranged through the rear side of the detection radar, and the second screw is arranged through the extrusion plate, and the second screw is connected to the first rotating plate through the threaded hole opened on the rear side of the first rotating plate. Through the above structure, it is convenient to disassemble the first rotating plate and the detection radar by rotating the first screw.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] The camera-mobile lifting inspection robot can drive the detection radar to rotate by lifting the inspection camera, so as to adjust the use angle of the detection radar, ensure that the environment around the inspection camera is detected when the inspection camera is raised, and achieve the purpose of obstacle avoidance, avoiding the inspection camera from colliding when the inspection camera is raised or lowered, and the second rotating plate can be supported and limited by the limiting rod, so as to avoid the situation where the moving tooth plate moves too high and causes the moving tooth plate to be disengaged from the receiving gear, effectively ensuring the stability of the structure, and by setting the detection radar as a detachable structure, the detection radar can be replaced when it is damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the main three-dimensional structure of the receiving gear of the utility model;

[0016] Figure 2 This is a schematic diagram of the rear-view stereoscopic structure of the robot shell of the utility model;

[0017] Figure 3 This is a schematic diagram of the side-view stereoscopic structure of the detection radar of the utility model;

[0018] Figure 4 It is a schematic diagram of a side-view three-dimensional cross-sectional structure of the second rotating plate of the utility model;

[0019] Figure 5 It is a schematic diagram of the side-view stereoscopic cross-sectional structure of the installation component of the utility model.

[0020] In the figure: 1. Robot shell; 2. Lifting assembly; 3. Moving gear plate; 4. Receiving gear; 5. First fixed plate; 6. Rotating gear; 7. First rotating plate; 8. Detection radar; 9. Second fixed plate; 10. Limiting assembly; 101. Second rotating plate; 102. Connecting spring; 103. Limiting rod; 11. Mounting assembly; 111. First screw; 112. Extrusion plate; 113. Second screw. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0022] See also Figure 1-Figure 5The utility model provides a technical solution: a camera mobile lifting inspection robot, comprising a robot shell 1, a lifting component 2 for driving the inspection camera to lift and lower is arranged on the upper end of the robot shell 1; a moving tooth plate 3 is arranged on the lifting component 2, and the moving tooth plate 3 is meshed with the receiving gear 4, and a rotating gear 6 is meshed at the lower right end of the receiving gear 4, and a first rotating plate 7 is coaxially arranged on the rotating gear 6, and a mounting component 11 is fixedly arranged on the first rotating plate 7, and a detection radar 8 is fitted on the first rotating plate 7; a first fixed plate 5 is arranged on the robot shell 1, and the receiving gear 4 forms a rotating mechanism with the bearing installed on the first fixed plate 5 through a rotating shaft; the first rotating plate 7 is arranged as a "U"-shaped plate structure, and the rear side of the first rotating plate 7 is rotatably connected to a second fixed plate 9 through a rotating shaft, and the second fixed plate 9 is fixedly installed on the robot shell 1.

[0023] When the inspection camera needs to rise, the lifting component 2 starts working. At this time, the lifting component 2 starts to drive the inspection camera to move upward. Because the lifting component 2 is provided with a moving tooth plate 3, the moving tooth plate 3 starts to move upward. Because the moving tooth plate 3 is engaged with the receiving gear 4, as the moving tooth plate 3 moves, the receiving gear 4 starts to rotate clockwise. Because the receiving gear 4 is engaged with the rotating gear 6, the rotating gear 6 starts to rotate counterclockwise. Because the rotating gear 6 is coaxially connected to the first rotating plate 7, the first rotating plate 7 starts to rotate counterclockwise. At this time, the detection radar 8 provided on the first rotating plate 7 also starts to rotate counterclockwise, that is, the detection angle of the detection radar 8 starts to increase, thereby achieving the detection of the surroundings of the inspection camera, achieving the purpose of obstacle avoidance for the inspection camera, and avoiding collision damage to the inspection camera when it rises.

[0024] A limiting assembly 10 is arranged on the rear side of the second fixed plate 9, and the limiting assembly 10 includes a second rotating plate 101 and a limiting rod 103, and the second rotating plate 101 is coaxially mounted on the first rotating plate 7, the limiting rod 103 is fixedly mounted on the second fixed plate 9, and the limiting rod 103 is slidably arranged in a groove opened on the second rotating plate 101; the limiting assembly 10 also includes a connecting spring 102, and the connecting spring 102 is fixedly mounted in a semicircular arc groove opened on the second rotating plate 101, and the connecting spring 102 and the limiting rod 103 are connected to each other.

[0025] Because the first rotating plate 7 is coaxially provided with the second rotating plate 101, the second rotating plate 101 starts to rotate at this time, that is, the limiting rod 103 installed on the second fixed plate 9 starts to slide in the semicircular arc groove opened on the second rotating plate 101. At this time, the connecting spring 102 on one side of the limiting rod 103 is stretched and deformed, and the connecting spring 102 on one side of the limiting rod 103 is squeezed and deformed. When the moving tooth plate 3 moves excessively (the moving tooth plate 3 moves to the highest position, that is, the gear structure provided at the lower end of the moving tooth plate 3 is about to disengage from the receiving gear 4), under the action of the connecting spring 102 restoring the deformation, the connecting spring 102 starts to pull the lower end of the second rotating plate 101 to always fit with the moving tooth plate 3, which can effectively ensure the stability of the device.

