Liftable outdoor inspection robot

Abstract

A liftable outdoor inspection robot comprises a bottom plate, the head and the tail of the upper end face of the bottom plate are each provided with two mounting plates, the two ends of each mounting plate are each provided with a mounting frame, and the mounting frames are provided with wheel set assemblies; a plurality of threaded cylinders are arranged in the middle of the upper end face of the mounting plate, openings of the threaded cylinders face upwards, lead screws are in threaded connection with the interiors of the threaded cylinders, sleeves are fixedly mounted on the outer edge faces of the upper ends of the lead screws, and the outer edge faces of the sleeves are jointly connected with a lifting plate; a power device is arranged at the bottom of the lifting plate and connected with the driving assembly, and the multiple lead screws can be driven to rotate synchronously. The mechanical arm moves up and down along with the lifting plate, the height is adjusted in the vertical direction, the inspection height range of the mechanical arm is greatly widened, the frequency of frequently replacing mechanical arms of different sizes can be reduced, and the practicability of the inspection robot is improved.

Description

Technical Field

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

[0002] An inspection robot is an automated robot integrating a variety of sensors and intelligent technologies, which can perform inspection tasks in various complex environments, can navigate autonomously, and is equipped with a variety of sensors such as cameras, infrared sensors, and lidar. Many industries use inspection robots to improve the degree of intelligence. For example, in the manufacturing industry, it is usually used to patrol workshops and inspect equipment and machinery on production lines; in the construction industry, it is used to patrol construction sites and inspect building structures, safety facilities, etc. In the railway and transportation industries, it is used to patrol railway tracks and transportation hubs and inspect signal lights, tracks, etc.

[0003] Existing inspection robots usually adopt a movable base and a robotic arm arranged on the base. Different functions are realized by installing functional components with different functions at the free end of the robotic arm. However, currently, the robotic arm of existing inspection robots can usually only rotate in multiple axes through a drive system to perform specified mechanical actions, and its height relative to the base cannot be changed. For inspection positions beyond the maximum extension height of the robotic arm, robotic arms of different sizes need to be installed, resulting in a small applicable range for a set of robotic arms, making the inspection work have certain limitations and poor practicability. Content of the Utility Model

[0004] To solve the technical problems existing in the above background art, the utility model provides an outdoor inspection robot capable of lifting.

[0005] The technical solution of the utility model is as follows:

[0006] An outdoor inspection robot capable of lifting, including a bottom plate, two mounting plates are arranged at the head and tail of the upper end surface of the bottom plate, mounting frames are installed at both ends of the two mounting plates, and a wheel set assembly is arranged at the mounting frames;

[0007] Multiple threaded cylinders are arranged at the middle position of the upper end surface of the mounting plate, and the openings of the threaded cylinders face upward. Lead screws are threadedly connected in the multiple threaded cylinders. A sleeve is fixedly installed on the outer edge surface of the upper end of the lead screw, and a lifting plate is jointly connected to the outer edge surfaces of the multiple sleeves;

[0008] A power device is arranged at the bottom of the lifting plate, and the power device is connected to a drive assembly and can drive the multiple lead screws to rotate synchronously;

[0009] A supporting plate is installed on the lifting plate, and a base for installing a robotic arm is arranged on the supporting plate.

[0010] To improve the stability of multiple threaded cylinders, a connecting plate is jointly provided at the tops of the multiple threaded cylinders, and auxiliary plates are provided at positions corresponding to the multiple threaded cylinders on the connecting plate, and the auxiliary plates are fixed to the edges of the threaded cylinders through bolts penetrating the connecting plate.

[0011] To be able to guide the lifting of the lifting plate, a guide rod is fixed to the lifting plate, and the guide rod vertically penetrates downward through the connecting plate and is slidably arranged therewith.

[0012] The specific design of the threaded cylinder is that three threaded cylinders are provided and arranged in a triangle, and the center of the triangle formed by the three threaded cylinders is collinear with the center of the bottom plate.

[0013] The specific design of the power device is that the power device is a driving motor, which is installed at the bottom of the lifting plate and can drive the driving component to rotate.

[0014] The specific design of the driving component is that the driving component includes a driving wheel arranged above the lifting plate, and the output end of the driving motor penetrates through the lifting plate and is connected to the driving wheel;

[0015] Driven wheels are installed at the tops of multiple threaded rods, a tensioning wheel is also provided on the connecting plate, and a tensioning belt sequentially bypasses the driving wheel, the tensioning wheel and multiple driven wheels.

[0016] To facilitate the cooperation of the wire harness with the movement of the lifting plate, a drag chain is provided below the lifting plate, and one end of the drag chain is connected to the bottom of the lifting plate and the other end is connected to the bottom of the connecting plate, and can store the connecting wire harnesses of the power device and the robotic arm.

