Security robot with unmanned aerial vehicle cabin

Abstract

The utility model belongs to the technical field of security and protection robots, and particularly relates to a security and protection robot with an unmanned aerial vehicle cabin, which comprises a robot body and a cabin cover, the cabin cover is slidably connected with the robot body, and the unmanned aerial vehicle cabin is formed between the cabin cover and the robot body after the cabin cover is closed; a driving assembly is arranged between the cabin cover and the robot body, and the cabin cover is driven by the driving assembly to move, open and close. An unmanned aerial vehicle placing support is arranged on the robot body, and a limiting groove used for placing an unmanned aerial vehicle is formed in the unmanned aerial vehicle placing support; and a circle of limiting edge is arranged on the unmanned aerial vehicle placing support. A limiting groove is formed in the unmanned aerial vehicle containing support and can be used for containing an unmanned aerial vehicle with a ball cage. And the limiting edge can be used for placing the unmanned aerial vehicle with the landing gear.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of security robot, concretely relates to a security robot with unmanned aerial vehicle cabin. BACKGROUND

[0002] The tunnel security robot is an intelligent tunnel safety inspection device, which is widely used in highway tunnels, cable tunnels and other scenes. It has multiple functions, including environmental monitoring, video monitoring and image recognition, traffic safety facility inspection, emergency handling, and data recording and analysis. By carrying high-definition cameras, infrared thermal imagers, gas sensors and other equipment, the robot can monitor the temperature, humidity, air quality and other parameters in the tunnel in real time, and quickly identify abnormal conditions such as fire, smoke and water leakage. At the same time, it can also conduct daily inspection on the signs, lighting, ventilation and other facilities in the tunnel to ensure their normal operation.

[0003] In the existing tunnel security robot technology, although unmanned aerial vehicle technology has been introduced into the field of tunnel inspection, most tunnel security robots still mainly rely on ground movement or track inspection, lacking integrated design of unmanned aerial vehicles and unmanned aerial vehicle cabins. This design limits the flexibility and coverage of the robot in complex tunnel environments, especially in high places, narrow spaces or hard-to-reach areas. In addition, the application of unmanned aerial vehicles in existing technology is mostly independent systems, which is difficult to coordinate with ground robots, and cannot achieve comprehensive inspection in multiple dimensions. Therefore, the development of a tunnel security robot with an unmanned aerial vehicle cabin can make up for the shortcomings of existing technology, improve the efficiency and safety of tunnel inspection, and realize the organic combination of ground and air inspection. SUMMARY

[0004] To solve the above technical problems, the utility model provides a security robot with unmanned aerial vehicle cabin, which is provided with an unmanned aerial vehicle cabin and can realize the placement of unmanned aerial vehicles.

[0005] To solve the above technical problems, the utility model adopts the technical scheme of:

[0006] A security robot with unmanned aerial vehicle cabin, comprising a robot body and a cabin cover, the cabin cover is slidably connected with the robot body, and an unmanned aerial vehicle cabin is formed between the robot body and the cabin cover after the cabin cover is closed; a driving assembly is provided between the cabin cover and the robot body, and the cabin cover is driven to move by the driving assembly;

[0007] The robot body is provided with an unmanned aerial vehicle placement support, and the unmanned aerial vehicle placement support is provided with a limiting groove for placing an unmanned aerial vehicle; the unmanned aerial vehicle placement support is provided with a limiting rail.

[0008] The unmanned aerial vehicle fixing mechanism is arranged at the unmanned aerial vehicle placing support.

[0009] The unmanned aerial vehicle fixing mechanism is arranged at the unmanned aerial vehicle placing support.

[0010] The unmanned aerial vehicle fixing mechanism comprises a fixed plate, a movable plate and a limiting guide rod.

[0011] The limiting guide rod is fixedly connected with the outer end of the limiting guide rod.

[0012] The limiting guide rod is fixedly connected with the outer end of the limiting guide rod.

[0013] The fixing assembly comprises a first adjusting nut and a second adjusting nut.

[0014] The arc-shaped rod is connected with the movable plate through an adjusting plate.

[0015] The driving assembly is an electric telescopic cylinder.

[0016] Compared with the prior art, the utility model has the beneficial effects that:

[0017] The unmanned aerial vehicle cabin can be used for placing the unmanned aerial vehicle.

[0018] The limiting groove arranged on the unmanned aerial vehicle placing support can be used for placing the unmanned aerial vehicle with a ball cage.

[0019] The unmanned aerial vehicle fixing mechanism is arranged at the unmanned aerial vehicle placing support.

