All-terrain air-ground amphibious inspection robot

Abstract

The utility model discloses an all-terrain air-ground amphibious inspection robot, which relates to the field of amphibious air-ground intelligent inspection robots and comprises a top aircraft structure, a multi-degree-of-freedom mechanical arm structure, a circular central control mechanism and a damping wheat wheel chassis structure. The multi-degree-of-freedom mechanical arm structure is fixedly connected to the front end of the top aircraft structure; the circular central control mechanism is welded at the bottom of the top aircraft structure; according to the amphibious land-air intelligent inspection robot, the application limitation of a traditional inspection robot in a complex environment is solved, the stability and controllability of the amphibious land-air intelligent inspection robot in the complex environment are remarkably improved through the innovative mechanical structure design, and the amphibious land-air intelligent inspection robot is suitable for being popularized and applied. And the practical value is very high.

Description

Technical Field

[0001] The utility model relates to the field of amphibious land and air intelligent inspection robots, in particular to an all-terrain land and air amphibious inspection robot. Background Art

[0002] In the modern inspection field, with the increasing complexity of environments, traditional single-mode inspection robots are no longer able to meet the needs of efficient and comprehensive inspections. This is particularly true for scenarios requiring simultaneous coverage of both land and air environments, where traditional inspection robots present significant limitations. While existing amphibious land and air inspection robots attempt to address this issue, they still face numerous practical challenges. First, the stability and maneuverability of the aircraft are difficult to balance, particularly in complex wind conditions or high-interference environments, which poses a serious threat to flight safety. Second, the ground-based mobile platform's insufficient maneuverability and shock absorption make it difficult to adapt to rugged terrain, significantly reducing inspection efficiency. Furthermore, the limited fusion and processing capabilities of multi-sensor data prevent it from accurately sensing environmental changes in real time, hindering the precise execution of inspection tasks. Furthermore, the immature technology for the precise manipulation and control of the robotic arm makes it difficult to meet the requirements of confined spaces or high-precision operations.

[0003] Therefore, this utility model patent innovatively proposes an amphibious, land-and-air intelligent inspection robot, unique in its composite design that combines a precision six-rotor aircraft with a high-performance ground mobile platform. This robot not only achieves highly stable and flexible aerial flight through its precision arms, support structure, and rotor motor control, overcoming the challenges of flight in complex environments, but also significantly improves terrain adaptability and driving stability through a ground platform that integrates Mecanum wheels and acrylic shock-absorbing plates. A particular highlight is the small robotic arm at the front end, which, with its sophisticated upper and lower arms and three-claw design, combined with the precise control of a small rotary motor, enables efficient and precise operations in confined spaces. At the same time, the integrated multi-sensor system and advanced data processing technology ensure that the robot can accurately perceive environmental changes in real time, providing comprehensive and efficient support for intelligent inspection tasks. Utility Model Content

[0004] The purpose of this utility model is to provide an all-terrain land and air amphibious inspection robot, which significantly improves the stability and maneuverability of the amphibious land and air intelligent inspection robot in complex environments through innovative mechanical structure design.

[0005] The utility model provides an all-terrain land and air amphibious inspection robot, comprising a top aircraft structure, a multi-degree-of-freedom mechanical arm structure, a circular central control mechanism and a shock-absorbing wheat wheel chassis structure;

[0006] The multi-degree-of-freedom robotic arm structure is fixedly connected to the front end of the top aircraft structure;

[0007] The circular central control mechanism is welded to the bottom of the top aircraft structure;

[0008] The shock-absorbing wheat wheel chassis structure is welded to the bottom of the circular central control mechanism.

[0009] Preferably, the top aircraft includes an aircraft upper cover plate, an aircraft lower base plate, a plurality of arms and a plurality of brackets;

[0010] Supporting connecting columns are provided between the four corners of the upper cover plate of the aircraft and the four corners of the lower base plate of the aircraft;

[0011] One end of the arm is fixed to the center of the support connecting column, the bracket is arc-shaped, and one end of the bracket is fixed to both sides of the upper surface of the lower base plate;

[0012] The other end of the arm and the other end of the bracket are equipped with a brushless DC motor;

[0013] The upper portion of the brushless DC motor is rotatably connected to the rotor;

[0014] Two machine eyes are provided on the front and rear of the upper cover of the aircraft, and a controller is provided in the center of the upper cover of the aircraft;

[0015] A battery is fixed at the center of the lower base plate of the aircraft, and a transmitter-receiver is fixed at the rear of the lower base plate of the aircraft.

