Amphibious inspection robot

Abstract

The utility model relates to the technical field of robots, and discloses an amphibious inspection robot which comprises a robot body, deformation grooves are formed in the two sides of the robot body, supporting legs are slidably connected into the four deformation grooves, and deformation shafts are fixedly connected to the adjacent sides of the top ends of the two supporting legs on the same side. The deformation shafts are rotationally connected with the robot body, deformation assemblies are connected to the sides, away from the deformation shafts, of the two supporting legs close to the rear end of the robot body 1, moving wheels are connected to the ends, away from the deformation grooves, of the four supporting legs, rotating assemblies are connected between the moving wheels and the supporting legs, and flying assemblies are arranged on the inner sides of the moving wheels. According to the amphibious inspection robot, the two supporting legs 2 on the same side can be driven by the deformation assemblies to be unfolded outwards at the same time through the deformation shafts, so that the moving wheels are kept horizontal with the ground, at the moment, the amphibious inspection robot can take off and sail through the flying assemblies in the moving wheels, aerial inspection work is conducted, and the inspection work of the inspection robot is smoother.

Description

Technical Field

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

[0002] Inspection robots are automated devices designed for specific environments or tasks. They are widely used in various industries to perform routine inspections, monitoring, and maintenance tasks. They not only improve work efficiency and reduce labor costs, but also, to a certain extent, reduce the risk of personnel entering hazardous environments. They are one of the key achievements of modern scientific and technological development. To adapt inspection robots to different environments and enable them to perform inspections in more places, they are often given more capabilities, such as amphibious inspection robots that can perform inspections on both land and water, and amphibious inspection robots that can perform inspections on both land and air.

[0003] For example, patent publication number CN204965186U discloses an air-ground integrated amphibious inspection robot. A single-chip microcomputer module is mounted on the robot's main multi-rotor chassis. The module is connected to the air flight module, ground mobility module, remote control module, and heading reference information module. The module also communicates remotely with the ground remote control module via the remote control module. The air flight module includes multiple rotor blades evenly spaced circumferentially around the chassis, each connected to its own rotor motor. The ground mobility module is located at the bottom of the chassis and includes an air-ground connection chassis and ground mobility wheels. The heading reference information module is comprised of a gyroscope, accelerometer, barometer, magnetometer, and GPS. The robot can function as both an aerial drone and a ground mobility platform, achieving air-ground integrated amphibious technology and providing a new approach for completing dual air and ground inspections in complex three-dimensional environments.

[0004] However, the amphibious inspection robots in the above technologies still have the following problems:

[0005] Although the inspection robot can perform inspections on land and in the air through the rotor frame on the top of the robot and the ground-moving wheels at the bottom of the robot, the rotor frame and the ground-moving wheels are located at the upper and lower ends of the robot respectively. When performing land inspections, the top rotor frame may collide with land obstacles, causing obstructions to the land inspection operations and hindering the normal inspection operations of the inspection robot. Utility Model Content

[0006] In response to the shortcomings of the existing technology, the utility model provides an amphibious inspection robot, such as: integrating the inspection robot's flying device and land walking device, thereby avoiding the flying device affecting land inspections and avoiding the land walking device affecting aerial inspection operations, making the inspection operations of the amphibious inspection robot smoother.

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an amphibious inspection robot, comprising a robot body, two deformation grooves on both sides of the robot body, steering grooves running through the bottoms of the four deformation grooves, support legs slidably connected in the four deformation grooves, steering motors embedded in the ends of the four support legs close to the adjacent steering grooves, output shafts of the four steering motors away from the ends of the adjacent support legs fixedly connected to steering rods, the four steering rods are respectively located in the four steering grooves, the adjacent sides of the tops of the two support legs on the same side are fixedly connected with deformation shafts, the deformation shaft is rotatably connected to the robot body, the two support legs close to the rear end of the robot body 1 are connected to deformation components on the sides away from the deformation shafts, the four steering rods are connected to moving wheels on the sides away from the steering grooves, a rotating component is connected between the moving wheels and the steering rods, a flying component is provided on the inner side of the moving wheels, and a lifting component is connected to the bottom of the robot body.

[0008] Furthermore, the deformation component includes a deformation motor, a drive rod and a motor seat. One end of the drive rod is fixedly connected to the side of the rear end support leg of the robot body away from the deformation axis, and the other end passes through the robot body and is fixedly connected to the output shaft of the deformation motor. The outer casing of the deformation motor is fixedly connected to the motor seat, and the motor seat is fixedly connected to the robot body.

