Microminiature crawler-type wall-climbing detection robot

Abstract

The utility model discloses a microminiature crawler-type wall-climbing detection robot, which is characterized by comprising a wall-climbing mechanism, a detection mechanism mounted on the wall-climbing mechanism and a control mechanism for remotely controlling the wall-climbing mechanism to move, the wall climbing mechanism comprises a bottom frame, a left track driving module and a right track driving module which are installed on the left side and the right side of the bottom frame respectively, and a magnet arranged at the bottom of the bottom frame and used for attracting a metal wall. According to the detection robot provided by the utility model, the left track driving module and the right track driving module are used for driving the wall climbing mechanism to move, so that the detection robot has excellent obstacle crossing capability and can pass through a complex and steep channel; a magnet is arranged at the bottom of a bottom plate of the wall-climbing mechanism, so that the wall-climbing capacity and the loading capacity of the detection robot in the equipment are effectively improved; the detection robot is designed to be smaller and more compact, so that the detection robot can flexibly move in large-scale equipment and is also convenient to recycle and maintain.

Description

Technical Field

[0001] This utility model relates to the field of inspection robot technology, specifically a miniature tracked wall-climbing inspection robot. Background Technology

[0002] With the deepening of industrialization, large-scale equipment, such as steam turbines, plays a crucial role in ensuring stable social operation and economic development, serving as a core component of the supply chain. During long-term high-load operation, these devices inevitably experience wear, aging, and malfunctions. Therefore, regular maintenance is essential to ensure their safe and efficient operation. However, traditional maintenance of large-scale equipment typically relies on manual labor, which has the following limitations: maintenance personnel must work at heights, in confined spaces, or in hazardous environments, facing significant safety risks; manual maintenance is time-consuming, inefficient, and susceptible to individual skill differences, making it difficult to guarantee maintenance quality; with rising labor costs, traditional manual maintenance methods are becoming increasingly uncompetitive economically; and the maintenance of certain precision components requires highly specialized techniques, placing extremely high demands on the skills of maintenance personnel. Utility Model Content

[0003] Given that existing technologies not only pose significant safety risks but also require highly skilled maintenance personnel, have low work efficiency, and cannot guarantee inspection quality, this utility model provides a miniature tracked wall-climbing inspection robot that can replace manual labor to enter large equipment for exploration and inspection. It is not only safe and efficient but can also adapt to various internal environments to ensure maintenance quality.

[0004] This utility model provides a miniature tracked wall-climbing inspection robot, including a wall-climbing mechanism, a detection mechanism installed on the wall-climbing mechanism, and a control mechanism for remotely controlling the movement of the wall-climbing mechanism.

[0005] The wall-climbing mechanism includes a base frame, a left track drive module and a right track drive module respectively installed on the left and right sides of the base frame, and a magnet installed at the bottom of the base frame to attract metal walls; the left track drive module includes a first reduction motor installed at the front end of the base frame, a first drive pulley installed on the output shaft of the first reduction motor, a first driven pulley installed at the rear end of the base frame, and a first track sleeved and installed on the first drive pulley and the first driven pulley; the right track drive module includes a second reduction motor installed at the rear end of the base frame, a second drive pulley installed on the output shaft of the second reduction motor, a second driven pulley installed at the front end of the base frame, and a second track sleeved and installed on the second drive pulley and the second driven pulley;

[0006] The detection mechanism includes an endoscopic camera mounted at the front end of the wall-climbing mechanism.

[0007] Furthermore, the detection mechanism also includes a main handle and a camera drive cable assembly; one end of the camera drive cable assembly is connected to an endoscope camera, and the other end is connected to a camera control joystick; the rotation of the endoscope camera is controlled by the camera control joystick.

[0008] Furthermore, the camera drive cable assembly is fitted with a flexible connecting rod, which is fixedly mounted on the base frame via a mounting bracket.

[0009] Furthermore, multiple drive wheels for supporting and guiding the tracks are meshed on the lower drive surfaces of the first and second tracks.

[0010] Furthermore, the control mechanism includes a control box housing, a display bracket fixedly mounted on the upper part of the control box housing, and control components disposed inside the control box housing; an observation hole is provided on the side wall of the control box housing.

[0011] Furthermore, the control components include a battery and an Arduino board and a voltage regulator module fixedly mounted on the inner wall of the control box housing. A support strip for supporting the battery is provided on the inner bottom surface of the control box housing 31.