[0016] Preferably, the multi-degree-of-freedom robotic arm structure comprises a large arm, a small arm, a three-claw robotic claw and a small rotary motor;

[0017] The multi-degree-of-freedom robotic arm structure is screwed to the upper surface of the lower base plate of the aircraft by bolts;

[0018] One end of the big arm is rotatably connected to the bolt, and the other end is rotatably connected to one end of the small arm;

[0019] The other end of the forearm is rotatably connected to the three-claw mechanical claw;

[0020] Small rotary motors are provided at the connection points between the bolt and the upper arm, the upper arm and the lower arm, and the lower arm and the three-claw mechanical claw.

[0021] Preferably, the circular central control mechanism includes a central upper cover plate, a central lower base plate, a double-pass copper column, a power button, a searchlight, a camera, a heat dissipation device, a central control box, a power button, an infrared transmitter and an expansion interface block;

[0022] The central upper cover plate and the central lower base plate are screwed together by double-pass copper columns;

[0023] The searchlight is equipped with a lamp stand, which is fixed to the four corners of the central upper cover;

[0024] The power button is arranged in front of the central upper cover plate, adjacent to the searchlight;

[0025] The camera is fixedly connected to the rear of the lower surface of the central upper cover plate.

[0026] Preferably, the central control box includes a small box and a large box, the small box is fixed in front of the central lower base, and the large box is fixed in the center of the central lower base;

[0027] The small box integrates wireless communication module, power management unit, emergency stop and safety control module, and microcontroller MCU auxiliary board;

[0028] The large box integrates the main controller DSP, sensor integration board, power distribution unit PDU, data storage and backup module;

[0029] The heat dissipation device is fixed to the rear of the large box, the infrared emitter is fixed to one side of the rear of the central lower base plate, the expansion interface block is fixed to the rear of the central lower base plate, and there are gripping openings on both sides of the lower side of the central lower base plate.

[0030] Preferably, the shock-absorbing Mecanum wheel chassis structure includes a shock-absorbing frame, a shock-absorbing plate, a shock absorber, a lightweight motor, a motor base plate, and a lightweight Mecanum wheel;

[0031] The shock-absorbing frame comprises a first aluminum square tube and a second aluminum square tube, wherein the first aluminum square tube and the second aluminum square tube are welded in parallel;

[0032] The shock-absorbing frame has two shock-absorbing plates welded on the front and one shock-absorbing plate welded on the rear;

[0033] A pair of hinges are installed at the middle position of the bottom of the shock-absorbing frame, and the opening and closing ends of the hinges are fixedly connected to the motor base plate;

[0034] A lightweight motor is screwed onto the upper surface of the motor base plate;

[0035] A shock absorber is provided between the shock absorbing plate and the motor base plate;

[0036] The lightweight Mecanum wheel is rotationally connected to the lightweight motor.

[0037] Preferably, the power management unit manages power distribution and battery monitoring of the robot.

[0038] Preferably, the emergency stop and safety control module integrates a tilt sensor and a collision sensor.

[0039] Preferably, the sensor integrated board integrates infrared sensors, smoke and gas sensors, temperature sensors, humidity sensors, etc., as well as their corresponding signal conditioning circuits and interfaces.

[0040] In summary, compared with the prior art, the present invention has the following beneficial effects:

[0041] 1. This utility model improves the stability and maneuverability of the amphibious land and air intelligent inspection robot in complex environments through innovative mechanical structure design.

[0042] 2. The multi-degree-of-freedom robotic arm structure and precise control of the small rotary motor enable the robot to complete tasks in narrow spaces or with high precision.

[0043] 3. Integrate multi-sensor systems and advanced data processing technology to ensure that the robot can accurately perceive environmental changes in real time, improving the accuracy and efficiency of inspection tasks.

