Four-footed detection robot

Abstract

The utility model discloses a four-foot detection robot, and belongs to the technical field of detection robots. Comprising a mounting plate and a top plate, a side supporting frame is arranged at the top end of the top plate, two side supporting wheel assemblies are arranged at the outer end of the side supporting frame, the two side supporting wheel assemblies are symmetrically distributed, two adjusting devices are mounted on each of the two sides of the mounting plate, movable legs are mounted at the outer ends of the multiple adjusting devices, and driving wheels are mounted at the bottom ends of the multiple movable legs; the side supporting frame comprises a motor which is fixedly installed at the top end of the top plate, the output end of the motor is in key connection with a two-way lead screw, the side supporting frame is arranged at the top of the top plate, and the two-way lead screw is driven by the motor to rotate, so that the threaded sleeve moves, and the included angle between the two connecting rods is changed. Therefore, the purpose of adjusting the position of the side supporting wheel assembly arranged at the tail end of the connecting rod is achieved, the side supporting wheel assembly can laterally support pipelines with different diameters, and the stability of the side supporting wheel assembly during moving in the pipelines is improved.

Description

Technical Field

[0001] The present application relates to the technical field of detection robots, and specifically to a four-legged detection robot. Background Art

[0002] Detection robots can be used to detect, inspect and maintain pipeline systems. Pipeline systems are widely used in various fields, such as oil and gas transportation, water supply and drainage, chemical industry, etc. Since pipelines are usually buried underground or in places that are difficult to reach, traditional manual inspection and maintenance methods are often expensive, time-consuming and risky. The emergence of detection robots makes pipeline inspection and maintenance work more efficient, safe and accurate.

[0003] The patent with announcement number CN214293091U discloses a pipeline detection device and a detection robot, which uses walking wheels to drive the main structure to move inside the pipeline, and the lateral driving wheels roll along the side walls of the pipeline. Therefore, when the pipeline detection device moves to the turning position of the pipeline, the lateral driving wheels can play a lateral guiding role on the main structure, so that the pipeline detection device can achieve automatic posture adjustment, so as to improve the flexibility of the pipeline detection device in moving inside the pipeline, and thus more efficiently and accurately realize the detection of the internal state of the pipeline.

[0004] When a blockage or rupture occurs inside a pipeline, it is necessary to determine the specific location and understand the specific internal situation in order to make a corresponding repair plan. The side support of the device in the above solution cannot be adjusted and cannot be adjusted according to the diameter of the pipeline, which causes the side support to be unable to fit tightly against the pipe wall, making the detector unstable during movement and causing it to fall over.

[0005] Therefore, it is necessary to provide a four-legged detection robot to solve the above problems.

[0006] It should be noted that the above information disclosed in this background technology section is only for understanding the background technology of the present application concept, and therefore, it may contain information that does not constitute the prior art. Utility Model Content

[0007] Based on the above-mentioned problems existing in the prior art, the problem to be solved by the present application is: to provide a four-legged detection robot, with a side support frame arranged on the top of the top plate, and the bidirectional screw is rotated by the drive of the motor, so that the threaded sleeve moves, and the angle between the two connecting rods changes, thereby achieving the purpose of adjusting the position of the side support wheel assembly arranged at the end of the connecting rod, so that it can provide lateral support to it when dealing with pipes of different diameters, thereby improving its stability when moving in the pipe.

[0008] The technical solution adopted by the present application to solve its technical problems is: a four-legged detection robot, including a mounting plate and a top plate, a side support frame is arranged on the top of the top plate, two side support wheel assemblies are arranged on the outer end of the side support frame, and the two side support wheel assemblies are symmetrically distributed, two adjustment devices are installed on both sides of the mounting plate, movable legs are installed on the outer ends of multiple adjustment devices, and driving wheels are installed on the bottom ends of multiple movable legs, the side support frame includes a motor, the motor is fixedly mounted on the top of the top plate, a bidirectional lead screw is keyed to the output end of the motor, two threaded sleeves are provided on the outer end of the bidirectional lead screw, the bidirectional lead screw is threadedly connected to the threaded sleeve, mounting rods are fixedly connected to both sides of the threaded sleeve, and the bidirectional lead screw is rotatably connected to the side wall of the top plate at one end away from the motor.

[0009] Furthermore, the mounting plate is located below the top plate, a plurality of connecting columns are fixedly connected between the mounting plate and the top plate, and an imaging device is installed on the top of the mounting plate.

