Inspection robot

Abstract

The utility model discloses an inspection robot which comprises a moving part, an electric control part, a holder part, a camera, a sponge wiper, a track, a strip-shaped hollow groove, cleaning assemblies, a brush, a scraper mounting plate, a scraper, a threaded column, a positioning nut and a limiting sliding column. The scraping plate of the cleaning assembly cleans the track groove of the track, slag, gravel and the like are pushed to the strip-shaped hollowed-out groove to fall off, and it is avoided that sundries are accumulated to affect walking. Meanwhile, the sponge wiper at the bottom of the electric control part can clean the camera lens, the purpose of cleaning the lens can be achieved without a complex lens cleaning structure, the overall cost of the device is reduced, the market competitiveness is improved, the device is simple in structure, and the track does not need to be manually cleaned.

Description

Technical Field

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

[0002] Inspection robots are machines that use vision and sensing technology to simulate human inspection of required locations. Track-based inspection robots are one type of inspection robot, widely used in mines, tunnels, and other similar locations. However, in existing track-based inspection robots used in mines and tunnels, the tracks accumulate debris such as slag and gravel, hindering the robot's movement and requiring regular manual cleaning, which is time-consuming and labor-intensive. Therefore, there is an urgent need for an inspection robot capable of automatically clearing debris from its tracks. Summary of the Invention

[0003] To achieve the above objectives, the present invention adopts the following technical solution:

[0004] An inspection robot includes a track and a track robot body. The track robot body consists of a motion unit, an electronic control unit, a gimbal unit, and a camera. The control of each component of the track robot body uses mature technologies and is not considered an improvement in this invention, so it will not be described in detail. The track has multiple equally spaced strip-shaped slots at the bottom of its track groove, and the bottom of the track groove has an arc-shaped cross-section. The motion unit's wheels fit into the track groove, and cleaning components are provided on both sides of the wheels. The cleaning components include a scraper mounting plate, a scraper, and a threaded post. The scraper mounting plate is fixedly connected to the housing of the motion unit. The top surface of the scraper is fixedly connected to the bottom end of the threaded post, which slides vertically through the scraper mounting plate. Two positioning nuts are threaded onto the threaded post, and the scraper mounting plate is located between the two positioning nuts. The scraper mounting plate has two through holes. The threaded post is slidably disposed in one of the through holes, and a limit pin is slidably disposed in the other through hole. The bottom end of the limit pin is fixedly connected to the top of the scraper. The track groove has a circular arc cross-section in the vertical direction. The scraper bottom has the same shape as the track groove structure, and the width of the strip-shaped perforated groove is smaller than the width of the traveling wheels of the moving part. The moving part is located on top of the electronic control unit, and the gimbal is located at the bottom of the electronic control unit. A camera is installed at the output end of the gimbal. A sponge is installed on the bottom of the housing of the electronic control unit by screws. The bottom of the sponge is circular arc-shaped. When the camera lens is rotated upward, the camera lens abuts against the sponge. Furthermore, multiple strip-shaped perforated grooves are equidistantly opened at the bottom of the track groove, which are used to allow slag, gravel, etc. in the track groove to fall out through the strip-shaped perforated grooves.

[0005] Furthermore, in the cleaning assembly, the scraper mounting plate is fixed to the moving part housing, and the scraper is slidably connected to the scraper mounting plate through threaded posts and limiting slide posts. Two positioning nuts are used to fix the position of the threaded posts on the scraper mounting plate.

[0006] Furthermore, the sponge at the bottom of the electronic control unit is used to clean the camera lens when it is facing upwards, as it is pressed against the lens.

[0007] Furthermore, multiple brushes are equidistantly installed at the bottom of the track for cleaning slag or rocks that fall onto the moving part through the strip-shaped perforated groove.

[0008] Furthermore, the device is mainly used for inspection in places such as mines and tunnels.

[0009] This utility model has the following beneficial effects:

[0010] This invention improves the track by installing cleaning components on both sides of the walking wheels of the robot's moving part. When the robot moves, the scraper of the cleaning components cleans the track groove, pushing slag, gravel, etc., to the strip-shaped hollow groove to fall off, preventing debris from accumulating and affecting movement. At the same time, the sponge at the bottom of the electrical control unit can clean the camera lens, achieving the purpose of cleaning the lens without a complicated lens cleaning structure, reducing the overall cost of the device, and improving market competitiveness. This device has a simple structure, does not require manual cleaning of the track, improves inspection efficiency, and is easy to promote and use. Attached Figure Description

[0011] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0012] Figure 2 This is a schematic diagram of the main structure of the track robot of this utility model;

[0013] Figure 3 This is a schematic diagram of the track structure of this utility model;

[0014] Figure 4 This is a schematic diagram of the cleaning component structure of this utility model;

[0015] Figure 5 This utility model Figure 1 The front view.