[0009] Furthermore, the rotating assembly includes a connecting rod, a fixed block and a sleeve, one end of the connecting rod is fixedly connected to the end of the steering rod away from the supporting leg and away from the side of the robot body, the other end of the connecting rod is fixedly connected to the fixed block, the sleeve is sleeved with the fixed block and is rotatably connected to the fixed block, the side of the fixed block away from the steering rod is fixedly connected to the front block ring, the side of the fixed block close to the supporting leg is fixedly connected to the driving ring, the side of the front block ring adjacent to the driving ring is respectively slidably connected to both sides of the fixed block, the outer wall of the sleeve is fixedly connected to a plurality of spokes, the other ends of the plurality of spokes are fixedly connected to the inner spokes of the moving wheel, and the outer side of the driving ring is connected to the driving assembly.

[0010] Furthermore, the drive assembly includes a drive motor and a drive gear. A plurality of tooth grooves are provided on the outer side of the drive ring. The outer shell of the drive motor is fixedly connected to the side of the steering rod close to the drive ring. The output shaft of the drive motor is fixedly connected to the drive gear, and the drive gear is engaged with the tooth grooves.

[0011] Furthermore, the flight assembly includes a flight motor and several flight blades. A motor cavity is opened on the side of the fixed block away from the connecting rod. The flight motor is fixedly connected to the motor cavity. The output shaft of the flight motor passes through the fixed block in a direction away from the connecting rod and is fixedly connected to the several flight blades. The several flight blades are evenly distributed on the output shaft of the flight motor.

[0012] Furthermore, both sides of the spoke away from the steering rod are provided with oblique edges.

[0013] Furthermore, a protective net is fixedly connected to the inner side of the spoke of the moving wheel away from the steering rod, and the protective net is located on the side of the plurality of flying blades away from the steering rod.

[0014] Furthermore, the lifting assembly includes an electric push rod and an I-shaped support frame. The electric push rod is embedded in the middle position of the bottom of the robot body. The output end of the electric push rod faces the bottom of the robot body and is fixedly connected to the I-shaped support frame.

[0015] Furthermore, the four ends of the I-shaped support frame are fixedly connected to arc-shaped plates, and the ends of the four arc-shaped plates away from the I-shaped support frame are bent and extended toward the robot body.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] This type of amphibious inspection robot can use the deformation component to drive the two supporting legs on the same side to expand outward at the same time through the deformation axis, so that the moving wheel remains level with the ground. At this time, the robot can take off and fly through the flying component inside the moving wheel to perform aerial inspection operations, making the moving wheel and the flying component become a whole, thereby avoiding mutual interference during land or air inspections, making the inspection operation of the inspection robot smoother. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall appearance and connection structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the overall appearance and connection structure of another form of the utility model;

[0020] Figure 3 This is a schematic diagram of the connection structure of four supporting legs of the utility model;

[0021] Figure 4 This is an exploded schematic diagram of the connecting structure of the moving wheel portion of the utility model;

[0022] Figure 5 This is a cross-sectional view of the connection structure of the movable wheel portion of the utility model;

[0023] Figure 6 Based on Figure 5Schematic diagram of some connection structures;

[0024] Figure 7 Based on Figure 5 Exploded diagram of part of the connection structure.

[0025] In the figure: 1. Robot body; 2. Support legs; 3. Deformation axis; 4. Moving wheel; 5. Deformation motor; 6. Drive rod; 7. Motor seat; 8. Connecting rod; 9. Fixed block; 10. Sleeve; 11. Front block ring; 12. Drive ring; 13. Spoke; 14. Drive motor; 15. Drive gear; 16. Flight motor; 17. Flight blade; 18. Protective net; 19. Electric push rod; 20. I-shaped support frame; 21. Arc plate; 22. Steering rod; 23. Steering motor; 101. Deformation groove; 102. Tooth groove; 103. Steering groove; 901. Motor cavity. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0027] See also Figure 1 - Figure 7 , an amphibious inspection robot includes a robot body 1, two deformation grooves 101 are provided on both sides of the robot body 1, and steering grooves 103 are provided at the bottom of the four deformation grooves 101, and support legs 2 are slidably connected in the four deformation grooves 101, and the four support legs 2 are inlaid with steering motors 23 at one end close to the adjacent steering groove 103, and the output shafts of the four steering motors 23 at one end away from the adjacent support legs 2 are fixedly connected to steering rods 22, and the four steering rods 22 are respectively located in the four steering grooves 103, and the adjacent sides of the tops of the two support legs 2 on the same side are fixedly connected with deformation shafts 3, and the deformation shaft 3 is rotatably connected to the robot body 1, and the two support legs 2 near the rear end of the robot body 1 are connected to deformation components on one side away from the deformation shaft 3, and the four steering rods 22 are connected to moving wheels 4 on one side away from the steering groove 103, and a rotating component is connected between the moving wheel 4 and the steering rod 22, and a flying component is provided on the inner side of the moving wheel 4, and a lifting component is connected to the bottom of the robot body 1.

