Inspection robot

Abstract

The utility model relates to the technical field of inspection robots, and discloses an inspection robot which comprises a robot body, wheel cavities are formed in the bottom faces of the front end and the rear end of the robot body respectively, steering mechanisms are connected to the two ends of the two wheel cavities respectively, replacement boxes are connected to the output ends of the four steering mechanisms respectively, and transposition cavities are formed in the four replacement boxes respectively. And transposition mechanisms are connected to the inner walls of the four transposition cavities, moving openings are formed in the two sides of the four transposition cavities in a penetrating mode, moving mechanisms are connected to the two sides of the four transposition mechanisms, and the two moving mechanisms penetrate through the two moving openings correspondingly and are connected with a main wheel and a standby wheel correspondingly. According to the inspection robot, when the robot body uses the main wheel to walk on a conventional road surface to inspect an icy road surface, the main wheel and the standby wheel can be switched through the replacement mechanism, and then the robot body can walk on the icy road surface through the standby wheel, so that the practicability of the robot body is better.

Description

Technical Field

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

[0002] Inspection robots are robot systems designed specifically for automated inspection and patrol tasks, combining advanced sensing technology, autonomous navigation capabilities, and data analysis capabilities. Among the current inspection robots, there is an automated device equipped with a 360-degree panoramic camera system that can capture all-round video or image data of its surroundings. The panoramic camera function allows the robot to observe and record all details of its environment without blind spots when performing inspection tasks, which is especially important for monitoring and security applications.

[0003] The patent with the announcement number CN218018550U currently discloses an inspection robot, which relates to the field of robot technology, including a vehicle body, a support frame, an electric telescopic support, a control device, a panoramic camera, a camera, a laser radar, a GNSS antenna, a GNSS module and a combustible gas detection device; the GNSS module provides navigation for the movement of the vehicle body; the electric telescopic support is arranged on the support frame, and the panoramic camera is used to capture the external image of the pipeline and the corresponding instrument image; the camera is used to identify obstacles; the combustible gas detection device is arranged on the support frame, and is used to detect the concentration of combustible gas in the corresponding environment, so as to facilitate the identification of areas where the combustible gas exceeds the standard. The inspection robot of this application can replace manual movement to the corresponding position of the oil and gas pipeline, detect whether the combustible gas near the pipeline exceeds the standard or the location where the pipeline has a potential leakage, and then replace manual inspection work to improve the inspection efficiency.

[0004] However, the above inspection robots still have the following problems in the actual inspection process:

[0005] During the inspection process, when traveling on different road surfaces (for example, from a regular road surface to an icy road surface), slipping is likely to occur if only rubber wheels are used; on the contrary, using only anti-skid wheels may affect the moving speed, resulting in poor practicality. Utility Model Content

[0006] In view of the deficiencies in the prior art, the utility model provides an inspection robot. When the robot body uses main wheels to walk on a regular road and then inspects an icy road, the main wheels and spare wheels can be switched through a replacement mechanism, and the robot body can then walk on the icy road with the spare wheels, thereby improving the practicality of the robot body.

[0007] The utility model provides the following technical solutions: a patrol robot, including a robot body, wheel cavities are opened on the bottom surfaces of the front and rear ends of the robot body, steering mechanisms are connected to the two ends of the two wheel cavities, output ends of four steering mechanisms are connected to replacement boxes, transposition cavities are opened inside the four replacement boxes, transposition mechanisms are connected to the inner walls of the four transposition cavities, moving openings are penetrated on both sides of the four transposition cavities, moving mechanisms are connected to both sides of the four transposition mechanisms, two moving mechanisms penetrate the two moving openings respectively, and are respectively connected to a main wheel and a spare wheel, and the main wheel and the spare wheel are arranged with height offset.

[0008] Furthermore, the shifting mechanism includes a shifting motor, a gear and two rack plates. The outer wall of the shifting motor is fixedly connected to one side of the outer wall of the replacement box. The output shaft of the shifting motor passes through the replacement box and is fixedly connected to the inner wall of the gear. The two rack plates are respectively connected to the two moving mechanisms, and the two rack plates are staggered up and down, and the gear is meshed with both rack plates.

