Intelligent inspection robot

Abstract

The utility model discloses an intelligent inspection robot, which belongs to the technical field of intelligent robots and comprises a main body frame, two sides of an inner cavity of the main body frame are rotatably connected with first rotating shafts through bearings, adjusting gears are fixed on the outer sides of the first rotating shafts, and an electric push rod is fixed on the top of the main body frame. Through rotation of the first rotating shaft, the connecting rod is conveniently utilized to drive the driving box to deflect, so that the distance between the driving wheels on the two sides is changed, movement in different space environments is facilitated, and then the driving wheels on the two sides are independently driven by utilizing the structural characteristics of the driving wheels; steering is achieved through different rotation of the driving wheels on the two sides, meanwhile, the movable frame serves as a supporting structure, an adjusting assembly is arranged in the movable frame, the movable frame can be folded conveniently, the position of the equipment table is adjusted and controlled, automatic adjustment is conveniently conducted according to the inspection environment, and the stability of the device in the working state is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent robots, in particular to an intelligent inspection robot. Background Art

[0002] The reason why an intelligent robot is called an intelligent robot is that it has a fairly developed "brain". The central processing unit works in the brain, and this computer has a direct connection with the person who operates it. Most importantly, such a computer can perform actions arranged according to the purpose. Because of this, we say that this kind of robot is a real robot, although their appearance may be different.

[0003] In some special working environments, manual detection is impossible due to the narrow space, and inspections are required with the help of machines, usually by using mobile vehicles equipped with detection equipment. Due to some space limitations, the machine needs to be as compact as possible. Some machines are designed with a flat structure to facilitate movement in narrow areas. This can easily cause the machine to shake due to unstable center of gravity in spacious spaces, affecting the robot's stable inspection. Traditional inspection machines lack the function of automatic adjustment according to actual terrain. Utility Model Content

[0004] The purpose of the utility model is to provide an intelligent inspection robot, which drives two groups of first rotating shafts to rotate, so that the drive box and the drive wheels are deflected outward, the distance between the drive wheels on both sides is increased, the center of gravity is lowered, and the stability of the device is increased. At the same time, the movable frame is folded and stored by using an adjustment component, and the height of the equipment table can also be adjusted to ensure that the device can be stretched and contracted according to the terrain and adapt to different types of spatial environments, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an intelligent inspection robot comprises a main body frame, both sides of the inner cavity of the main body frame are rotatably connected with a first rotating shaft through bearings, an adjusting gear is fixed to the outside of the first rotating shaft, an electric push rod is fixed to the top of the main body frame, the piston rod of the electric push rod passes through the inner cavity of the main body frame and is fixed with a double-sided rack plate, the double-sided rack plate is located between the adjusting gears and meshes with the adjusting gears, a driving box is fixed to the surface of the adjusting gear through a connecting rod, the inner cavity of the driving box is rotatably connected with a driving shaft through a bearing, one end of the driving shaft passes through the outside of the driving box and is fixed with a driving wheel, the inner cavity of the driving box is provided with a driving component for driving the driving shaft, a movable frame is movably provided at the top of the main body frame, and an equipment table is movably provided at the other end of the movable frame, a variety of detection equipment are installed on the top of the equipment table, and the inner cavity of the movable frame is provided with an adjusting component for adjusting the angle of the movable frame and the equipment table.

[0006] Preferably, the drive assembly includes a drive motor fixed to the outside of a drive box, the output shaft of the drive motor passes through the inner cavity of the drive box and is rotatably connected to a worm via a bearing, and a worm wheel meshing with the worm is fixed to the outside of the drive shaft.

[0007] Preferably, the adjusting component includes a second rotating shaft fixed to one end of the inner cavity of the movable frame and a third rotating shaft rotated at the other end of the inner cavity of the movable frame through a bearing, the outer side of the second rotating shaft is rotatably connected to a first support plate fixed to the top of the main frame through a bearing, both ends of the third rotating shaft pass through the outer side of the movable frame and are fixed to a second support plate fixed to the bottom of the equipment table, the inner cavity of the movable frame is provided with two groups of adjusting motors, the output shaft of the adjusting motor is fixed with a driving gear, the surfaces of the second rotating shaft and the third rotating shaft are fixed with driven gears meshing with the driving gear, the adjusting motor that drives the second rotating shaft is fixed to the top of the main frame, and the adjusting motor that drives the third rotating shaft is fixed to the inner cavity of the movable frame.

[0008] Preferably, a limiting groove is provided on the outer side of the double-sided rack plate, the inner cavity of the limiting groove is slidably connected to a limiting frame, and the limiting frame is fixed to the top of the inner cavity of the main frame.

