Inspection robot

Abstract

The utility model provides an inspection robot which comprises a bottom plate, through holes are formed in the four corners of the top of the bottom plate, walking assemblies used for moving are arranged in the through holes, an electric push rod is fixed to the middle position of the top of the bottom plate, and the inspection robot further comprises an inspection robot body. The camera shooting assembly comprises a stand column, a camera shooting set and a transparent ball cover, the transparent ball cover is fixed to one end of the stand column in a sleeving mode, the camera shooting set is arranged on the circumferential outer wall of the stand column, and the camera shooting set is located in the transparent ball cover; when the cleaning device is used for cleaning, the driving assembly drives the driven wheel to rotate, meanwhile, the water inlet assembly enables the water spraying head to spray water, the air spraying assembly enables the air spraying head to spray air, and the water spraying head sprays water to the transparent ball cover, so that water is fed for cleaning, and the scraping plate scrapes away pairs attached to the transparent ball cover; and then the air spraying head performs drying treatment in an air spraying mode, so that cleaning is completed.

Description

Technical Field

[0001] The utility model belongs to the technical field of mine inspection and relates to an inspection robot. Background Art

[0002] At present, in order to ensure the smooth progress of mining work and the safety of workers, on-site inspections are often required during mining operations in the coal mine field. Inspection robots, as a substitute for inspection workers, can collect, store, and transmit on-site images, sounds, temperature, smoke and other data in real time, thus reducing labor intensity and labor risks.

[0003] Generally, inspection robots used in mines are equipped with cameras for collecting images for real-time monitoring. However, there is a lot of powder and dust in the mine, which is easy to adhere to the camera, thereby hindering the image collection. Therefore, the utility model designs an inspection robot, which has the function of cleaning the camera. Utility Model Content

[0004] The purpose of the utility model is to provide an inspection robot to solve the problems in the prior art and to solve the problems raised in the above-mentioned background technology.

[0005] To this end, the utility model adopts the following technical solutions:

[0006] A patrol robot comprises a bottom plate, four corners of the top of the bottom plate are provided with through holes, a walking assembly for movement is arranged in the through holes, an electric push rod is fixed at the middle position of the top of the bottom plate, and further comprises;

[0007] A camera assembly, the camera assembly comprising a column, a camera group and a transparent ball cover, the transparent ball cover is sleeved and fixed on one end of the column, the camera group is arranged on the circumferential outer wall of the column, and the camera group is located in the transparent ball cover;

[0008] A cleaning component, the cleaning component includes a cylindrical shell, the shell is fixed on the telescopic end of the electric push rod, the other end of the column is coaxially fixed with the shell, the cleaning component also includes a driving component, a driven wheel, a fixing plate, a scraper, a jet head and a water spray head, the driven wheel is sleeved on the column, the driven wheel forms a rotational fit with the column through a bearing, the driving component is arranged on the shell, the driving component is connected with the driven wheel, the driving component drives the driven wheel to rotate, the fixing plate is fixed at the top edge of the driven wheel, the scraper is fixed on the fixing plate, the scraper is fitted with the outer surface of the transparent ball cover, the jet head and the water spray head are both fixed on the fixing plate, the spray ends of the jet head and the water spray head face the transparent ball cover, and the scraper is located between the jet head and the water spray head, the driven wheel is provided with a water inlet component and a jet assembly, the water inlet component is connected with the water spray head to spray water, and the jet assembly is connected with the jet head to spray air.

[0009] Preferably, the walking component includes a first servo motor, which is fixed on the top of the base plate, and the output shaft of the first servo motor is coaxially arranged with the through hole and located in the through hole, and the output shaft of the first servo motor is fixed with an inverted concave frame, and the concave frame is equipped with a hub motor, and the rotating shell of the hub motor is equipped with a roller coaxial with it.

[0010] Preferably, the camera group includes at least three wide-angle cameras, the three wide-angle cameras are all fixed on a column, and the three wide-angle cameras are distributed in an equidistant ring around the central axis of the column.

[0011] Preferably, the driving assembly comprises a second servo motor, a fixed driving wheel coaxial with an output shaft of the second servo motor, and a transmission belt sleeved on the driven wheel and the driving wheel, and the second servo motor is fixed on the housing.

[0012] Preferably, the water inlet assembly comprises a small water pump fixed on the driven wheel and a water tank, a connecting pipe for connecting the water outlet end of the small water pump and the water inlet end of the sprinkler head is provided between the two, and the water inlet end of the small water pump is connected to the water tank.

[0013] Preferably, the jet assembly comprises a small air pump fixed on the driven wheel, and a connecting pipe 2 is provided between the air outlet end of the small air pump and the air inlet end of the jet head for connecting the two.

