Inspection robot suitable for multiple sites

Abstract

The utility model relates to the technical field of inspection robots, and discloses an inspection robot suitable for multiple sites, which comprises a moving frame slidably mounted on a guide rail, and a connecting plate is fixedly mounted on the moving frame; a telescopic assembly is fixedly installed on the connecting plate, a mounting plate is fixedly installed at the other end of the telescopic assembly, and a machine body is movably installed on the mounting plate; wheel bodies are arranged at the bottom of the machine body; a driving motor is arranged on the machine body, a rotating shaft is fixedly installed at the output end of a shaft part of the driving motor, a holder is fixedly installed on the rotating shaft, and a camera shooting assembly is arranged on the holder. When the position of the camera shooting assembly is adjusted, the machine body and the mounting plate can be synchronously separated, namely, switching between a track type inspection robot and a wheel type inspection robot can be conveniently and rapidly completed, the application range of the equipment is wider, and the equipment is suitable for different use scenes; therefore, all-directional and dead-corner-free inspection activities are realized.

Description

Technical Field

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

[0002] With the improvement of robot manufacturing level, inspection robots are widely used in the inspection work of various scenarios, especially for the inspection of some complex areas. By using automated inspection robots to replace staff to inspect some equipment and areas, and sending the inspection information to the duty room through the inspection robot, the staff can complete the inspection work in the duty room, saving a lot of manpower and material resources.

[0003] However, the existing devices have the following problems when in use:

[0004] Since the rail-type inspection robot needs to lay rails in advance in the space before it can carry out normal inspection activities, but in some areas, such as some factories, there are two types of areas: outdoor and indoor workshops. There are various equipment spaces and personnel flows in the workshops, which is not conducive to the inspection of wheeled inspection robots. The hanging-rail robot is more convenient for inspection, while the outdoor hanging-rail inspection robot has a huge investment and high cost, and the wheeled inspection robot is more suitable. Therefore, two different inspection robots are needed for inspection, increasing the inspection cost of the factory. Summary of the Utility Model

[0005] The purpose of the utility model is to solve the problems existing in the prior art, and propose an inspection robot applicable to multiple sites. When the position of the camera component is adjusted, the separation activity of the machine body and the mounting plate can be realized synchronously, so that the switching activity between the rail-type inspection robot and the wheeled inspection robot can be completed conveniently and quickly, making the equipment more widely applicable and suitable for different use scenarios, so as to realize the all-round and dead-angle-free inspection activity.

[0006] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0007] An inspection robot applicable to multiple sites, including a moving frame slidably mounted on a rail, and a connecting plate fixedly mounted on the moving frame;

[0008] A telescopic component is fixedly mounted on the connecting plate, the other end of the telescopic component is fixedly mounted with a mounting plate, and the machine body is movably mounted on the mounting plate;

[0009] A wheel body is arranged at the bottom of the machine body;

[0010] A driving motor is arranged on the machine body, a rotating shaft is fixedly mounted on the shaft output end of the driving motor, a pan-tilt is fixedly mounted on the rotating shaft, and a camera component is arranged on the pan-tilt.

[0011] Preferably, a bidirectional lead screw is rotatably installed inside the machine body. Both ends of the bidirectional lead screw are threadedly connected with lead screw nuts. Moving plates are fixedly installed on both lead screw nuts. Docking blocks are fixedly installed at both ends of the moving plates. Docking holes corresponding to the docking blocks are formed inside the mounting plate.

[0012] Preferably, threads with different directions are formed at both ends of the bidirectional lead screw. The two lead screw nuts are respectively located on the threads in different directions, and the distances between the two lead screw nuts and the central part of the bidirectional lead screw are the same.

[0013] Preferably, a driving shaft is rotatably installed inside the machine body. The driving shaft is connected with the rotating shaft through a synchronous belt.

[0014] Preferably, a speed increasing gearbox is arranged inside the machine body. The input shaft of the speed increasing gearbox is connected with the driving shaft, and the output shaft of the speed increasing gearbox is connected with the bidirectional lead screw.