[0009] Preferably, a circular arc tube with the first rotating axis as the center is fixed to the inner cavity of the main frame, and a limiting rod is slidably connected to the inner cavity of the circular arc tube, and one end of the limiting rod passes through the circular arc tube and is fixed to the inner side of the driving box.

[0010] Preferably, the driving wheel comprises a disc-shaped main wheel and a frustoconical secondary wheel, the frustoconical secondary wheel is fixed to the side of the disc-shaped main body, and the driving shaft is fixedly connected to the center of the frustoconical secondary wheel.

[0011] Preferably, a protective plate is fixed to the bottom of the main frame, and the protective plate is away from one end of the driving motor.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] 1. The utility model uses the rotation of the first rotating shaft to facilitate the use of the connecting rod to drive the driving box to deflect, so that the distance between the driving wheels on both sides changes, which is convenient for moving in different spatial environments. Then, the structural characteristics of the driving wheels are used to independently drive the driving wheels on both sides, and the steering is achieved by using the different rotations of the driving wheels on both sides. At the same time, the movable frame serves as a supporting structure, and an adjustment component is arranged inside, which is convenient for folding the movable frame, thereby adjusting the position of the equipment table, facilitating autonomous adjustment according to the inspection environment, and improving the stability of the device in the working state.

[0014] 2. The utility model arranges the protective plate on the side away from the driving motor, so as to protect the forward end of the device and prevent objects from being entangled with the device. At the same time, the driving motor is arranged at the rear end for protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural schematic diagram of the utility model;

[0016] Figure 2 It is a schematic diagram of the expanded three-dimensional structure of the utility model;

[0017] Figure 3 It is a bottom-up three-dimensional structural schematic diagram of the main frame and the drive box of the utility model;

[0018] Figure 4 It is a top view cross-sectional three-dimensional structural schematic diagram of the drive box of the utility model;

[0019] Figure 5 It is a three-dimensional structural schematic diagram of the movable frame of the utility model.

[0020] Numbers in the figure: 1. main frame; 2. first rotating axis; 3. adjusting gear; 4. electric push rod; 5. double-sided rack plate; 6. drive box; 7. drive shaft; 8. drive wheel; 81. disc-shaped main wheel; 82. truncated cone-shaped secondary wheel; 9. drive assembly; 91. drive motor; 92. worm; 93. worm wheel; 10. movable frame; 11. equipment table; 12. adjusting assembly; 121. second rotating axis; 122. third rotating axis; 123. first support plate; 124. second support plate; 125. adjusting motor; 126. drive gear; 127. driven gear; 13. limit groove; 14. limit frame; 15. arc tube; 16. limit rod; 17. protective plate. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in 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.

[0022] The utility model provides Figures 1 to 5The intelligent inspection robot shown in the figure comprises a main body frame 1, both sides of the inner cavity of the main body frame 1 are rotatably connected to a first rotating shaft 2 through bearings, an adjusting gear 3 is fixed to the outer side of the first rotating shaft 2, an electric push rod 4 is fixed to the top of the main body frame 1, the piston rod of the electric push rod 4 penetrates into the inner cavity of the main body frame 1 and is fixed with a double-sided rack plate 5, the double-sided rack plate 5 is located between the adjusting gears 3 and meshes with the adjusting gears 3, a driving box 6 is fixed to the surface of the adjusting gear 3 through a connecting rod, the inner cavity of the driving box 6 is rotatably connected to a driving shaft 7 through a bearing, and one end of the driving shaft 7 penetrates A driving wheel 8 is fixed to the outside of the driving box 6, a driving assembly 9 for driving the driving shaft 7 is arranged in the inner cavity of the driving box 6, a movable frame 10 is movably arranged on the top of the main frame 1, and an equipment table 11 is movably arranged on the other end of the movable frame 10, and a variety of detection equipment is installed on the top of the equipment table 11, and an adjustment assembly 12 for adjusting the angle of the movable frame 10 and the equipment table 11 is arranged in the inner cavity of the movable frame 10, and a control board is integrated inside the movable frame 10 for analyzing and processing some sensor signals in a variety of detection equipment and controlling other electrical equipment at the same time;

[0023] By rotating the first rotating shaft 2, it is convenient to use the connecting rod to drive the driving box 6 to deflect, so that the distance between the driving wheels 8 on both sides changes, which is convenient for moving in different spatial environments. Then, by utilizing the structural characteristics of the driving wheels 8, the driving wheels 8 on both sides are independently driven, and the steering is achieved by utilizing the different rotations of the driving wheels 8 on both sides. At the same time, the movable frame 10 serves as a supporting structure, and an adjustment component 12 is arranged inside, which is convenient for folding the movable frame 10, thereby adjusting the position of the equipment table 11, and facilitating autonomous adjustment according to the inspection environment, thereby improving the stability of the device in a working state.