[0044] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a schematic diagram of the overall structure of an embodiment of the present disclosure (a);

[0046] Figure 2 is a schematic diagram of the overall structure of an embodiment of the present disclosure (b);

[0047] Figure 3 is a schematic diagram of the overall structure of an embodiment of the present disclosure (c);

[0048] Figure 4 Schematic diagram of the structure of a six-rotor aircraft according to an embodiment of the present disclosure;

[0049] Figure 5 Schematic diagram of the multi-degree-of-freedom robotic arm structure according to an embodiment of the present disclosure;

[0050] Figure 6 This is a schematic top view of a circular central control mechanism according to an embodiment of the present disclosure;

[0051] Figure 7 This is a bottom-up schematic diagram of a circular central control mechanism according to an embodiment of the present disclosure;

[0052] Figure 8 Schematic diagram of the shock-absorbing wheat wheel chassis according to an embodiment of the present disclosure.

[0053] Reference numerals

[0054] 1. Arm; 2. Bracket; 3. Rotor; 4. Aircraft upper cover; 5. Aircraft lower base; 6. DC brushless motor; 7. Robot eye; 8. Controller; 9. Battery; 10. Transmitter / receiver; 11. Grip; 12. Receiving antenna; 13. Upper arm; 14. Lower arm; 15. Three-claw mechanical claw; 16. Small rotary motor; 17. Central upper cover; 18. Central lower base; 19. Double-pass copper column; 20. Power button; 21. Searchlight; 22. Camera; 23. Heat dissipation device; 24. Large box; 25. Small box; 26. Infrared transmitter; 27. Extension interface block; 28. First aluminum square tube; 29. ​​Second aluminum square tube; 30. Shock absorber plate; 31. Shock absorber; 32. Lightweight motor; 33. Motor base plate; 34. Lightweight Mecanum wheel. DETAILED DESCRIPTION

[0055] The technical solution of the present utility model is further described below through the accompanying drawings and embodiments.

[0056] Unless otherwise defined, technical or scientific terms used in the present invention should have the common meanings understood by persons having ordinary skills in the field to which the present invention belongs.

[0057] The terms "include" or "comprising" and similar expressions used in this utility model mean that the elements preceding the word include the elements listed after the word, and do not exclude the possibility of also including other elements. The directions or positional relationships indicated by the terms "inside", "outside", "upper", "lower", etc. are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the devices or elements referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limitations on this utility model. When the absolute position of the described object changes, the relative positional relationship may also change accordingly. In this utility model, unless otherwise clearly specified and limited, terms such as "attachment" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this utility model can be understood according to the specific circumstances.

[0058] like Figure 1 、 Figure 2 and Figure 3 As shown, the utility model discloses an all-terrain land and air amphibious inspection robot provided by the utility model, comprising a top aircraft structure, a multi-degree-of-freedom mechanical arm structure, a circular central control mechanism and a shock-absorbing wheat wheel chassis structure;

[0059] The multi-degree-of-freedom robotic arm structure is fixedly connected to the front end of the top aircraft structure;

[0060] Furthermore, the top aircraft includes an aircraft upper cover plate 4, an aircraft lower base plate 5, a plurality of arms 1 and a plurality of brackets 2; preferably, the top aircraft as a whole adopts a structure of four arms 1 and two brackets 2, that is, a six-rotor structure.

[0061] Supporting connecting columns are provided between the four corners of the aircraft upper cover plate 4 and the four corners of the aircraft lower base plate 5;

[0062] One end of the arm 1 is fixed to the center of the support column, and the bracket 2 is arc-shaped, with one end of the bracket 2 fixed to both sides of the upper surface of the lower base plate. The arm 1 and the bracket 2 are made of lightweight and high-strength materials (carbon fiber and aluminum alloy) to reduce the weight of the entire aircraft while ensuring sufficient structural strength.

[0063] The other end of the arm 1 and the other end of the bracket 2 are equipped with a DC brushless motor 6;

[0064] The upper portion of the brushless DC motor 6 is rotatably connected to the rotor 3, which is a key component connecting the upper arm 13 and the lower arm 14. Precision bearings and transmission devices are used to achieve relative movement between the upper arm 13 and the lower arm 14.

[0065] The aircraft upper cover plate 4 is provided with two machine eyes 7 at the front and rear, and a controller 8 is provided at the center of the aircraft upper cover plate 4;

[0066] A battery 9 is fixed in the center of the lower base plate 5 of the aircraft. A transmitter-receiver 10 is fixed to the rear of the lower base plate 5 of the aircraft. The end of the transmitter-receiver 10 is connected to a receiving antenna 12 through an antenna rack.

