Video inspection robot for narrow space

Abstract

A narrow space video inspection robot comprises a machine shell, a pair of driving wheels and a pair of steering wheels are installed at the bottom of the machine shell, and the pair of steering wheels is located in front of the pair of driving wheels; the front end of the machine shell is provided with an inspection device, the inspection device comprises an extension arm fixed at the front end of the machine shell, the head of the extension arm is rotationally connected with a camera shooting assembly, the tail of the extension arm is fixedly provided with a baffle, and the baffle is located in front of the pair of steering wheels and covers the pair of steering wheels. According to the utility model, sundries in the drain pipe can be prevented from winding and blocking the driving wheel and the steering wheel, the fault rate of the robot is reduced, the detection efficiency is improved, and the camera with an adjustable angle is matched, so that the front intersection can be observed in time, the observable area is greatly increased, and the practicability is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a narrow space video inspection robot. Background Art

[0002] At present, many bridges have been built for a long time and are overloaded in daily use, with slight cracks inside the box girders. Among the various known detection methods, video inspection is still the most economical and suitable method for daily maintenance. However, in the current highway bridge box girder structure without manholes (including small box girders, small box girders, hollow slabs, etc.), the only access is a reserved drainage pipe with a diameter of about 10 cm. Generally, a small robot with a camera component is used to enter the box girder through the drainage pipe. The current problem is that there are many debris inside the drainage pipe, which not only affects the robot's progress, but also affects the robot's ability to see the road conditions ahead. Summary of the invention

[0003] The utility model aims to solve the problems existing in the above-mentioned prior art and provides a narrow space video inspection robot, wherein an extension arm is installed at the front end of a casing, a camera assembly with a rotatable and adjustable angle is installed at the head of the extension arm to adjust the observation angle, and a baffle covering the steering wheel is installed at the tail of the extension arm to push debris to both sides of the casing.

[0004] The utility model adopts a technical solution to solve its technical problems: this narrow space video inspection robot comprises a casing, a pair of driving wheels and a pair of steering wheels are installed at the bottom of the casing, and the pair of steering wheels are located in front of the pair of driving wheels; an inspection device is installed at the front end of the casing, and the inspection device comprises an extension arm fixed at the front end of the casing, the head of the extension arm is rotatably connected to a camera assembly, and the tail of the extension arm is fixedly installed with a baffle, and the baffle is located in front of the pair of steering wheels and covers the pair of steering wheels.

[0005] For further improvement, the extension arm is divided into a first arm body and a second arm body fixed on both sides of the front end of the housing, the first arm body and the second arm body are arranged opposite to each other, and the camera assembly is rotatably connected between the first arm body and the second arm body.

[0006] For further improvement, the camera assembly is divided into a camera and a connecting part fixed at the tail of the camera, the connecting part includes a mounting shell with an opening and a mounting cover for closing the opening of the mounting shell, a motor is installed in the mounting shell, the output shaft of the motor passes through the mounting cover and is fixedly connected to the first arm body, and the mounting shell is rotatably connected to the second arm body.

[0007] For further improvement, a clamping strip is fixedly mounted on the output shaft of the motor, and a clamping slot that matches the shape of the clamping strip is provided on the first arm body. The clamping slot is through-set, and the clamping strip is located inside the clamping slot.

[0008] For further improvement, a rotating hole is provided on the second arm body, and a rotating shaft rotatably connected to the rotating hole is fixedly installed on the outside of the mounting shell. The rotating shaft is arranged opposite to the opening of the mounting shell, and the axis of the rotating shaft coincides with the axis of the output shaft of the motor.

[0009] For further improvement, a protrusion is provided in the middle of the front end of the baffle, and starting parts are provided on both sides of the front end of the baffle, and a pushing guide surface is provided between the protrusion and the starting part.

[0010] For further improvement, the push guide surfaces are symmetrically distributed on both sides of the protrusion and form an isosceles triangle.

[0011] The beneficial effects of the utility model are as follows: the utility model can prevent debris in the drainage pipe from being entangled and blocked on the driving wheel and the steering wheel, reduce the failure rate of the robot, improve the detection efficiency, and with the camera with adjustable angle, it can observe the intersection ahead in time, greatly increase the observable area, and improve practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the structure of the utility model;

[0013] Figure 2 It is a bottom view of the utility model;

[0014] Figure 3 for Figure 2 A is a partial enlargement of the figure.