[0017] The specific design of the wheel set component is that the wheel set component includes a steering motor located on the mounting frame, and the output end of the steering motor is connected downward to a steering frame, and a traveling motor is installed at the bottom end of the steering frame, and its output end is connected to a moving wheel.

[0018] To facilitate the control of each electrical component of the inspection robot, an industrial control computer is provided on the bottom plate, and the power device, the robotic arm, the steering motor and the traveling motor are all electrically connected to the industrial control computer.

[0019] To supply power to each electrical component of the entire inspection robot, a housing is provided at the bottom of the bottom plate, and a battery is provided inside the housing.

[0020] The beneficial effects of the present utility model are as follows: The present utility model is a liftable outdoor inspection robot. Firstly, by installing a robotic arm on the bottom plate and wheel set components at the four corner edges of the bottom plate, the movement of the robot can be achieved, and by installing functional components at the free end of the robotic arm, the function of inspecting the working environment during movement is realized; Secondly, through the setting of the steering motor and the walking motor, each moving wheel can be self-driven, improving the driving force of the robot's movement, and each moving wheel can be steered, improving the flexibility of the robot; Finally, different from the prior art, by setting multiple screw cylinders and cooperating with multiple lead screws, the robotic arm can be driven to move up and down with the lifting plate, achieving height adjustment in the vertical direction, greatly increasing the inspection height range of the robotic arm, reducing the number of times of frequently replacing robotic arms of different sizes, improving the practicality of the inspection robot, and the adjustment is convenient, fast and stable through the driving motor cooperating with the belt and pulley. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] By reading the following detailed description of the preferred embodiments, the solutions and advantages of the present application will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present utility model.

[0022] In the drawings:

[0023] Figure 1 is a schematic diagram of the overall structure of the inspection robot;

[0024] Figure 2 is a partial structural sectional view;

[0025] Figure 3 is a partial structural view;

[0026] Figure 4 is a partial structural right view;

[0027] The components represented by the reference numerals in the drawings are:

[0028] 1, bottom plate; 2, mounting plate; 3, mounting frame; 4, wheel set component; 41, steering motor; 42, steering frame; 43, walking motor; 44, moving wheel; 5, screw cylinder; 6, lead screw; 7, sleeve; 8, lifting plate; 9, power device; 10, drive assembly; 101, driving wheel; 102, driven wheel; 103, tensioning wheel; 104, tensioning belt; 11, supporting plate; 12, base; 13, connecting plate; 14, auxiliary plate; 15, guide rod; 16, drag chain; 17, industrial control computer; 18, housing; 19, battery; 20, touch sensing strip. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] The following will describe the exemplary embodiments of the present disclosure in more detail with reference to the drawings.

[0030] Embodiment

[0031] As mentioned in the background art, with the continuous popularization of intelligence, inspection robots are used in many fields to improve production or inspection efficiency. Existing inspection robots all have conventional functions such as navigation and obstacle avoidance, but there are certain defects in use. The height of the robotic arm relative to the base 12 cannot be adjusted, resulting in a small inspection range for a robotic arm of a certain specification size. It is necessary to prepare many robotic arms of different sizes for replacement. On the one hand, the investment cost of the robotic arm is relatively large, and on the other hand, frequent replacement is rather troublesome. Therefore, the inventor has improved the existing inspection robot and designed a new type of outdoor inspection robot. The following will be specifically described with reference to the drawings.

[0032] This embodiment provides a liftable outdoor inspection robot. Refer to Figure 1 , including a bottom plate 1. The bottom plate 1 is set as a rectangle. Two mounting plates 2 are arranged at the head and tail of the upper end surface of the bottom plate 1. The length of the two mounting plates 2 is greater than the width of the bottom plate 1 and extends towards both sides of the bottom plate 1. And support columns are arranged at the edge of the bottom plate 1 to support the mounting plates 2. Mounting frames 3 are installed at both ends of the two mounting plates 2, and a wheel set assembly 4 is arranged at the mounting frames 3. Through the design of the wheel set assembly 4, the forward movement and turning of the inspection robot can be realized.

[0033] Among them, four groups of wheel set assemblies 4 are provided in total. The wheel set assembly 4 includes a steering motor 41 located on the mounting frame 3, and the output end of the steering motor 41 is connected downward to a steering frame 42. The steering motor 41 drives the steering frame 42 to rotate through a torque transmission shaft. A traveling motor 43 is installed at the bottom end of the steering frame 42, and its output end is connected to a moving wheel 44. The traveling motor 43 is located inside the moving wheel 44 and can drive the moving wheel 44 to rotate, thereby realizing the movement of the inspection robot. The steering motor 41 drives the moving wheel 44 to rotate along with the steering frame 42 to realize the turning action of the robot.

