Inspection robot

Abstract

The utility model discloses an inspection robot, which belongs to the technical field of inspection robots and comprises a bottom plate, a moving mechanism is arranged at the lower end of the bottom plate, a mounting box is arranged at the upper end of the bottom plate, a visual infrared camera is arranged on one side of the mounting box, and a PLC (programmable logic controller) is arranged on the other side of the mounting box. According to the utility model, through the arrangement of the monitoring device multi-angle adjusting mechanism, the surrounding environment can be detected through the visual infrared camera, monitored data are converted into electric signals and transmitted to the PLC controller, and the PLC controller controls the monitoring device multi-angle adjusting mechanism to adjust the monitoring angle of the monitoring device. According to the multi-angle adjusting mechanism for the inspection robot, the multi-angle adjusting mechanism for the inspection robot is arranged, so that the monitoring range of the inspection robot is widened, full-coverage monitoring work is achieved, and secondly, the rotating assembly is arranged and can control the multi-angle adjusting mechanism for the monitoring device to rotate, so that the monitoring range of the monitoring device is further widened.

Description

Technical Field

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

[0002] Inspection robots can collect environmental data through onboard sensors and cameras, and use AI technology to analyze images and videos to identify potential safety hazards. Such robots are widely used in parks, communities, factories, stations and other places. They can autonomously locate, intelligently avoid obstacles, and plan the optimal inspection route to ensure efficient and comprehensive inspection work.

[0003] Existing inspection robots cannot be adjusted at multiple angles. Although the inspection robots can move autonomously according to the camera, when inspecting special environments, most inspection robots can only rotate or adjust straight up and down, and the overall monitoring effect is relatively poor. Most of the inspection robots set up are moved by universal wheels, and the overall stability is relatively poor when moving on some uneven ground. Utility Model Content

[0004] In order to solve the problems raised in the above background technology, the utility model provides an inspection robot, which has the characteristics of being easy to adjust the inspection robot at multiple angles and having better stability during the movement of the inspection robot.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a patrol robot, comprising a base plate, a moving mechanism is provided at the lower end of the base plate, a mounting box is provided at the upper end of the base plate, a visual infrared camera is provided on one side of the mounting box, a PLC controller is provided on the other side of the mounting box, a multi-angle adjustment mechanism of a monitoring device is provided at the upper end of the mounting box, and a monitoring device is provided at the other end of the multi-angle adjustment mechanism of the monitoring device.

[0006] Preferably, the multi-angle adjustment mechanism of the monitoring device includes motor 1, motor 2, rotating frame 1, rotating rod, rotating block, rotating frame 2, motor 3, rotating arm, motor 4, rotating assembly, rotating table and mounting frame, the rotating assembly is arranged inside the mounting box, the rotating table is arranged at the upper end of the rotating assembly, the mounting frame is arranged at the upper end of the rotating table, the side of the mounting frame is arranged with motor 4, the output end of motor 4 is arranged with a rotating arm, the other end of the rotating arm is rotatably connected with rotating frame 1 through a rotating shaft, the side of rotating frame 1 is arranged with motor 1, the other side of rotating frame 1 is arranged with motor 2, the output end of motor 2 is arranged with rotating rod, the side of the rotating rod is arranged with rotating block, the surface of the rotating block is rotatably connected with rotating frame 2 through a rotating shaft, and the side of rotating frame 2 is arranged with motor 3.

[0007] Preferably, the rotating assembly includes a worm wheel, a motor five and a worm, the motor five is arranged on the side of the mounting box, the output end of the motor five is arranged on the worm, and the worm wheel is meshingly mounted on the side of the worm.

[0008] Preferably, the moving mechanism includes a driven wheel, a rotating shaft, a crawler track, a driving wheel and a six-motor. The lower end side of the base plate is fixedly connected to the six-motor. The output end of the six-motor is provided with a driving wheel. The surface of the driving wheel is meshingly connected with the crawler track. The inner surface of the other end of the crawler track is meshingly installed with a driven wheel. A rotating shaft is provided at the connection between the two sets of driven wheels, and the rotating shaft is fixedly connected to the lower end of the base plate by bolts.

[0009] Preferably, the moving mechanism further includes an anti-slip strip, an electric push rod and a support frame, the electric push rod is arranged at the center position of the lower end of the base plate, the support frame is arranged at the lower end of the electric push rod, and the anti-slip strip is arranged at the side edge of the support frame.

[0010] Preferably, the PLC controller is electrically connected to motor one, motor three, motor four, motor five and motor six respectively, and can control them by issuing instructions.