[0015] Preferably, the moving plate can slide in the cavities on both sides of the groove of the machine body, and the docking block can be exposed from the machine body.

[0016] Preferably, the connecting part between the pan-tilt and the camera assembly can be telescopic.

[0017] Compared with the prior art, the utility model has the following beneficial effects:

[0018] By providing a guide rail, a mounting plate, a machine body, a pan-tilt, a camera assembly, a docking hole, a docking block, a rotating shaft, a synchronous belt, a driving shaft, a speed increasing gearbox, a bidirectional lead screw, a lead screw nut and a moving plate, when the position of the camera assembly is adjusted, the separation of the machine body and the mounting plate can be synchronously realized, so that the switching between the track type inspection robot and the wheel type inspection robot can be conveniently and quickly completed, the application range of the equipment is wider, it is applicable to different use scenarios, and the all-round and dead-angle-free inspection activity can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of an inspection robot applicable to multiple sites proposed by the utility model;

[0020] Figure 2 is a schematic diagram of the docking position of an inspection robot applicable to multiple sites proposed by the utility model;

[0021] Figure 3 is a schematic diagram of the docking principle of an inspection robot applicable to multiple sites proposed by the utility model;

[0022] Figure 4 is a schematic diagram of the transmission mechanism of an inspection robot applicable to multiple sites proposed by the utility model.

[0023] In the figure: 1, guide rail; 2, moving frame; 3, connecting plate; 4, telescopic component; 5, mounting plate; 6, body; 7, wheel body; 8, drive motor; 9, pan-tilt head; 10, camera component; 11, docking hole; 12, docking block; 13, rotating shaft; 14, synchronous belt; 15, driving shaft; 16, speed increasing gearbox; 17, bi-directional lead screw; 18, lead screw nut; 19, moving plate. Specific implementation manner

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0025] Please refer to Figures 1 to 4 , an inspection robot applicable to multiple sites includes a moving frame 2 slidably mounted on a guide rail 1, and a connecting plate 3 is fixedly mounted on the moving frame 2;

[0026] A telescopic component 4 is fixedly mounted on the connecting plate 3, the other end of the telescopic component 4 is fixedly mounted with a mounting plate 5, and a body 6 is movably mounted on the mounting plate 5;

[0027] The telescopic component 4 includes a lifting frame, a driving rope, a winding roller, a driving source and other structures. Since it is prior art and the disclosure is already sufficient, it will not be elaborated here.

[0028] A wheel body 7 is provided at the bottom of the body 6. The presence of the wheel body 7 enables the body 6 to move on a plane, so that the inspection task of the wheeled inspection robot can be completed;

[0029] The guide rail 1 is installed on a predetermined track. By moving the moving frame 2 on the guide rail 1, the mounting plate 5 and the body 6 thereon can be driven to move synchronously, and the body 6 can move synchronously along a predetermined trajectory, so as to realize the inspection task of the rail-type inspection robot.

[0030] The presence of the telescopic component 4 can change the height of the mounting plate 5 and the body 6, so as to smoothly adapt to multi-angle inspection activities.

[0031] Moreover, through the telescopic component 4, the wheel body 7 is directly in contact with the plane, and the separation of the body 6 and the mounting plate 5 is completed, so that the switching between the rail-type inspection robot and the wheeled inspection robot can be conveniently and quickly completed, thereby realizing a full-range and dead-angle-free inspection activity.

[0032] A drive motor 8 is provided on the body 6, a rotating shaft 13 is fixedly mounted on the shaft output end of the drive motor 8, a pan-tilt head 9 is fixedly mounted on the rotating shaft 13, and a camera component 10 is provided on the pan-tilt head 9.

[0033] Moreover, the imaging component 10 can perform telescopic, rotational, and pitching movements on the pan-tilt 9. Since it is prior art, it will not be elaborated here.