[0020] The action of the limiting guide rod can not only play a guiding role, but also be used for limiting the landing gear activity of the unmanned aerial vehicle. The arc-shaped rod can be used for pressing the ball cage of the unmanned aerial vehicle and plays a fixing role. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is a structural schematic diagram of the embodiment one of the utility model;

[0022] Figure 2 is a use state schematic diagram of the embodiment one of the utility model Figure 1 ;

[0023] Figure 3 is a use state schematic diagram of the embodiment one of the utility model Figure 2 ;

[0024] Figure 4 is a use state schematic diagram of the embodiment two of the utility model Figure 1 ;

[0025] Figure 4 is Figure 6 a local enlarged view of A in the figure;

[0026] Figure 4 is Figure 7 a top view of the structure shown in the figure;

[0027] Figure 6 is Figure 8 a local enlarged view of B in the figure;

[0028] Figure 2 is a use state schematic diagram of the embodiment two of the utility model Figure 9 ;

[0029] Figure 8 is Figure 10 a local enlarged view of C in the figure;

[0030] Figures 1-3 is a structural schematic diagram of the unmanned aerial vehicle fixing mechanism of the utility model;

[0031] Among them: 1 is the robot body, 2 is the cabin cover, 3 is the driving assembly, 4 is the unmanned aerial vehicle placing support, 40 is the limiting groove, 41 is the limiting edge, 5 is the unmanned aerial vehicle fixing mechanism, 50 is the fixed plate, 51 is the movable plate, 52 is the limiting guide rod, 53 is the reset spring, 54 is the fixed assembly, 540 is the first adjusting nut, 541 is the second adjusting nut, 55 is the arc-shaped rod, 56 is the adjusting plate, 560 is the waist-shaped hole, 57 is the adjusting bolt, 6 is the linkage mechanism, 60 is the wedge-shaped push block, 61 is the pressing plate, 62 is the roller, 7 is the ball cage structure, 8 is the landing gear. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments.

[0033] Example 1

[0034] like Figures 4-10 As shown, a security robot with an unmanned aerial vehicle (UAV) cabin includes a robot body 1 and a cabin cover 2. The cabin cover 2 is slidably connected to the robot body 1, and when the cabin cover 2 is closed, it forms an UAV cabin with the robot body 1. A drive assembly 3 is provided between the cabin cover 2 and the robot body 1, and the drive assembly 3 drives the cabin cover 2 to move and open and close. The robot body 1 has a tracked walking mechanism.

[0035] The robot body 1 is equipped with a drone placement support 4, on which drones can be placed. The drones include drones with a ball cage structure and drones with landing gear.

[0036] The drone placement support 4 is provided with a limiting groove 40 for placing the drone. This limiting groove 40 is hemispherical and matches the drone with a ball cage. Furthermore, the drone placement support 4 is provided with a limiting edge 41, which restricts the free movement of the landing gear. Therefore, with the above structural configuration, both drones with a ball cage structure and drones with landing gear can be placed.

[0037] After the drone is placed on the drone mounting bracket 4, the drive mechanism closes the cabin cover 2, forming a drone cabin between the cabin cover 2 and the robot body 1. That is, when the drone is not in use, it resides inside the drone cabin, with the cabin cover 2 providing protection.

[0038] When it is necessary to use a drone for inspection, the cabin cover 2 is opened by the drive mechanism to expose the drone, and the drone is then operated by personnel for inspection.

[0039] Example 2

[0040] To prevent the robot body 1 from wobbling during movement and causing the drone to fall off the drone mounting base 4, therefore, based on Embodiment 1, as follows... ​ As shown, a drone fixing mechanism 5 is provided at the drone placement support 4.

[0041] The canopy 2 and the drone fixing mechanism 5 are connected by a linkage mechanism 6. When the canopy 2 is opened, the drone fixing mechanism 5 is also opened via the linkage mechanism 6; when the canopy 2 is closed, the drone fixing mechanism 5 is also closed via the linkage mechanism 6.

[0042] Specifically, the unmanned aerial vehicle fixing mechanism 5 is provided with two, and the two unmanned aerial vehicle fixing mechanisms 5 are oppositely arranged, and the unmanned aerial vehicle placing support 4 is located between the two unmanned aerial vehicle fixing mechanisms 5. That is, the unmanned aerial vehicle on the unmanned aerial vehicle placing support 4 is fixed / positioned by the two unmanned aerial vehicle fixing mechanisms 5.