[0011] Compared with the prior art, the beneficial effects of the utility model are:

[0012] 1. The utility model is provided with a multi-angle adjustment mechanism for a monitoring device. The setting of the mechanism can detect the surrounding environment through a visual infrared camera, and then convert the monitored data into an electrical signal and transmit it to a PLC controller. The PLC controller controls the multi-angle adjustment mechanism of the monitoring device to adjust the monitoring angle of the monitoring device, thereby improving the monitoring range of the inspection robot and realizing full coverage monitoring. Secondly, the mechanism is provided with a rotating component, which can control the multi-angle adjustment mechanism of the monitoring device to rotate, thereby further improving the monitoring range of the monitoring device.

[0013] 2. The utility model is provided with a moving mechanism, which can facilitate the movement of the monitoring device, and the movement stability of the crawler is better, so that the inspection robot can adapt to different road conditions, thereby improving the use effect of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional diagram of the utility model;

[0015] Figure 2 It is a three-dimensional diagram of the multi-angle adjustment mechanism of the monitoring device of the utility model;

[0016] Figure 3 It is a cutaway view of the rotating assembly of the utility model;

[0017] Figure 4It is a three-dimensional diagram of the mobile mechanism of the utility model;

[0018] In the figure: 1, bottom plate; 2, installation box; 3, monitoring device; 4, multi-angle adjustment mechanism of monitoring device; 401, motor one; 402, motor two; 403, rotating frame one; 404, rotating rod; 405, rotating block; 406, rotating frame two; 407, motor three; 408, rotating arm; 409, motor four; 410, rotating assembly; 4101, worm gear; 4102, motor five; 4103, worm; 411, rotating table; 412, mounting frame; 5, PLC controller; 6, visual infrared camera; 7, moving mechanism; 71, anti-slip strip; 72, electric push rod; 73, driven wheel; 74, rotating shaft; 75, crawler track; 76, driving wheel; 77, motor six; 78, supporting frame. DETAILED DESCRIPTION

[0019] 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.

[0020] Example 1

[0021] See also Figure 1-4 The utility model provides the following technical solutions: a patrol robot, comprising a base plate 1, a moving mechanism 7 is arranged at the lower end of the base plate 1, a mounting box 2 is arranged at the upper end of the base plate 1, a visual infrared camera 6 is arranged on one side of the mounting box 2, a PLC controller 5 is arranged on the other side of the mounting box 2, a monitoring device multi-angle adjustment mechanism 4 is arranged at the upper end of the mounting box 2, and a monitoring device 3 is arranged at the other end of the monitoring device multi-angle adjustment mechanism 4.

[0022] Specifically, the multi-angle adjustment mechanism 4 of the monitoring device includes a motor 1 401, a motor 2 402, a rotating frame 1 403, a rotating rod 404, a rotating block 405, a rotating frame 2 406, a motor 3 407, a rotating arm 408, a motor 409, a rotating assembly 410, a rotating table 411 and a mounting frame 412. The rotating assembly 410 is arranged inside the mounting box 2, the rotating table 411 is arranged at the upper end of the rotating assembly 410, the mounting frame 412 is arranged at the upper end of the rotating table 411, and the motor 407 is arranged on the side of the mounting frame 412. 9. A rotating arm 408 is provided at the output end of the motor 409, and the other end of the rotating arm 408 is rotatably connected to a rotating frame 1 403 via a rotating shaft. A motor 1 401 is provided on the side of the rotating frame 1 403, and a motor 2 402 is provided on the other side of the rotating frame 1 403. A rotating rod 404 is provided at the output end of the motor 2 402, and a rotating block 405 is provided on the side of the rotating rod 404. A rotating frame 2 406 is rotatably connected to the surface of the rotating block 405 via a rotating shaft, and a motor 3 407 is provided on the side of the rotating frame 2 406.

[0023] By adopting the above technical solution, the environment in front of the inspection robot is first monitored by the visual infrared camera 6. After the surrounding obstacles are identified, the monitoring data signal is converted into an electrical signal and transmitted to the PLC controller 5. The PLC controller 5 pre-sets the data for controlling motor one 401, motor three 407, motor four 409, motor five 4102 and motor six 77, so as to control motor four 409 to drive the rotating arm 408 to rotate, motor one 401 to drive the rotating frame one 403 to rotate, motor two 402 to drive the rotating rod 404 to rotate, and motor three 407 to drive the rotating frame two 406 to rotate, thereby realizing multi-angle adjustment of the monitoring device 3.