[0012] Furthermore, the monitor bracket is equipped with a climbing mechanism operation joystick for controlling the movement of the climbing mechanism. The climbing mechanism operation joystick controls the movement trajectory of the climbing mechanism through information transmission from the control components.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. This utility model patent utilizes the left and right track drive modules to drive the wall-climbing mechanism, enabling the inspection robot to overcome obstacles and traverse complex and steep passages. By setting magnets at the bottom of the wall-climbing mechanism's base plate to attract metal walls, the inspection robot achieves strong adhesion to the inner walls of large equipment, effectively improving its wall-climbing ability and load-bearing capacity inside the equipment, allowing the inspection robot to crawl efficiently and stably inside metal pipes. By designing the inspection robot to be smaller and more compact, it can move more flexibly inside large equipment, while also facilitating recovery and maintenance.

[0015] 2. This utility model patent connects the endoscope camera to the camera control joystick via a camera transmission cable assembly, enabling remote control of the camera's rotation using the joystick. Simultaneously, the internal images of the device recorded by the endoscope camera can be synchronously transmitted to a display screen, allowing operators to make timely adjustments based on the real-time images. This not only enhances safety and reliability but also improves the device's adaptability to complex environments.

[0016] It should be understood that the description in this utility model description section is not intended to limit the key or essential features of the embodiments of this utility model, nor is it intended to restrict the scope of this utility model. Other features of this utility model will become readily apparent from the following description. Attached Figure Description

[0017] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0018] Figure 1 A schematic diagram of the overall structure of a miniature tracked wall-climbing inspection robot;

[0019] Figure 2 This is a schematic diagram of the overall structure of the wall-climbing mechanism from the bottom view.

[0020] Figure 3 This is a side view of the overall structure of the wall-climbing mechanism;

[0021] Figure 4 This is a schematic diagram of the overall structure of the detection mechanism;

[0022] Figure 5 This is a schematic diagram of the internal structure of the control mechanism;

[0023] Figure 6 This is a schematic diagram of the control component structure;

[0024] Labels in the diagram: 1. Climbing mechanism; 11. Base frame; 12. Left track drive module; 121. First geared motor; 122. First drive pulley; 123. First track; 124. First driven pulley; 13. Right track drive module; 131. Second geared motor; 132. Second drive pulley; 133. Second track; 134. Second driven pulley; 14. Magnet; 15. Transmission wheel; 16. Fixing frame;

[0025] 2. Detection mechanism; 21. Endoscopic camera; 22. Main handle; 23. Camera control joystick; 24. Flexible connecting rod;

[0026] 3. Control mechanism; 31. Control box shell; 32. Monitor bracket; 33. Control components; 331. Battery; 332. Arduino board; 333. Voltage regulator module; 334. Support bar; 34. Observation hole; 35. Climbing mechanism operating joystick. Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the present invention, and therefore only show the components relevant to the present invention.

[0028] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly set on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to the other component.

[0029] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0030] Please refer to Figures 1-6 This utility model provides a specific embodiment of a miniature tracked wall-climbing inspection robot. For ease of explanation, it is described below. Figure 1 Based on this, the movement direction of the wall-climbing mechanism 11 is set to forward and backward.

[0031] like Figures 1-6 As shown, this utility model provides a miniature tracked wall-climbing inspection robot, including a wall-climbing mechanism 1, a detection mechanism 2 installed on the wall-climbing mechanism 1, and a control mechanism 3 for remotely controlling the movement of the wall-climbing mechanism 1;

[0032] The wall-climbing mechanism 1 includes a base frame 11, a left track drive module 12 and a right track drive module 13 respectively installed on the left and right sides of the base frame 11, and a magnet 14 installed at the bottom of the base frame 11 for adsorbing metal walls. The left track drive module 12 includes a first reduction motor 121 installed at the front end of the base frame 11, a first drive pulley 122 installed on the output shaft of the first reduction motor 121, a first driven pulley 124 installed at the rear end of the base frame 11, and a first track 123 sleeved on the first drive pulley 122 and the first driven pulley 124. The right track drive module 13 includes a second reduction motor 131 installed at the rear end of the base frame 11, a second drive pulley 132 installed on the output shaft of the second reduction motor 131, a second driven pulley 134 installed at the front end of the base frame 11, and a second track 133 sleeved on the second drive pulley 132 and the second driven pulley 134.