[0028] like Figure 1 - Figure 7 As shown, the structure of an amphibious inspection robot in the present invention is similar to that of the existing amphibious inspection robot. The main improvement of the present invention is that the flying part and the walking part are integrated with each other, so as to avoid interference between the flying part and the walking part during the inspection, making the inspection operation of the inspection robot smoother. Figures 1 to 7As shown, when the amphibious inspection robot of the present invention is in use, when the robot body 1 is performing land inspection operations, the four moving wheels 4 roll on the ground to move forward for inspection. When it is necessary to perform high-altitude navigation inspection operations, the robot body 1 is lifted to a certain height by the lifting component, so that the moving wheels 4 are off the ground. At this time, the deformation shaft 3 and the two supporting legs 2 on the same side are driven to flip from the inside of the deformation groove 101 to the outside, so that the four moving wheels 4 are horizontally distributed around the robot body 1. Subsequently, the flying component inside the moving wheels 4 can drive the robot body 1 to fly into the air for high-altitude inspection navigation, realizing the machine The robot body 1 switches and transforms between land and air inspection operations, realizing the amphibious inspection operations of the robot body 1. The steering rod 22 is used for steering when the robot body 1 walks on land, and when the robot body 1 switches from land mode to flight mode, it is necessary to drive the steering rod 22 to rotate in advance through the steering motor 23 to the state where the moving wheel 4 is parallel to the side of the robot body 1, and lock the steering motor 23 to ensure that the moving wheel 4 is parallel to the ground when switching to flight mode. It should be noted that the amphibious inspection robot is a lightweight robot and can smoothly perform takeoff, navigation and inspection operations when switching to flight mode.

[0029] like Figure 1 - Figure 3 As shown, the deformation assembly includes a deformation motor 5, a drive rod 6, and a motor base 7. One end of the drive rod 6 is fixedly connected to the side of the rear support leg 2 of the robot body 1 away from the deformation axis 3. The other end passes through the robot body 1 and is fixedly connected to the output shaft of the deformation motor 5. The outer shell of the deformation motor 5 is fixedly connected to the motor base 7, and the motor base 7 is fixedly connected to the robot body 1. By activating the deformation motor 5, the drive rod 6 rotates outward, which drives the two support legs 2 on the same side to flip outward from the deformation slot 101 via the deformation axis 3, achieving the shape change of the robot body 1.

[0030] like Figure 4 - Figure 7As shown, the rotating assembly includes a connecting rod 8, a fixed block 9 and a sleeve 10. One end of the connecting rod 8 is fixedly connected to the end of the steering rod 22 away from the support leg 2 and away from the side of the robot body 1. The other end of the connecting rod 8 is fixedly connected to the fixed block 9. The sleeve 10 is sleeved with the fixed block 9 and is rotatably connected to the fixed block 9. The side of the fixed block 9 away from the steering rod 22 is fixedly connected to the front block ring 11, and the side of the fixed block 9 close to the support leg 2 is fixedly connected to the driving ring 12. The side adjacent to the front block ring 11 and the driving ring 12 are respectively slidably connected to the two sides of the fixed block 9. The outer wall of the sleeve 10 is fixedly connected to a number of spokes 13. The other ends of the several spokes 13 are fixedly connected to the inner spokes of the moving wheel 4. The outer side of the driving ring 12 is connected to the driving assembly. The moving wheel 4 is fixed to the sleeve 10 through a plurality of spokes 13 to form a wheel structure, and is movably mounted on the steering rod 22 through the fixed block 9 and the connecting rod 8. When the driving assembly drives the sleeve 10 and the moving wheel 4 to rotate forward through the driving ring 12, the position of the sleeve 10 and the fixed block 9 is restricted by the front block ring 11 and the driving ring 12, thereby preventing the rotational connection between the sleeve 10 and the fixed block 9 from falling off.

