Amphibious detection robot

Abstract

The utility model discloses an amphibious detection robot, and belongs to the technical field of robots. An amphibious detection robot comprises a robot body, a plurality of spiral driving devices are symmetrically arranged on the periphery of the robot body, the axes of the spiral driving devices are parallel to the axis of the robot body, and every two adjacent spiral driving devices form a walking face. The plurality of spiral driving devices form a plurality of walking surfaces in different directions of the machine body, the plurality of walking surfaces can separately drive the machine body to walk, and the machine body is provided with a submerging and floating assembly and a detection assembly; through the structural design of the plurality of symmetrically arranged spiral driving devices and the detection assembly, any two adjacent spiral driving devices can form a walking surface, even if a single driving device fails or the machine body overturns, other walking surfaces can also drive the machine body to continue to complete the detection task, and the quality and efficiency of the detection work are improved; the snorkeling assembly adjusts the buoyancy state of the robot, so that the robot can obtain stable driving force on land and in water.

Description

Technical Field

[0001] This utility model belongs to the field of robotics technology, and in particular relates to an amphibious inspection robot. Background Technology

[0002] In many fields of modern society, such as environmental monitoring, infrastructure inspection, and underwater archaeology, there is an urgent need for robots that can operate in a variety of environments. For example, environmental monitoring requires real-time monitoring of the water quality and ecological conditions of rivers and lakes, as well as environmental changes in the surrounding land. In terms of infrastructure inspection, the underwater parts of dams and reservoirs, as well as the surrounding land areas, need to be inspected regularly to detect potential structural damage, leakage, and other problems. Underwater archaeology requires precise detection and recording of underwater sites.

[0003] However, most traditional inspection robots can only operate in a single environment (land or water). Existing amphibious robots mostly use dual-axis propulsion devices, which are difficult to balance in terms of both land and water mobility. Furthermore, if any propulsion device fails, the entire robot's mobility will fail. In addition, when inspection robots are operating, they may overturn due to uneven terrain or improper operation. Once the robot overturns, the inspection operation will be forced to stop, which not only seriously affects the efficiency of engineering inspection but may also lead to the failure of the inspection task, increasing inspection costs and risks. Summary of the Invention

[0004] The purpose of this invention is to address the problems existing in the prior art by providing an amphibious inspection robot.

[0005] To achieve the above objectives, the utility model employs the following technical solution: an amphibious inspection robot, comprising a body, wherein multiple helical drive devices are symmetrically arranged on the outer periphery of the body, the axes of the multiple helical drive devices are parallel to the axis of the body, two adjacent helical drive devices form a walking surface, the multiple helical drive devices form multiple walking surfaces in different positions of the body, and the multiple walking surfaces can each drive the body to walk independently, and the body is provided with a submersion component and a detection component.

[0006] By adopting the above technical solution and through the structural design of multiple symmetrically arranged spiral drive devices and detection components, any two adjacent spiral drive devices can form a traveling surface. Even if a single drive device fails or the machine overturns, the other traveling surfaces can still drive the machine to continue to complete the detection task, thereby improving the quality and efficiency of the detection work.

[0007] Optionally, the helical drive device includes a helical drum and a drive motor for driving the helical drum.

[0008] By adopting the above technical solution, the drive motor provides power to the spiral drum, enabling it to rotate stably and thus generate propulsion. This design facilitates the maintenance and replacement of the spiral drive device. When a component malfunctions, only the spiral drum or drive motor needs to be repaired or replaced, reducing maintenance costs and time.

[0009] Optionally, connecting plates are installed at the front and rear ends of the machine body, and the plurality of spiral rollers and the plurality of drive motors are respectively connected to the machine body through a pair of connecting plates.

[0010] By adopting the above technical solution, the connecting plate plays a role in fixing and supporting, enabling the screw drive device to be firmly installed on the machine body. During the robot's movement, it can effectively withstand the force and vibration generated by the rotation of the screw drum, ensuring the stable connection between the robot's various components and preventing loosening or detachment.