[0033] In this embodiment, after the first geared motor 121 receives a remote command and sends out current, the first drive pulley 122, coaxially connected to the output shaft of the first geared motor 121, begins to rotate. The track sleeved and connected to the first drive pulley 122 and the driven pulley located at the rear end of the base frame 11 also move accordingly. Simultaneously, after the second geared motor 131 receives a remote command and sends out current, the second drive pulley 132, coaxially connected to the output shaft of the second geared motor 131, begins to rotate. The track sleeved and connected to the second drive pulley 132 and the driven pulley located at the front end of the base frame 11 also move accordingly. When both the first track 123 and the second track 133 begin to move... The wall-climbing mechanism 1 begins to move. When the first motor and the second motor carry current in the same direction, the wall-climbing mechanism 1 can move forward or backward. When the current direction is opposite, the wall-climbing mechanism 1 can turn left or right. The speed of the wall-climbing mechanism 1 can be controlled by adjusting the magnitude of the current. By setting tracks with strong grip, the wall-climbing mechanism 1 has a strong ability to overcome obstacles, which improves its adaptability to complex structures. The magnet 14, which is generally a neodymium magnet, is set at the bottom of the base frame 11, which enhances the wall-climbing mechanism 1's ability to attract the metal inner wall of large equipment, effectively improving its wall-climbing ability and load capacity inside the equipment.

[0034] like Figure 4 As shown, the detection mechanism 2 includes a main handle 22, a camera transmission cable assembly, and an endoscope 21 installed at the front end of the wall-climbing mechanism 1; one end of the camera transmission cable assembly is connected to the endoscope 21, and the other end is connected to a camera control joystick 23; the rotation of the endoscope 21 is controlled by the camera control joystick 23.

[0035] In this embodiment, the camera drive cable assembly consists of four control cables (up, down, left, and right) that control the endoscopic camera 21 to swing up, down, left, or right, respectively. The four control cables are controlled by an external operator shaking the camera control joystick 23, thereby controlling the up, down, left, and right swing of the endoscopic camera 21. The up, down, left, and right swing of the endoscopic camera 21 enhances the external observer's judgment of the internal structure and terrain of the equipment. At the same time, the images recorded by the endoscopic camera 21 can be clearly read onto the monitor through remote operation, allowing the operator to make timely adjustments based on the real-time images. This not only ensures safety and reliability but also enhances the adaptability to complex environments.

[0036] like Figure 4 As shown, the camera transmission cable assembly is fitted with a flexible connecting rod 24, which is fixedly mounted on the base frame 11 by a fixing bracket 16.

[0037] In this embodiment, the flexible connecting rod 24 is mainly used to protect the camera transmission line assembly. The flexible connecting rod 24 is a flexible component that can be bent. The flexible connecting rod 24 is fixedly installed on the base frame 11 of the wall climbing mechanism 1. When the location to be detected is deep or complex, the flexible connecting rod 24 can be extended and bent as needed. In conjunction with the movement of the wall climbing mechanism 1, the endoscope 21 at its top can be clearly detected.

[0038] like Figures 2-3 As shown, multiple drive wheels 15 for supporting and guiding the tracks are meshed on the lower drive surfaces of the first track 123 and the second track 133.

[0039] In this embodiment, the multiple transmission wheels 15 are mainly used to support the movement of the first track 123 and the second track 133, so that the first track 123 and the second track 133 can move better, and the movement of the climbing mechanism 1 is smoother.

[0040] like Figures 5-6 As shown, the control mechanism 3 includes a control box housing 31, a display bracket 32 ​​fixedly mounted on the upper part of the control box housing 31, and a control component 33 disposed inside the control box housing 31; the control box housing 31 has an observation hole 34 on its side wall; the control component 33 includes a battery 331 and an Arduino board 332 and a voltage regulator module 333 fixedly mounted on the inner wall of the control box housing 31; a support bar 334 for supporting the battery 331 is disposed on the inner bottom surface of the control box housing 31; a climbing mechanism operation joystick 35 for controlling the movement of the climbing mechanism 1 is disposed on the display bracket 32, and the climbing mechanism operation joystick 35 controls the movement trajectory of the climbing mechanism 1 through the information transmission of the control component 33.

