An intelligent robot for underground detection

Abstract

The utility model relates to the field of underground detection technology, and specifically to an intelligent robot for underground detection. The utility model includes a robot body, a detection component, a support component, a fixed component and a moving component; a detection component is fixedly installed at one end of the robot body, a support component is fixedly installed at the bottom, and a moving component is fixedly installed at the bottom of the support component. The utility model installs four pairs of moving wheels, and the four pairs of moving wheels are driven to rotate by a motor to prevent the silt on the inner wall of the culvert from causing the moving wheels to slip and be unable to move forward. At the same time, the damping spring makes the moving wheels less affected by vibration when facing the uneven inner wall of the culvert, thereby achieving the purpose of improving the stability of camera shooting and being able to adapt to complex mobile environments.

Description

Technical Field

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

[0002] The underground area is relatively large, such as underground spaces such as mines and culverts. Culverts refer to water pipes buried underground, which can be used as waterways below the ground elevation. Culverts generally refer to circular culverts, which are culverts made of circular pipes made of reinforced concrete. Highways, railways, urban roads, urban underground pipelines, tunnels, bridges and other facilities are equipped with culverts, which not only serve as drainage, but also serve as maintenance channels for staff. During the construction and use of underground culverts, when it is necessary to inspect and test the underground culverts, semi-equipment and semi-manual inspection is generally adopted.

[0003] Existing technologies, such as patent publication number CN220228334U, disclose an intelligent three-dimensional detection robot for underground pipe culverts. In order to improve the convenience and safety of underground pipe culvert detection, a push mechanism is provided above the controller, and a light stand is fixedly connected below the controller. Lights are symmetrically provided on the outside of the light stand, and a camera bracket is fixedly connected below the light stand, and a camera probe is symmetrically provided on the back side of the camera bracket. The utility model replaces the traditional semi-equipment and semi-manual detection form. Through the push sliding of the push mechanism on the steel wire, under the illumination of the lighting lamp and the real-time camera of the camera probe, the underground pipe culvert can be autonomously and unmanned. It can not only reduce the operating intensity of the staff, but also reduce the detection risk of the staff, and avoid the toxic and irritating gases in the pipe culvert from damaging the health of the staff.

[0004] In actual use, the installation and laying of steel wire also requires financial and material resources. The steel wire is easily oxidized and damaged due to being washed by sewage and industrial wastewater for a long time. It is also easy for debris to hang on the steel wire, affecting the pushing and sliding of the pushing mechanism.

[0005] Therefore, it is necessary to provide a new technical solution to overcome the above-mentioned defects. Utility Model Content

[0006] The purpose of the utility model is to provide an intelligent robot for underground detection which can effectively solve the above technical problems.

[0007] In order to achieve the purpose of the utility model, the following technical scheme is adopted: an intelligent robot for underground detection, comprising: a robot body, a detection component, a support component, a fixing component and a moving component;

[0008] The moving assembly includes: a supporting shell, a motor fixedly installed in a through hole on the top of the supporting shell, a first bevel gear fixedly connected to a driving shaft of the motor, a second bevel gear meshing with the first bevel gear, a rotating shaft fixedly passing through and installing the second bevel gear, a first helical gear fixedly installed on the rotating shaft, a second helical gear meshing with the first helical gear, a connecting shaft fixedly passing through the second helical gear, and moving wheels fixedly installed at both ends of the connecting shaft.

[0009] Furthermore, the fixing assembly includes: a rotating ring, a threaded hole of an arc array on the rotating ring, and threads arranged in the threaded holes.

[0010] Furthermore, the support assembly includes: a sleeve, a limiting rod fixedly mounted on the bottom of the inner wall of the sleeve, a sleeve rod slidably mounted inside the sleeve, and a damping spring fixedly mounted on the sleeve rod and the bottom of the inner wall of the sleeve.

[0011] Furthermore, the detection assembly includes: a fixed arc plate, a detection light fixedly mounted on the fixed arc plate and the outer wall of the sleeve, a base fixedly mounted at one end of the robot body, and a camera fixedly mounted on the side and one end of the base.

[0012] Furthermore, sharp teeth are evenly arranged on the arc surface of the moving wheel.

[0013] Furthermore, the base is in a hexagonal shape.

[0014] Compared with the prior art, the utility model has the following beneficial effects: the utility model is an intelligent robot for underground detection, which is equipped with four pairs of moving wheels, and the four pairs of moving wheels are driven to rotate by motors, so as to prevent the silt on the inner wall of the culvert from slipping and being unable to move forward. At the same time, the damping spring makes the vibration of the moving wheels less affected by the uneven inner wall of the culvert, thereby achieving the purpose of improving the stability of camera shooting and being able to adapt to complex mobile environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention.