[0067] like Figure 4 and Figure 5 As shown, the multi-DOF robotic arm structure includes a large arm 13, a small arm 14, a three-claw mechanical gripper 15, and a small rotary motor 16. Precise motion control is achieved through a servo system. The three-claw mechanical gripper 15 serves as the end effector of the robotic arm, responsible for grasping and manipulating the target object. Claw structure: The three-claw mechanical gripper 15 consists of three independent claws, each of which can move independently. The claws are made of high-strength materials to ensure sufficient strength and stability during the grasping process.

[0068] The three-claw robotic gripper 15 can flexibly grasp different objects, ensuring stability and gripping force through the small rotary motor 16 and precise control. The small rotary motor 16 uses PWM control to achieve precise speed and position adjustment to meet the corresponding task requirements.

[0069] The small rotary motor 16 serves as the power source for the robotic arm and the three-claw robotic claw 15. Its control accuracy and stability directly affect the motion performance and grasping ability of the robotic arm. The small rotary motor 16 is controlled using PWM (pulse width modulation). By adjusting the duty cycle of the PWM signal, precise control of the motor speed and direction can be achieved. According to the task requirements and environmental information, the controller 8 calculates the target speed that the motor needs to reach, and achieves precise control of the motor speed by adjusting the duty cycle of the PWM signal. The position information of the robotic arm and the robotic claw is fed back in real time by the position sensor. The controller 8 controls the position of the motor based on this information to ensure that the robotic arm and the robotic claw can accurately reach the predetermined position. In some special cases, it is necessary to apply a specific torque to the robotic arm and the robotic claw. By precisely controlling the output torque of the motor, fine operation of the robotic arm and the robotic claw can be achieved.

[0070] The multi-degree-of-freedom robotic arm structure is screwed to the upper surface of the lower base plate 5 of the aircraft by bolts;

[0071] One end of the big arm 13 is rotatably connected to the bolt, and the other end is rotatably connected to one end of the small arm 14;

[0072] The other end of the small arm 14 is rotatably connected to the three-claw mechanical claw 15;

[0073] A small rotary motor 16 is provided at the connection between the bolt and the upper arm 13 , the upper arm 13 and the lower arm 14 , and the lower arm 14 and the three-claw mechanical claw 15 .

[0074] like Figure 6 、 Figure 7 As shown, the circular central control mechanism is welded to the bottom of the top aircraft structure. The design of the circular central mechanism takes into account that the circular central connection design can provide stable support and flexible mobility;

[0075] Furthermore, the circular central control mechanism includes a central upper cover plate 17, a central lower base plate 18, a double-pass copper column 9, a power button, a searchlight 21, a camera 22, a heat dissipation device 23, a central control box, a power button 20, an infrared transmitter 26 and an expansion interface block 27. At night or in a dimly lit environment, the searchlight 21 can provide the robot with necessary lighting, helping the operator to clearly observe the surrounding environment and ensure that the robot can accurately perform inspection tasks;

[0076] The central upper cover plate 17 and the central lower base plate 18 are screwed together by double-pass copper pillars 9;

[0077] The searchlight 21 is equipped with a lamp holder, which is fixed to the four corners of the central upper cover 17 and is used to start and stop the robot;

[0078] The power button 20 is provided in front of the central upper cover 17 and adjacent to the searchlight 21;

[0079] The camera 22 is fixed to the rear of the lower surface of the central upper cover plate 17 to supplement the rear field of view.

[0080] Furthermore, the central control box includes a small box 25 and a large box 24, the small box 25 is fixed in front of the central lower base 18, and the large box 24 is fixed in the center of the central lower base 18;

[0081] The small box 25 integrates a wireless communication module, a power management unit, an emergency stop and safety control module, and a microcontroller MCU auxiliary board. The wireless communication module is responsible for wireless communication between the robot and the remote control center or the user, including command reception, status feedback, data transmission, etc. The microcontroller (MCU) auxiliary board assists the controller 8 and handles some low-level signal preprocessing and simple logic control tasks to reduce the burden on the controller 8. The emergency stop and safety control module integrates a tilt sensor and a collision sensor to ensure that the power source can be quickly cut off in an emergency to protect the safety of the robot and the surrounding environment.

