Tunnel inspection robot with adjustable camera

Abstract

The utility model discloses a tunnel inspection robot with an adjustable camera, and relates to the technical field of inspection equipment, the tunnel inspection robot with the adjustable camera comprises a robot main body, the bottom of the robot main body is fixedly connected with a limiting plate, the inside of the limiting plate is slidably connected with a moving plate, the bottom of the moving plate is hinged with a turning plate, and the turning plate is connected with a camera. A positioning rod is arranged at the bottom of the turning plate, a first telescopic rod is slidably connected to the interior of the positioning rod, a second telescopic rod is slidably connected to the interior of the first telescopic rod, a U-shaped rod is fixedly connected to one end of the second telescopic rod, and a camera is arranged on the front side of the U-shaped rod. According to the tunnel inspection robot with the adjustable camera, the vertical observation angle of the camera is adjusted through the semi-worm gear, the first telescopic rod and the second telescopic rod extend out of the interior of the positioning rod, the height of the camera is adjusted, the camera can observe equipment at different heights in a tunnel in a close range, and the monitoring effect on suspicious conditions is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of inspection equipment, and specifically relates to a tunnel inspection robot with adjustable camera. BACKGROUND

[0002] Tunnel inspection work has been the basis and important guarantee work of tunnel safety, due to the reasons of many monitoring projects, long line and large quantity, especially the harsh environment of super long tunnel, strong closure, inconvenient communication, which brings difficulties to daily manual inspection and maintenance work, and affects the timely maintenance of the tunnel. Therefore, the tunnel inspection robot emerges as the times require, which changes the previous manual monitoring mode, reduces the labor intensity, and improves the work efficiency.

[0003] The tunnel inspection robot is usually installed on the guide rail at the top of the tunnel, and the monitoring camera is installed at the bottom of the robot, which moves with the robot to inspect the inside of the tunnel. The existing camera equipment can usually rotate 360 degrees, but the vertical monitoring angle is limited, which affects the observation range, and the height of the camera cannot be controlled because the camera is installed at the bottom of the robot, so the camera can only look down on the tunnel equipment above the tunnel, which has a monitoring dead angle, is not conducive to clearly observing the equipment at the bottom of the tunnel and the suspicious situation of the line, and affects the timely maintenance of the tunnel equipment. In order to observe the bottom of the tunnel, the camera for observing at a long distance with adjustable focus has high cost, which greatly increases the cost of the inspection robot. UTILITY MODEL CONTENTS

[0004] The utility model aims at providing a tunnel inspection robot with adjustable camera, which solves the problem of limited vertical monitoring angle of the camera in the prior art, which affects the monitoring range.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a tunnel inspection robot with adjustable camera, comprising a robot main body, a limiting plate is fixedly connected at the bottom of the robot main body, a moving plate is slidably connected in the limiting plate, a flap is hingedly connected at the bottom of the moving plate, limiting rods are rotatably installed at both sides of the flap, the two limiting rods are rotatably connected with the robot main body at the ends away from the flap, a positioning rod is arranged at the bottom of the flap, a first telescopic rod is slidably connected in the positioning rod, a second telescopic rod is slidably connected in the first telescopic rod, a U-shaped rod is fixedly connected at one end of the second telescopic rod, and a camera is arranged at the front side of the U-shaped rod. When the moving plate drives the flap to move, the flap pushes the limiting rod, the limiting rod flips around the rotating connection between the limiting rod and the robot main body, and the other end of the limiting rod drives the flap to flip.

[0006] Preferably, the first threaded rod is rotatably connected to one side of the inside of the limiting plate, the first threaded rod penetrates through the moving plate and is threadedly connected with the moving plate, the first motor is fixedly connected to the bottom of the robot body, and the output end of the first motor is fixedly connected with the first threaded rod.

[0007] Preferably, the fixing plate is fixedly connected to the bottom of the turning plate, one side of the fixing plate is fixedly connected with the positioning rod, a second threaded rod is rotatably connected to one side of the fixing plate, a second motor is fixedly connected to the other side of the fixing plate, and the output end of the second motor is fixedly connected with the second threaded rod.

[0008] Preferably, the first telescopic rod is fixedly connected with the limiting ring at one end of the inside of the first telescopic rod, the second threaded rod penetrates through the first telescopic rod and the limiting ring and is threadedly connected with the first telescopic rod and the limiting ring, and the threaded sleeve rod is rotatably connected to the outside of the limiting ring.