[0024] Specifically, the rotating assembly 410 includes a worm gear 4101, a motor 5 4102 and a worm 4103. The motor 5 4102 is disposed on the side of the mounting box 2. The output end of the motor 5 4102 is disposed with the worm 4103. The worm gear 4101 is meshedly mounted on the side of the worm 4103.

[0025] By adopting the above technical solution, by turning on motor five 4102, motor five 4102 drives worm 4103 to rotate through the output end, and the rotation of worm 4103 drives worm wheel 4101 to rotate, thereby lifting rotating table 411 to rotate, thereby realizing the rotation work of monitoring device 3 to increase its monitoring range.

[0026] When this embodiment is in use, the environment in front of the inspection robot is first monitored through the visual infrared camera 6. After the surrounding obstacles are identified, the monitoring data signal is converted into an electrical signal and transmitted to the PLC controller 5. The PLC controller 5 pre-sets the data for controlling motor 1 401, motor 3 407, motor 409, motor 5 4102 and motor 6 77, so as to control motor 409 to drive the rotating arm 408 to rotate, motor 1 401 to drive the rotating frame 1 403 to rotate, motor 2 402 to drive the rotating rod 404 to rotate, and motor 3 407 to drive the rotating frame 2 406 to rotate, thereby realizing multi-angle adjustment of the monitoring device 3. By turning on motor 5 4102, motor 5 4102 drives the worm 4103 to rotate through the output end, and the rotation of the worm 4103 drives the worm wheel 4101 to rotate, thereby lifting the rotating table 411 to rotate, thereby realizing the rotation of the monitoring device 3 to increase its monitoring range.

[0027] Example 2

[0028] The difference between this embodiment and the first embodiment is that the moving mechanism 7 includes a driven wheel 73, a rotating shaft 74, a crawler belt 75, a driving wheel 76 and a motor 6 77. The lower end side of the base plate 1 is fixedly connected with a motor 6 77. The output end of the motor 6 77 is provided with a driving wheel 76. The surface of the driving wheel 76 is meshingly connected with the crawler belt 75. The inner surface of the other end of the crawler belt 75 is meshingly installed with a driven wheel 73. The connection between the two sets of driven wheels 73 is provided with a rotating shaft 74. The rotating shaft 74 is fixedly connected to the lower end of the base plate 1 by bolts.

[0029] By adopting the above technical solution, by turning on motor six 77, motor six 77 drives the driving wheel 76 to rotate through the output end, the driving wheel 76 rotates to drive the track 75 to rotate, the track 75 rotates to drive the driven wheel 73 to rotate, and the driven wheel 73 rotates to drive the rotating shaft 74 to rotate, thereby ensuring that the device can adapt to different road conditions and move.

[0030] Specifically, the moving mechanism 7 further includes an anti-slip strip 71, an electric push rod 72 and a support frame 78. The electric push rod 72 is disposed at the center of the lower end of the bottom plate 1, the support frame 78 is disposed at the lower end of the electric push rod 72, and the side edge of the support frame 78 is provided with an anti-slip strip 71.

[0031] By adopting the above technical solution, when the device needs to remain stable, the electric push rod 72 is turned on, and the electric push rod 72 drives the support frame 78 to descend to contact the ground through the output end. The setting of the anti-slip strip 71 can increase the friction between the support frame 78 and the ground, thereby improving the stability of the device.

[0032] Specifically, the PLC controller 5 is electrically connected to the motor 1 401, the motor 3 407, the motor 409, the motor 5 4102 and the motor 6 77, and can control them by issuing instructions.

[0033] By adopting the above technical solution, the setting of this structure can enable the PLC controller 5 to control motor one 401, motor three 407, motor four 409, motor five 4102 and motor six 77.

[0034] When the present embodiment is in use, by turning on the motor six 77, the motor six 77 drives the driving wheel 76 to rotate through the output end, the driving wheel 76 drives the track 75 to rotate, the track 75 drives the driven wheel 73 to rotate, the driven wheel 73 drives the rotating shaft 74 to rotate, thereby ensuring that the device can adapt to different road conditions for movement. When the device needs to remain stable, the electric push rod 72 is turned on, and the electric push rod 72 drives the support frame 78 to descend to contact the ground through the output end. The provision of the anti-slip strip 71 can increase the friction between the support frame 78 and the ground, thereby improving the stability of the device.

[0035] The PLC controller 5 in the present invention is an existing disclosed technology, and the selected model is Siemens S7-200.

