A ground inspection robot

Abstract

The utility model discloses a ground inspection robot, including mobile car body, install the rotary platform on the mobile car body, install the protection subassembly on the rotary platform, be used for when the design idling to the adjusting assembly and detection mechanism are guarded, the inside installation of protection subassembly has adjusting assembly, install detection mechanism on adjusting assembly. Adjusting assembly includes a plurality of support bars. The utility model, through the support bar of adjusting assembly, adjusting mechanism and motor cooperation, can realize the height free telescoping of detection mechanism, adapts to different height detection target, and through rotary platform, second U type frame and motor, can adjust detection mechanism angle and position to close detection part, can improve the flexibility and applicability of device use time, and adjusting assembly contracts to the protection box when idling or moving, can form the protection space, reduce dust erosion and external force damage, improve the stability of device use time.

Description

Technical Field

[0001] This utility model mainly relates to the field of ground inspection technology, specifically a ground inspection robot. Background Technology

[0002] Aeration tanks, pumping stations, and other infrastructure are core components of industrial production and municipal engineering. Their operational status directly determines the stable operation of the entire system. Therefore, it is necessary to conduct comprehensive inspections of the equipment's operational status, such as vibration, noise, and appearance integrity, on a regular basis. In these application scenarios, the targets to be inspected are often distributed at different heights, and the spatial layout of the equipment inspection points varies significantly, placing high demands on the flexibility and adaptability of the inspection work.

[0003] Currently, the mainstream inspection methods are mainly divided into manual inspection and inspection using traditional fixed testing equipment. Due to the complex spatial conditions in areas such as aeration tanks and pump stations, such as equipment of varying heights and strong mechanical noise interference, inspection personnel need to frequently detour to reach different testing points, which is not only labor-intensive but may also pose safety hazards such as mechanical interference. Although traditional fixed testing equipment can achieve stable testing at specific points, it is limited by its fixed installation location, and the testing range cannot be flexibly adjusted, making it difficult to cover testing points of equipment at different heights, resulting in blind spots. In addition, although some movable testing devices solve the mobility problem, they can only achieve basic positional movement and cannot adjust the height and angle of the testing mechanism, making it difficult to adapt to complex testing scenarios and limiting the testing effect. Utility Model Content

[0004] This utility model addresses the problem of overly simplistic solutions in existing technologies by providing a significantly different approach. It primarily offers a ground inspection robot to solve the problems mentioned in the background section. Current mainstream inspection methods mainly consist of manual inspection and traditional fixed inspection equipment. Manual inspection faces complex spaces and strong noise interference in areas such as aeration tanks and pump stations, requiring frequent detours around inspection points, resulting in high labor intensity and safety hazards. Traditional fixed inspection equipment is limited by installation constraints, with a fixed inspection range that struggles to cover inspection points at different heights. Furthermore, some mobile inspection devices can only move basic distances and cannot adjust the height and angle of the inspection mechanism, making them unsuitable for complex scenarios and limiting their inspection effectiveness.

[0005] The technical solution adopted by this utility model to solve the above-mentioned technical problems is as follows: A ground inspection robot includes a mobile vehicle body with a rotating platform mounted on it. A protective component is mounted on the rotating platform to protect an adjustment component and a detection mechanism when the robot is not in use. The adjustment component is installed inside the protective component, and the detection mechanism is mounted on the adjustment component.

[0006] The adjustment assembly includes multiple support rods, which are connected to each other by an adjustment mechanism. The topmost support rod is connected to a second U-shaped frame through the adjustment mechanism to adjust the height of the detection mechanism.

[0007] More preferably, the protective component includes a protective box installed on the rotating platform, with an opening on one side of the protective box and a protective cover installed near the opening.

[0008] More preferably, the protective cover consists of a protective frame and a transparent protective plate, used to protect the testing mechanism in a retracted state.

[0009] More preferably, the inner wall of the protective box is rotatably connected to a stop near the top, and the inner wall of the protective box is provided with a torsion spring near the stop, and the extension end of the torsion spring is in contact with the bottom of the stop.

[0010] More preferably, among the plurality of support rods, one end of the bottom support rod is rotatably connected to a first U-shaped frame, and a baffle is connected to the top support rod, and the first U-shaped frame is connected to the inner wall of the protective box.

[0011] More preferably, the detection mechanism includes a camera module, a vibration detection module, and a noise detection module.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows: This ground inspection robot, through the coordination of multiple support rods and adjustment mechanisms in the adjustment assembly, and the rotation control of the bottom support rods by the motor on the first U-shaped frame, can achieve free extension and retraction of the inspection mechanism's height. This allows it to adapt to inspection targets of varying heights in scenarios such as aeration tanks and pumping stations. Furthermore, with the help of the rotational drive of the rotary platform and the second U-shaped frame, the angle and position of the inspection mechanism can be adjusted to bring it closer to the equipment's inspection area. Compared to traditional inspection equipment, this improves the flexibility and applicability of the device during use. When the equipment is idle or moved, the adjustment assembly retracts into the protective box, and the stop block remains horizontal under the action of the torsion spring, forming a relatively enclosed protective space with the protective box body, baffle, and protective cover. This reduces the corrosion of the adjustment assembly and inspection mechanism by dust and impurities, and prevents minor external impacts from directly damaging the adjustment assembly and inspection mechanism, thereby improving the reliability and service life of the device during use.