[0024] The driving assembly 9 includes a driving motor 91 fixed to the outside of the driving box 6. The output shaft of the driving motor 91 passes through the inner cavity of the driving box 6 and is rotatably connected to a worm 92 through a bearing. A worm wheel 93 meshing with the worm 92 is fixed to the outside of the driving shaft 7. The driving motor 91 drives the worm 92 to rotate, and the worm wheel 93 is driven by the worm 92 to rotate. Then the worm wheel 93 drives the driving shaft 7 to rotate and synchronously drives the driving wheel 8 on one side to rotate, so that the device can move normally for inspection. At the same time, the driving wheels 8 on both sides are driven independently, and can turn according to the speed difference.

[0025] The adjustment component 12 includes a second rotating shaft 121 fixed to one end of the inner cavity of the movable frame 10 and a third rotating shaft 122 rotated at the other end of the inner cavity of the movable frame 10 through a bearing. The outer side of the second rotating shaft 121 is rotatably connected to a first support plate 123 fixed to the top of the main frame 1 through a bearing. Both ends of the third rotating shaft 122 penetrate to the outer side of the movable frame 10 and are fixed to a second support plate 124 fixed to the bottom of the equipment table 11. The inner cavity of the movable frame 10 is provided with two sets of adjustment motors 125. The output shaft of the adjustment motor 125 is fixed with a driving gear 126. The surfaces of the second rotating shaft 121 and the third rotating shaft 122 are A driven gear 127 meshing with the driving gear 126 is fixed, the adjusting motor 125 driving the second rotating shaft 121 is fixed to the top of the main frame 1, and the adjusting motor 125 driving the third rotating shaft 122 is fixed to the inner cavity of the movable frame 10, the driving gear 126 is driven to rotate by the adjusting motor 125, and then the driving gear 126 drives the second rotating shaft 121 and the third rotating shaft 122 to rotate through the driven gear 127, and then the first support plate 123 and the second support plate 124 cooperate to respectively drive the deflection movement of the movable frame 10 and the equipment table 11, so as to facilitate the adjustment and extension of the position of the equipment table 11.

[0026] A limiting groove 13 is provided on the outer side of the double-sided rack plate 5, and the inner cavity of the limiting groove 13 is slidably connected to a limiting frame 14. The limiting frame 14 is fixed to the top of the inner cavity of the main frame 1. The limiting frame 14 slides in the inner cavity of the limiting groove 13, which facilitates the limitation of the double-sided rack plate 5 and prevents the double-sided rack plate 5 from shaking during the up and down movement.

[0027] The inner cavity of the main frame 1 is fixed with an arc tube 15 with the first rotating axis 2 as the center. The inner cavity of the arc tube 15 is slidably connected with a limit rod 16. One end of the limit rod 16 passes through the arc tube 15 and is fixed to the inner side of the drive box 6. The limit rod 16 slides in the arc tube 15, which facilitates the limitation of the drive box 6 and ensures the stability between the drive box 6 and the main frame 1.

[0028] The driving wheel 8 includes a disc-shaped main wheel 81 and a truncated cone-shaped secondary wheel 82. The truncated cone-shaped secondary wheel 82 is fixed to the side of the disc-shaped main body. The driving shaft 7 is fixedly connected to the center of the truncated cone-shaped secondary wheel 82. The disc-shaped main wheel 81 can ensure the operation and movement of the driving box 6 in a horizontal state. When the driving box 6 deflects with the first rotating shaft 2, the truncated cone-shaped secondary wheel 82 can be used to contact the ground to ensure that the driving wheel 8 has sufficient contact area with the ground and ensure normal movement of the device.

[0029] A protective plate 17 is fixed to the bottom of the main frame 1, and the protective plate 17 is arranged on the side away from the driving motor 91 to protect the forward end of the device to prevent objects from being entangled with the device. At the same time, the driving motor 91 is arranged at the rear end for protection.

[0030] When in use, the electric push rod 4 drives the double-sided rack plate 5 to move up and down, and then the double-sided rack plate 5 drives the adjusting gear 3 to rotate around the first rotating shaft 2, and then the driving box 6 deflects with the first rotating shaft 2 through the connecting rod, and then the driving wheel 8 connected by the driving shaft 7 deflects together. When encountering a narrow space, the driving box 6 shrinks inward to make the driving wheels 8 on both sides close together. When encountering a wide space environment, the driving wheels 8 move outward with the driving box 6 to increase the distance between the driving wheels 8. At the same time, during the deflection process, the center of gravity of the entire device moves downward, so that the device It is more stable. The driving motor 91 drives the worm 92 to rotate. The worm 92 drives the driving shaft 7 to rotate through the worm gear 93, drives the driving wheel 8 to rotate, and drives the device to move. At the same time, the adjusting motor 125 can drive the driving gear 126 to rotate, and then the driving gear 126 drives the driven gear 127 to drive the second rotating shaft 121 and the third rotating shaft 122 respectively, so that the movable frame 10 and the equipment platform 11 are deflected and moved respectively, which is convenient for adjusting the height of the equipment platform 11, and it is convenient to complete it autonomously under the operation of the control panel integrated in the movable frame 10.