[0014] The beneficial effects of the utility model are:

[0015] 1. When the utility model is cleaning, the driving component drives the driven wheel to rotate, and at the same time, the water inlet component makes the water spray head spray water, and the jet component makes the jet head spray water, and the water spray head sprays water to the transparent ball cover, so that water enters and cleans, and the scraper scrapes off the transparent ball cover, and then the jet head performs drying treatment by jetting, so as to complete the cleaning;

[0016] 2. The walking system of the entire robot in the utility model is composed of four walking components that can work independently, so that it is easy to disassemble and repair individually, and the maintenance is simple. At the same time, the entire bottom structure is simple, which is easy to produce and replace;

[0017] 3. The utility model only needs six to carry out all-round observation, and does not need to establish a rotating mechanism, thus simplifying the entire device. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0019] Figure 2 It is a schematic diagram of the three-dimensional structure of the cleaning component and the camera component of the utility model from the first perspective;

[0020] Figure 3 It is a schematic diagram of the second perspective stereoscopic structure of the cleaning component and the camera component of the utility model;

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the cleaning component and the camera component of the utility model;

[0022] Figure 5 It is a schematic diagram of the internal three-dimensional structure of the cleaning component and the camera component of the utility model.

[0023] 1. Bottom plate; 2. Walking assembly; 201. Roller; 202. Hub motor; 203. Concave frame; 204. First servo motor; 3. Electric push rod; 4. Cleaning assembly; 401. Shell; 402. Driven wheel; 403. Transmission belt; 404. Small air pump; 405. Connecting pipe 1; 406. Jet head; 407. Driving wheel; 408. Fixed plate; 409. Spray head; 410. Connecting pipe 2; 411. Small water pump; 412. Water tank; 413. Scraper; 5. Camera assembly; 501. Transparent ball cover; 502. Column; 503. Wide-angle camera. DETAILED DESCRIPTION

[0024] The technical solution of the utility model is described below in conjunction with the accompanying drawings and implementation methods.

[0025] like Figure 1As shown, a patrol robot comprises a bottom plate 1, through holes are provided at the four corners of the top of the bottom plate 1, a walking assembly 2 for movement is provided in the through holes, an electric push rod 3 is fixed at the middle position of the top of the bottom plate 1, and further comprises;

[0026] The camera assembly 5 includes a column 502, a camera group and a transparent ball cover 501. The transparent ball cover 501 is sleeved and fixed on one end of the column 502. The camera group is arranged on the circumferential outer wall of the column 502, and the camera group is located inside the transparent ball cover 501.

[0027] like Figure 2-5 As shown, the cleaning component 4 includes a cylindrical shell 401, the shell 401 is fixed on the telescopic end of the electric push rod 3, and the other end of the column 502 is coaxially fixed with the shell 401. The cleaning component 4 also includes a driving component, a driven wheel 402, a fixing plate 408, a scraper 413, a jet head 406 and a water spray head 409. The driven wheel 402 is sleeved on the column 502, and the driven wheel 402 forms a rotational fit with the column 502 through a bearing. The driving component is arranged on the shell 401, and the driving component is connected to the driven wheel 402, and the driving component drives the driven wheel 402 to rotate The fixed plate 408 is fixed at the top edge of the driven wheel 402, the scraper 413 is fixed on the fixed plate 408, the scraper 413 is in contact with the outer surface of the transparent ball cover 501, the jet head 406 and the water spray head 409 are both fixed on the fixed plate 408, the spray ends of the jet head 406 and the water spray head 409 face the transparent ball cover 501, and the scraper 413 is located between the jet head 406 and the water spray head 409, and a water inlet assembly and an air jet assembly are provided on the driven wheel 402, the water inlet assembly is connected to the water spray head 409 for spraying water, and the air jet assembly is connected to the jet head 406 for spraying air.

[0028] The technical solution of the utility model is that when cleaning, the driving component drives the driven wheel 402 to rotate, and at the same time, the water inlet component makes the water spray head 409 spray water, and the jet component makes the jet head 406 spray water, and the water spray head 409 sprays water to the transparent ball cover 501, so that water enters and cleans, and the scraper 413 scrapes off the attached to the transparent ball cover 501, and then the jet head 406 performs drying treatment by jetting, thereby completing the cleaning.

[0029] Furthermore, the walking component 2 includes a first servo motor 204, which is fixed on the top of the base plate 1. The output shaft of the first servo motor 204 is coaxially arranged with the through hole and is located in the through hole. The output shaft of the first servo motor 204 is fixed with an inverted concave frame 203, and the concave frame 203 is installed with a hub motor 202. The rotating shell of the hub motor 202 is installed with a roller 201 coaxial with it.

[0030] The above improvement lies in that the walking system of the entire robot is composed of four walking components 2 that can work independently, so that they can be disassembled individually for maintenance, and the maintenance is simple. At the same time, the entire bottom structure is simple, which is easy to produce and replace.

[0031] Preferably, the camera group includes at least three wide-angle cameras 503 , and the three wide-angle cameras 503 are all fixed on the column 502 , and the three wide-angle cameras 503 are distributed in an equidistant ring around the central axis of the column 502 .

[0032] The above improvement lies in that, if a wide-angle camera 503 with a field of view of sixty degrees is used, only six cameras are needed for all-round observation, and there is no need to establish a rotating mechanism, thus simplifying the entire device.