[0036] The visual infrared camera 6 in the present invention is an existing publicly available technology, and the selected model is Siemens IntelRealSense D435.

[0037] Working principle and use process of the utility model: When the utility model is in use, the environment in front of the inspection robot is first monitored through the visual infrared camera 6. After the surrounding obstacles are identified, the monitoring data signal is converted into an electrical signal and transmitted to the PLC controller 5. The PLC controller 5 pre-sets the data for controlling motor one 401, motor three 407, motor four 409, motor five 4102 and motor six 77, so as to control motor four 409 to drive the rotating arm 408 to rotate, motor one 401 to drive the rotating frame one 403 to rotate, motor two 402 to drive the rotating rod 404 to rotate, and motor three 407 to drive the rotating frame two 406 to rotate, thereby realizing multi-angle adjustment of the monitoring device 3. By turning on motor five 4102, motor five 4102 is turned on. The worm 4103 is driven to rotate through the output end, and the rotation of the worm 4103 drives the worm wheel 4101 to rotate, thereby lifting the rotating table 411 to rotate, thereby realizing the rotation of the monitoring device 3 to increase its monitoring range; by turning on the motor 6 77, the motor 6 77 drives the driving wheel 76 to rotate through the output end, the driving wheel 76 rotates to drive the track 75 to rotate, the track 75 rotates to drive the driven wheel 73 to rotate, and the driven wheel 73 rotates to drive the rotating shaft 74 to rotate, thereby ensuring that the device can adapt to different road conditions for movement. When the device needs to remain stable, the electric push rod 72 is turned on, and the electric push rod 72 drives the support frame 78 to descend to contact the ground through the output end. The setting of the anti-slip strip 71 can increase the friction between the support frame 78 and the ground, thereby improving the stability of the device.

[0038] 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. A patrol robot, comprising a base plate, characterized in that: A moving mechanism is provided at the lower end of the base plate, a mounting box is provided at the upper end of the base plate, a visual infrared camera is provided on one side of the mounting box, a PLC controller is provided on the other side of the mounting box, a monitoring device multi-angle adjustment mechanism is provided at the upper end of the mounting box, and a monitoring device is provided at the other end of the monitoring device multi-angle adjustment mechanism.

2. The inspection robot according to claim 1, characterized in that: The multi-angle adjustment mechanism of the monitoring device comprises motor 1, motor 2, rotating frame 1, rotating rod, rotating block, rotating frame 2, motor 3, rotating arm, motor 4, rotating assembly, rotating table and mounting frame, wherein the rotating assembly is arranged inside the mounting box, the rotating table is arranged at the upper end of the rotating assembly, the mounting frame is arranged at the upper end of the rotating table, the side of the mounting frame is arranged with motor 4, the output end of motor 4 is arranged with rotating arm, the other end of the rotating arm is rotatably connected with rotating frame 1 through a rotating shaft, the side of rotating frame 1 is arranged with motor 1, the other side of rotating frame 1 is arranged with motor 2, the output end of motor 2 is arranged with rotating rod, the side of the rotating rod is arranged with rotating block, the surface of the rotating block is rotatably connected with rotating frame 2 through a rotating shaft, and the side of rotating frame 2 is arranged with motor 3.

3. The inspection robot according to claim 2, characterized in that: The rotating assembly comprises a worm wheel, a motor five and a worm, the motor five is arranged on the side of the mounting box, the output end of the motor five is arranged on the worm, and the worm wheel is meshingly mounted on the side of the worm.

4. The inspection robot according to claim 1, characterized in that: The moving mechanism includes a driven wheel, a rotating shaft, a crawler track, a driving wheel and a six-motor. The lower end side of the base plate is fixedly connected to the six-motor. The output end of the six-motor is provided with a driving wheel. The surface of the driving wheel is meshingly connected with the crawler track. The inner surface of the other end of the crawler track is meshingly installed with a driven wheel. The connecting part of the two sets of driven wheels is provided with a rotating shaft, and the rotating shaft is fixedly connected to the lower end of the base plate by bolts.

5. The inspection robot according to claim 4, characterized in that: The moving mechanism also includes an anti-slip strip, an electric push rod and a support frame. The electric push rod is arranged at the center position of the lower end of the bottom plate, the support frame is arranged at the lower end of the electric push rod, and the side edge of the support frame is arranged with an anti-slip strip.

6. The inspection robot according to claim 4, characterized in that: The PLC controller is electrically connected to motor one, motor three, motor four, motor five and motor six respectively, and can control them by issuing instructions.

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