[0016] Figure 1 The utility model is a structural schematic diagram of an intelligent robot for underground detection.

[0017] Figure 2 It is a structural schematic diagram of the fixing component of the utility model.

[0018] Figure 3 It is a structural schematic diagram of the support assembly of the utility model.

[0019] Figure 4It is a structural schematic diagram of the mobile component of the utility model.

[0020] In the figure: 101, robot body; 102, fixing frame; 103, battery box; 104, fixed arc plate; 105, detection light; 106, base; 107, camera; 108, connecting arc plate; 200, fixing assembly; 201, rotating ring; 202, threaded hole; 203, fixing bolt; 300, supporting assembly; 301, sleeve; 302, limiting rod; 303, damping spring; 304, sleeve rod; 400, moving assembly; 401, motor; 402, first bevel gear; 403, second bevel gear; 404, rotating shaft; 405, first helical gear; 406, second helical gear; 407, connecting shaft; 408, moving wheel; 409, supporting shell. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the embodiments of the utility model clearer, the technical solutions in the embodiments of the utility model will be clearly and completely described below. Obviously, the described embodiments are partial embodiments of the utility model, rather than all embodiments.

[0022] In the description of the present utility model, it should be understood that the terms "center", "lateral", "longitudinal", "front", "back", "left", "right", "up", "down", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present utility model. When a mechanism is referred to as being "fixed to" another mechanism, it may be directly on the other mechanism or there may also be a centered mechanism. When a mechanism is considered to be "connected to" another mechanism, it may be directly connected to the other mechanism or there may be a centered mechanism at the same time. When a mechanism is considered to be "set on" another mechanism, it may be directly set on the other mechanism or there may be a centered mechanism at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0023] like Figures 1 to 4 As shown, the utility model is an intelligent robot for underground detection, including a robot body 101, a detection component for detection, a support component 300 for supporting the robot body 101, a fixing component 200 for fixing the support component 300, and a moving component 400 for moving the robot; a fixing frame 102 is fixedly installed on the robot body 101, and a battery box 103 is fixedly installed at one end of the robot body 101.

[0024] The fixing assembly 200 includes two rotating rings 201, a connecting arc plate 108 is fixedly installed on the arc surface of one rotating ring 201, the connecting arc plate 108 is rotatably installed on the other rotating ring 201, the rotating ring 201 is rotatably installed on the fixing frame 102, the rotating ring 201 has a circular arc array with threaded holes 202, the top of the arc surface of the fixing frame 102 is symmetrically provided with threaded holes 202, and the threaded holes 202 are threaded with fixing bolts 203; the supporting assembly 300 includes two sleeves 301, the sleeves 301 are respectively fixedly installed on the rotating ring 201 and the connecting arc plate 108, a limiting rod 302 is fixedly installed on the bottom of the inner wall of the sleeve 301, and a damping spring 303 is installed around it, the damping spring 303 is fixedly installed between the bottom of the inner wall of the sleeve 301 and the sleeve rod 304, and the sleeve rod 304 is slidably installed between the inner wall of the sleeve 301 and the limiting rod 302.

[0025] In the present invention, the two sleeves 301 are fixed at a certain angle by the rotating ring 201 and the fixing bolts 203, so that the moving assembly 400 contacts the lower part of the arc surface on both sides of the inner wall of the culvert, avoiding contact with the position with more silt at the bottom of the inner wall of the culvert.

[0026] The detection assembly includes two fixed arc plates 104, and the fixed arc plates 104 are fixedly installed on the fixed frame 102. The fixed arc plates 104 and the outer wall of the sleeve 301 are fixedly installed with detection lights 105. A base 106 is fixedly installed at one end of the robot body 101, and cameras 107 are fixedly installed on the side and the other end of the base 106. The base 106 is hexagonal in shape, and the cameras 107 on the six sides of the base 106 shoot the inner wall of the culvert to avoid the occurrence of blind spots in shooting.

[0027] In the utility model, the damping spring 303 supports the pushing sleeve rod 304, so that when the robot passes through the uneven inner wall surface of the culvert, the stability of the image captured by the camera is not affected.