[0011] Optionally, the outer periphery of the connecting plate is provided with several ear plates, and the ear plates are provided with rotating holes for connecting the spiral roller; the two ends of the spiral roller are respectively provided with connecting grooves, one of the connecting grooves is provided with a bearing installed on the inner side, the inner ring of the bearing is provided with a bearing seat that passes through the rotating hole and is connected to the ear plate, and the other connecting groove is provided with a rotating bushing, the output shaft of the drive motor passes through the rotating hole and is connected to the rotating bushing.

[0012] By adopting the above technical solution, the rotating holes on the ear plate provide a precise installation position for the spiral roller, ensuring that the spiral roller can be accurately mounted on the connecting plate. One end of the spiral roller is connected to the ear plate via a bearing and bearing housing, and the other end is connected to the output shaft of the drive motor via a rotating bushing, allowing the spiral roller to rotate flexibly under the drive motor. The use of bearings reduces friction during the rotation of the spiral roller, improving transmission efficiency. The rotating bushing ensures a reliable connection between the drive motor output shaft and the spiral roller, ensuring efficient power transmission and enabling the robot to move stably and smoothly.

[0013] Optionally, the submersible assembly includes several water storage chambers installed on the body, the several water storage chambers being symmetrically distributed at the front and rear of the body, and several electromagnetic flow valves corresponding to and communicating with each of the water storage chambers are installed on the surface of the body.

[0014] By adopting the above technical solution, the design of the submersible and buoyancy component enables the robot to flexibly submerge and float underwater. Several water storage chambers symmetrically distributed at the front and rear of the robot body can change the robot's buoyancy by adjusting the amount of water inside. When it is necessary to submerge, the electromagnetic flow valve controls the water to enter the water storage chamber, increasing the robot's weight and causing it to sink; when it is necessary to float, the electromagnetic flow valve discharges the water from the water storage chamber, reducing the robot's weight and causing it to float.

[0015] Optionally, the spiral drum includes a drum and spiral blades disposed on the outer periphery of the drum, with the spiral blades adjacent to the outer periphery of the drum arranged in opposite directions.

[0016] By adopting the above technical solution, the design of the spiral roller enables the spiral blades in different directions to generate thrust in different directions during the robot's movement. The combined effect enhances the robot's propulsion, providing more efficient and stable power whether driving on land or in water. This improves the robot's speed and flexibility, and helps it better adapt to different terrains and water conditions.

[0017] Optionally, the roller is provided with a buoyancy cavity.

[0018] By adopting the above technical solution and setting a buoyancy cavity inside the drum, the robot's buoyancy performance is further optimized. The buoyancy cavity can provide a certain amount of buoyancy when the robot is underwater, reducing the pressure of the robot's overall weight on the buoyancy system and reducing energy consumption.

[0019] Optionally, the detection component includes several lidars installed on the outer periphery of the machine body, the lidars being symmetrically distributed, a camera and several lights being respectively provided on the front and rear faces of the machine body, the lights being symmetrically distributed around the camera, and a sonar being installed on the front face of the machine body.

[0020] By adopting the above technical solutions, the diversified design of the detection components enables the robot to have all-round and multi-angle detection capabilities. Several lidars symmetrically distributed around the robot's body can perceive the environmental information around the robot in real time. Cameras set on the front and rear faces of the robot can collect image information of the surrounding environment in real time. Several lights symmetrically distributed around the cameras provide sufficient light for the cameras. The sonar installed on the front face can detect underwater terrain, landforms and objects.

[0021] Optionally, the machine body is equipped with a controller, a data processing module, a navigation device, and a communication device.

[0022] By adopting the above technical solutions, the controller, data processing module, navigation device, and communication device installed inside the robot body realize intelligent control of the robot, making the robot operation more convenient and flexible, and improving the efficiency and safety of detection.

[0023] Optionally, a cable connector is installed on the rear end face of the body.

