Anti-collision wheel type inspection robot

Abstract

The utility model relates to the technical field of anti-collision wheel type inspection robots, and discloses an anti-collision wheel type inspection robot which comprises a robot body, a visual inspection module connected to a robot body, two driving wheel structures connected to the lower portion of the robot body and an anti-collision structure connected to the front end of the robot body. A robot body of the robot body is composed of a front-end robot body and a rear-end robot body. According to the anti-collision wheel type inspection robot, an original whole robot body is modularized to form the rear-end robot body, the front-end robot body and the fixing cover, when the robot body needs to climb in the inspection process, the rear-end robot body can be moved to achieve adjustment and extension of the robot body, and the stability of the robot body of the inspection robot body during climbing is improved; therefore, the flexibility and practicability of the robot body in the inspection process are improved, and the robot is simple in structure, convenient to operate and high in practicability.

Description

Technical Field

[0001] The utility model relates to the technical field of anti-collision wheeled inspection robots, and specifically relates to an anti-collision wheeled inspection robot. Background Art

[0002] When inspecting the surrounding environment regardless of day or night, inspection robots are used. The intelligent inspection robot is connected through Ethernet to transmit temperature information to the main controller. At the same time, information such as emissivity, distance, and area can be obtained through the temperature measurement device. When the intelligent inspection robot is performing inspections, it may collide with places such as stones or trees during the movement of the intelligent inspection robot, resulting in the intelligent inspection robot being damaged and unable to work properly, causing unnecessary losses.

[0003] The patent with the current publication number CN218085785U discloses an anti-collision intelligent inspection robot, which relates to the technical field of robots. It includes a robot body. A central shaft rod is fixedly installed at the bottom end of the robot body. Tires are rotatably connected to both ends of the central shaft rod. Fixed slots are opened at the top ends on both sides of the robot body. Side protection frames are arranged on both sides of the robot body. A slider is fixedly installed on one side of the side protection frame. Fixed blocks are fixedly installed at the four corners of the front end of the robot body. A front protection rod is fixedly installed at one end of the fixed block. Through the setting of the side protection frame and the front protection rod, when the intelligent inspection robot collides during driving, the side protection frame and the front protection rod can offset part of the force during the collision, so that the remaining force generated during the collision cannot damage the intelligent inspection robot, avoiding the phenomenon of damage caused by the collision of the intelligent inspection robot and making the intelligent inspection robot more durable.

[0004] Although the above device solves the anti-collision problem of the robot, there are still the following deficiencies:

[0005] In normal circumstances, the body length of the anti-collision wheeled inspection robot is short, which is beneficial to adapting to inspections in different spaces. However, during the inspection process, there will be inspection sections that require climbing slopes. When the robot climbs slopes, due to the limited body length of the robot, the center of gravity is concentrated and the stability is poor, and there may be a situation of tipping over, causing inconvenience. Content of the Utility Model

[0006] Aiming at the deficiencies of the prior art, the utility model provides an anti-collision wheeled inspection robot, which can increase the stability of the body when climbing slopes and improve the flexibility of the robot body during the inspection process.

[0007] To achieve the above object, the present utility model provides the following technical solutions: An anti-collision wheeled inspection robot, comprising a robot body, a vision detection module connected to the body of the robot body, two drive wheel structures connected to the bottom of the robot body, and an anti-collision structure connected to the front end of the robot body. The body of the robot body is composed of a front body and a rear body. The bottoms of the front body and the rear body are respectively connected to the two drive wheel structures. The interiors of the front body and the rear body are both hollow. A fixed cover is fixedly connected to the inner side of the front body. The fixed cover is slidably connected to the inner wall of the rear body. A multi-stage electric push rod is fixedly connected to the inner wall of the front body. The output end of the multi-stage electric push rod is fixedly connected to the inner wall of the rear body. An outer overlapping member is also connected to the outer sides of the rear body and the front body.

[0008] Further, the outer overlapping member includes an outer sleeve cover. The outer sleeve cover is sleeved on the outer sides of the front body and the rear body. An extrusion member is connected to the outer side of the outer sleeve cover.

[0009] Further, the extrusion member includes a first vertical plate and a second vertical plate. The first vertical plate is fixedly connected to the top surface of the rear body. The first vertical plate is fixedly connected to the top surface of one end of the outer sleeve cover. A spring is fixedly connected between the first vertical plate and the second vertical plate.