[0028] The moving assembly 400 includes a supporting shell 409, which is fixedly mounted on the bottom of the sleeve rod 304. A motor 401 is fixedly mounted inside the bottom of the sleeve rod 304. The motor 401 passes through the through hole at the top of the supporting shell 409. The driving shaft of the motor 401 is fixedly connected to the first bevel gear 402. The first bevel gear 402 and the second bevel gear 403 are meshed with each other. The second bevel gear 403 is fixedly mounted on the rotating shaft 404. The rotating shaft 404 is horizontally rotatably mounted inside the supporting shell 409. Four first bevel gears 405 are fixedly mounted on the rotating shaft 404. The first bevel gear 405 and the second bevel gear 406 are meshed with each other. The second bevel gear 406 is fixedly mounted on the connecting shaft 407. The connecting shaft 407 is rotatably mounted on the supporting shell. Moving wheels 408 are fixedly mounted on both ends of the connecting shaft 407 passing through the supporting shell. Sharp teeth are evenly arranged on the arc surface of the moving wheel 408 to increase the friction coefficient of the moving wheel 408 and prevent the moving wheel 408 from slipping.

[0029] In the utility model, the motor 401 drives four pairs of moving wheels 408 respectively through the cooperation of the first bevel gear 402, the second bevel gear 403, the rotating shaft 404, the first bevel gear 405, the second bevel gear 406 and the connecting shaft 407. Each pair of moving wheels 408 is relatively independent. The slippage of some moving wheels 408 does not affect the normal movement of other moving wheels 408, so that the robot can pass through complex moving environments.

[0030] Working principle: Rotate the rotating ring 201 to make the angle between the sleeve 301 suitable, screw the bolt into the threaded hole 202 on the rotating ring 201 and the fixing frame 102, start the motor 401, the driving shaft of the motor 401 drives the first bevel gear 402 to rotate, the first bevel gear 402 drives the rotating shaft 404 to rotate through the second bevel gear 403, the rotating shaft 404 drives the first bevel gear 405 to rotate, the first bevel gear 405 drives the connecting shaft 407 to rotate through the second bevel gear 406, the connecting shaft 407 drives the moving wheel 408 to rotate, and the moving wheel 408 drives the first bevel gear 405 to rotate. When 08 passes through the uneven inner wall of the culvert, the damping spring 303 is compressed or extended, so that the moving wheel 408 is always in contact with the inner wall of the culvert, while ensuring the stability of the camera 107. The sharp teeth on the moving wheel 408 reduce the possibility of the moving wheel 408 slipping on the mud. Multiple pairs of moving wheels 408 enable the robot to cope with complex conditions inside the culvert. The cameras 107 on the side and front of the base 106 cooperate to capture the interior of the culvert in all directions and avoid blind spots. The intelligent robot achieves the purpose of improving shooting stability and adapting to complex mobile environments.

[0031] The standard parts used in the utility model can be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt the conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt the conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here. The content not described in detail in this specification belongs to the prior art known to professional and technical personnel in this field.

[0032] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the claims attached to the utility model.

Claims

1. An intelligent robot for underground detection, characterized in that: include: Robot body, detection component, support component, fixed component and mobile component; The moving assembly includes: a supporting shell, a motor fixedly installed in a through hole on the top of the supporting shell, a first bevel gear fixedly connected to a driving shaft of the motor, a second bevel gear meshing with the first bevel gear, a rotating shaft fixedly passing through and installing the second bevel gear, a first helical gear fixedly installed on the rotating shaft, a second helical gear meshing with the first helical gear, a connecting shaft fixedly passing through the second helical gear, and moving wheels fixedly installed at both ends of the connecting shaft.

2. An intelligent robot for underground detection as claimed in claim 1, characterized in that: The fixing assembly comprises: a rotating ring, a threaded hole of an arc array on the rotating ring, and threads arranged in the threaded holes.

3. The intelligent robot for underground detection as claimed in claim 1, characterized in that: The support assembly comprises: a sleeve, a limiting rod fixedly mounted on the bottom of the inner wall of the sleeve, a sleeve rod slidably mounted inside the sleeve, and a damping spring fixedly mounted on the sleeve rod and the bottom of the inner wall of the sleeve.

4. An intelligent robot for underground detection as claimed in claim 3, characterized in that: The detection assembly includes: a fixed arc plate, a detection light fixedly mounted on the fixed arc plate and the outer wall of the sleeve, a base fixedly mounted on one end of the robot body, and a camera fixedly mounted on the side and one end of the base.

5. The intelligent robot for underground detection as claimed in claim 1, characterized in that: The arc surface of the moving wheel is evenly provided with sharp teeth.

6. The intelligent robot for underground detection as claimed in claim 4, characterized in that: The base is in a hexagonal shape.

Images