[0043] The unmanned aerial vehicle fixing mechanism 5 comprises a fixing plate 50, a movable plate 51 and a limiting guide rod 52, the fixing plate 50 is fixedly connected with the robot body 1, the limiting guide rod 52 is slidably connected with the fixing plate 50, and a reset spring 53 is arranged between the limiting guide rod 52 and the fixing plate 50. The reset spring 53 is sleeved outside the limiting guide rod 52, and the two ends of the reset spring 53 are respectively abutted with the fixing plate 50 and the limiting guide rod 52.

[0044] The movable plate 51 is slidably connected with the limiting guide rod 52, and a fixing assembly 54 is arranged between the movable plate 51 and the limiting guide rod 52; and the movable plate 51 is connected with an arc-shaped rod 55.

[0045] The linkage mechanism 6 comprises a wedge-shaped push block 60 and a pressing plate 61; the wedge-shaped push block is fixedly connected with the outer end of the limiting guide rod 52; the pressing plate 61 is fixedly connected with the inner side of the cabin cover 2; and the limiting guide rod 52 is pushed to move through the cooperation of the pressing plate 61 and the wedge-shaped push block 60.

[0046] When the unmanned aerial vehicle placing support 4 places the unmanned aerial vehicle of the ball cage structure, the pressing plate 61 is driven to move towards the wedge-shaped push block 60 in the closing process of the cabin cover 2, the pressing plate 61 gradually contacts the wedge-shaped push block 60, thereby pushing the limiting guide rod 52, the movable plate 51 and the arc-shaped rod 55 to move towards the ball cage structure, and the reset spring 53 is compressed; after the cabin cover 2 is closed, the arc-shaped rod 55 will press the ball cage structure, so as to achieve the purpose of fixing the unmanned aerial vehicle. When the unmanned aerial vehicle needs to be used for inspection, the pressing plate 61 is driven to move away from the wedge-shaped push block 60 in the opening process of the cabin cover 2, and the pressing plate 61 gradually separates from the wedge-shaped push block 60; the elastic potential energy of the reset spring 53 is released, so that the arc-shaped rod 55 moves away from the ball cage structure, that is, the fixing is released.

[0047] When the UAV with landing gear is placed on the UAV placing support 4: during the closing of the cabin cover 2, the pressing plate 61 is moved towards the wedge-shaped push block 60, the pressing plate 61 gradually contacts the wedge-shaped push block 60, thereby pushing the limiting guide rod 52 to move towards the direction of the landing gear, and the return spring 53 is compressed; after the cabin cover 2 is closed, the limiting guide rod 52 is located above the bottom horizontal bar of the landing gear, and through the cooperation of the limiting guide rod 52 and the limiting guide 41, the movement of the landing gear is limited, thereby preventing it from falling off the UAV placing support 4. When the UAV needs to be used for inspection, during the opening of the cabin cover 2, the pressing plate 61 is moved away from the wedge-shaped push block 60, and the pressing plate 61 gradually separates from the wedge-shaped push block 60; through the release of the elastic potential energy of the return spring 53, the limiting guide rod 52 is moved away from the landing gear, i.e. the fixing is released.

[0048] Further, the rolling wheel 62 cooperating with the wedge-shaped push block 60 is arranged on the pressing plate 61, and the rolling wheel 62 is rotationally connected with the pressing plate 61; through the cooperation of the rolling wheel 62 and the wedge-shaped push block 60, the resistance can be reduced.

[0049] Further, the fixing assembly 54 plays a role in fixing the position of the movable plate 51, in order to ensure that after the cabin cover 2 is closed, the arc-shaped rod 55 can press the spherical cage structure; i.e. the position can be adjusted through the fixing assembly 54.

[0050] The fixing assembly 54 includes a first adjusting nut 540 and a second adjusting nut 541, both of which are threadedly connected with the limiting guide rod 52, and the movable plate 51 is located between the first adjusting nut 540 and the second adjusting nut 541, and the movable plate 51 is pressed through the first adjusting nut 540 and the second adjusting nut 541.

[0051] When there is a gap between the arc-shaped rod 55 and the spherical cage structure after the cabin cover 2 is closed: the first adjusting nut 540 is counterclockwise rotated to move towards the direction of the UAV placing support 4, so that there is a gap between the first adjusting nut 540 and the movable plate 51. Then, after the movable plate 51 is moved to the required position towards the direction of the UAV placing support 4 (i.e. to ensure that the arc-shaped rod 55 contacts the spherical cage structure after the cabin cover 2 is closed), the first adjusting nut 540 is clockwise rotated and the second adjusting nut 541 is counterclockwise rotated, so that the first adjusting nut 540 and the second adjusting nut 541 clamp the movable plate 51.