[0010] Furthermore, the side support frame also includes a plurality of slide blocks, the end of the mounting rod away from the threaded sleeve is fixedly connected to the slide block, and the outer ends of the plurality of slide blocks are fixedly connected to connection blocks.

[0011] Furthermore, two fixing plates are fixedly connected to the top of the top plate, and the outer ends of the fixing plates are provided with sliding grooves matching the sliding blocks, and the sliding blocks are slidably connected to the sliding grooves.

[0012] Furthermore, the side support frame also includes two movable blocks, the outer ends of the movable blocks are rotatably connected to two connecting rods, and one end of the connecting rod away from the movable block is rotatably connected to the connecting block.

[0013] Furthermore, the side support wheel assembly includes a connecting plate, an outer end of the connecting plate is fixedly connected to the movable block, and two symmetrically distributed side support frames are fixedly connected to a side of the connecting plate away from the movable block.

[0014] Furthermore, a support wheel is rotatably connected between the two side support frames, and a plurality of anti-slip strips are installed on the outer ends of the support wheels, and the anti-slip strips are made of rubber material.

[0015] The beneficial effect of the present application is as follows: a four-legged detection robot provided by the present application has a side support frame arranged on the top of the top plate, and the bidirectional screw is rotated by the drive of the motor, so that the threaded sleeve moves, and the angle between the two connecting rods changes, thereby achieving the purpose of adjusting the position of the side support wheel assembly arranged at the end of the connecting rod, so that it can provide lateral support to the pipes with different diameters, thereby improving its stability when moving in the pipe.

[0016] In addition to the above-described purposes, features and advantages, the present application also has other purposes, features and advantages. The present application will be further described in detail with reference to the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0018] Figure 1 It is a schematic diagram of the overall structure on the front side;

[0019] Figure 2 It is a schematic diagram of the overall structure on the back;

[0020] Figure 3 It is a schematic diagram of the local three-dimensional structure;

[0021] Figure 4 It is a schematic diagram of the explosion structure of the side support frame;

[0022] Figure 5 It is a schematic diagram of the side support wheel structure.

[0023] Among them, the reference numerals in the figure are:

[0024] 1. Mounting plate;

[0025] 2. Move your legs;

[0026] 3. Adjustment device;

[0027] 4. Driving wheel;

[0028] 5. Video installation;

[0029] 6. Side support frame; 61. Movable block; 62. Connecting rod; 63. Connecting block; 64. Sliding block; 65. Mounting rod; 66. Motor; 67. Bidirectional screw rod; 68. Threaded sleeve;

[0030] 7. Side support wheel assembly; 71. Connecting plate; 72. Side support frame; 73. Support wheel;

[0031] 8. Top plate;

[0032] 9. Fixed plate;

[0033] 10. Connecting column. DETAILED DESCRIPTION

[0034] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0035] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0036] like Figure 1-Figure 5 As shown, the present application provides a four-legged detection robot, including a mounting plate 1 and a top plate 8, a side support frame 6 is arranged at the top of the top plate 8, two side support wheel assemblies 7 are arranged at the outer end of the side support frame 6, the two side support wheel assemblies 7 are symmetrically distributed, two adjustment devices 3 are installed on both sides of the mounting plate 1, movable legs 2 are installed at the outer ends of multiple adjustment devices 3, and driving wheels 4 are installed at the bottom ends of multiple movable legs 2, the side support frame 6 includes a motor 66, the motor 66 is fixedly mounted on the top of the top plate 8, a bidirectional screw rod 67 is keyed to the output end of the motor 66, two threaded sleeves 68 are provided on the outer end of the bidirectional screw rod 67, the bidirectional screw rod 67 is threadedly connected to the threaded sleeve 68, mounting rods 65 are fixedly connected to both sides of the threaded sleeve 68, and the end of the bidirectional screw rod 67 away from the motor 66 is rotatably connected to the side wall of the top plate 8.

[0037] The mounting plate 1 is located below the top plate 8 , a plurality of connecting columns 10 are fixedly connected between the mounting plate 1 and the top plate 8 , and an imaging device 5 is installed on the top of the mounting plate 1 .