[0041] In this embodiment, the control mechanism 3 is mainly used to control the movement trajectory of the climbing mechanism 1. The pre-written code is written into the Arduino board 332, so that the climbing mechanism operation joystick 35 can control the direction and magnitude of the current of the first motor and the second motor in the climbing mechanism 1 according to the code, thereby realizing the control of the climbing mechanism 1 to move forward, backward, turn left, and turn right by the climbing mechanism operation joystick 35. There can be two climbing mechanism operation joysticks 35, one of which controls forward or backward movement, and the other controls left or right turn. When the output current of a certain mechanism is too large, the voltage regulator module 333 can control the output voltage within a certain range to ensure the overall operation of the robot. A support bar 334 is set below the battery 331, which is mainly used to fix and protect the battery 331 to prevent the battery 331 from colliding with the control box shell 31 during the operation of the control mechanism 3. The display bracket 32 ​​is mainly used to place the display and communicate with the endoscope camera 21 through a remote wireless connection to provide real-time feedback of the images captured by the camera. The observation hole 34 is mainly used to observe the inside of the control box, so that the situation inside the control box can be detected in time.

[0042] It should be understood that the specific embodiments described above are only for explaining the present invention and are not intended to limit the present invention. Obvious variations or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A miniature tracked wall-climbing inspection robot, characterized in that, It includes a wall-climbing mechanism (1), a detection mechanism (2) installed on the wall-climbing mechanism (1), and a control mechanism (3) for remotely controlling the movement of the wall-climbing mechanism (1). The wall-climbing mechanism (1) includes a base frame (11), a left track drive module (12) and a right track drive module (13) respectively installed on the left and right sides of the base frame (11), and a magnet (14) for adsorbing the metal wall located at the bottom of the base frame (11); the left track drive module (12) includes a first reduction motor (121) located at the front end of the base frame (11), a first drive pulley (122) installed on the output shaft of the first reduction motor (121), a first driven pulley (124) installed at the rear end of the base frame (11), and a magnet (14) sleeved on the first drive pulley (122). 22) and the first track (123) on the first driven pulley (124); the right track drive module (13) includes a second reduction motor (131) disposed at the rear end of the base frame (11), a second drive pulley (132) mounted on the output shaft of the second reduction motor (131), a second driven pulley (134) mounted at the front end of the base frame (11), and a second track (133) sleeved on the second drive pulley (132) and the second driven pulley (134); the detection mechanism (2) includes an endoscope (21) mounted at the front end of the climbing mechanism (1).

2. The miniature tracked wall-climbing inspection robot according to claim 1, characterized in that, The detection mechanism (2) also includes a main handle (22) and a camera transmission cable assembly; one end of the camera transmission cable assembly is connected to an endoscope (21), and the other end is connected to a camera control joystick (23); the rotation of the endoscope (21) is controlled by the camera control joystick (23).

3. The miniature tracked wall-climbing inspection robot according to claim 2, characterized in that, The camera transmission cable assembly is fitted with a flexible connecting rod (24), which is fixedly mounted on the base frame (11) by a fixing bracket (16).

4. The miniature tracked wall-climbing inspection robot according to claim 1, characterized in that, Multiple drive wheels (15) for supporting and guiding the tracks are engaged on the lower drive surfaces of the first track (123) and the second track (133).

5. The miniature tracked wall-climbing inspection robot according to claim 1, characterized in that, The control mechanism (3) includes a control box housing (31), a display bracket (32) fixedly installed on the upper part of the control box housing (31), and a control component (33) installed inside the control box housing (31); the control box housing (31) has an observation hole (34) on its side wall.

6. The miniature tracked wall-climbing inspection robot according to claim 5, characterized in that, The control component (33) includes a battery (331) and an Arduino board (332) and a voltage regulator module (333) fixedly disposed on the inner wall of the control box housing (31). A support bar (334) for supporting the battery is provided on the inner bottom surface of the control box housing (31).

7. The miniature tracked wall-climbing inspection robot according to claim 6, characterized in that, The display bracket (32) is provided with a climbing mechanism operation rocker (35) for controlling the movement of the climbing mechanism (1). The climbing mechanism operation rocker (35) controls the movement trajectory of the climbing mechanism (1) through the information transmission of the control component (33).

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