[0034] As one of the main design points of this solution, in combination with Figure 2, at the middle position of the upper end surface of the mounting plate 2, there are multiple threaded cylinders 5. The threaded cylinder 5 includes a support cylinder at the bottom and a threaded sleeve installed at the top of the support cylinder, and the opening of the threaded cylinder 5 faces upward. In this solution, there are three threaded cylinders 5 arranged in a triangle. The center of the triangle formed by the three threaded cylinders 5 is collinear with the center of the bottom plate 1, making the three threaded cylinders 5 more stable. A lead screw 6 is threadedly connected to each of the multiple threaded cylinders 5. The lead screw 6 is threadedly connected to the threaded sleeve. There are three corresponding lead screws 6, which can move in the vertical direction by rotation. An outer edge surface of the upper end of the lead screw 6 is fixedly equipped with a sleeve 7, and an outer edge surface of multiple sleeves 7 is commonly connected to a lifting plate 8, that is, the sleeve 7 penetrates the lifting plate 8, and the lifting plate 8 is in contact with the sleeve 7. A bearing is arranged below the sleeve 7, and the bearing 7 is used to connect the lead screw 6 and the lifting plate 8. The sleeve 7 rotates along with the lead screw 6, and then drives the lifting plate 8 to move up and down. A supporting plate 11 is installed on the lifting plate 8, and a support column is arranged between them. A base 12 for installing a robotic arm is arranged on the supporting plate 11. The robotic arm is installed on the base 12. The supporting plate 11 can move up and down along with the lifting plate 8, and then drive the robotic arm to move up and down, realizing the adjustment of height.

[0035] It should be noted that a connecting plate 13 is commonly arranged at the top of the multiple threaded cylinders 5, which can connect and fix the three threaded cylinders 5 in this solution. At positions corresponding to the multiple threaded cylinders 5 on the connecting plate 13, auxiliary plates 14 are arranged, and the auxiliary plates 14 are fixed to the edge of the threaded cylinder 5 by bolts passing through the connecting plate 13. The auxiliary plates 14 can fix the connecting plate 13 and the top of the threaded cylinder 5. By arranging the connecting plate 13, the three threaded cylinders 5 are connected, ensuring the stability of the three.

[0036] On the basis of the above structure, combined with Figure 4 , a guide rod 15 is fixed to the lifting plate 8, and the guide rod 15 vertically penetrates downward through the connecting plate 13 and is slidably arranged with it. By arranging the guide rod 15, when the lifting plate 8 moves up and down, the guide rod 15 slides up and down along the connecting plate 13, playing a guiding role. And a limit ring is arranged at the bottom end of the guide rod 15, which can limit the guide rod 15 to prevent it from moving excessively beyond the connecting plate 13.

[0037] In this embodiment, the rotation of the lead screw 6 is mainly realized by the following components. Among them, combined with Figure 3, a power device 9 is provided at the bottom of the lifting plate 8. In this solution, the power device 9 is a driving motor. The output end of the driving motor vertically penetrates upward through the lifting plate 8, and the power device 9 is connected to a driving component 10, which can drive multiple lead screws 6 to rotate synchronously. Specifically, the driving component 10 includes a driving wheel 101 provided above the lifting plate 8, and the output end of the driving motor penetrates through the lifting plate 8 and is connected to the driving wheel 101, which can drive the driving wheel 101 to rotate. The top ends of multiple threaded rods are all equipped with driven wheels 102. A tensioning wheel 103 is also provided on the connecting plate 13. The tensioning belt 104 sequentially bypasses the driving wheel 101, the tensioning wheel 103, and multiple driven wheels 102. When the driving motor drives the driving wheel 101 to rotate, the multiple driven wheels 102 are driven to rotate synchronously by the tensioning belt 104, and then the three lead screws 6 are driven to rotate synchronously.

[0038] On the basis of the above structure, since the lifting plate 8 moves up and down, it will drive the lifting motor and the robotic arm to move up and down, and both of them need to be connected to the power supply line. In order to make the connecting wire harness adapt to the lifting movement, a drag chain 16 is provided below the lifting plate 8. One end of the drag chain 16 is connected to the bottom of the lifting plate 8, and the other end is connected to the bottom of the connecting plate 13, which can store the connecting wire harnesses of the power device 9 and the robotic arm. The connecting wire harnesses of the two are not shown in the figure, but the fact that the connecting wire harness moves along with the drag chain 16 is a mature prior art. In this solution, it is used in cooperation with the lifting plate 8, and no redundant description is made.