[0009] Preferably, two convex strips are formed in the inside of the threaded sleeve rod, two sliding grooves are formed in the outside of the second threaded rod, and the two convex strips are slidably connected in the two sliding grooves, respectively.

[0010] Preferably, the third motor is fixedly connected to one end of the second telescopic rod away from the fixing plate, the output end of the third motor is fixedly connected with the worm, the half worm wheel is meshingly connected to one side of the worm, and the half worm wheel is rotatably installed on the inside of the U-shaped rod.

[0011] Preferably, the mounting plate is fixedly connected to one side of the half worm wheel, the mounting plate is fixedly connected with the camera, the two U-shaped plates are fixedly connected to the top of the robot body, a plurality of driving wheels are rotatably installed on the inside of the two U-shaped plates, respectively, the driving motor is fixedly connected to one side of each of the two U-shaped plates, and the output ends of the two driving motors are fixedly connected with two driving wheels, respectively.

[0012] Compared with the prior art, the application has the following beneficial effects:

[0013] The application adjusts the rotation of the half worm wheel to adjust the rotation of the mounting plate and the camera fixedly connected to one side of the mounting plate, thereby adjusting the vertical observation angle of the camera, improving the observation range of the camera, and adjusting the height of the camera by the synchronous rotation of the second threaded rod and the threaded sleeve rod to drive the first telescopic rod and the second telescopic rod to extend out of the positioning rod, so that the camera can observe the equipment at different heights in the tunnel at close range, avoid monitoring dead angles, and improve the monitoring effect of suspicious situations. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is the whole structure schematic view of the utility model;

[0015] Figure 2 It is the moving plate structure schematic view of the utility model;

[0016] Figure 3 It is the half worm structure schematic view of the utility model;

[0017] Figure 4 It is the second threaded rod structure schematic view of the utility model;

[0018] Figure 5 It is the internal structure section view of the utility model positioning rod.

[0019] Figure mark: 1, robot main body;2, limit plate;3, moving plate;4, flap;5, first threaded rod;6, limit rod;7, fixed plate;8, positioning rod;9, first telescopic rod;10, second telescopic rod;11, third motor;12, worm;13, U-shaped rod;14, half worm;15, mounting plate;16, camera;17, second threaded rod;18, limit ring;19, threaded sleeve rod;20, convex strip;21, sliding slot;22, first motor;23, second motor;24, U-shaped plate. DETAILED DESCRIPTION

[0020] The technical scheme in the embodiments of the utility model will be described clearly and completely below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0021] Embodiment: as Figure 1 and Figure 2As shown in the technical scheme of the utility model provides a kind of camera adjustable tunnel inspection robot, including robot main body 1, the robot main body 1 bottom fixedly connected with limiting plate 2, the limiting plate 2 inside slidingly connected with moving plate 3, the moving plate 3 bottom hinged with flap 4, the both sides of flap 4 are rotatably installed with limiting rod 6, two the limiting rod 6 is away from the end of flap 4 is rotatably connected with robot main body 1, the flap 4 bottom is provided with positioning rod 8, the positioning rod 8 inside slidingly connected with first telescopic rod 9, the first telescopic rod 9 inside slidingly connected with second telescopic rod 10, the second telescopic rod 10 one end fixedly connected with U-shaped rod 13, the U-shaped rod 13 front side is provided with camera 16, when flap 4 is driven moving plate 3 to move, flap 4 pushes limiting rod 6, limiting rod 6 is rotated with the rotation connection of limiting rod 6 and robot main body 1 as shaft, the other end of limiting rod 6 drives flap 4 to overturn.

[0022] The first screw rod 5 is rotatably installed on one side inside the limiting plate 2, the first screw rod 5 penetrates the moving plate 3 and is threadedly connected with the moving plate 3, the first motor 22 is fixedly connected on the bottom of the robot main body 1, and the output end of the first motor 22 is fixedly connected with the first screw rod 5.