[0024] By adopting the above technical solution, the cable connector provides the robot with a convenient way to power supply and data transmission. Through the cable connector, the robot can be connected to an external power source to ensure stable operation for a long time.

[0025] Compared with the prior art, the beneficial effects of this utility model are:

[0026] 1. Through the structural design of multiple symmetrically arranged helical drive devices and detection components, any two adjacent helical drive devices can form a traveling surface. Even if a single drive device fails or the machine overturns, the other traveling surfaces can still drive the machine to continue to complete the detection task, thus improving the quality and efficiency of the detection work.

[0027] 2. Through the combined design of helical drive devices and buoyancy components, multiple helical drive devices provide redundant power, and the buoyancy components adjust the robot's buoyancy state, enabling the robot to obtain stable driving force on land and in water. This allows it to adapt to different terrain and water conditions, greatly expanding the robot's operating range.

[0028] 3. The outer circumference of the spiral drum is equipped with spiral blades, and the spiral blades on the outer circumference of adjacent drums are arranged in opposite directions. This allows the spiral blades in different directions to generate thrust in different directions during the robot's movement, which works together to enhance the propulsion effect, improve the robot's movement speed and flexibility, and help the robot better adapt to different terrain and water conditions.

[0029] 4. Peripheral sensing devices such as lidar, cameras, lighting, and sonar are used to acquire environmental detection data for the robot, while the navigation device is used to acquire body posture data. The data processing module, controller, and communication device enable intelligent control of the robot, making operation more convenient and flexible, and improving detection efficiency and safety. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the three-dimensional structure of the robot of this utility model;

[0031] Figure 2 This is a front view structural diagram of the body of this utility model;

[0032] Figure 3 This is a schematic cross-sectional view of the spiral roller structure of this utility model;

[0033] Figure 4 This is a schematic diagram of the connection structure between the cylindrical body and the spiral drum of this utility model.

[0034] In the diagram: 1. Body; 2. Connecting plate; 3. Ear plate; 4. Spiral drum; 401. Connecting groove; 402. Bearing; 403. Bearing seat; 404. Rotating bushing; 5. Drive motor; 6. Buoyancy chamber; 7. Submersible assembly; 71. Electromagnetic flow valve; 8. LiDAR; 9. Camera; 10. Lighting lamp; 11. Sonar; 12. Cable connector. Detailed Implementation

[0035] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0036] In the description of this utility model, it should be noted that the terms "middle", "upper", "lower", "left", "right", "inner", "outer", etc., 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 utility model and simplifying the description, and do not indicate or imply that the device or element 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 utility model.

[0037] like Figure 1 As shown in Figure 3, the specific scheme of the embodiment is as follows: An amphibious inspection robot includes a body 1. The body 1 is the core load-bearing structure of the entire amphibious inspection robot, providing the installation foundation and support for other components, ensuring that the components can work stably and orderly, so that the robot forms an organic whole. The outer periphery of the body 1 can be designed as a plane or streamlined shape. The streamlined design can reduce the fluid resistance of the body 1 when working in water and reduce energy consumption. The body 1 can be made of high-strength, lightweight alloy materials, such as aluminum alloy or titanium alloy. This material not only has high strength and can withstand certain external impacts, but also has good corrosion resistance and is suitable for underwater and humid terrestrial environments. At the same time, the shape of the body 1 can take different forms, such as triangle, circle and polygon, etc. Figure 1 The shape of the machine body 1 shown is a quadrilateral, as... Figure 4 As shown, the shape of the machine body 1 can also be set as a cylinder.

[0038] The outer periphery of the body 1 is symmetrically provided with multiple spiral drive devices. The axes of the multiple spiral drive devices are parallel to the axis of the body 1. Two adjacent spiral drive devices form a traveling surface. The multiple spiral drive devices form multiple traveling surfaces in different positions of the body 1. Each of the multiple traveling surfaces can drive the body 1 to travel independently. The spiral drive device includes a spiral roller 4 and a drive motor 5 that drives the spiral roller 4. The spiral roller 4 includes a roller and spiral blades arranged on the outer periphery of the roller. The spiral blades on the outer periphery of adjacent rollers are arranged in opposite directions.

