Small detection vehicle and small detection robot sensitive in steering

Abstract

The utility model discloses a small detection vehicle and a small detection robot sensitive in steering. The small detection vehicle comprises a vehicle underframe, a steering module arranged at the front end of the vehicle underframe and a driving module arranged at the rear end of the vehicle underframe. The steering module comprises a steering engine fixedly installed on the vehicle underframe, a U-shaped installation base coaxially installed with a steering engine steering wheel and a steering wheel installed at the opening end of the U-shaped installation base and used for steering. The steering engine is arranged at the front end of the chassis of the small detection vehicle, the steering wheel of the steering engine and the U-shaped mounting seat are fixedly mounted, and the steering wheel is rotated by driving the steering engine, so that the steering wheel arranged at the opening end of the U-shaped mounting seat is driven by the steering wheel to adjust the moving direction of the small detection vehicle; according to the small detection vehicle, accurate and sensitive steering of the small detection vehicle is realized, so that the small detection vehicle flexibly enters the large equipment for detection, the interior of the large equipment is comprehensively detected, and the comprehensiveness and thoroughness of detection are ensured.

Description

TECHNICAL FIELD

[0001] The utility model relates to detection robot technical field, concretely is a small detection vehicle and steering sensitive small detection robot. BACKGROUND

[0002] For the maintenance and repair of large equipment, the prior art usually detects by controlling the wall-climbing trolley to enter the equipment, the structure of the existing wall-climbing trolley is mostly the structure of belt drive to make the trolley move, and when steering the wall-climbing trolley, two motors are required to be driven in cooperation by one forward rotation and one reverse rotation, which is relatively complex, not sensitive enough, cannot detect the equipment by fixed-point positioning, and requires the operator to have high technical level to realize the accurate steering of the wall-climbing trolley. When the wall-climbing trolley steers, the track will be rubbed in a large range, which is easy to cause wear of the track, and the track needs to be frequently replaced, which is poor in economy. SUMMARY

[0003] In view of the problems of the prior art that the steering of the wall-climbing trolley is not sensitive enough and the driving mode of steering is relatively complex, the utility model provides a small detection vehicle and a steering-sensitive small detection robot.

[0004] The utility model provides a small detection vehicle, including the car chassis, the steering module of setting in the car chassis front end and the drive module of setting in the car chassis rear end,

[0005] The steering module comprises a rudder machine fixedly installed with the car chassis, a U-shaped mounting seat coaxially installed with a rudder disc of the rudder machine, and a steering wheel installed at one end of an opening of the U-shaped mounting seat for steering.

[0006] Further, the drive module comprises a double-shaft motor fixedly installed with the car chassis, two first gears coaxially installed with two output shafts of the double-shaft motor respectively, second gears meshing with the two first gears respectively, a connecting shaft coaxially installed with the two second gears, and drive wheels fixedly installed at both ends of the connecting shaft; the two second gears are arranged on both sides of the car chassis respectively.

[0007] Further, the U-shaped mounting seat is provided with a mounting groove, and the rudder disc of the rudder machine is fixedly installed in the mounting groove.

[0008] Further, a magnet for adsorbing a metal wall is installed at the bottom of the car chassis.

[0009] The utility model also provides a steering-sensitive small detection robot, which comprises the small detection vehicle, a detection mechanism connected with the small detection vehicle, and a control mechanism for controlling the movement of the small detection vehicle.

[0010] Further, the detection mechanism comprises: a flexible connecting assembly fixedly installed on the top of the small detection vehicle through a fixing frame, a endoscope camera installed at the front end of the flexible connecting assembly, a camera control rocker installed at the tail end of the flexible connecting assembly, and a main handle installed with the control mechanism; and the camera control rocker is installed on the main handle.

[0011] Further, the flexible connecting assembly comprises a camera transmission wire group and a flexible connecting rod sleeved outside the camera transmission wire group; one end of the camera transmission wire group is connected with the endoscope camera, and the other end is connected with the camera control rocker, and the rotation of the endoscope camera is controlled through the camera control rocker.

[0012] Further, the control mechanism comprises: a control box shell installed with the main handle, a display support fixedly arranged on the upper portion of the control box shell, and a control assembly arranged in the control box shell; and the side wall of the control box shell is provided with an observation hole.

[0013] Further, the control assembly comprises: a battery, an Arduino board and a voltage stabilizing module fixedly arranged on the inner wall of the control box shell, and a supporting strip arranged on the bottom surface of the control box shell and used for supporting the battery.

[0014] Further, the display support is provided with operation buttons used for controlling the movement of the small detection vehicle, and the operation buttons control the movement track of the small detection vehicle through information transmission of the control assembly.

