Infrared thermal imaging device of police quadruped robot

Abstract

The utility model relates to an infrared thermal imaging device of a police quadruped robot, and belongs to the technical field of radiation high temperature measurement. Comprising a quadruped robot body, a base is fixedly arranged at the top end of the quadruped robot body, a lantern ring is fixedly arranged on the base, a rotatable inner gear ring is installed in the lantern ring, a gear is arranged in the inner gear ring, a first rotating motor is arranged in the quadruped robot body, and a rotating shaft of the first rotating motor extends into the inner gear ring to be connected with the gear; a cover plate is fixedly arranged on the inner gear ring, a rear arm is installed on the cover plate in a hinged mode, two first air cylinders are installed between the cover plate and the front side face and the rear side face of the rear arm, a front arm is installed at the front end of the rear arm in a hinged mode, a second air cylinder is installed between the rear arm and the front arm in a hinged mode, two third air cylinders are installed at the front end of the front arm, and a second rotating motor is installed between piston rods of the two third air cylinders. And an infrared thermal imager is mounted on the rotating motor II. The robot has high flexibility and can adapt to search and rescue and investigation work which is difficult to carry out in flourishing mountain forests or urban and village ruins.

Description

Technical Field

[0001] The utility model relates to an infrared thermal imaging device for a police quadruped robot, belonging to the technical field of radiation high-temperature measurement. Background Art

[0002] Currently, in public security actual combat, thermal imaging devices are generally installed on police drones for high-altitude investigation and evidence collection, or are used for investigation and evidence collection by police officers holding them. Although the above two methods have achieved good results in public security investigation and search and rescue tasks, there are also obvious drawbacks. On the one hand, if the thermal imaging device is mounted on a police drone, the Binzhou Public Security Bureau Special Patrol Detachment found in actual combat that when conducting investigations through thermal imaging at high altitudes, it is often affected by obstacles. Especially for rooms or mountain forests with lush trees, the thermal imaging device at high altitudes is difficult to play a role. On the other hand, handheld thermal imaging devices are often unable to play their due role due to factors such as geographical conditions and on-site dangers, with a small investigation range and potential safety hazards to the operating police officers to a certain extent.

[0003] The patent with the application number CN202222669821.7 discloses an infrared thermal imager, including a base and a thermal imaging device. A battery box is provided at the upper end of the base, and an installation column is fixedly connected to the upper end of the base. An installation groove is opened on the side wall of the installation column near the upper end. A first servo motor is fixedly installed on the inner wall of the installation groove. The end of the output shaft of the first servo motor is fixedly connected to a first rotating shaft. One end of the first rotating shaft away from the first servo motor penetrates the inner wall of the installation groove and is fixedly connected to a first mounting plate. The first rotating shaft is rotatably connected to the installation column. A linear guide rail is fixedly installed on the side wall of the first mounting plate away from the first rotating shaft. A guide rail seat is provided on the linear guide rail, and an elongation mechanism is provided on the guide rail seat. This infrared thermal imager lacks flexibility and is difficult to carry out search and rescue and investigation work in lush mountain forests or the ruins of cities and villages. Summary of the Utility Model

[0004] The purpose of the utility model is to solve the technical problem of insufficient flexibility and difficulty in adapting to different complex terrains in the prior art, and provide an infrared thermal imaging device for a police quadruped robot.

[0005] The utility model is realized through the following technical solutions:

[0006] That is, a police quadruped robot infrared thermal imaging device, including a quadruped robot body. A base is fixedly arranged at the top of the quadruped robot body. A collar is fixedly arranged on the base. A rotatable internal gear ring is installed in the collar. A gear is meshed inside the internal gear ring. A rotation motor one is arranged inside the quadruped robot body. The rotating shaft of the rotation motor one extends into the internal gear ring and is connected to the gear. A cover plate is fixedly arranged on the internal gear ring. A rear arm is hingedly installed on the cover plate. Two cylinders one are installed between the front and rear side surfaces of the cover plate and the rear arm. The front end of the rear arm is hingedly installed with a front arm. A cylinder two is hingedly installed between the rear arm and the front arm. Two cylinders three are installed at the front end of the front arm. A rotation motor two is installed between the piston rods of the two cylinders three. An infrared thermal imager is installed on the rotating shaft of the rotation motor two.