[0031] like Figure 4 - Figure 6 As shown, the drive assembly includes a drive motor 14 and a drive gear 15. Several tooth grooves 102 are defined on the outside of the drive ring 12. The housing of the drive motor 14 is fixedly connected to the side of the steering rod 22 near the drive ring 12. The output shaft of the drive motor 14 is fixedly connected to the drive gear 15, which meshes with the tooth grooves 102. When the drive motor 14 is activated, the drive gear 15 meshes with the tooth grooves 102 on the drive ring 12, driving the drive ring 12 and the sleeve 10 to rotate outside the fixed block 9. This, in turn, drives the mobile wheels 4 to rotate via the spokes 13, completing the mobile inspection of the robot body 1 on land.

[0032] like Figure 4 - Figure 7 As shown, the flight assembly includes a flight motor 16 and several flight blades 17. A motor cavity 901 is defined on the side of the fixed block 9 away from the connecting rod 8. The flight motor 16 is fixedly connected to the cavity 901. The output shaft of the flight motor 16 extends through the fixed block 9, facing away from the connecting rod 8, and is fixedly connected to the flight blades 17, which are evenly distributed on the output shaft of the flight motor 16. Activating the flight motor 16 within the cavity 901 of the fixed block 9 rotates the multiple flight blades 17, forming a flight fan structure. This, in conjunction with the flight assembly within the other three moving wheels 4, propels the robot body 1 into takeoff and performs aerial inspections.

[0033] like Figure 4 - Figure 6As shown, the spokes 13 are provided with beveled edges on both sides of the end away from the steering rod 22. The beveled edges on the outward-facing side of the spokes 13 allow the flying blades 17 to rotate at high speed and draw the air above downward, so that the air flow above can flow more smoothly from above the spokes 13 to below through the beveled edges, reducing the obstruction of the air flow by the spokes 13 during flight.

[0034] like Figure 1 - Figure 4 As shown, a protective net 18 is fixedly connected to the inner side of the spoke at the end of the moving wheel 4 away from the steering rod 22. The protective net 18 is located on the side of the plurality of flight blades 17 away from the steering rod 22. The protective net 18 is fixed to the inner wall of the outward end of the moving wheel 4 to block external debris, such as leaves and flying insects, during flight and cruising, preventing the debris from being transferred by the airflow to the flight blades 17 and causing damage to the flight blades 17.

[0035] like Figure 2 As shown, the lifting assembly includes an electric push rod 19 and an I-shaped support frame 20. The electric push rod 19 is embedded in the middle position of the bottom of the robot body 1. The output end of the electric push rod 19 faces the bottom of the robot body 1 and is fixedly connected to the I-shaped support frame 20. When the robot body 1 changes from land to air, the electric push rod 19 is driven to drive the I-shaped support frame 20 to move downward, thereby lifting the entire robot body 1 off the ground, so that the four moving wheels 4 are out of contact with the ground, and the deformation operation can be performed. When the navigating robot body 1 needs to land and transform into land mode, the I-shaped support frame 20 is extended downward by the electric push rod 19 to form a landing frame, ensuring that when the robot body 1 stops flying and the moving wheels 4 are deformed downward, the switching deformation from flight mode to land mode can be completed smoothly.

[0036] like Figure 2 As shown, the four ends of the I-shaped support frame 20 are fixedly connected to curved plates 21. The ends of the four curved plates 21 away from the I-shaped support frame 20 are bent and extended toward the robot body 1. When the electric push rod 19 retracts the I-shaped support frame 20 upward, the curved edges of the curved plates 21 at the four ends of the I-shaped support frame 20 abut against the bottom of the robot body 1. When walking on land, the curved plates 21 can block branches, vines, etc. on the ground to the outside, preventing them from getting caught on the ends of the I-shaped support frame 20.

[0037] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention.