[0038] The device in this scheme is mainly used to detect the inside of the pipeline. An imaging device 5 is installed on the top of the mounting plate 1. The imaging device 5 is mainly composed of a camera, a distance sensor and a lighting system. It is mainly used to shoot image data and transmit the situation inside the pipeline to the outside to help the staff judge and formulate a maintenance plan. A top plate 8 is installed above the mounting plate 1 through multiple connecting columns 10. A battery can be placed in the interlayer between the mounting plate 1 and the top plate 8 to drive the entire device. Two adjustment devices 3 are respectively arranged on both sides of the mounting plate 1. The outside of the adjustment device 3 is connected with a movable leg 2. The adjustment device 3 is mainly used to adjust the angle of the movable leg 2. When there are too many debris inside the pipeline, the angle of the movable leg 2 can be adjusted to raise the mounting plate 1, thereby improving the passability. When the diameter of the pipeline is small, the mounting plate 1 can be lowered by adjusting the adjustment device 3 to increase its adaptability. At the same time, the adjustment device 3 also serves to change the steering angle of the movable leg 2. By controlling the rotation of the movable leg 2, the device can be turned, and some pipelines with smaller bends can also pass.

[0039] Drive wheels 4 are installed at the bottom of the four movable legs 2. The device moves mainly by rotating the drive wheels 4. The drive wheels 4 are mainly composed of external tires and internal hub motors. The hub motor is a drive system that directly integrates the electric motor into the wheel hub. Electric vehicles in daily life use this drive method.

[0040] A side support frame 6 is arranged on the top of the top plate 8, and side support wheel assemblies 7 are respectively arranged on both sides of the side support frame 6. The side support frame 6 mainly plays the role of adjusting the side support wheel assembly 7. The bidirectional screw rod 67 is driven by the motor 66 to rotate, so that the threaded sleeve 68 moves, and the angle between the two connecting rods 62 changes, so as to achieve the purpose of adjusting the position of the side support wheel assembly 7 set at the end of the connecting rod 62, so that the support wheel 73 can be close to the inner wall of the pipeline, thereby improving its stability when moving in the pipeline.

[0041] like Figure 3 and Figure 4 As shown, the side support frame 6 also includes a plurality of sliders 64 , one end of the mounting rod 65 away from the threaded sleeve 68 is fixedly connected to the slider 64 , and the outer ends of the plurality of sliders 64 are all fixedly connected to a connecting block 63 .

[0042] Two fixing plates 9 are fixedly connected to the top of the top plate 8. The outer ends of the fixing plates 9 are provided with sliding grooves matching the sliding blocks 64. The sliding blocks 64 are slidably connected to the sliding grooves.

[0043] The side support frame 6 further includes two movable blocks 61 . The outer ends of the movable blocks 61 are rotatably connected to two connecting rods 62 . One end of the connecting rod 62 away from the movable blocks 61 is rotatably connected to the connecting block 63 .

[0044] The motor 66 is fixed on the top of the top plate 8, and a bidirectional screw rod 67 is connected to the output end of the motor 66. The other end of the bidirectional screw rod 67 is rotatably connected to the side wall of the top plate 8. At the same time, two threaded sleeves 68 are threadedly connected to the outer end of the bidirectional screw rod 67. Two mounting rods 65 are fixed to the outer end of each threaded sleeve 68. The mounting rod 65 is connected to the connecting block 63 through a slider 64. Two fixing plates 9 with sliding grooves are also fixed on the top of the top plate 8. The slider 64 passes through the sliding groove and is slidably connected thereto, and the two ends of the connecting rod 62 are respectively connected to the connecting block 63. The connecting block 63 and the movable block 61 are rotatably connected. Since the bidirectional screw rod 67 is provided with a bidirectional thread, when the bidirectional screw rod 67 rotates, the two threaded sleeves 68 will move in opposite directions. At this time, the slider 64 is driven to slide in the slide groove by the mounting rod 65, which will change the angle between the two connecting rods 62, thereby moving the side support wheel assembly 7 installed at the end of the connecting rod 62. When dealing with pipes of different diameters, the support wheel 73 is always kept close to the inner wall of the pipe by adjusting the side support frame 6, thereby improving the stability when moving in the pipe.

[0045] like Figure 5 As shown, the side support wheel assembly 7 includes a connecting plate 71, the outer end of the connecting plate 71 is fixedly connected to the movable block 61, and the side of the connecting plate 71 away from the movable block 61 is fixedly connected to two symmetrically distributed side support frames 72.

[0046] A support wheel 73 is rotatably connected between the two side support frames 72 , and a plurality of anti-slip strips made of rubber are installed on the outer ends of the support wheels 73 .