[0010] Further, a slider is fixedly connected to the bottom of the fixed cover. A chute corresponding to the position of the slider is opened on the bottom wall of the rear body.

[0011] Further, a ball is embedded in the bottom of the slider. The ball is slidably and rotatably connected to the inner wall of the chute.

[0012] Further, a limiting rod is passed through the middle of the spring. One end of the limiting rod is fixedly connected to the first vertical plate, and the other end passes through the second vertical plate and is slidably connected to it.

[0013] Further, a mounting plate is fixedly connected to the inner wall of the rear body. The bottom surface of the mounting plate is slidably connected to the inner wall of the fixed cover.

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

[0015] By modularizing the original overall body of the robot body into a rear body, a front body, and a fixed cover, when the robot body needs to climb a slope during the inspection process, the rear body can be moved to adjust and extend the body, increasing the stability of the body of the inspection robot during climbing, thereby improving the flexibility and practicality of the robot body during the inspection process. The structure is simple, the operation is convenient, and the practicability is strong. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic three-dimensional structure diagram of the whole of the present utility model;

[0017] Figure 2 is a three-dimensional structural schematic diagram of the overall contracted state of the present utility model;

[0018] Figure 3 is a three-dimensional sectional structural schematic diagram of the side of the present utility model

[0019] Figure 4 is a three-dimensional sectional structural schematic diagram of the front fuselage and the rear fuselage of the present utility model;

[0020] Figure 5 is a three-dimensional sectional structural schematic diagram of the rear fuselage of the present utility model;

[0021] Figure 6 is a three-dimensional structural schematic diagram of the front fuselage and the fixed cover of the present utility model;

[0022] Figure 7 is a three-dimensional structural schematic diagram of the outer cover and the spring of the present utility model;

[0023] Figure 8 is a three-dimensional structural schematic diagram of the carrier board of the present utility model;

[0024] Figure 9 is a three-dimensional structural schematic diagram of the slider and the ball of the present utility model.

[0025] In the figure: 1, robot body; 101, rear fuselage; 102, front fuselage; 2, vision detection module; 3, drive wheel structure; 4, outer cover; 5, spring; 6, fixed cover; 7, chute; 8, slider; 9, carrier board; 10, first vertical plate; 11, limiting rod; 12, second vertical plate; 13, ball; 14, anti-collision structure; 15, multi-stage electric push rod. Detailed implementation manners

[0026] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments.

[0027] Such as Figures 1 to 9As shown in the figure, an anti-collision wheeled inspection robot includes a robot body 1, a visual detection module 2 connected to the body of the robot body 1, two drive wheel structures 3 connected to the bottom of the robot body 1, and an anti-collision structure 14 connected to the front end of the robot body 1. The body of the robot body 1 is composed of a front body 102 and a rear body 101. The bottoms of the front body 102 and the rear body 101 are respectively connected to the two drive wheel structures 3. The interiors of the front body 102 and the rear body 101 are both hollow. A fixed cover 6 is fixedly connected to the inner side of the front body 102. The fixed cover 6 is slidably connected to the inner wall of the rear body 101. A multi-stage electric push rod 15 is fixedly connected to the inner wall of the front body 102. The output end of the multi-stage electric push rod 15 is fixedly connected to the inner wall of the rear body 101. An outer overlapping part is also connected to the outer sides of the rear body 101 and the front body 102.

[0028] As Figure 1 shown, the anti-collision wheeled inspection robot in the present utility model is similar in structure to the existing anti-collision intelligent inspection robot. For example, a patent with the publication number CN218085785U discloses an anti-collision intelligent inspection robot. The main improvement point of the present utility model is to solve the problem that the body of the robot can shorten the distance, thereby increasing the stability of the body when climbing slopes. As Figures 1 to 9 shown, when the anti-collision wheeled inspection robot in the present utility model is in use, when the robot body 1 is performing normal inspections, the rear body 101, the front body 102, and the fixed cover 6 in the body of the robot body 1 are in a contracted and combined state. As Figure 2 、 Figure 3 and Figure 4 shown, this is beneficial for the robot body 1 to adapt to different inspection spaces;