[0009] Furthermore, two lifting openings are provided through the upper and lower ends of the transposition cavity, and the two rack plates are respectively matched with the four lifting openings.

[0010] Furthermore, two slide grooves are provided on both sides of the inner wall of the transposition cavity away from the moving opening, and slide bars are fixedly connected to both sides of the two rack plates, and the outer walls of the four slide bars are slidably connected to the inner walls of the four slide grooves respectively.

[0011] Furthermore, the two moving mechanisms each include a moving motor and a rotating shaft, the adjacent ends of the two moving motors are respectively fixedly connected to the side of the two rack plates away from the gears, the outer walls of the two moving motors are respectively slidingly connected to the inner walls of the two moving openings, and the output shafts of the two moving motors are respectively fixedly connected to the inner walls at the center of the main wheel and the spare wheel.

[0012] Furthermore, motor cavities are provided on the inner walls at both ends of the two wheel cavities, and the four steering mechanisms are respectively located in the four motor cavities.

[0013] Furthermore, the steering mechanism includes a steering motor and a connecting plate, the outer wall of the steering motor is fixedly connected to the inner wall of the motor cavity, the output shaft of the steering motor passes through the motor cavity and is fixedly connected to the upper surface of the connecting plate, and the bottom surface of the connecting plate is fixedly connected to the upper surface of the replacement box.

[0014] Compared with the prior art, the utility model has the following beneficial effects:

[0015] This inspection robot is configured with a steering mechanism, a replacement box, a replacement mechanism and two moving mechanisms below a robot body, and the main wheels and the spare wheels are respectively connected through the two moving mechanisms. When the robot body uses the main wheels to walk on a regular road surface and inspects an icy road surface, the main wheels and the spare wheels can be switched through the replacement mechanism, and then the robot body can walk on the icy road surface through the spare wheels, thereby improving the practicality of the robot body. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall appearance of the utility model;

[0017] Figure 2 This is a schematic diagram of the overall appearance of the utility model from another perspective;

[0018] Figure 3 This is a bottom view of the robot body of the utility model;

[0019] Figure 4 It is a detailed connection diagram of the replacement box, main wheel and spare wheel of the utility model;

[0020] Figure 5 For this utility model Figure 4 Exploded diagram of each component in the diagram;

[0021] Figure 6 It is an exploded schematic diagram of the steering mechanism, replacement box and transposition mechanism of the utility model.

[0022] In the figure: 1. robot body; 2. main wheel; 3. spare wheel; 4. rotating shaft; 5. replacement box; 6. rack plate; 7. transposition motor; 8. connecting plate; 9. steering motor; 10. moving motor; 11. gear; 12. slide bar; 101. wheel cavity; 102. motor cavity; 501. lifting port; 502. moving port; 503. slide groove; 504. transposition cavity. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0024] See also Figure 1-Figure 6A patrol robot comprises a robot body 1, wheel cavities 101 are provided on the bottom surfaces of the front and rear ends of the robot body 1, steering mechanisms are connected to the two ends of the two wheel cavities 101, output ends of the four steering mechanisms are connected to replacement boxes 5, transposition cavities 504 are provided inside the four replacement boxes 5, transposition mechanisms are connected to the inner walls of the four transposition cavities 504, moving openings 502 are penetrated on both sides of the four transposition cavities 504, moving mechanisms are connected to both sides of the four transposition mechanisms, two moving mechanisms penetrate the two moving openings 502 respectively, and are respectively connected to the main wheel 2 and the spare wheel 3, and the main wheel 2 and the spare wheel 3 are arranged with height offset.

[0025] The inspection robot in the utility model is similar in structure to the existing inspection robot, such as the inspection robot disclosed in the patent with announcement number CN218018550U. Figures 1 to 6 As shown, during the normal execution of the inspection task, the inspection robot in the utility model normally performs inspections through the panoramic camera on the robot body 1 and walks normally on the ground through the four main wheels 2. During the inspection process, if it walks on an icy road surface, the main wheels 2 and the spare wheels 3 can be switched through the replacement mechanism, and then the robot can walk on the icy road surface through the spare wheels 3, making the robot body 1 more practical. The main wheels 2 and the spare wheels 3 can be switched, and then the main wheels 2 can be folded upwards and the spare wheels 3 can be placed against the ground. At this time, the inspection task can be continued with the help of the spare wheels 3, which is more convenient and practical.