[0031] 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. An intelligent inspection robot, comprising a main frame (1), characterized in that: Both sides of the inner cavity of the main frame (1) are rotatably connected to a first rotating shaft (2) via bearings, an adjusting gear (3) is fixed to the outer side of the first rotating shaft (2), an electric push rod (4) is fixed to the top of the main frame (1), a piston rod of the electric push rod (4) penetrates the inner cavity of the main frame (1) and is fixed with a double-sided rack plate (5), the double-sided rack plate (5) is located between the adjusting gears (3) and meshes with the adjusting gears (3), a driving box (6) is fixed to the surface of the adjusting gear (3) via a connecting rod, and the inner cavity of the driving box (6) is rotatably connected to the adjusting gear (3) via a bearing. A driving shaft (7) is connected, one end of the driving shaft (7) passes through the outside of a driving box (6) and is fixed with a driving wheel (8), the inner cavity of the driving box (6) is provided with a driving component (9) for driving the driving shaft (7), a movable frame (10) is movably provided on the top of the main frame (1), an equipment platform (11) is movably provided on the other end of the movable frame (10), a plurality of detection devices are installed on the top of the equipment platform (11), and an adjustment component (12) for adjusting the angle of the movable frame (10) and the equipment platform (11) is provided in the inner cavity of the movable frame (10).

2. The intelligent inspection robot according to claim 1, characterized in that: The drive assembly (9) comprises a drive motor (91) fixed to the outside of a drive box (6); an output shaft of the drive motor (91) penetrates the inner cavity of the drive box (6) and is rotatably connected to a worm (92) via a bearing; a worm wheel (93) meshing with the worm (92) is fixed to the outside of the drive shaft (7).

3. The intelligent inspection robot according to claim 1, characterized in that: The adjusting component (12) comprises a second rotating shaft (121) fixed to one end of the inner cavity of the movable frame (10) and a third rotating shaft (122) rotating at the other end of the inner cavity of the movable frame (10) via a bearing, the outer side of the second rotating shaft (121) is rotatably connected to a first supporting plate (123) fixed to the top of the main frame (1) via a bearing, and both ends of the third rotating shaft (122) penetrate to the outer side of the movable frame (10) and are fixed to a second supporting plate (124) fixed to the bottom of the equipment stand (11), and the movable frame (10) is provided with a plurality of rotating shafts (121) and a plurality of rotating shafts (122) arranged on the outer side of the movable frame (10). The inner cavity of the movable frame (10) is provided with two groups of adjustment motors (125), the output shaft of the adjustment motor (125) is fixed with a driving gear (126), the surfaces of the second rotating shaft (121) and the third rotating shaft (122) are fixed with a driven gear (127) meshing with the driving gear (126), the adjustment motor (125) driving the second rotating shaft (121) is fixed to the top of the main frame (1), and the adjustment motor (125) driving the third rotating shaft (122) is fixed to the inner cavity of the movable frame (10).

4. The intelligent inspection robot according to claim 1, characterized in that: A limiting groove (13) is provided on the outer side of the double-sided rack plate (5); the inner cavity of the limiting groove (13) is slidably connected to a limiting frame (14); and the limiting frame (14) is fixed to the top of the inner cavity of the main frame (1).

5. The intelligent inspection robot according to claim 1, characterized in that: The inner cavity of the main frame (1) is fixed with an arc tube (15) with the first rotating shaft (2) as the center, the inner cavity of the arc tube (15) is slidably connected with a limit rod (16), one end of the limit rod (16) passes through the arc tube (15) and is fixed to the inner side of the drive box (6).

6. The intelligent inspection robot according to claim 1, characterized in that: The driving wheel (8) comprises a disc-shaped main wheel (81) and a truncated cone-shaped secondary wheel (82); the truncated cone-shaped secondary wheel (82) is fixed to the side of the disc-shaped main body; and the driving shaft (7) is fixedly connected to the center of the truncated cone-shaped secondary wheel (82).

7. The intelligent inspection robot according to claim 1, characterized in that: A protective plate (17) is fixed to the bottom of the main frame (1), and the protective plate (17) is located at one end away from the driving motor (91).

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