[0015] Compared with the prior art, the utility model has the beneficial effects that:

[0016] The utility model discloses a rudder and a U-shaped mounting seat are fixedly installed at the front end of the small detection vehicle chassis, the rudder is driven to rotate, and then the steering wheel arranged at one end of the opening of the U-shaped mounting seat is driven to adjust the movement direction of the small detection vehicle, so that the small detection vehicle can accurately and sensitively steer, and then the small detection vehicle can flexibly enter the inside of the large equipment to detect, the rudder and the motor are remotely controlled to realize the sensitive movement of the small detection vehicle, and then the inside of the large equipment can be comprehensively detected, so that the comprehensiveness and thoroughness of detection are ensured.

[0017] It should be understood that the content described in the utility model content part is not intended to limit the key or important features of the embodiments of the utility model, nor is it intended to limit the scope of the utility model. Other features of the utility model will become apparent through the following description. BRIEF DESCRIPTION OF DRAWINGS

[0018] The utility model will be further explained in detail in combination with the drawings and specific embodiments.

[0019] Figure 1 This is a structural diagram of a small inspection robot.

[0020] Figure 2 This is a structural diagram of a small testing vehicle.

[0021] Figure 3 This is a structural diagram of the steering module.

[0022] Figure 4 This is a structural diagram of the driver module.

[0023] Figure 5 This is a structural diagram of the testing facility.

[0024] Figure 6 This is a structural diagram of the control mechanism.

[0025] Figure 7 This is a diagram of the internal structure of the control mechanism.

[0026] The diagram is labeled as follows: 1. Small inspection vehicle; 11. Vehicle chassis; 12. Steering module; 121. Servo motor; 122. U-shaped mounting bracket; 123. Steering wheel; 124. Mounting slot;

[0027] 13. Drive module; 131. Dual-axis motor; 132. First gear; 133. Second gear; 134. Connecting shaft; 135. Drive wheel; 14. Magnet;

[0028] 2. Testing mechanism; 21. Fixing frame; 22. Flexible connection assembly; 221. Camera transmission cable assembly; 222. Flexible connecting rod; 23. Endoscopic camera; 24. Camera control joystick; 25. Main handle;

[0029] 3. Control mechanism; 31. Control box shell; 32. Display stand; 33. Battery; 34. Arduino board; 35. Voltage regulator module; 36. Support bar; 37. Observation hole; 38. Operation button. Detailed Implementation

[0030] 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.

[0031] 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.

[0032] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or component referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0033] Please refer to Figures 1-7 The utility model provides a small detection vehicle, including car chassis 11, set up in the steering module 12 of car chassis 11 front end and set up in the drive module 13 of car chassis 11 rear end. Steering module 12 includes: with car chassis 11 fixed mounting's steering wheel 121, with steering wheel 121 rudder disc coaxial mounting's U type mounting seat 122 and install in U type mounting seat 122 opening one end for steering's steering wheel 123.

[0034] Further, the U-shaped mounting seat 122 is provided with a mounting groove 124, and the steering disc of the steering wheel 121 is fixedly installed in the mounting groove 124.

[0035] In this embodiment, the steering wheel 121 is provided at the front end of the car chassis 11 of the small detection vehicle 1, and the steering disc of the steering wheel 121 is fixedly installed with the U-shaped mounting seat 122. By driving the steering wheel 121 to rotate, the steering wheel 123 provided at one end of the opening of the U-shaped mounting seat 122 is driven to adjust the movement direction of the small detection vehicle 1. By remotely controlling the steering wheel 121, the small detection vehicle 1 can be steered sensitively, and the interior of the large equipment can be comprehensively detected to ensure the comprehensiveness and thoroughness of the detection.

[0036] In this embodiment, after the steering wheel 121 receives the instruction sent remotely, the steering disc is driven to rotate, the U-shaped mounting seat 122 fixedly installed with the steering disc is driven to rotate horizontally, and the steering wheel 123 installed at one end of the opening of the U-shaped mounting seat 122 is driven to rotate horizontally to adjust the movement direction of the small detection vehicle 1. The rotation angle of the steering disc can be adjusted at any time during the movement to make the small detection vehicle 1 move according to the planned route.

[0037] As shown in Figure 2 and Figure 4 The drive module 13 includes a double-shaft motor 131 fixedly installed with the car chassis 11, two first gears 132 coaxially installed with two output shafts of the double-shaft motor 131 respectively, two second gears 133 engaged with the two first gears 132 respectively, a connecting shaft 134 coaxially installed with the two second gears 133, and drive wheels 135 fixedly installed at both ends of the connecting shaft 134. The two second gears 133 are arranged on both sides of the chassis respectively.