[0039] The spiral roller 4 is the main power component of the robot. It generates thrust in water or on land through the spiral blades on the outer periphery of the roller, which propels the robot forward, backward or turning. The spiral roller 4 is made of high-strength engineering plastic 3D printed. The drive motor 5 provides driving force for the spiral roller 4. The drive motor 5 is a watertight drive motor.

[0040] The conversely arranged helical blades allow the robot to generate thrust in different directions during movement. This combination improves the robot's speed and flexibility, providing more efficient and stable power whether driving on land or propelling in water, enabling the robot to better adapt to different terrains and water conditions.

[0041] Connecting plates 2 are installed at the front and rear ends of the machine body 1, respectively. Multiple spiral rollers 4 and multiple drive motors 5 are connected to the machine body 1 through a pair of connecting plates 2. The connecting plates 2 provide a stable support platform for the installation of ear plates 3, and also increase the structural strength and stability of the machine body 1, ensuring that the spiral rollers 4 will not loosen or fall off due to vibration of the machine body 1 or external force during operation. Several ear plates 3 are provided on the outer periphery of the connecting plates 2. The ear plates 3 provide positional support for the installation of the spiral rollers 4. The shape of the ear plates 3 can be optimized according to the installation requirements of the spiral rollers 4, such as using an arc or fan shape, to better fit the shape of the spiral rollers 4 and improve the tightness and stability of the installation.

[0042] The ear plate 3 has a rotating hole for connecting the spiral roller 4. The design of the rotating hole ensures that the spiral roller 4 can rotate smoothly around a fixed axis, improving the operating accuracy and stability of the spiral roller 4. The spiral roller 4 has connecting grooves 401 at both ends. A bearing 402 is installed on the inner side of one of the connecting grooves 401. A bearing seat 403 that passes through the rotating hole and connects to the ear plate 3 is installed on the inner ring of the bearing 402. A rotating bushing 404 is provided on the inner side of the other connecting groove 401. The output shaft of the drive motor 5 passes through the rotating hole and is connected to the rotating bushing 404.

[0043] The drive motor 5 transmits power to the rotating bushing 404 through the output shaft, thereby driving the spiral drum 4 to rotate. The inner ring bearing seat 403 and the bearing 402 ensure a stable connection between the spiral drum 4 and the ear plate 3, while reducing the frictional resistance during rotation, ensuring that the drive motor 5 can efficiently transmit power to the spiral drum 4.

[0044] The drum is equipped with a buoyancy chamber 6, in which buoyancy components can be installed. When the robot enters the water, the presence of the buoyancy chamber 6 can increase the buoyancy of the spiral drum 4. The design of the buoyancy chamber 6 enables the robot to better adapt to different aquatic environments, ensuring that it can move and work normally in the water.

[0045] The body 1 is provided with a submersible assembly 7, which includes a plurality of water storage chambers installed on the body 1. The plurality of water storage chambers are symmetrically distributed at the front and rear of the body 1. A plurality of electromagnetic flow valves 71, which correspond to and communicate with the water storage chambers, are installed on the surface of the body 1.

[0046] The water storage chambers are symmetrically distributed at the front and rear of the body 1. The water inlet and outlet speeds in the water storage chambers are controlled by the electromagnetic flow valve 71, thereby adjusting the robot's buoyancy and enabling the robot to dive and float. The design of the diving and floating component 7 allows the robot to dive and float freely in the water, and the diving and floating process is stable and controllable. The symmetrically distributed water storage chambers help the robot maintain balance during diving and floating, avoiding tilting or loss of control due to uneven buoyancy.