[0033] Preferably, the driving assembly includes a second servo motor, a fixed driving wheel 407 coaxial with the output shaft of the second servo motor, and a transmission belt 403 sleeved on the driven wheel 402 and the driving wheel 407 , and the second servo motor is fixed on the housing 401 .

[0034] The above working principle is: the second servo motor drives the driving wheel 407 to rotate, and the driving wheel 407 rotates the driven wheel 402 through the transmission belt 403.

[0035] Preferably, the water inlet assembly includes a small water pump 411 fixed on the driven wheel 402 and a water tank 412. A connecting pipe 405 is provided between the water outlet end of the small water pump 411 and the water inlet end of the sprinkler head 409 for connecting the two. The water inlet end of the small water pump 411 is connected to the water tank 412.

[0036] The above working principle is: the small water pump 411 draws water from the water tank 412 and then transports it to the sprinkler head 409.

[0037] Preferably, the jet assembly includes a small air pump 404 fixed on the driven wheel 402, and a connecting pipe 410 is provided between the air outlet end of the small air pump 404 and the air inlet end of the jet head 406 for connecting the two.

[0038] The above working principle is: the small air pump 404 uses compressed air to make the jet head 406 spray.

[0039] The working principle is as follows: when cleaning, the second servo motor drives the driving wheel 407 to rotate, and the driving wheel 407 rotates the driven wheel 402 through the transmission belt 403. At the same time, the water inlet component makes the water spray head 409 spray water, and the jet component makes the jet head 406 spray water. The water spray head 409 sprays water to the transparent ball cover 501, thereby water enters and cleans. The scraper 413 scrapes off the attached to the transparent ball cover 501, and then the jet head 406 performs drying treatment by jetting, thereby completing the cleaning.

Claims

1. A patrol robot, characterized in that: It comprises a bottom plate (1), four corners of the top of the bottom plate (1) are provided with through holes, a walking assembly (2) for movement is arranged in the through holes, an electric push rod (3) is fixed at the middle position of the top of the bottom plate (1), and further comprises: A camera assembly (5), the camera assembly (5) comprising a column (502), a camera group and a transparent ball cover (501), the transparent ball cover (501) being sleeved and fixed on one end of the column (502), the camera group being arranged on the circumferential outer wall of the column (502), and the camera group being located inside the transparent ball cover (501); A cleaning component (4), the cleaning component (4) comprising a cylindrical shell (401), the shell (401) being fixed on the telescopic end of the electric push rod (3), the other end of the column (502) being coaxially fixed to the shell (401), the cleaning component (4) further comprising a driving component, a driven wheel (402), a fixing plate (408), a scraper (413), a jet head (406) and a water spray head (409), the driven wheel (402) being sleeved on the column (502), the driven wheel (402) being rotationally matched with the column (502) via a bearing, the driving component being arranged on the shell (401), the driving component being connected to the driven wheel (402), and the driving component driving the driven wheel (402) to rotate The fixed plate (408) is fixed to the top edge of the driven wheel (402), the scraper (413) is fixed to the fixed plate (408), the scraper (413) is fitted with the outer surface of the transparent ball cover (501), the jet head (406) and the water spray head (409) are both fixed to the fixed plate (408), the spray ends of the jet head (406) and the water spray head (409) are facing the transparent ball cover (501), and the scraper (413) is located between the jet head (406) and the water spray head (409), and the driven wheel (402) is provided with a water inlet component and a jet component, the water inlet component is connected to the water spray head (409) for spraying water, and the jet component is connected to the jet head (406) for spraying air.

2. The inspection robot according to claim 1, characterized in that: The walking assembly (2) comprises a first servo motor (204), the first servo motor (204) being fixed on the top of the base plate (1), the output shaft of the first servo motor (204) being coaxially arranged with the through hole and being located in the through hole, the output shaft of the first servo motor (204) being fixed with an inverted concave frame (203), the concave frame (203) being mounted with a wheel hub motor (202), and the rotating shell of the wheel hub motor (202) being mounted with a roller (201) coaxial therewith.

3. The inspection robot according to claim 1, characterized in that: The camera group comprises at least three wide-angle cameras (503), the three wide-angle cameras (503) are all fixed on the column (502), and the three wide-angle cameras (503) are distributed in an equidistant ring around the central axis of the column (502).

4. The inspection robot according to claim 1, characterized in that: The driving assembly comprises a second servo motor, a fixed driving wheel (407) coaxial with an output shaft of the second servo motor, and a transmission belt (403) sleeved on the driven wheel (402) and the driving wheel (407), and the second servo motor is fixed on a housing (401).

5. The inspection robot according to claim 1, characterized in that: The water inlet assembly comprises a small water pump (411) fixed on the driven wheel (402) and a water tank (412); a connecting pipe (405) for connecting the water outlet end of the small water pump (411) and the water inlet end of the sprinkler head (409) is provided between the two; and the water inlet end of the small water pump (411) is connected to the water tank (412).

6. The inspection robot according to claim 1, characterized in that: The jet assembly comprises a small air pump (404) fixed on the driven wheel (402), and a second connecting pipe (410) for connecting the air outlet end of the small air pump (404) and the air inlet end of the jet head (406) is provided between the two.

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