[0029] When the robot body 1 walks to a slope section, the robot body 1 sends a signal at this time to brake the drive wheel structure 3 at the bottom of the front body 102, and at the same time starts the multi-stage electric push rod 15 to push out its output end, so that the drive wheel structure 3 at the bottom of the rear body 101 moves linearly, causing the drive wheel structure 3 to drive the rear body 101 to slide out from one side of the front body 102. When sliding out, the rear body 101 moves, causing it to slide and extend with the fixed cover 6. At this time, the overall length of the robot body 1 is expanded. As Figure 1 shown;

[0030] After the extension is completed, the length of the body of the robot body 1 increases. Since the length of the body of the robot body 1 can be adjusted, the problem of poor stability when climbing slopes caused by the original length limit of the robot body 1 can be solved.

[0031] When contraction is required, the drive wheel structure 3 at the bottom of the front fuselage 102 is braked, and the multi-stage electric push rod 15 is driven to contract, driving the multi-stage electric push rod 15 to contract, so that the rear fuselage 101 contracts, ensuring the shortened state of the fuselage, which is beneficial to inspection.

[0032] By modularizing the original overall robot body 1 fuselage, the rear fuselage 101, the front fuselage 102 and the fixed cover 6 are formed. When the robot body 1 needs to climb a slope during the inspection process, the rear fuselage 101 can be moved to realize the adjustment and elongation of the fuselage, increasing the stability of the robot body 1 of the inspection robot during climbing, and thus improving the flexibility and practicality of the robot body 1 during the inspection process.

[0033] Such as Figure 1 、 Figure 2 、 Figure 3 And Figure 5 As shown, the outer lap joint includes an outer jacket 4, and the outer jacket 4 is sleeved on the outside of the front fuselage 102 and the rear fuselage 101, and an extrusion member is connected to the outside of the outer jacket 4.

[0034] Specifically, when the rear fuselage 101 extends, the outer jacket 4 slides on the outer wall of the rear fuselage 101. Under the action of the extrusion member, the outer jacket 4 slides on the outside of the front fuselage 102 and the rear fuselage 101, ensuring the reasonable movement of the front fuselage 102, so that it is sleeved on the outside of the extended fixed cover 6, playing a protective role while also enabling the outer surface of the outer jacket 4 to carry a detection mechanism.

[0035] Such as Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 And Figure 6 As shown, the extrusion member includes a first vertical plate 10 and a second vertical plate 12. The first vertical plate 10 is fixedly connected to the top surface of the rear fuselage 101, the first vertical plate 10 is fixedly connected to the top surface of one end of the outer jacket 4, and a spring 5 is fixedly connected between the first vertical plate 10 and the second vertical plate 12.

[0036] Specifically, after the front fuselage 102 and the rear fuselage 101 are unfolded, the spring 5 will push the second vertical plate 12 due to elastic potential energy, enabling the outer jacket 4 to move reasonably.

[0037] Such as Figure 3 、 Figure 4 And Figure 6 As shown, a slider 8 is fixedly connected to the bottom of the fixed cover 6, and a chute 7 corresponding to the position of the slider 8 is opened on the bottom wall of the rear fuselage 101.

[0038] Specifically, when the rear fuselage 101 is moving, the sliding groove 7 slides on the outside of the slider 8 to ensure the reasonable expansion or contraction of the rear fuselage 101. The sliding groove 7 is set as a non-penetrating moving groove, which can ensure that the fixed cover 6 does not separate from the rear fuselage 101.

[0039] As Figure 9 shown, a ball 13 is embedded at the bottom of the slider 8, and the ball 13 is slidably and rotatably connected to the inner wall of the sliding groove 7.

[0040] Specifically, when the sliding groove 7 moves on the outside of the slider 8, the ball 13 is slidably and rollably connected in the sliding groove 7. This setting can convert the original sliding friction into rolling friction and increase the smoothness during movement.

[0041] As Figure 3 、 Figure 5 and Figure 7 shown, a limiting rod 11 is inserted through the middle of the spring 5. One end of the limiting rod 11 is fixedly connected to the first vertical plate 10, and the other end passes through the second vertical plate 12 and is slidably connected to it.

[0042] Specifically, when the spring 5 is being compressed or expanded, the limiting rod 11 is slidably connected to the second vertical plate 12. This setting can ensure that the spring 5 will not deform when being compressed.