[0047] The robot body 1 is equipped with a detection component for acquiring environmental detection data. The detection component includes several lidar sensors 8 installed on the outer periphery of the robot body 1, which are symmetrically distributed. The lidar sensors 8 are used to acquire three-dimensional laser point cloud data of the working environment around the robot body 1. The front and rear faces of the robot body 1 are respectively equipped with cameras 9 and several lighting lamps 10, which are symmetrically distributed around the cameras 9. The cameras 9 are used to acquire image data of the front and rear of the robot body 1, and the lighting lamps 10 provide sufficient illumination for the cameras 9 under different lighting conditions. The combination of cameras 9 and lighting lamps 10 enables the robot to clearly capture images of the surrounding environment under various lighting conditions, providing intuitive visual information for inspection personnel and helping them to accurately identify target objects and environmental conditions. The front face of the robot body 1 is equipped with a sonar 11, which is used to acquire underwater topographic data.

[0048] The body 1 is equipped with a navigation device, which is used to acquire the attitude data of the body 1.

[0049] The body 1 is equipped with a controller and a data processing module. The data processing module is used to receive the environmental detection data and the body 1 attitude data, process them, and send feedback instructions to the controller. The controller is used to receive the feedback instructions and control the operation of the spiral drive device, the buoyancy component, and the detection component to realize the operation of the robot.

[0050] The robot body 1 is equipped with a communication device, which includes a data transmission radio and an optical fiber module to realize data transmission and communication between the robot and external devices.

[0051] The collaborative operation of these devices enables intelligent control of the robot. Based on the environmental detection data obtained by the detection components and the body posture data obtained by the navigation device, the robot can be provided with accurate path planning and real-time adjustment of its motion state to ensure safe and efficient operation. This allows the robot to autonomously complete various detection tasks and improve detection efficiency.

[0052] The rear end face of the robot body 1 is equipped with a cable connector 12. The robot body 1 can be powered by a lithium battery or a shore-based power source. Through the cable connector 12, the robot can be connected to an external power source to ensure stable operation for a long time.

[0053] The operation steps of the above embodiment are as follows:

[0054] 1. Straight on land

[0055] Operators send a straight-line movement command via a communication device (such as a data radio or fiber optic module), which includes the direction of movement (forward or backward) and the target speed.

[0056] After receiving the instruction, the data processing module parses the instruction content.

[0057] Start the drive motor 5 of a pair of spiral rollers 4 on the walking surface in contact with the ground.

[0058] The speed and direction of rotation of the drive motor 5 are set according to the instructions, so that the spiral drum 4 rotates forward (forward) or reverses (backward).

[0059] When the spiral drum 4 rotates, its outer spiral blades contact the ground, and the robot moves in a straight line through friction; the moving speed is controlled by the speed of the drive motor.

[0060] 2. Go straight in the water

[0061] The operator sends a straight-line movement command via a communication device. The command includes the direction of movement (forward or backward) and the target speed.

[0062] After the data processing module parses the instructions, it starts the drive motors 5 of all the spiral rollers 4.

[0063] The speed and direction of rotation of the drive motor 5 are set according to the instructions, so that all the spiral rollers 4 rotate forward (forward) or reverse (backward).

[0064] When the spiral blades on the spiral drum 4 rotate, they come into contact with the water, generating fluid thrust that propels the robot to move straight in the water; the moving speed is controlled by the rotational speed of the drive motor 5.

[0065] III. Land Turning

[0066] Steering command transmission: The operator sends a steering command via a communication device, which includes the steering direction (left or right).

[0067] Instruction parsing and execution:

[0068] After the data processing module parses the instructions, it adjusts the speed of the drive motor 5 of the spiral roller 4 on the adjacent or left and right sides of the walking surface.

[0069] The speed of the drive motor 5 of one spiral roller 4 is reduced, or the speed of the drive motor 5 of the other spiral roller 4 is increased, to create a speed difference, and the robot can be turned by the speed difference.

[0070] The navigation device collects the robot's posture and speed information in real time and feeds it back to the data processing module.

[0071] The data processing module dynamically adjusts the speed of the drive motor 5 to ensure the stability and accuracy of the steering process.