[0007] Utilizing the flexibility of the quadruped robot, combined with the functions of each cylinder and motor to drive the infrared thermal imager to lift and rotate, the utility model has high flexibility and can adapt to difficult search and rescue and reconnaissance work in lush mountain forests or urban and village ruins.

[0008] Further preferably, an installation seat composed of two vertical plates is fixedly arranged on the cover plate. The lower end of the rear arm is hingedly installed on the installation seat through a pin shaft.

[0009] Further preferably, lubricating grease is applied between the outer circumferential surface of the internal gear ring and the inner circumferential surface of the collar, reducing the resistance of the internal gear ring to rotate.

[0010] Further preferably, a flanging is arranged at the outer circumference of the cover plate. The inner circumferential surface of the flanging is attached to the outer circumferential surface of the collar, which can effectively prevent the internal gear ring and the cover plate from falling off the collar.

[0011] Further preferably, lubricating grease is applied between the inner circumferential surface of the flanging and the outer circumferential surface of the collar, reducing the resistance of the cover plate to rotate.

[0012] Further preferably, a sleeve is fixedly installed outside the rotation motor two. Bolts are used to pass through the front end of the piston rod of the cylinder three and screw into the sleeve, and the tilt angle of the infrared thermal imager can be adjusted according to the specific use environment.

[0013] Compared with the prior art, the beneficial effects of the utility model are:

[0014] Utilizing the flexibility of the quadruped robot, combined with the functions of each cylinder and motor to drive the infrared thermal imager to lift and rotate, the utility model has high flexibility and can adapt to difficult search and rescue and reconnaissance work in lush mountain forests or urban and village ruins. Description of the Drawings

[0015] To more clearly illustrate the technical solution of the present utility model, the accompanying drawings required in the description will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other accompanying drawings can be obtained based on these drawings.

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the specific embodiment of the present utility model.

[0017] Figure 2 It is a cross-sectional structural schematic diagram of the collar and internal gear ring in the specific embodiment of the present utility model.

[0018] In the figure: 1, quadruped robot body; 2, base; 3, collar; 4, internal gear ring; 5, cover plate; 6, first rotating motor; 7, mounting seat; 8, rear arm; 9, first cylinder; 10, second cylinder; 11, front arm; 12, third cylinder; 13, second rotating motor; 14, infrared thermal imager; 15, gear. Specific Embodiment

[0019] The following will make a further detailed description of the specific embodiment of the present utility model with reference to the accompanying drawings.

[0020] As Figure 1 、 2 shown, a police quadruped robot infrared thermal imaging device includes a quadruped robot body 1. A base 2 is fixedly provided at the top of the quadruped robot body 1. A collar 3 is fixedly provided on the base 2. A rotatable internal gear ring 4 is installed in the collar 3. A gear 15 is meshed inside the internal gear ring 4. A first rotating motor 6 is provided inside the quadruped robot body 1. The rotating shaft of the first rotating motor 6 extends into the internal gear ring 4 and is connected to the gear 15. A cover plate 5 is fixedly provided on the internal gear ring 4. A rear arm 8 is hingedly installed on the cover plate 5. Two first cylinders 9 are installed between the front and rear sides of the cover plate 5 and the rear arm 8. The front end of the rear arm 8 is hingedly installed with a front arm 11. A second cylinder 10 is hingedly installed between the rear arm 8 and the front arm 11. Two third cylinders 12 are installed at the front end of the front arm 11. A second rotating motor 13 is installed between the piston rods of the two third cylinders 12. An infrared thermal imager 14 is installed on the rotating shaft of the second rotating motor 13.

[0021] Utilizing the flexibility of the quadruped robot and the functions of driving the infrared thermal imager 14 to lift and rotate by each cylinder and motor, the present utility model has high flexibility and can adapt to difficult search and rescue and reconnaissance work in lush mountain forests or urban and village ruins.

[0022] Among them, a mounting seat 7 composed of two vertical plates is fixedly provided on the cover plate 5. The lower end of the rear arm 8 is hingedly installed on the mounting seat 7 through a pin shaft.