[0015] Explanation of the reference numerals: housing 1, driving wheel 2, steering wheel 3, inspection device 4, extension arm 5, first arm body 5-1, second arm body 5-2, card slot 5-3, rotating hole 5-4, camera assembly 6, camera head 6-1, connector 6-2, mounting shell 6-2-1, cover plate 6-2-2, motor 6-2-3, card strip 6-2-4, rotating shaft 6-2-5, baffle 7, protrusion 7-1, starting part 7-2, guide surface 7-3. DETAILED DESCRIPTION

[0016] The following provides a preferred specific implementation of the present utility model in conjunction with the accompanying drawings. What is disclosed is only a better specific implementation of the present utility model, and it certainly cannot be used to limit the scope of rights of the present utility model. Therefore, equivalent changes made according to the claims of the present utility model are still within the scope covered by the present utility model.

[0017] like Figures 1 to 3As shown, the narrow space video inspection robot in this embodiment includes a casing 1, wherein the casing 1 includes an upper casing and a lower casing, and the upper casing and the lower casing are detachably connected by bayonet or screws. A pair of driving wheels 2 and a pair of steering wheels 3 are installed at the bottom of the casing 1, and the pair of steering wheels 3 are located in front of the pair of driving wheels 2. The diameter of the driving wheel 5 is larger than the steering wheel 3. An inspection device 4 is installed at the front end of the casing 1, and the inspection device 4 includes an extension arm 5 fixed at the front end of the casing 1, and the extension arm 5 is arranged obliquely upward. The head of the extension arm 5 is rotatably connected to a camera assembly 6, and the camera assembly 6 includes a protective shell and a camera installed in the protective shell, and the protective shell is respectively provided with a photographic hole for the camera to shoot and a limit hole for the camera power cord to extend, and a baffle 7 is fixedly installed at the tail of the extension arm 5, and the baffle 7 is located in front of the pair of steering wheels 3 and covers the pair of steering wheels 3.

[0018] like Figures 1 to 3 As shown, the extension arm 5 is divided into a first arm body 5-1 and a second arm body 5-2 fixed on both sides of the front end of the casing 1, the first arm body 5-1 and the second arm body 5-2 are arranged opposite to each other, the camera assembly 6 is rotatably connected between the first arm body 5-1 and the second arm body 5-2, the camera assembly 6 is rotatably connected between the first arm body 5-1 and the second arm body 5-2, the first arm body 5-1 and the second arm body 5-2 are both integrally formed with the baffle 7, and the first arm body 5-1 and the second arm body 5-2 are both located at the top edge of the baffle 7.

[0019] like Figures 1 to 3 As shown, the camera assembly 6 is divided into a camera 6-1 and a connector 6-2 fixed at the rear of the camera 6-1, the connector 6-2 includes a mounting shell 6-2-1 with an opening and a mounting cover 6-2-2 for closing the opening of the mounting shell 6-2-1, the opening of the connector 6-2 faces the first arm 5-1, the mounting cover 6-2-2 is detachably fixedly connected to the mounting shell 6-2-1 by screws, and the mounting cover 6-2-2 is located between the mounting shell 6-2-1 and the first arm 5-1. A motor 6-2-3 is installed in the mounting shell 6-2-1, the output shaft of the motor 6-2-3 passes through the mounting cover 6-2-2 and is fixedly connected to the first arm 5-1, and the mounting shell 6-2-1 is rotatably connected to the second arm 5-2.

[0020] like Figure 1As shown, a clamping strip 6-2-4 is fixedly installed on the output shaft of the motor 6-2-3. The clamping strip 6-2-4 is in the shape of a long strip. A clamping slot 5-3 that matches the shape of the clamping strip 6-2-4 is provided on the first arm body 5-1. The clamping slot 5-3 is set through the first arm body 5-1. The clamping strip 6-2-4 is located inside the clamping slot 5-3. The clamping strip 6-2-4 can limit the rotation of the output device of the motor 6-2-3. When the motor 6-2-3 is energized, the output shaft of the motor 6-2-3 does not move, while the body of the motor 6-2-3 rotates, thereby driving the mounting shell 6-2-1 and the camera 6-1 to rotate, thereby realizing the adjustment of the shooting angle of the camera 6-1.