[0023] As Figure 1 , Figure 3 , Figure 4 And Figure 5 As shown in the technical scheme of the utility model provides a kind of camera adjustable tunnel inspection robot, including robot main body 1, the robot main body 1 bottom fixedly connected with limiting plate 2, the limiting plate 2 inside slidingly connected with moving plate 3, the moving plate 3 bottom hinged with flap 4, the both sides of flap 4 are rotatably installed with limiting rod 6, two the limiting rod 6 is away from the end of flap 4 is rotatably connected with robot main body 1, the flap 4 bottom is provided with positioning rod 8, the positioning rod 8 inside slidingly connected with first telescopic rod 9, the first telescopic rod 9 inside slidingly connected with second telescopic rod 10, the second telescopic rod 10 one end fixedly connected with U-shaped rod 13, the U-shaped rod 13 front side is provided with camera 16, when flap 4 is driven moving plate 3 to move, flap 4 pushes limiting rod 6, limiting rod 6 is rotated with the rotation connection of limiting rod 6 and robot main body 1 as shaft, the other end of limiting rod 6 drives flap 4 to overturn.

[0024] The first telescopic rod 9 is fixedly connected with limiting ring 18 on one end inside, the second screw rod 17 penetrates the first telescopic rod 9 and limiting ring 18 and is threadedly connected with the first telescopic rod 9 and limiting ring 18, the limiting ring 18 outside is rotatably connected with screw sleeve rod 19, the screw sleeve rod 19 penetrates one end of the second telescopic rod 10 and is threadedly connected with the second telescopic rod 10.

[0025] Two convex strips 20 are formed in the inside of the screw sleeve rod 19, two sliding grooves 21 are formed on the outside of the second screw rod 17, and two convex strips 20 are slidingly connected in the inside of two sliding grooves 21.When the second screw rod 17 rotates and drives the first telescopic rod 9 to extend from the inside of the positioning rod 8, the screw sleeve rod 19 always drives the second telescopic rod 10 to rotate through the convex strip 20, so that the second telescopic rod 10 moves synchronously with the first telescopic rod 9, and the height of the camera 16 is adjusted.

[0026] As Figure 1 And Figure 3As shown, the second telescopic rod 10 is fixedly connected with a third motor 11 at one end away from the fixed plate 7, the output end of the third motor 11 is fixedly connected with a worm 12, one side of the worm 12 is meshingly connected with a half worm gear 14, the half worm gear 14 is rotatably installed on the inner side of a U-shaped rod 13, and the vertical monitoring angle of the camera 16 is adjusted through the half worm gear 14.

[0027] One side of the half worm gear 14 is fixedly connected with a mounting plate 15, the mounting plate 15 is fixedly connected with the camera 16, the top of the robot body 1 is fixedly connected with two U-shaped plates 24, a plurality of drive wheels are rotatably installed on the inner sides of the two U-shaped plates 24, and drive motors are fixedly connected with one side of the two U-shaped plates 24, and the output ends of the two drive motors are respectively fixedly connected with two drive wheels.

[0028] When it is necessary to adjust the height of the camera 16, the first motor 22 is started, the first motor 22 drives the first threaded rod 5 to rotate, the bottom of the moving plate 3 is hingedly connected with a flap 4, the outer side of the flap 4 is rotatably installed with a limiting rod 6, the first threaded rod 5 drives the moving plate 3 which is threadedly connected with the first threaded rod 5 to move horizontally towards the first motor 22, the moving plate 3 drives the flap 4 to move towards the first motor 22 and pushes the limiting rod 6, the limiting rod 6 is flipped at the rotating connection between the limiting rod 6 and the robot body 1, the other end of the limiting rod 6 drives the flap 4 to move and makes the flap 4 flip at the hinge between the flap 4 and the moving plate 3, and when the moving plate 3 moves to the other end inside the limiting plate 2, the first motor 22 stops working, at this time, the flap 4 is flipped by 90 degrees. The limiting rod 6 drives the flap 4 to flip, so that the flap 4 is attached to the limiting plate 2 when the height of the camera 16 is not adjusted, and the space occupied by the inspection robot is reduced.