[0026] The mounting assembly 11 includes a first screw 111, an extrusion plate 112 and a second screw 113, and the first screw 111 is arranged through the front side of the detection radar 8, and the first screw 111 is connected to the first rotating plate 7 through a threaded hole opened on the front side of the first rotating plate 7, the extrusion plate 112 is arranged through the rear side of the detection radar 8, and the second screw 113 is arranged through the extrusion plate 112, and the second screw 113 is connected to the first rotating plate 7 through the threaded hole opened on the rear side of the first rotating plate 7.

[0027] When it is necessary to disassemble and replace the detection radar 8, the first screw 111 is rotated. At this time, the first screw 111 begins to move in the direction away from the detection radar 8 until the first screw 111 is no longer connected to the threaded hole opened on the front side of the first rotating plate 7, and then the detection radar 8 is pulled. At this time, the detection radar 8 begins to move in the direction away from the first rotating plate 7. At this time, the detection radar 8 begins to slide outside the extrusion plate 112 until the detection radar 8 is no longer in contact with the extrusion plate 112, thereby achieving the purpose of disassembling the detection radar 8, and then the new detection radar 8 can be installed and fixed. To avoid the detection radar 8 from loosening during installation, the second screw 113 is rotated. The second screw 113 begins to drive the extrusion plate 112 to move in the direction close to the detection radar 8 until the extrusion plate 112 is closely fitted with the detection radar 8, thereby achieving the purpose of pressing and limiting the detection radar 8, and the detection radar 8 can be connected and fixed to the first rotating plate 7, which can effectively avoid the loosening between the first rotating plate 7 and the detection radar 8.

[0028] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A camera movable lifting inspection robot, comprising a robot housing (1), the upper end of which is provided with a lifting component (2) for driving the inspection camera to lift and lower; characterized in that: Also includes: A movable tooth plate (3) is provided on the lifting component (2), and the movable tooth plate (3) and the receiving gear (4) are meshed with each other, and a rotating gear (6) is meshed with the lower right end of the receiving gear (4), and a first rotating plate (7) is coaxially provided with the rotating gear (6), and a mounting component (11) is fixedly provided on the first rotating plate (7), and a detection radar (8) is fitted on the first rotating plate (7).

2. The camera mobile lifting inspection robot according to claim 1, characterized in that: The robot housing (1) is provided with a first fixed plate (5), and the receiving gear (4) forms a rotating mechanism through a rotating shaft and a bearing installed on the first fixed plate (5).

3. A camera mobile lifting inspection robot according to claim 1 or 2, characterized in that: The first rotating plate (7) is configured as a "U"-shaped plate structure, and the rear side of the first rotating plate (7) is rotatably connected to a second fixed plate (9) via a rotating shaft, and the second fixed plate (9) is fixedly mounted on the robot housing (1).

4. The camera mobile lifting inspection robot according to claim 3, characterized in that: A limiting assembly (10) is arranged on the rear side of the second fixed plate (9), and the limiting assembly (10) comprises a second rotating plate (101) and a limiting rod (103), and the second rotating plate (101) is coaxially mounted on the first rotating plate (7), the limiting rod (103) is fixedly mounted on the second fixed plate (9), and the limiting rod (103) is slidably arranged in a groove provided on the second rotating plate (101).

5. The camera mobile lifting inspection robot according to claim 4, characterized in that: The limiting assembly (10) further comprises a connecting spring (102), and the connecting spring (102) is fixedly mounted in a semicircular arc-shaped groove provided on the second rotating plate (101), and the connecting spring (102) and the limiting rod (103) are connected to each other.

6. A camera mobile lifting inspection robot according to claim 1, 2, 4 or 5, characterized in that: The mounting assembly (11) comprises a first screw (111), a pressing plate (112) and a second screw (113), wherein the first screw (111) is arranged through the front side of the detection radar (8), and the first screw (111) is connected to the first rotating plate (7) through a threaded hole opened on the front side of the first rotating plate (7), the pressing plate (112) is arranged through the rear side of the detection radar (8), and the second screw (113) is arranged through the pressing plate (112), and the second screw (113) is connected to the first rotating plate (7) through the threaded hole opened on the rear side of the first rotating plate (7).

7. The camera mobile lifting inspection robot according to claim 3, characterized in that: The mounting assembly (11) comprises a first screw (111), a pressing plate (112) and a second screw (113), wherein the first screw (111) is arranged through the front side of the detection radar (8), and the first screw (111) is connected to the first rotating plate (7) through a threaded hole opened on the front side of the first rotating plate (7), the pressing plate (112) is arranged through the rear side of the detection radar (8), and the second screw (113) is arranged through the pressing plate (112), and the second screw (113) is connected to the first rotating plate (7) through the threaded hole opened on the rear side of the first rotating plate (7).

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