[0016] In the diagram: 1. Motion unit; 2. Electrical control unit; 3. Gimbal unit; 4. Camera; 5. Sponge; 6. Track; 601. Strip-shaped hollow groove; 7. Cleaning component; 8. Brush; 71. Scraper mounting plate; 72. Scraper; 73. Threaded post; 74. Positioning nut; 75. Limiting slide post. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0018] Reference Figure 1-5 An inspection robot includes a track 6 and a robot body. The robot body consists of a motion unit 1, an electronic control unit 2, a gimbal unit 3, and a camera 4. The bottom of the track 6 has multiple equally spaced strip-shaped slots 601, and the bottom cross-section of the track 6 is arc-shaped. The wheels of the motion unit 1 are fitted into the track 6, and cleaning components 7 on both sides operate. In the cleaning components 7, a scraper mounting plate 71 is fixed to the housing of the motion unit 1. A scraper 72 is slidably connected to the scraper mounting plate 71 via a threaded post 73 and a limiting slide post 75. Two positioning nuts 74 fix the position of the threaded post 73, thereby fixing the position of the scraper 72. After the bottom of the scraper 72 wears, its position can be adjusted using the positioning nuts 74. The bottom of the scraper 72 has the same structure as the track 6, and it sweeps debris until it falls into the strip-shaped slots 601. The motion unit 1 is located at the top of the electronic control unit 2, the gimbal unit 3 is located at the bottom of the electronic control unit 2, and the camera 4 is mounted on the output end of the gimbal unit 3. The sponge 5 at the bottom of the electronic control unit 2 cleans the lens of the camera 4 when the lens is facing upwards. The brush 8 at the bottom of the track 6 cleans up debris that falls onto the moving part 1 through the strip-shaped hollow groove 601.

[0019] The working process of this utility model is as follows:

[0020] like Figures 1-4 As shown, during actual use, when the inspection robot walks on track 6, the wheels of the moving part 1 roll in the track groove of track 6. The scraper 72 of the cleaning component 7 closely fits the track groove of track 6, pushing the slag, gravel and other debris in the track groove forward. The debris falls through the strip-shaped hollow groove 601, preventing the debris from accumulating in the track groove and affecting the normal movement of the wheels. At the same time, the brush 8 at the bottom of track 6 cleans the slag or rocks and other debris that fall onto the moving part 1, preventing the debris from accumulating on the moving part 1 and affecting the normal operation of the device.

[0021] When the lens of camera 4 rotates upward, the lens of camera 4 comes into contact with the sponge 5. The sponge 5 protects and cleans the lens of camera 4, ensuring that camera 4 can capture clear images. This device has a simple structure and does not require manual cleaning of track 6, which greatly improves inspection efficiency and safety. It is especially suitable for inspection work in harsh environments such as mines and tunnels.

[0022] This utility model does not involve improvements to the drive and control parts of the track inspection robot. The drive and control of the device can be accomplished by those skilled in the art and belong to the prior art, so it will not be described in detail.

[0023] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. An inspection robot, comprising a track (6) and a track robot body, the track robot body being composed of a motion unit (1), an electronic control unit (2), a gimbal unit (3), and a camera (4), characterized in that: The bottom of the track (6) is provided with multiple strip-shaped hollowed-out grooves (601) at equal intervals. The walking wheel of the moving part (1) is fitted in the track groove of the track (6). Cleaning components (7) are provided on both sides of the walking wheel of the moving part (1). The cleaning components (7) include a scraper mounting plate (71), a scraper (72) and a threaded column (73). The scraper mounting plate (71) is fixedly connected to the housing of the moving part (1). The top surface of the scraper (72) is fixedly connected to the bottom end of the threaded column (73). The threaded column (73) slides vertically through the scraper mounting plate (71). Two positioning nuts (74) are threaded on the threaded column (73). The scraper mounting plate (71) is located between the two positioning nuts (74).

2. The inspection robot according to claim 1, characterized in that: The bottom of the track groove of the track (6) has an arc-shaped cross section in the vertical direction. The bottom of the scraper (72) has the same shape as the track groove structure of the track (6). The width of the strip-shaped hollow groove (601) is smaller than the width of the walking wheel of the moving part (1).

3. The inspection robot according to claim 1, characterized in that: The scraper mounting plate (71) has two through holes. A threaded post (73) is slidably disposed in one of the through holes, and a limiting post (75) is slidably disposed in the other through hole. The bottom end of the limiting post (75) is fixedly connected to the top of the scraper (72).

4. The inspection robot according to claim 1, characterized in that: Multiple brushes (8) are installed at equal intervals at the bottom of the track (6).

5. An inspection robot according to claim 1, characterized in that: The motion unit (1) is located on the top of the electronic control unit (2), and the gimbal unit (3) is located at the bottom of the electronic control unit (2). A camera (4) is installed at the output end of the gimbal unit (3). A sponge (5) is installed at the bottom of the housing of the electronic control unit (2) by screws. The bottom of the sponge (5) is arc-shaped. When the lens of the camera (4) is rotated upward, the lens of the camera (4) abuts against the sponge (5).

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