[0026] Special mention should be made here:

[0027] 1. The internal controller of the robot body 1 is prior art, so it will not be described in detail.

[0028] 2. The function of the steering mechanism here is to drive the entire replacement box 5 to rotate together, so as to control the robot body 1 to achieve turning.

[0029] 3. The function of the moving mechanism here is to drive the main wheel 2 or the spare wheel 3 to rotate, so as to drive the robot body 1 to walk and move normally.

[0030] 4. When the robot body 1 is walking on the four spare wheels 3, the robot body 1 can still maintain normal stability (in the figure, for ease of understanding, the main wheels 2 and spare wheels 3 are drawn larger and farther away).

[0031] Please refer to Figure 5 and Figure 6The transposition mechanism includes a transposition motor 7, a gear 11 and two rack plates 6. The outer wall of the transposition motor 7 is fixedly connected to one side of the outer wall of the replacement box 5. The output shaft of the transposition motor 7 passes through the replacement box 5 and is fixedly connected to the inner wall of the gear 11. The two rack plates 6 are respectively connected to the two moving mechanisms, and the two rack plates 6 are staggered up and down, and the gear 11 is meshed with the two rack plates 6.

[0032] More specifically, when the main wheel 2 and the spare wheel 3 need to be switched, it is only necessary to turn on the transposition motor 7 through the internal controller of the robot body 1. After the transposition motor 7 is started, the output shaft drives the gear 11 to rotate, and after the gear 11 rotates, it can drive the two rack plates 6 to move up and down respectively, and then the two moving mechanisms connected by the two rack plates 6, the main wheel 2 and the spare wheel 3 can be raised and lowered respectively, and then the main wheel 2 and the spare wheel 3 can be swapped.

[0033] Please refer to Figure 4-Figure 6 Two lifting openings 501 are provided at both upper and lower ends of the transposition cavity 504 , and the two rack plates 6 are respectively matched with the four lifting openings 501 .

[0034] More specifically, by setting the lifting opening 501, space can be provided for the two rack plates 6 to rise and fall, thereby preventing the two rack plates 6 from colliding with the inner wall of the replacement box 5 when rising and falling; and by setting the lifting opening 501, the overall height of the replacement box 5 can also be reduced.

[0035] Please refer to Figure 6 Two slide grooves 503 are provided on both sides of the inner wall of the transposition cavity 504 away from the moving opening 502 , and slide bars 12 are fixedly connected to both sides of the two rack plates 6 , and the outer walls of the four slide bars 12 are slidably connected to the inner walls of the four slide grooves 503 respectively.

[0036] More specifically, by providing the slide groove 503 and the slide bar 12 , the lifting and lowering tracks of the two rack plates 6 can be limited, thereby preventing the two rack plates 6 from being offset when they are lifted and lowered by the gear 11 .

[0037] Please refer to Figure 5 and Figure 6 The two moving mechanisms each include a moving motor 10 and a rotating shaft 4. The adjacent ends of the two moving motors 10 are fixedly connected to the side of the two rack plates 6 away from the gear 11. The outer walls of the two moving motors 10 are slidingly connected to the inner walls of the two moving openings 502. The output shafts of the two moving motors 10 are fixedly connected to the inner walls at the center of the main wheel 2 and the spare wheel 3.

[0038] More specifically, when it is necessary to drive the main wheel 2 and the spare wheel 3 to move, it is only necessary to turn on the mobile motor 10 through the internal controller of the robot body 1. After the mobile motor 10 is started, the output shaft drives the rotating shaft 4 to rotate. After the rotating shaft 4 rotates, it can drive the main wheel 2 and the spare wheel 3 to rotate, and then it can cooperate with the other three main wheels 2 and spare wheels 3 to drive the entire robot body 1 to move.

[0039] Please refer to Figure 3 The inner walls at both ends of the two wheel cavities 101 are each provided with a motor cavity 102 , and the four steering mechanisms are respectively located in the four motor cavities 102 .