[0082] Furthermore, the power management unit manages the robot's power distribution and battery 9 monitoring, ensuring that each component has a stable power supply, while monitoring the battery 9 power level and status to avoid safety issues such as overcharging and over-discharging.

[0083] Furthermore, the emergency stop and safety control module integrates a tilt sensor and a collision sensor.

[0084] The large box 24 integrates the controller DSP, sensor integration board, power distribution unit PDU, data storage and backup module. The controller 8 serves as the core processing unit of the robot, responsible for the overall control logic, data processing, algorithm execution and other tasks;

[0085] Furthermore, the sensor integrated board integrates infrared sensors, smoke and gas sensors, temperature sensors, humidity sensors, etc., as well as their corresponding signal conditioning circuits and interfaces.

[0086] The power distribution unit (PDU) distributes the main power to each functional module, ensuring that each component receives the appropriate voltage and current supply;

[0087] The data storage and backup module stores the data and logs collected during the inspection process, ensuring data security and reliability, and supports data export and analysis;

[0088] The heat dissipation device 23 is fixed to the rear of the large box 24 and is used to dissipate heat for the integrated control box. The infrared emitter 26 is fixed to one side of the rear of the central lower base plate 18. The infrared emitter 26 can realize remote control and data transmission by emitting infrared signals. The extended interface block 27 is fixed to the rear of the central lower base plate 18 and is used to connect additional sensors, actuators or other functional modules. There are gripping openings 11 on both sides of the lower side of the central lower base plate 18 to facilitate the operator to grab and grasp the robot. The existence of the extended interface block 27 can also reasonably distribute the weight and center of mass of the robot, thereby improving the load balance of the robot.

[0089] The shock-absorbing wheat wheel chassis structure is welded to the bottom of the circular central control mechanism.

[0090] like Figure 8 As shown, further, the shock-absorbing Mecanum wheel chassis structure includes a shock-absorbing frame, a shock-absorbing plate 30, a shock absorber 31, a lightweight motor 32, a motor base plate 33, and a lightweight Mecanum wheel 34;

[0091] The shock absorber frame includes a first aluminum square tube 28 and a second aluminum square tube 29, which are welded in parallel. Preferably, the first aluminum square tube 28 is a 250 mm aluminum square tube, and the second aluminum square tube 29 is a 450 mm aluminum square tube.

[0092] The shock-absorbing frame has two shock-absorbing plates 30 welded on the front and one shock-absorbing plate 30 welded on the rear;

[0093] A hinge is installed at the middle position of the bottom of the shock absorber frame, and the opening and closing ends of the hinge are fixedly connected to the motor base plate 33;

[0094] The upper surface of the motor base plate 33 is screwed with a lightweight motor 32;

[0095] A shock absorber 31 is provided between the shock absorbing plate 30 and the motor base plate;

[0096] The lightweight Mecanum wheel 34 is rotationally connected to the lightweight motor 32. These key components together ensure that the robot can perform inspection tasks efficiently and stably in complex environments, thereby improving safety and reliability.

[0097] The shock absorbing plate 30 is made of a light and elastic material, and can absorb and disperse the vibration and impact generated when the robot moves.

[0098] Specifically, shock absorbers 31 are mounted above each Mecanum wheel, using components such as springs and dampers to provide shock absorption. When the robot encounters uneven surfaces or obstacles, the shock absorbers 31 effectively absorb the impact, minimizing damage to the robot's internal components. They also enhance the robot's stability at high speeds, ensuring smooth inspections.

[0099] Specifically, a Mecanum wheel is a special wheel with multiple small rollers distributed on its surface. By controlling the rotation direction and speed of the small rollers, the robot can move forward, backward, move left and right, and rotate in place.

[0100] The specific implementation process is as follows:

[0101] 1. Startup and initialization

[0102] Power Button 20 Operation: The operator presses the power button 20 located in front of the circular central control mechanism to start the robot. This triggers the power management unit to start supplying power, while the controller 8 (DSP) performs a self-test to confirm that all components (such as motors, sensors, and wireless communication modules) are functioning properly.