Claims

1. An amphibious inspection robot, comprising a robot body (1), characterized in that: Two deformation grooves (101) are provided on both sides of the robot body (1), and a steering groove (103) is provided through the bottom of each of the four deformation grooves (101). Support legs (2) are slidably connected in each of the four deformation grooves (101). Steering motors (23) are embedded in one end of each of the four support legs (2) close to the adjacent steering groove (103). The output shafts of the four steering motors (23) away from the one end of the adjacent support leg (2) are fixedly connected to steering rods (22). The four steering rods (22) are respectively located in the four steering grooves (103). A deformation shaft (3) is fixedly connected to the adjacent top ends of the two support legs (2) on one side. The deformation shaft (3) is rotationally connected to the robot body (1). The sides of the two support legs (2) close to the rear end of the robot body (1) away from the deformation shaft (3) are both connected to a deformation assembly. The sides of the four steering rods (22) away from the steering groove (103) are both connected to a moving wheel (4). A rotation assembly is connected between the moving wheel (4) and the steering rod (22). A flying assembly is provided on the inner side of the moving wheel (4). The bottom of the robot body (1) is connected to a lifting assembly.

2. The amphibious inspection robot according to claim 1, characterized in that: The deformation assembly comprises a deformation motor (5), a driving rod (6) and a motor seat (7); one end of the driving rod (6) is fixedly connected to a side of a rear end support leg (2) of the robot body (1) away from the deformation axis (3); the other end passes through the robot body (1) and is fixedly connected to the output shaft of the deformation motor (5); the housing of the deformation motor (5) is fixedly connected to the motor seat (7); and the motor seat (7) is fixedly connected to the robot body (1).

3. The amphibious inspection robot according to claim 1 or 2, characterized in that: The rotating assembly comprises a connecting rod (8), a fixed block (9) and a sleeve (10), one end of the connecting rod (8) is fixedly connected to an end of the steering rod (22) away from the supporting leg (2) and away from the side of the robot body (1), the other end of the connecting rod (8) is fixedly connected to the fixed block (9), the sleeve (10) is sleeved with the fixed block (9) and is rotatably connected to the fixed block (9), the side of the fixed block (9) away from the steering rod (22) is fixedly connected to a front retaining ring (11), the side of the fixed block (9) close to the supporting leg (2) is fixedly connected to a driving ring (12), the side of the front retaining ring (11) adjacent to the driving ring (12) is respectively slidably connected to the two sides of the fixing block (9), the outer wall of the sleeve (10) is fixedly connected to a plurality of spokes (13), the other ends of the plurality of spokes (13) are fixedly connected to the inner spokes of the moving wheel (4), and the outer side of the driving ring (12) is connected to the driving assembly.

4. The amphibious inspection robot according to claim 3, characterized in that: The drive assembly comprises a drive motor (14) and a drive gear (15); a plurality of tooth grooves (102) are provided on the outer side of the drive ring (12); a housing of the drive motor (14) is fixedly connected to a side of the steering rod (22) close to the drive ring (12); an output shaft of the drive motor (14) is fixedly connected to the drive gear (15); and the drive gear (15) is meshed with the tooth grooves (102).

5. The amphibious inspection robot according to claim 3, characterized in that: The flight assembly includes a flight motor (16) and a plurality of flight blades (17). A motor cavity (901) is provided on a side of a fixed block (9) away from a connecting rod (8). The flight motor (16) is fixedly connected to the motor cavity (901). An output shaft of the flight motor (16) passes through the fixed block (9) in a direction away from the connecting rod (8) and is fixedly connected to the plurality of flight blades (17). The plurality of flight blades (17) are evenly distributed on the output shaft of the flight motor (16).

6. The amphibious inspection robot according to claim 3, characterized in that: Both sides of the spoke (13) away from the steering rod (22) are provided with oblique edges.

7. The amphibious inspection robot according to claim 5, characterized in that: A protective net (18) is fixedly connected to the inner side of the spoke of one end of the moving wheel (4) away from the steering rod (22), and the protective net (18) is located on the side of the plurality of flying blades (17) away from the steering rod (22).

8. The amphibious inspection robot according to claim 1, 2, 4, 5, 6 or 7, characterized in that: The lifting assembly comprises an electric push rod (19) and an I-shaped support frame (20). The electric push rod (19) is embedded in the middle position of the bottom of the robot body (1). The output end of the electric push rod (19) faces the bottom of the robot body (1) and is fixedly connected to the I-shaped support frame (20).

9. The amphibious inspection robot according to claim 8, characterized in that: The four ends of the I-shaped support frame (20) are all fixedly connected to arc-shaped plates (21), and the ends of the four arc-shaped plates (21) away from the I-shaped support frame (20) are all bent and extended toward the robot body (1).

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