[0043] When other detection mechanisms are installed on the top surface of the outer cover 4, the installation should avoid the limiting rod 11 to prevent the limiting rod 11 from hindering the movement of other detection mechanisms.

[0044] As Figure 3 and Figure 8 shown, a mounting plate 9 is fixedly connected to the inner wall of the rear fuselage 101, and the bottom surface of the mounting plate 9 is slidably connected to the inner wall of the fixed cover 6.

[0045] Specifically, the setting of the mounting plate 9 enables other structures to be mounted on the top surface of the mounting plate 9.

[0046] In the above structure, the pressing members are preferably multiple and are respectively installed on both sides and the top surface of the outer cover 4, so that the spring 5 can ensure that the outer cover 4 always covers the outside of the fixed cover 6.

[0047] In addition, for mounting other devices and mechanisms on the inner walls of the rear fuselage 101 and the front fuselage 102, they are all existing mature technologies. During installation, they are preferably installed on the top surface of the mounting plate 9 and the top surface of the inner wall of the front fuselage 102. Affected by the fixed cover 6, devices should not be mounted on the top surface of the inner wall of the rear fuselage 101. Similarly, devices can also be mounted on the top surface of the outer cover 4.

[0048] The anti-collision structure 14 in this anti-collision type inspection robot should be able to adapt to the fuselage adjustment structure in this solution.

[0049] Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. An anti-collision wheeled inspection robot, comprising a robot body (1), a visual inspection module (2) connected to the robot body (1), two driving wheel structures (3) connected under the robot body (1), and an anti-collision structure (14) connected to the front end of the robot body (1), characterized in that: The body of the robot body (1) is composed of a front body (102) and a rear body (101); the bottoms of the front body (102) and the rear body (101) are respectively connected to two driving wheel structures (3); the front body (102) and the rear body (101) are both provided with cavities; a fixed cover (6) is fixedly connected to the inner side of the front body (102); the fixed cover (6) is slidably connected to the inner wall of the rear body (101); a multi-stage electric push rod (15) is fixedly connected to the inner wall of the front body (102); the output end of the multi-stage electric push rod (15) is fixedly connected to the inner wall of the rear body (101); and the outer sides of the rear body (101) and the front body (102) are also connected to external lap parts.

2. The anti-collision wheeled inspection robot according to claim 1, characterized in that: The outer cladding member comprises an outer cover (4), which is sleeved on the outer sides of the front fuselage (102) and the rear fuselage (101), and the outer side of the outer cover (4) is connected to an extrusion member.

3. The anti-collision wheeled inspection robot according to claim 2, characterized in that: The extruded component comprises a first vertical plate (10) and a second vertical plate (12); the first vertical plate (10) is fixedly connected to the top surface of the rear fuselage (101); the first vertical plate (10) is fixedly connected to the top surface of one end of the outer cover (4); and a spring (5) is fixedly connected between the first vertical plate (10) and the second vertical plate (12).

4. The anti-collision wheeled inspection robot according to claim 1, 2 or 3, characterized in that: A sliding block (8) is fixedly connected to the bottom of the fixed cover (6), and a sliding groove (7) corresponding to the position of the sliding block (8) is provided on the bottom wall of the rear fuselage (101).

5. The anti-collision wheeled inspection robot according to claim 4, characterized in that: A ball (13) is embedded in the bottom of the sliding block (8), and the ball (13) is slidably and rotationally connected to the inner wall of the sliding groove (7).

6. The anti-collision wheeled inspection robot according to claim 3, characterized in that: A limiting rod (11) is passed through the middle of the spring (5), one end of the limiting rod (11) is fixedly connected to the first vertical plate (10), and the other end of the limiting rod (11) passes through the second vertical plate (12) and is slidably connected thereto.

7. The anti-collision wheeled inspection robot according to claim 1, 2, 3, 5 or 6, characterized in that: The inner wall of the rear fuselage (101) is fixedly connected with a mounting plate (9), and the bottom surface of the mounting plate (9) is slidably connected to the inner wall of the fixed cover (6).

8. The anti-collision wheeled inspection robot according to claim 4, characterized in that: The inner wall of the rear fuselage (101) is fixedly connected with a mounting plate (9), and the bottom surface of the mounting plate (9) is slidably connected to the inner wall of the fixed cover (6).

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