[0029] Subsequently, the third motor 11 is started, and the rotation of the third motor 11 drives the worm 12 to rotate the half worm gear 14, the rotation of the half worm gear 14 adjusts the rotation of the mounting plate 15 and the camera 16 mounted on one side of the mounting plate 15, so as to adjust the vertical observation angle of the camera 16, and the observation range of the camera 16 is improved. When it is necessary to observe the equipment at the bottom of the tunnel, the second motor 23 is started, the second motor 23 drives the second threaded rod 17 to rotate, the second threaded rod 17 drives the first telescopic rod 9 to move horizontally in threaded connection with the second threaded rod 17, the first telescopic rod 9 extends from the inside of the positioning rod 8, when the second threaded rod 17 rotates and the first telescopic rod 9 moves, the convex strip 20 always slides in the sliding groove 21 so that the threaded sleeve rod 19 always rotates with the second threaded rod 17, the threaded sleeve rod 19 drives the second telescopic rod 10 to move horizontally, at this time, the second telescopic rod 10 extends from the inside of the first telescopic rod 9, through the synchronous rotation of the second threaded rod 17 and the threaded sleeve rod 19, the first telescopic rod 9 and the second telescopic rod 10 extend from the inside of the positioning rod 8 together, so as to adjust the height of the camera 16, the staff can adjust the height of the camera 16 through the second motor 23, so that the camera 16 is at the same horizontal height as the equipment at different heights in the tunnel, so that the equipment can be observed at close range, the dead angle of monitoring is avoided, and the monitoring effect of suspicious situations is improved.

[0030] It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application. Therefore, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be regarded as limiting the claims.

Claims

1. A camera-adjustable tunnel inspection robot comprising a robot main body (1), characterized in that: The robot body (1) bottom fixedly connected with a limiting plate (2), the limiting plate (2) inside slidingly connected with a moving plate (3), the moving plate (3) bottom hinged with a flap (4), the flap (4) both sides are rotatably installed with a limiting rod (6), the two limiting rods (6) away from the flap (4) one end are rotatably connected with the robot body (1), the flap (4) bottom is provided with a positioning rod (8), the positioning rod (8) inside slidingly connected with a first telescopic rod (9), the first telescopic rod (9) inside slidingly connected with a second telescopic rod (10), the second telescopic rod (10) one end fixedly connected with a U-shaped rod (13), the U-shaped rod (13) front side is provided with a camera (16). 2.The tunnel inspection robot with adjustable camera according to claim 1, wherein: The limiting plate (2) inside one side rotatably installed with a first threaded rod (5), the first threaded rod (5) penetrates the moving plate (3) and is threadedly connected with the moving plate (3), the robot body (1) bottom fixedly connected with a first motor (22), the first motor (22) output end is fixedly connected with the first threaded rod (5). 3.The tunnel inspection robot with adjustable camera according to claim 1, wherein: The flap (4) bottom fixedly connected with a fixed plate (7), the fixed plate (7) one side is fixedly connected with the positioning rod (8), the fixed plate (7) one side rotatably installed with a second threaded rod (17), the fixed plate (7) other side fixedly connected with a second motor (23), the second motor (23) output end is fixedly connected with the second threaded rod (17).

4. The camera-adjustable tunnel inspection robot according to claim 3, characterized in that: The first telescopic rod (9) inside one end fixedly connected with a limiting ring (18), the second threaded rod (17) penetrates the first telescopic rod (9) and the limiting ring (18) and is threadedly connected with the first telescopic rod (9) and the limiting ring (18), the limiting ring (18) outside rotatably connected with a threaded sleeve rod (19), the threaded sleeve rod (19) penetrates the second telescopic rod (10) one end and is threadedly connected with the second telescopic rod (10).

5. The camera-adjustable tunnel inspection robot according to claim 4, characterized in that: The threaded sleeve rod (19) inside is shaped with two convex strips (20), the second threaded rod (17) outside is provided with two sliding grooves (21), two convex strips (20) are slidingly connected in two sliding grooves (21) respectively. 6.The tunnel inspection robot with adjustable camera according to claim 1, wherein: The second telescopic rod (10) away from the fixed plate (7) one end fixedly connected with a third motor (11), the third motor (11) output end fixedly connected with a worm (12), the worm (12) one side meshingly connected with a half worm gear (14), the half worm gear (14) rotatably installed in the U-shaped rod (13) inside.

7. The camera-adjustable tunnel inspection robot according to claim 6, characterized in that: The half worm gear (14) one side fixedly connected with a mounting plate (15), the mounting plate (15) is fixedly connected with the camera (16), the robot body (1) top fixedly connected with two U-shaped plates (24), two U-shaped plates (24) inside rotatably installed with a plurality of drive wheels, two U-shaped plates (24) one side are fixedly connected with a drive motor, two drive motors output ends are fixedly connected with two drive wheels respectively.

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