[0023] Among them, grease is applied between the outer circumferential surface of the internal gear ring 4 and the inner circumferential surface of the collar 3, reducing the resistance of the internal gear ring 4 to rotate.

[0024] Among them, a flange is provided at the outer circumference of the cover plate 5. The inner circumferential surface of the flange is attached to the outer circumferential surface of the collar 3, which can effectively prevent the internal gear ring 4 and the cover plate 5 from falling off from the inside of the collar 3. Grease is applied between the inner circumferential surface of the flange and the outer circumferential surface of the collar 3, reducing the resistance of the cover plate 5 to rotate.

[0025] Among them, a sleeve is fixedly installed outside the rotating motor two 13. A bolt passes through the front end of the piston rod of the cylinder three 12 and is screwed into the sleeve, and the inclination angle of the infrared thermal imager 14 can be adjusted according to the specific use environment.

[0026] Working principle:

[0027] Utilizing the flexibility of the quadruped robot, combined with the functions of each cylinder and motor to drive the infrared thermal imager 14 to lift and rotate, the rotating motor one 6 drives the entire rear arm 8 and the front arm 11 to rotate, the cylinder one 9 drives the rear arm 8 to tilt, the cylinder two 10 drives the front arm 11 to tilt, the cylinder three 12 drives the infrared thermal imager 14 to move, and the rotating motor two 13 drives the infrared thermal imager 14 to rotate, making the present utility model have high flexibility and being able to adapt to difficult search and rescue and reconnaissance work in lush mountain forests or urban and village ruins.

[0028] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same and similar parts among the embodiments, reference can be made to each other.

[0029] The terms "upper", "lower", "outer side", "inner side", etc. in the specification, claims and above-mentioned drawings of the present utility model, if any, are used to distinguish the relative relationship in position and do not need to be qualitatively defined. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present utility model described herein can be implemented in an order different from those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

[0030] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present utility model. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present utility model. Therefore, the present utility model will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A police quadruped robot infrared thermal imaging device, comprising a quadruped robot body (1), characterized in that: A base (2) is fixedly provided at the top of a quadruped robot body (1), a collar (3) is fixedly provided on the base (2), a rotatable inner gear ring (4) is installed in the collar (3), a gear (15) is meshed in the inner gear ring (4), a rotating motor (6) is provided inside the quadruped robot body (1), a rotating shaft of the rotating motor (6) extends into the inner gear ring (4) and is connected to the gear (15), a cover plate (5) is fixedly provided on the inner gear ring (4), and a cover plate (5) is hingedly provided on the cover plate (5). A rear arm (8) is provided, two cylinders (1) are installed between the cover plate (5) and the front and rear sides of the rear arm (8), a front arm (11) is hingedly installed at the front end of the rear arm (8), a cylinder (2) (10) is hingedly installed between the rear arm (8) and the front arm (11), two cylinders (3) (12) are installed at the front end of the forearm (11), a rotating motor (2) (13) is installed between the piston rods of the two cylinders (3) (12), and an infrared thermal imager (14) is installed on the rotating shaft of the rotating motor (2) (13).

2. The infrared thermal imaging device of a police quadruped robot according to claim 1, characterized in that: A mounting seat (7) consisting of two vertical plates is fixedly provided on the cover plate (5), and the lower end of the rear arm (8) is hingedly mounted on the mounting seat (7) via a pin shaft.

3. The infrared thermal imaging device of a police quadruped robot according to claim 1, characterized in that: Lubricating grease is applied between the outer circumferential surface of the inner gear ring (4) and the inner circumferential surface of the sleeve ring (3).

4. The infrared thermal imaging device of a police quadruped robot according to claim 1, characterized in that: A flange is provided at the outer circumference of the cover plate (5), and the inner circumferential surface of the flange is in contact with the outer circumferential surface of the sleeve ring (3).

5. The infrared thermal imaging device of a police quadruped robot according to claim 4, characterized in that: Lubricating grease is applied between the inner circumferential surface of the flange and the outer circumferential surface of the collar (3).

6. The infrared thermal imaging device of a police quadruped robot according to claim 1, characterized in that: A sleeve is fixedly installed outside the rotating motor 2 (13), and a bolt is used to pass through the front end of the piston rod of the cylinder 3 (12) and screw into the sleeve.

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