[0052] Further, the arc-shaped rod 55 is connected with the movable plate 51 through the adjusting plate 56; the arc-shaped rod 55 is fixedly connected with the adjusting plate 56, the adjusting plate 56 is connected with the movable plate 51 through the adjusting bolt 57, and the adjusting plate 56 is provided with a corresponding waist-shaped hole 560; the adjusting bolt 57 is threadedly connected with the movable plate 51 through the waist-shaped hole 560.

[0053] When the unmanned aerial vehicle with landing gear is placed on the unmanned aerial vehicle placing support 4, in order to prevent the arc-shaped rod 55 from interfering with the unmanned aerial vehicle, the adjusting bolt 57 can be loosened, the adjusting plate 56 is pushed to move away from the unmanned aerial vehicle placing support 4, and finally the adjusting bolt 57 is tightened.

[0054] Further, the driving assembly 3 is an electric telescopic cylinder, and two ends of the electric telescopic cylinder are fixedly connected or hinged with the cabin cover 2 and the robot body 1 respectively.

[0055] The above only describes the preferred embodiments of the utility model in detail, but the utility model is not limited to the above-mentioned embodiments.

Claims

1. A security robot with an unmanned aerial vehicle cabin, characterized in that: The system includes a robot body (1) and a cabin cover (2). The cabin cover (2) is slidably connected to the robot body (1). When the cabin cover (2) is closed, it forms a drone cabin with the robot body (1). A drive assembly (3) is provided between the cabin cover (2) and the robot body (1). The cabin cover (2) is moved and opened and closed by the drive assembly (3). The robot body (1) is provided with a drone placement support (4), and the drone placement support (4) is provided with a limiting groove (40) for placing the drone; the drone placement support (4) is provided with a limiting edge (41).

2. The security robot with an unmanned aerial vehicle cabin according to claim 1, characterized in that: The drone placement support (4) is provided with a drone fixing mechanism (5); the cabin cover (2) and the drone fixing mechanism (5) are connected by a linkage mechanism (6).

3. The security robot with an unmanned aerial vehicle cabin according to claim 2, characterized in that: The drone fixing mechanism (5) is provided in two, and the two drone fixing mechanisms (5) are arranged opposite to each other. The drone placement support (4) is located between the two drone fixing mechanisms (5). The drone fixing mechanism (5) includes a fixed plate (50), a movable plate (51), and a limiting guide rod (52). The fixed plate (50) is fixedly connected to the robot body (1), and the limiting guide rod (52) is slidably connected to the fixed plate (50). A return spring (53) is provided between the limiting guide rod (52) and the fixed plate (50). The movable plate (51) is slidably connected to the limiting guide rod (52), and a fixing component (54) is provided between the movable plate (51) and the limiting guide rod (52). An arc-shaped rod (55) is connected to the movable plate (51).

4. A security robot with an unmanned aerial vehicle cabin according to claim 3, characterized in that: The linkage mechanism (6) includes a wedge-shaped push block (60) and a pressure plate (61); the wedge-shaped push block (60) is fixedly connected to the outer end of the limiting guide rod (52); the pressure plate (61) is fixedly connected to the inner side of the cabin cover (2); the limiting guide rod (52) is moved by the cooperation of the pressure plate (61) and the wedge-shaped push block (60).

5. A security robot with an unmanned aerial vehicle cabin according to claim 4, characterized in that: The pressure plate (61) is provided with a roller (62) that cooperates with the wedge-shaped push block (60), and the roller (62) is rotatably connected to the pressure plate (61).

6. A security robot with an unmanned aerial vehicle cabin according to claim 3, characterized in that: The fixing component (54) includes a first adjusting nut (540) and a second adjusting nut (541). Both the first adjusting nut (540) and the second adjusting nut (541) are threadedly connected to the limiting guide rod (52). The movable plate (51) is located between the first adjusting nut (540) and the second adjusting nut (541).

7. A security robot with an unmanned aerial vehicle cabin according to claim 3, characterized in that: The arc-shaped rod (55) is connected to the movable plate (51) via the adjusting plate (56); the arc-shaped rod (55) is fixedly connected to the adjusting plate (56), and the adjusting plate (56) is connected to the movable plate (51) via the adjusting bolt (57). The adjusting plate (56) is provided with a corresponding waist-shaped hole (560).

8. A security robot with an unmanned aerial vehicle cabin according to claim 1, characterized in that: The drive component (3) is an electric telescopic cylinder.

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