[0034] The connecting part between the pan-tilt 9 and the imaging component 10 can be telescoped. The driving source can be various mechanisms such as motors and cylinders. When the pan-tilt 9 is in the retracted state, the height of the bottom surface of the imaging component 10 is higher than the height of the bottom surface of the wheel body, so that the imaging component 10 does not block the normal contact between the wheel body 7 and the ground.

[0035] By starting the driving motor 8, the rotating shaft 13 can be rotated, so that the rotating shaft 13 drives the pan-tilt 9 and the imaging component 10 thereon to change positions. When the orbital inspection robot mode is executed, the imaging component 10 is in the lower vertical state. When the wheeled inspection robot mode is executed, the imaging component 10 is in the upper vertical state. Quick switching can be completed according to different needs.

[0036] A bidirectional lead screw 17 is rotatably installed inside the body 6. Both ends of the bidirectional lead screw 17 are threadedly connected with lead screw nuts 18. Moving plates 19 are fixedly installed on both lead screw nuts 18. Docking blocks 12 are fixedly installed at both ends of the moving plate 19. Docking holes 11 corresponding to the docking blocks 12 are opened inside the mounting plate 5.

[0037] The moving plate 19 can slide in the cavities on both sides of the groove of the body 6, and the docking block 12 can protrude from the body 6 to complete the docking activity.

[0038] When the bidirectional lead screw 17 rotates, the rotation of the bidirectional lead screw 17 can make the two lead screw nuts 18 approach or move away from each other, so that the moving plate 19 and the docking block 12 change positions synchronously. By making the docking block 12 enter the docking hole 11, the splicing activity of the mounting plate 5 and the body 6 can be completed. When the docking block 12 is made to leave the docking hole 11, the disassembly activity of the mounting plate 5 and the body 6 can be completed.

[0039] Threads with different directions are opened at both ends of the bidirectional lead screw 17. The two lead screw nuts 18 are respectively located on the threads in different directions, and the distances between the two lead screw nuts 18 from the central part of the bidirectional lead screw 17 are the same.

[0040] Moreover, the lead screw nut 18 is slidably installed on the body 6 to ensure that the lead screw nut 18 can only perform translational motion to ensure the docking effect.

[0041] Inside the body 6, the drive shaft 15 is rotatably installed. The drive shaft 15 is connected to the rotating shaft 13 by a timing belt 14. When the drive motor 8 is started to drive the rotating shaft 13 to rotate, the drive shaft 15 can be synchronously rotated through the transmission of the timing belt 14.

[0042] A speed increasing gearbox 16 is arranged inside the body 6. Through the multi-stage gear transmission inside the speed increasing gearbox 16, the acceleration of rotation can be achieved.

[0043] The input shaft of the speed increasing gearbox 16 is connected to the drive shaft 15, and the output shaft of the speed increasing gearbox 16 is connected to the bidirectional lead screw 17.

[0044] The rotation of the drive shaft 15 can cause the bidirectional lead screw 17 to rotate at a higher speed through the transmission of the speed increasing gearbox 16. When the drive shaft 15 rotates clockwise, the two moving plates 19 approach each other. When it rotates counterclockwise, the two moving plates 19 move away from each other.

[0045] The working process of the present utility model: When performing track inspection, the movement of the moving frame 2 on the guide rail 1 can drive the mounting plate 5 and the body 6 thereon to move synchronously, and the body 6 can move synchronously along the predetermined track, so as to realize the inspection task of the track inspection robot.

[0046] When switching is required, first, the camera assembly 10 is retracted through the pan-tilt head 9, so that the plane of the camera assembly 10 is not higher than the body 6, and during the rotation process, the camera assembly 10 will not be accidentally exposed. Then, the telescopic assembly 4 is started so that the wheels 7 are in direct contact with the plane.

[0047] The drive motor 8 is started to make the rotating shaft 13 rotate, so that the rotating shaft 13 drives the pan-tilt head 9 and the camera assembly 10 thereon to change positions, and the camera assembly 10 is converted from the vertical state below to the vertical state above.