[0021] like Figures 1 to 3 As shown, a rotating hole 5-4 is provided on the second arm body 5-2, and a rotating shaft 6-2-5 rotatably connected to the rotating hole 5-4 is fixedly installed on the outer side of the mounting shell 6-2-1. The rotating shaft 6-2-5 is arranged opposite to the opening of the mounting shell 6-2-1, and the axis of the rotating shaft 6-2-5 coincides with the axis of the output shaft of the motor 6-2-3. The rotating hole 5-4 is a countersunk hole, and the rotating hole 5-4 is arranged in a section of the second arm body 5-2 close to the mounting shell 6-2-1.

[0022] like Figure 1 , 3 As shown, a protrusion 7-1 is provided in the middle of the front end of the baffle 7, and starting parts 7-2 are provided on both sides of the front end of the baffle 7. A pushing guide surface 7-3 is between the protrusion 7-1 and the starting part 7-2. The pushing guide surfaces 7-3 are symmetrically distributed on both sides of the protrusion 7-1 and form an isosceles triangle.

[0023] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. 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 various embodiments of the utility model.

Claims

1. A narrow space video inspection robot, comprising a housing (1), a pair of driving wheels (2) and a pair of steering wheels (3) being mounted at the bottom of the housing (1), the pair of steering wheels (3) being located in front of the pair of driving wheels (2); Features: A patrol device (4) is installed at the front end of the housing (1), and the patrol device (4) comprises an extension arm (5) fixed at the front end of the housing (1), the head of the extension arm (5) is rotatably connected to a camera assembly (6), and a baffle (7) is fixedly installed at the rear end of the extension arm (5), and the baffle (7) is located in front of the pair of steering wheels (3) and covers the pair of steering wheels (3).

2. The narrow space video inspection robot according to claim 1 is characterized in that: The extension arm (5) is divided into a first arm body (5-1) and a second arm body (5-2) fixed to both sides of the front end of the housing (1); the first arm body (5-1) and the second arm body (5-2) are arranged opposite to each other, and the camera assembly (6) is rotatably connected between the first arm body (5-1) and the second arm body (5-2).

3. The narrow space video inspection robot according to claim 2 is characterized in that: The camera assembly (6) is divided into a camera head (6-1) and a connecting member (6-2) fixed at the rear of the camera head (6-1); the connecting member (6-2) comprises a mounting shell (6-2-1) provided with an opening and a mounting cover plate (6-2-2) for closing the opening of the mounting shell (6-2-1); a motor (6-2-3) is mounted in the mounting shell (6-2-1); an output shaft of the motor (6-2-3) passes through the mounting cover plate (6-2-2) and is fixedly connected to the first arm body (5-1); and the mounting shell (6-2-1) is rotatably connected to the second arm body (5-2).

4. The narrow space video inspection robot according to claim 3 is characterized in that: A clamping strip (6-2-4) is fixedly mounted on the output shaft of the motor (6-2-3); a clamping slot (5-3) that matches the shape of the clamping strip (6-2-4) is provided on the first arm (5-1); the clamping slot (5-3) is through-set; and the clamping strip (6-2-4) is located inside the clamping slot (5-3).

5. The narrow space video inspection robot according to claim 4 is characterized in that: The second arm body (5-2) is provided with a rotating hole (5-4), and a rotating shaft (6-2-5) rotatably connected to the rotating hole (5-4) is fixedly mounted on the outside of the mounting shell (6-2-1). The rotating shaft (6-2-5) and the opening of the mounting shell (6-2-1) are arranged opposite to each other, and the axis of the rotating shaft (6-2-5) coincides with the axis of the output shaft of the motor (6-2-3).

6. The narrow space video inspection robot according to claim 1 is characterized in that: A protrusion (7-1) is provided in the middle of the front end of the baffle (7), and starting parts (7-2) are provided on both sides of the front end of the baffle (7), and a material pushing guide surface (7-3) is provided between the protrusion (7-1) and the starting part (7-2).

7. The narrow space video inspection robot according to claim 6 is characterized in that: The material pushing guide surfaces (7-3) are symmetrically distributed on both sides of the protrusion (7-1) and form an isosceles triangle.

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