[0040] More specifically, by providing the motor cavity 102 , firstly, the external space occupied by the steering mechanism can be reduced; and the overall height of components such as the replacement box 5 , the main wheel 2 , and the spare wheel 3 can also be reduced.

[0041] Please refer to Figure 4-Figure 6 The steering mechanism includes a steering motor 9 and a connecting plate 8. The outer wall of the steering motor 9 is fixedly connected to the inner wall of the motor cavity 102. The output shaft of the steering motor 9 passes through the motor cavity 102 and is fixedly connected to the upper surface of the connecting plate 8. The bottom surface of the connecting plate 8 is fixedly connected to the upper surface of the replacement box 5.

[0042] More specifically, when the robot body 1 is moving normally, if turning is required, it is only necessary to turn on the steering motor 9 through the internal controller of the robot body 1. After the steering motor 9 is started, the output shaft drives the connecting plate 8 to rotate, and when the connecting plate 8 rotates, it can drive the replacement box 5 to rotate, thereby driving the main wheel 2 and the spare wheel 3 to rotate, and then the robot body 1 can be controlled to turn.

[0043] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A patrol robot, comprising a robot body (1), characterized in that: The bottom surfaces of the front and rear ends of the robot body (1) are provided with wheel cavities (101), both ends of the two wheel cavities (101) are connected to steering mechanisms, the output ends of the four steering mechanisms are connected to replacement boxes (5), the interiors of the four replacement boxes (5) are provided with transposition cavities (504), the inner walls of the four transposition cavities (504) are connected to transposition mechanisms, both sides of the four transposition cavities (504) are penetrated with moving openings (502), both sides of the four transposition mechanisms are connected to moving mechanisms, the two moving mechanisms respectively penetrate the two moving openings (502) and are respectively connected to the main wheel (2) and the spare wheel (3), and the main wheel (2) and the spare wheel (3) are arranged in a height offset manner.

2. The inspection robot according to claim 1, characterized in that: The transposition mechanism comprises a transposition motor (7), a gear (11) and two rack plates (6); the outer wall of the transposition motor (7) is fixedly connected to one side of the outer wall of the replacement box (5); the output shaft of the transposition motor (7) passes through the replacement box (5) and is fixedly connected to the inner wall of the gear (11); the two rack plates (6) are respectively connected to the two moving mechanisms, and the two rack plates (6) are staggered up and down, and the gear (11) is meshed with the two rack plates (6).

3. The inspection robot according to claim 2, characterized in that: Two lifting openings (501) are provided through the upper and lower ends of the transposition cavity (504), and the two rack plates (6) are respectively matched with the four lifting openings (501).

4. The inspection robot according to claim 2 or 3, characterized in that: Two slide grooves (503) are provided on both sides of the inner wall of the transposition cavity (504) away from the moving opening (502), and slide bars (12) are fixedly connected to both sides of the two rack plates (6), and the outer walls of the four slide bars (12) are slidably connected to the inner walls of the four slide grooves (503) respectively.

5. The inspection robot according to claim 2 or 3, characterized in that: The two moving mechanisms each comprise a moving motor (10) and a rotating shaft (4); the adjacent ends of the two moving motors (10) are respectively fixedly connected to the side of the two rack plates (6) away from the gear (11); the outer walls of the two moving motors (10) are respectively slidably connected to the inner walls of the two moving openings (502); and the output shafts of the two moving motors (10) are respectively fixedly connected to the inner walls at the center of the main wheel (2) and the spare wheel (3).

6. The inspection robot according to claim 1, 2 or 3, characterized in that: The inner walls at both ends of the two wheel cavities (101) are each provided with a motor cavity (102), and the four steering mechanisms are respectively located in the four motor cavities (102).

7. The inspection robot according to claim 6, characterized in that: The steering mechanism comprises a steering motor (9) and a connecting plate (8); the outer wall of the steering motor (9) is fixedly connected to the inner wall of the motor cavity (102); the output shaft of the steering motor (9) passes through the motor cavity (102) and is fixedly connected to the upper surface of the connecting plate (8); and the bottom surface of the connecting plate (8) is fixedly connected to the upper surface of the replacement box (5).

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