[0072] IV. Turning in Water

[0073] The controller reduces the speed of the pair of spiral roller 2 drive motors 4 on the left walking surface of the robot body, or increases the speed of the pair of spiral roller 2 drive motors 4 on the right walking surface of the robot body, creating a speed difference, and the robot turns to the left. The controller reduces the speed of the pair of spiral roller 2 drive motors 4 on the right walking surface of the robot body, or increases the speed of the pair of spiral roller 2 drive motors 4 on the left walking surface of the robot body, creating a speed difference, and the robot turns to the right.

[0074] V. Floating or diving in water

[0075] Ascending or Descent Command Transmission: Operators transmit ascending or descending commands via communication devices.

[0076] Instruction parsing and execution:

[0077] After the data processing module parses the instructions, it controls the intake and drainage of the electromagnetic flow valve 71.

[0078] To float, all electromagnetic flow valves 71 on the robot body are opened simultaneously to drain the water from the water storage chamber and reduce the robot's weight.

[0079] To dive, all electromagnetic flow valves 71 on the robot body are opened simultaneously to allow external water to enter the water storage chamber, increasing the robot's weight.

[0080] Accelerate ascent or descent:

[0081] When it is necessary to accelerate the ascent or descent, the data processing module adjusts the water intake or drainage opening degree and opening time of several electromagnetic flow valves 71.

[0082] By changing the robot's posture to tilting up (accelerating ascent) or tilting down (accelerating descent), the ascent or descent speed can be increased.

[0083] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An amphibious inspection robot, characterized in that, The device includes a body, on the outer periphery of which are symmetrically provided multiple spiral drive devices. The axes of the multiple spiral drive devices are parallel to the axis of the body. Two adjacent spiral drive devices form a walking surface. The multiple spiral drive devices form multiple walking surfaces in different positions on the body. Each of the multiple walking surfaces can drive the body to move independently. The body is provided with a submersion component and a detection component.

2. The amphibious inspection robot according to claim 1, characterized in that: The spiral drive device includes a spiral drum and a drive motor that drives the spiral drum.

3. The amphibious inspection robot according to claim 2, characterized in that: The front and rear ends of the machine body are respectively equipped with connecting plates, and the multiple spiral rollers and multiple drive motors are respectively connected to the machine body through a pair of connecting plates.

4. An amphibious inspection robot according to claim 3, characterized in that: The outer periphery of the connecting plate is provided with several ear plates, and the ear plates are provided with rotating holes for connecting the spiral roller; the two ends of the spiral roller are respectively provided with connecting grooves, one of the connecting grooves is provided with a bearing installed on the inner side, and the inner ring of the bearing is provided with a bearing seat that passes through the rotating hole and is connected to the ear plate; the other connecting groove is provided with a rotating bushing, and the output shaft of the drive motor passes through the rotating hole and is connected to the rotating bushing.

5. An amphibious inspection robot according to claim 1, characterized in that: The submersible assembly includes several water storage chambers installed on the body, the several water storage chambers being symmetrically distributed at the front and rear of the body, and several electromagnetic flow valves corresponding to and communicating with each of the water storage chambers are installed on the surface of the body.

6. An amphibious inspection robot according to claim 2, characterized in that: The spiral drum includes a drum and spiral blades disposed on the outer periphery of the drum, with the spiral blades adjacent to the outer periphery of the drum arranged in opposite directions.

7. An amphibious inspection robot according to claim 6, characterized in that: The drum is equipped with a buoyancy chamber.

8. An amphibious inspection robot according to claim 1, characterized in that: The detection component includes several lidars installed on the outer periphery of the body, the lidars being symmetrically distributed. The front and rear faces of the body are respectively provided with cameras and several lighting lamps, the lighting lamps being symmetrically distributed around the cameras. A sonar is installed on the front face of the body.

9. An amphibious inspection robot according to claim 1, characterized in that: The machine body is equipped with a controller, a data processing module, a navigation device, and a communication device.

10. An amphibious inspection robot according to claim 1, characterized in that: A cable connector is installed on the rear end face of the machine body.

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