[0103] Initialization settings: The controller 8 initializes each sensor (infrared sensor, gas sensor, temperature sensor, etc.), calibrates the machine eye 7 vision system, and checks the servo system and rotation motor status of the robot arm.

[0104] 2. Flight mode preparation and takeoff

[0105] Flight mode selection: Select the flight mode via the remote control or smart device and send commands to the robot.

[0106] Pre-start of rotor 3: After receiving the flight command, controller 8 gradually increases the speed of the six brushless DC motors to make rotor 3 start to rotate, and at the same time adjusts the speed of rotor 3 to keep the aircraft balanced.

[0107] Attitude adjustment: Through the integrated IMU (Inertial Measurement Unit) and GPS data, the controller 8 adjusts the rotation speed of the rotor 3 in real time to ensure that the aircraft attitude is stable and ready for takeoff.

[0108] Take-off operation: When all systems are ready and the aircraft attitude is stable, the controller 8 issues a take-off command, gradually increasing the rotation speed of the rotor 3 to make the aircraft take off and climb to a preset altitude.

[0109] 3. Execution of aerial inspection tasks

[0110] 3D Positioning and Navigation: Utilizing GPS, IMU, and a machine vision system, the robot locates itself in 3D space and flies along a pre-set inspection route. Simultaneously, SLAM technology builds a real-time map of the environment to improve navigation accuracy.

[0111] Target recognition and tracking: The Machine Eye 7 vision system captures images of the surrounding environment in real time, identifies specific targets (such as equipment anomalies, safety hazards, etc.) through image processing algorithms, and tracks them.

[0112] Data collection and processing: During the inspection process, the robot collects environmental data in real time through infrared sensors, gas sensors and temperature sensors, and transmits the data back to the controller 8 for processing and analysis.

[0113] Obstacle avoidance: Uses machine eyes7 and infrared sensors to sense obstacles ahead and plans a new flight path through obstacle avoidance algorithms to avoid collisions.

[0114] 4. Switch to ground movement mode

[0115] Mode switching command: When it is necessary to switch to the ground mobile mode, the operator sends a switching command to the controller 8 via the remote controller.

[0116] Rotor 3 deceleration and landing: After receiving the switching instruction, the controller 8 gradually reduces the rotation speed of the rotor 3 so that the aircraft can land smoothly in a safe area.

[0117] Chassis activation: After the aircraft lands and is confirmed to be safe, the controller 8 activates the chassis system, starts the Mecanum wheel motors, and prepares for ground movement.

[0118] 5. Execution of ground inspection tasks

[0119] Path planning and navigation: Combining GPS, inertial measurement unit, and machine eye 7 vision system, controller 8 plans the ground inspection path and controls the Mecanum wheels to achieve forward, backward, sideways movement, and on-site rotation.

[0120] Data collection and obstacle avoidance: Continue to collect environmental data through integrated sensors, and use ultrasonic or infrared sensors to perform obstacle avoidance operations to ensure ground inspection safety.

[0121] Robotic arm operation: When fine manipulation is required, the controller 8 activates the robotic arm system. The operator controls the robotic arm to move to the target position via a remote control and uses the three-claw robotic gripper 15 to perform operations such as grasping and testing.

[0122] 6. Data transmission and task completion

[0123] Data upload: All data collected during the inspection process (images, temperature, gas concentration, etc.) are uploaded to the remote control center or user equipment in real time through the wireless communication module.

[0124] Mission summary: After the inspection mission is completed, the robot returns to the preset stop or charging station, and the controller 8 summarizes the inspection mission and generates an inspection report.

[0125] Shutdown operation: The operator sends a shutdown command through the remote control, and the controller 8 executes the shutdown program, gradually turning off the power of each system to ensure the safe shutdown of the robot.

[0126] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. An all-terrain, land and air amphibious inspection robot, characterized in that: It includes a top aircraft structure, a multi-degree-of-freedom robotic arm structure, a circular central control mechanism and a shock-absorbing wheat wheel chassis structure; The multi-degree-of-freedom robotic arm structure is fixedly connected to the front end of the top aircraft structure; The circular central control mechanism is welded to the bottom of the top aircraft structure; The shock-absorbing wheat wheel chassis structure is welded to the bottom of the circular central control mechanism.