[0038] In the embodiment, the double-shaft motor 131 sends out current after receiving the instruction from the remote terminal, so that the first gear 132 coaxially installed with the output shaft of the double-shaft motor 131 rotates, and then the second gear 133 engaged with the first gear 132 rotates, and drives the connecting shaft 134 fixedly installed with the second gear 133 to rotate, so that the driving wheels 135 arranged at both ends of the connecting shaft 134 rotate, and then the small detection vehicle 1 can move forward or backward.

[0039] Further, by controlling the output shaft of the double-shaft motor 131 to rotate forward, the forward movement of the small detection vehicle 1 can be realized; and by controlling the output shaft of the double-shaft motor 131 to rotate reversely, the backward movement of the small detection vehicle 1 can be realized.

[0040] Further, by controlling the size of the current output, the rotating speed of the output shaft of the double-shaft motor 131 can be controlled, and then the movement speed of the small detection vehicle 1 can be controlled.

[0041] As shown in Figure 2 The bottom of the vehicle chassis 11 is provided with a magnet 14 for adsorbing metal walls.

[0042] In the embodiment, the magnet 14 arranged at the bottom of the vehicle chassis 11 is generally a rubidium magnet, which enhances the adsorption capacity of the small detection vehicle 1 to the metal inner wall of the large equipment, and effectively improves the wall-climbing capacity and load capacity of the small detection vehicle 1 in the equipment.

[0043] As shown in Figure 1 The utility model also provides a small detection robot with steering sensitivity which adopts the above small detection vehicle, comprising: a detection mechanism 2 fixedly installed with the small detection vehicle 1 and a control mechanism 3 for controlling the movement of the small detection vehicle 1.

[0044] As shown in Figure 5 The detection mechanism 2 comprises: a flexible connecting assembly 22 fixedly installed on the top of the small detection vehicle 1 through a fixing frame 21, a laparoscope camera 23 installed at the head end of the flexible connecting assembly 22, a camera control rocker 24 installed at the tail end of the flexible connecting assembly 22, and a main handle 25 installed with the control mechanism 3; and the camera control rocker 24 is installed on the main handle 25.

[0045] Further, the flexible connecting assembly 22 comprises a camera transmission line group 221 and a flexible connecting rod 222 sleeved outside the camera transmission line group 221; one end of the camera transmission line group 221 is connected with the laparoscope camera 23, and the other end is connected with the camera control rocker 24, so that the rotation of the laparoscope camera 23 is controlled through the camera control rocker 24.

[0046] In the embodiment, the flexible connecting rod 222 is a flexible component that can be bent, and the flexible connecting rod 222 is installed on the top of the small detection vehicle 1, and the small detection vehicle 1 is controlled to move into the large equipment, the flexible connecting rod 222 is stretched and enters the large equipment to detect, and the internal scene is observed remotely through the endoscopic camera 23, and the detection is clear and thorough.

[0047] Further, the camera transmission line group 221 is composed of four control lines up, down, left and right, which control the swing of the endoscopic camera 23 up, down, left or right, and the operator can control the four control lines by shaking the camera control rocker 24 after holding the main handle 25, and then control the up, down, left and right swing of the endoscopic camera 23, and through the up, down, left and right swing of the endoscopic camera 23, the judgment of the internal structure of the equipment by the external observer can be enhanced, and the clear picture recorded by the endoscopic camera 23 can be read on the display through remote operation, so that the operator can adjust in time according to the real-time picture, which is not only safe and reliable, but also enhances the adaptability to complex environment.

[0048] As shown in Figure 6 and Figure 7 , the control mechanism 3 includes a control box shell 31 installed with the main handle 25, a display support 32 fixedly arranged on the upper part of the control box shell 31, and a control component arranged in the control box shell 31; the side wall of the control box shell 31 is provided with an observation hole 37.

[0049] Further, the control component includes a battery 33, an Arduino board 34 and a voltage stabilizing module 35 fixedly arranged on the inner wall of the control box shell 31, and a support strip 36 arranged on the bottom surface of the control box shell 31 for supporting the battery 33.

[0050] Further, as shown in Figure 6 , the display support 32 is provided with an operation button 38 for controlling the movement of the small detection vehicle 1, and the operation button 38 controls the movement trajectory of the small detection vehicle 1 through the information transmission of the control component.

[0051] In the embodiment, the control mechanism 3 is mainly used for controlling the movement trajectory of the small detection vehicle 1, and the code written in the Arduino board 34 can control the current direction and size of the double-shaft motor 131 and the rudder 121 on the small detection vehicle 1 by pressing the operation button 38, so as to realize the sensitive turning and flexible movement of the small detection vehicle 1.