[0039] In this embodiment, an industrial control computer 17 is provided on the bottom plate 1, and the power device 9, the robotic arm, the steering motor 41, and the traveling motor 43 are all electrically connected to the industrial control computer 17. The setting of the industrial control computer 17 can control the power device 9, the robotic arm, the steering motor 41, and the traveling motor 43, control the opening and closing of the above electrical components, and a lidar is installed on the mounting plate 2, which can perform navigation and obstacle avoidance for the inspection robot. A start button and an emergency stop button are installed on the mounting plate 2, which is convenient for starting and emergency stopping the inspection robot. Moreover, in order to prevent the inspection robot from colliding with other objects during inspection, a touch induction strip 20 is installed at the front end of the mounting plate 2 in the traveling direction through a bracket. It is a purchased part, and the specific model can be -SL / NO-MAYSER. A pressure sensor is installed in the touch induction strip 20, which can emit a control signal to the industrial control computer 17 when contacting other objects, changing the traveling route, which is a relatively mature prior art in the field. And in order to conveniently supply power to the above electrical components, a housing 18 is provided at the bottom of the bottom plate 1, and a battery 19 is provided in the housing 18. The above electrical components are electrically connected to the battery 19.

Claims

1. An outdoor inspection robot that can be lifted, characterized in that, It includes a bottom plate (1), and two mounting plates (2) are arranged at the head and tail of the upper end surface of the bottom plate (1). Mounting brackets (3) are installed at both ends of the two mounting plates (2), and a wheel set assembly (4) is arranged at the mounting brackets (3); In the middle position of the upper end surface of the mounting plate (2), a plurality of threaded cylinders (5) are arranged, and the openings of the threaded cylinders (5) face upward. Lead screws (6) are threadedly connected in the plurality of threaded cylinders (5). A sleeve (7) is fixedly installed on the outer edge surface of the upper end of the lead screw (6), and a lifting plate (8) is jointly connected to the outer edge surfaces of the plurality of sleeves (7); A power device (9) is arranged at the bottom of the lifting plate (8), and the power device (9) is connected to a driving assembly (10) and can drive the plurality of lead screws (6) to rotate synchronously; A supporting plate (11) is installed on the lifting plate (8), and a base (12) for installing a robotic arm is arranged on the supporting plate (11).

2. The liftable outdoor inspection robot according to claim 1, characterized in that, A connecting plate (13) is jointly arranged at the tops of the plurality of threaded cylinders (5), and auxiliary plates (14) are arranged at the positions corresponding to the plurality of threaded cylinders (5) on the connecting plate (13). The auxiliary plates (14) are fixed to the edges of the threaded cylinders (5) by bolts passing through the connecting plate (13).

3. The liftable outdoor inspection robot according to claim 2, wherein, The lifting plate (8) is fixed with a guide rod (15), and the guide rod (15) vertically penetrates downward through the connecting plate (13) and is slidably arranged therewith.

4. The liftable outdoor inspection robot according to claim 1, wherein There are three threaded cylinders (5), which are arranged in a triangle. The center of the triangle formed by the three threaded cylinders (5) is collinear with the center of the bottom plate (1).

5. The liftable outdoor inspection robot according to claim 2, wherein The power device (9) is a driving motor, which is installed at the bottom of the lifting plate (8) and can drive the driving assembly (10) to rotate.

6. The liftable outdoor inspection robot according to claim 5, wherein The driving assembly (10) includes a driving wheel (101) arranged above the lifting plate (8), and the output end of the driving motor penetrates through the lifting plate (8) and is connected to the driving wheel (101); Driven wheels (102) are installed at the tops of the plurality of threaded rods. A tensioning wheel (103) is also arranged on the connecting plate (13), and a tensioning belt (104) sequentially bypasses the driving wheel (101), the tensioning wheel (103) and the plurality of driven wheels (102).

7. The liftable outdoor inspection robot according to claim 6, wherein, A drag chain (16) is arranged below the lifting plate (8), and one end of the drag chain (16) is connected to the bottom of the lifting plate (8), and the other end is connected to the bottom of the connecting plate (13), and can store the connecting wire harnesses of the power device (9) and the robotic arm.

8. The liftable outdoor inspection robot according to claim 1, characterized in that, The wheel set assembly (4) includes a steering motor (41) located on the mounting bracket (3), and the output end of the steering motor (41) faces downward and is connected to a steering frame (42). A traveling motor (43) is installed at the bottom end of the steering frame (42), and its output end is connected to a moving wheel (44).

9. The liftable outdoor inspection robot according to any one of claims 1-8, characterized in that, An industrial personal computer (17) is arranged on the bottom plate (1), and the power device (9), the robotic arm, the steering motor (41) and the traveling motor (43) are all electrically connected to the industrial personal computer (17).

10. The liftable outdoor inspection robot according to claim 9, characterized in that, A housing (18) is arranged at the bottom of the bottom plate (1), and a battery (19) is arranged inside the housing (18).

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