[0048] At the same time, the rotation of the drive shaft 15 can cause the bidirectional lead screw 17 to rotate at a higher speed through the transmission of the speed increasing gearbox 16. The rotation of the bidirectional lead screw 17 can make the two lead screw nuts 18 approach or move away from each other. When the pan-tilt head 9 is in the middle state, the docking block 12 just leaves the docking hole 11, and the disassembly of the mounting plate 5 and the body 6 can be completed. The body 6 can move on the plane, so that the inspection task of the wheeled inspection robot can be completed.

[0049] When splicing, manually align the docking block 12 with the docking hole 11, and the device can perform reverse operations.

[0050] Although embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A patrol robot suitable for multiple sites, comprising a mobile frame (2) slidably mounted on a guide rail (1), a connecting plate (3) fixedly mounted on the mobile frame (2), characterized in that: A telescopic component (4) is fixedly mounted on the connecting plate (3), a mounting plate (5) is fixedly mounted on the other end of the telescopic component (4), and an organism (6) is movably mounted on the mounting plate (5); A wheel body (7) is arranged at the bottom of the machine body (6); A driving motor (8) is arranged on the machine body (6); a rotating shaft (13) is fixedly mounted on the shaft output end of the driving motor (8); a pan head (9) is fixedly mounted on the rotating shaft (13); and a camera assembly (10) is arranged on the pan head (9).

2. The inspection robot applicable to multiple sites according to claim 1, characterized in that: A bidirectional lead screw (17) is rotatably mounted inside the machine body (6), both ends of the bidirectional lead screw (17) are connected to lead screw nuts (18) by threads, a movable plate (19) is fixedly mounted on both lead screw nuts (18), a docking block (12) is fixedly mounted on both ends of the movable plate (19), and a docking hole (11) corresponding to the docking block (12) is opened inside the mounting plate (5).

3. The inspection robot applicable to multiple sites according to claim 2, characterized in that: The two ends of the bidirectional lead screw (17) are provided with threads in different directions, and the two lead screw nuts (18) are respectively located on the threads in different directions, and the two lead screw nuts (18) are at the same distance from the center of the bidirectional lead screw (17).

4. A patrol robot suitable for multiple sites according to claim 1, 2 or 3, characterized in that: A driving shaft (15) is rotatably mounted inside the machine body (6), and the driving shaft (15) is connected to the rotating shaft (13) via a synchronous belt (14).

5. The inspection robot applicable to multiple sites according to claim 1, 2 or 3, characterized in that: A speed-increasing gearbox (16) is arranged inside the machine body (6); an input shaft of the speed-increasing gearbox (16) is connected to the driving shaft (15); and an output shaft of the speed-increasing gearbox (16) is connected to a bidirectional lead screw (17).

6. The inspection robot applicable to multiple sites according to claim 4, characterized in that: A speed-increasing gearbox (16) is arranged inside the machine body (6); an input shaft of the speed-increasing gearbox (16) is connected to the driving shaft (15); and an output shaft of the speed-increasing gearbox (16) is connected to a bidirectional lead screw (17).

7. A patrol robot suitable for multiple sites according to claim 1, 2, 3 or 6, characterized in that: The movable plate (19) can slide in the cavities on both sides of the groove of the machine body (6), and the docking block (12) can be exposed from the machine body (6).

8. The inspection robot applicable to multiple sites according to claim 4, characterized in that: The movable plate (19) can slide in the cavities on both sides of the groove of the machine body (6), and the docking block (12) can be exposed from the machine body (6).

9. The inspection robot applicable to multiple sites according to claim 5, characterized in that: The movable plate (19) can slide in the cavities on both sides of the groove of the machine body (6), and the docking block (12) can be exposed from the machine body (6).

10. The inspection robot applicable to multiple sites according to claim 1, 2, 3, 6, 8 or 9, characterized in that: The connection part between the pan head (9) and the camera assembly (10) can be extended and retracted.

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