2. The all-terrain, land and air amphibious inspection robot according to claim 1, characterized in that: The top aircraft includes an aircraft upper cover plate, an aircraft lower base plate, a plurality of arms and a plurality of brackets; Supporting connecting columns are provided between the four corners of the upper cover plate of the aircraft and the four corners of the lower base plate of the aircraft; One end of the arm is fixed to the center of the support connecting column, the bracket is arc-shaped, and one end of the bracket is fixed to both sides of the upper surface of the lower base plate; The other end of the arm and the other end of the bracket are equipped with a brushless DC motor; The upper portion of the brushless DC motor is rotatably connected to the rotor; Two machine eyes are provided on the front and rear of the upper cover of the aircraft, and a controller is provided in the center of the upper cover of the aircraft; A battery is fixed at the center of the lower base plate of the aircraft, and a transmitter-receiver is fixed at the rear of the lower base plate of the aircraft.

3. The all-terrain, land and air amphibious inspection robot according to claim 1, characterized in that: The multi-degree-of-freedom robotic arm structure includes a large arm, a small arm, a three-claw robotic gripper and a small rotary motor; The multi-degree-of-freedom robotic arm structure is screwed to the upper surface of the lower base plate of the aircraft by bolts; One end of the big arm is rotatably connected to the bolt, and the other end is rotatably connected to one end of the small arm; The other end of the forearm is rotatably connected to the three-claw mechanical claw; Small rotary motors are provided at the connections between the bolt and the upper arm, the upper arm and the lower arm, and the lower arm and the three-claw mechanical claw.

4. The all-terrain, land and air amphibious inspection robot according to claim 1, characterized in that: The circular central control mechanism includes a central upper cover plate, a central lower base plate, a double-pass copper column, a power button, a searchlight, a camera, a heat dissipation device, a central control box, a power button, an infrared transmitter and an expansion interface block; The central upper cover plate and the central lower base plate are screwed together by double-pass copper columns; The searchlight is equipped with a lamp stand, which is fixed to the four corners of the central upper cover; The power button is arranged in front of the central upper cover plate, adjacent to the searchlight; The camera is fixedly connected to the rear of the lower surface of the central upper cover plate.

5. The all-terrain, land and air amphibious inspection robot according to claim 4, characterized in that: The central control box includes a small box and a large box, the small box is fixed in front of the central lower base, and the large box is fixed in the center of the central lower base; The small box integrates wireless communication module, power management unit, emergency stop and safety control module, and microcontroller MCU auxiliary board; The large box integrates the main controller DSP, sensor integration board, power distribution unit PDU, data storage and backup module; The heat dissipation device is fixed to the rear of the large box, the infrared emitter is fixed to one side of the rear of the central lower base plate, the expansion interface block is fixed to the rear of the central lower base plate, and there are gripping openings on both sides of the lower side of the central lower base plate.

6. The all-terrain, land and air amphibious inspection robot according to claim 5, characterized in that: The shock-absorbing Mecanum wheel chassis structure includes a shock-absorbing frame, a shock-absorbing plate, a shock absorber, a lightweight motor, a motor base plate, and a lightweight Mecanum wheel; The shock-absorbing frame comprises a first aluminum square tube and a second aluminum square tube, and the first aluminum square tube and the second aluminum square tube are welded in parallel; The shock-absorbing frame has two shock-absorbing plates welded to the front and one shock-absorbing plate welded to the rear; A pair of hinges are installed at the middle position of the bottom of the shock-absorbing frame, and the opening and closing ends of the hinges are fixedly connected to the motor base plate; A lightweight motor is screwed onto the upper surface of the motor base plate; A shock absorber is provided between the shock absorbing plate and the motor base plate; The lightweight Mecanum wheel is rotatably connected to the lightweight motor.

7. The all-terrain, land and air amphibious inspection robot according to claim 6, characterized in that: The Power Management Unit manages the robot's power distribution and battery monitoring.

8. The all-terrain, land and air amphibious inspection robot according to claim 7, characterized in that: The emergency stop and safety control module integrates tilt sensors and collision sensors.

9. The all-terrain, land and air amphibious inspection robot according to claim 8, characterized in that: The sensor integration board integrates infrared sensors, smoke and gas sensors, temperature sensors, humidity sensors, and their corresponding signal conditioning circuits and interfaces.

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