[0047] The side support wheel assembly 7 is mainly composed of two side support frames 72 and a support wheel 73. The connecting plate 71 is mainly used to connect with the movable block 61. The two side support frames 72 are fixedly installed on the connecting plate 71, and the support wheel 73 is rotatably installed between the two side support frames 72. At the same time, the anti-slip strip arranged at the outer end of the support wheel 73 is made of rubber material. When the device moves, the support wheel 73 will cling to the inner wall of the pipe to play a supporting role, thereby improving the stability during movement. At the same time, when encountering a smaller bend, the support of the support wheel 73 can play a guiding role, thereby improving the ability to turn.

[0048] Working principle:

[0049] When using the device, first, it is necessary to adjust the side support frame 6 according to the diameter of the pipeline, and put the device into the pipeline. The output end of the motor 66 is connected to the bidirectional screw rod 67, and the bidirectional screw rod 67 is provided with a bidirectional thread. When the bidirectional screw rod 67 rotates, the two threaded sleeves 68 will move in opposite directions, thereby changing the angle between the two connecting rods 62, so that the side support wheel assembly 7 installed at the end of the connecting rod 62 can move. Through the adjustment of the side support frame 6, the support wheel 73 is always close to the inner wall of the pipeline. The side support wheel assembly 7 is mainly composed of two side support frames 72 and a support wheel 73. The support wheel 73 is rotatably installed between the two side support frames 72. When the device moves, the support wheel 73 is close to the inner wall of the pipeline to play a supporting role, thereby improving the stability during movement. At the same time, when encountering a smaller bend, the support of the support wheel 73 can play a guiding role, thereby improving the ability to turn.

[0050] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A quadruped detection robot, comprising a mounting plate (1) and a top plate (8), characterized in that: A side support frame (6) is arranged at the top end of the top plate (8), two side support wheel assemblies (7) are arranged at the outer end of the side support frame (6), and the two side support wheel assemblies (7) are symmetrically distributed; two adjustment devices (3) are installed on both sides of the mounting plate (1), and movable legs (2) are installed at the outer ends of the plurality of adjustment devices (3), and driving wheels (4) are installed at the bottom ends of the plurality of movable legs (2); The side support frame (6) comprises a motor (66), the motor (66) is fixedly mounted on the top of the top plate (8), the output end of the motor (66) is key-connected with a bidirectional screw rod (67), the outer end of the bidirectional screw rod (67) is sleeved with two threaded sleeves (68), the bidirectional screw rod (67) is threadedly connected to the threaded sleeves (68), both sides of the threaded sleeves (68) are fixedly connected with mounting rods (65), and the end of the bidirectional screw rod (67) away from the motor (66) is rotatably connected to the side wall of the top plate (8).

2. A quadruped detection robot according to claim 1, characterized in that: The mounting plate (1) is located below the top plate (8), a plurality of connecting columns (10) are fixedly connected between the mounting plate (1) and the top plate (8), and an imaging device (5) is installed on the top of the mounting plate (1).

3. A quadruped detection robot according to claim 1, characterized in that: The side support frame (6) further comprises a plurality of slide blocks (64); one end of the mounting rod (65) away from the threaded sleeve (68) is fixedly connected to the slide block (64); and the outer ends of the plurality of slide blocks (64) are all fixedly connected to a connecting block (63).

4. A quadruped detection robot according to claim 3, characterized in that: Two fixing plates (9) are fixedly connected to the top of the top plate (8), and a sliding groove matching the sliding block (64) is formed at the outer end of the fixing plate (9), and the sliding block (64) is slidably connected to the sliding groove.

5. A quadruped detection robot according to claim 4, characterized in that: The side support frame (6) further comprises two movable blocks (61), the outer ends of the movable blocks (61) being rotatably connected to two connecting rods (62), and the ends of the connecting rods (62) away from the movable blocks (61) being rotatably connected to the connecting blocks (63).

6. A quadruped detection robot according to claim 5, characterized in that: The side support wheel assembly (7) comprises a connecting plate (71), the outer end of the connecting plate (71) being fixedly connected to the movable block (61), and two symmetrically distributed side support frames (72) being fixedly connected to a side of the connecting plate (71) away from the movable block (61).

7. A quadruped detection robot according to claim 6, characterized in that: A support wheel (73) is rotatably connected between the two side support frames (72), and a plurality of anti-slip strips are mounted on the outer ends of the support wheels (73), wherein the anti-slip strips are made of rubber material.

Images