[0052] It is further explained that the operation key 38 is at least one, the up and down keys of the operation key 38 control the forward rotation or reverse rotation of the double-shaft motor 131, and further control the forward movement or backward movement of the small detection vehicle 1; the left and right keys of the operation key 38 control the forward rotation or reverse rotation of the steering wheel of the steering engine 121, and further control the rotation angle of the steering wheel 123, so that the movement direction of the small detection vehicle 1 can be accurately adjusted.

[0053] It is further explained that when the output current of a certain mechanism is too large, the voltage stabilizing module 35 can control the output voltage within a certain range to ensure the overall operation of the robot; the support strip 36 below the battery 33 is mainly used for fixing and protecting the battery 33, preventing the battery 33 from colliding with the control box shell 31 during the operation of the control mechanism 3; the display support 32 is mainly used for placing the display and communicating with the endoscopic camera 23 through remote wireless connection to real-time feedback the picture captured by the camera; the observation hole 37 is mainly used for observing the inside of the control box shell 31, so that the situation inside the control box shell 31 can be found in time.

[0054] It should be understood that the specific embodiments described above are only used to explain the present application, and are not used to limit the present application. The obvious changes or modifications derived from the spirit of the present application are still within the protection scope of the present application.

Claims

1. A compact detection vehicle, characterized by, The application relates to a small detection vehicle, which comprises a vehicle chassis (11), a steering module (12) arranged at the front end of the vehicle chassis (11) and a driving module (13) arranged at the rear end of the vehicle chassis (11). The steering module (12) comprises a rudder (121) fixedly arranged on the vehicle chassis (11), a U-shaped mounting seat (122) coaxially arranged on the rudder (121) and a steering wheel (123) arranged at one end of the opening of the U-shaped mounting seat (122) for steering.

2. The compact detection vehicle of claim 1, wherein The driving module (13) comprises a double-shaft motor (131) fixedly arranged on the vehicle chassis (11), two first gears (132) coaxially arranged on the two output shafts of the double-shaft motor (131) respectively, two second gears (133) engaged with the two first gears (132) respectively, a connecting shaft (134) coaxially arranged on the two second gears (133) and driving wheels (135) fixedly arranged on the two ends of the connecting shaft (134); the two second gears (133) are arranged on the two sides of the vehicle chassis (11) respectively.

3. The compact detection vehicle of claim 1, wherein The U-shaped mounting seat (122) is provided with a mounting groove (124), and the rudder (121) is fixedly arranged in the mounting groove (124).

4. The compact detection vehicle of claim 1, wherein Magnets (14) for adsorbing metal walls are arranged on the bottom of the vehicle chassis (11).

5. A small-sized detection robot having a turning sensitivity, characterized by comprising: The application relates to a small detection vehicle, which comprises a vehicle chassis (11), a steering module (12) arranged at the front end of the vehicle chassis (11) and a driving module (13) arranged at the rear end of the vehicle chassis (11).

6. The small-sized detection robot with steering sensitivity according to claim 5, wherein The detection mechanism (2) comprises a flexible connecting assembly (22) fixedly arranged on the top of the small detection vehicle (1) through a fixing frame (21), a laparoscope camera (23) arranged at the front end of the flexible connecting assembly (22), a camera control rocker (24) arranged at the tail end of the flexible connecting assembly (22) and a main handle (25) arranged on the control mechanism (3); the camera control rocker (24) is arranged on the main handle (25).

7. The small-sized detection robot with steering sensitivity according to claim 6, characterized by The flexible connecting assembly (22) comprises a camera transmission wire group (221) and a flexible connecting rod (222) sleeved outside the camera transmission wire group (221); one end of the camera transmission wire group (221) is connected with the laparoscope camera (23), and the other end is connected with the camera control rocker (24), so that the rotation of the laparoscope camera (23) is controlled through the camera control rocker (24).

8. The small-sized detection robot with steering sensitivity according to claim 6, characterized by, The control mechanism (3) comprises a control box shell (31) arranged on the main handle (25), a display support (32) fixedly arranged on the upper portion of the control box shell (31) and a control assembly arranged in the control box shell (31); an observation hole (37) is arranged on the side wall of the control box shell (31).

9. The small-sized detection robot with steering sensitivity according to claim 8, characterized by, The control assembly comprises a battery (33), an Arduino board (34) and a voltage stabilizing module (35) fixedly arranged on the inner wall of the control box shell (31), and a supporting strip (36) for supporting the battery (33) is arranged on the inner bottom surface of the control box shell (31).

10. The small-sized detection robot with steering sensitivity according to claim 8, wherein The display support (32) is provided with operation buttons (38) for controlling the movement of the small detection vehicle (1), and the operation buttons (38) control the movement track of the small detection vehicle (1) through information transmission of the control assembly.

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