[0013] The present invention will be explained in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2This is a fully enlarged cross-sectional structural diagram of the protective component of this utility model; Figure 3 This is an enlarged structural schematic diagram of the adjustment component of this utility model; Figure 4 This is an enlarged schematic diagram of the adjustment component of this utility model. Figure 5 This is a fully enlarged cross-sectional schematic diagram of the adjustment mechanism of this utility model; Figure 6 In this utility model Figure 2 A magnified structural diagram at point A in the diagram.

[0015] Numbering on the map: 1. Mobile vehicle body; 2. Rotating platform; 3. Protective components; 301. Protective box; 302. Protective cover; 303. Stop block; 304. Torsion spring; 4. Adjustment components; 401. First U-shaped frame; 402. Support rod; 403. Adjustment mechanism; 404. Baffle; 405. Second U-shaped frame; 5. Detection mechanism. Detailed Implementation

[0016] To facilitate understanding of this utility model, a more comprehensive description of the utility model will be given below with reference to the accompanying drawings, which show several embodiments of the utility model. However, the utility model can be implemented in different forms and is not limited to the embodiments described in the text. On the contrary, these embodiments are provided to make the disclosure of the utility model more thorough and comprehensive.

[0017] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0018] Please refer to the appendix carefully. Figures 1-6 A ground inspection robot includes a mobile vehicle body 1, a rotating platform 2 mounted on the mobile vehicle body 1, and a protective component 3 mounted on the rotating platform 2 for protecting an adjustment component 4 and a detection mechanism 5 when the robot is not in use. The adjustment component 4 is installed inside the protective component 3, and the detection mechanism 5 is mounted on the adjustment component 4.

[0019] The adjustment assembly 4 includes multiple support rods 402, which are connected to each other by an adjustment mechanism 403. The topmost support rod 402 is connected to a second U-shaped frame 405 via the adjustment mechanism 403. The detection mechanism 5 is connected to the second U-shaped frame 405 to adjust the height of the detection mechanism 5.

[0020] The mobile vehicle body 1 consists of a vehicle body, a drive assembly, a PLC control system, a wireless module, and an energy storage module. The drive assembly, wireless module, and energy storage module are all electrically connected to the PLC control system. The relevant technologies of this type of mobile vehicle body 1 are already publicly available and mature technologies in the industry, so their specific structure and working principle will not be described in detail here.

[0021] In this embodiment, as Figure 1 and Figure 2 As shown, the protective component 3 includes a protective box 301 installed on the rotary platform 2. The rotary platform 2 consists of a rotating platform and a worm gear reducer motor. A hole is provided on one side of the protective box 301, and a protective cover 302 is installed near the hole.

[0022] With the above structure, when the worm gear reducer motor starts, the protective box 301 can be rotated by the rotating platform, thereby realizing multi-angle adjustment of the protective box 301 and its internal components, and improving the flexibility of equipment use.

[0023] In this embodiment, as Figure 1 and Figure 2 As shown, the protective cover 302 consists of a protective frame and a transparent protective plate, which is used to protect the detection mechanism 5 in the retracted state.

[0024] Through the above structure, the protective frame can provide stable support for the transparent protective plate, ensuring that the protective cover 302 as a whole has sufficient structural strength to resist external forces such as minor impacts and compressions, and preventing the detection mechanism 5 from being damaged by external forces in the contracted state. In addition, while achieving the protective function, the transparent protective plate will not obstruct the field of view of the camera module of the detection mechanism 5, so that it can maintain its monitoring capability of the surrounding environment.

[0025] In this embodiment, as Figure 1 , Figure 2 and Figure 6 As shown, a stop block 303 is rotatably connected to the inner wall of the protective box 301 near the top position, and a torsion spring 304 is provided on the inner wall of the protective box 301 near the stop block 303, and the extended end of the torsion spring 304 is in contact with the bottom of the stop block 303.

[0026] Through the above structure, the elastic force of the torsion spring 304 can form a stable support for the bottom of the stop block 303, so that the stop block 303 can remain in a horizontal state when it is not disturbed by external forces. Together with the box structure of the protective box 301, the baffle 404 on the adjustment component 4 and the protective cover 302 on the side of the protective box 301, a relatively closed protective space can be formed.

[0027] When the adjusting component 4 drives the detection mechanism 5 to extend out of the protective box 301 or retract into the protective box 301, the baffle 404 will cause the stop block 303 to rotate around the rotation point when it comes into contact with the stop block 303. At this time, the torsion spring 304 is compressed and deformed. When the baffle 404 separates from the stop block 303, the stop block 303 will return to the horizontal state under the elastic force of the torsion spring 304. When the closed protection is re-formed, it can reduce the intrusion of external dust, impurities and other contaminants into the protective box 301, and form protection for the adjusting component 4 and the detection mechanism 5 in the retracted state.

[0028] In this embodiment, as Figure 3 , Figure 4 and Figure 5 As shown, among the multiple support rods 402, one end of the bottom support rod 402 is rotatably connected to a first U-shaped frame 401. The first U-shaped frame 401 is equipped with a worm gear reducer motor, and the output end of the motor is directly connected to the rotation fulcrum of the bottom support rod 402 to drive it to rotate. A baffle 404 is connected to the top support rod 402, and the first U-shaped frame 401 is connected to the inner wall of the protective box 301.

[0029] The adjusting mechanism 403 consists of a housing, a fixed rod, and a double-headed worm gear reducer motor, wherein both the fixed rod and the double-headed worm gear reducer motor are installed inside the housing; in the adjusting mechanism 403 connecting two adjacent support rods 402, the fixed rod is connected to one end of one of the support rods 402, and the double-headed worm gear reducer motor is connected to one end of the other support rod 402; in the adjusting mechanism 403 used to connect the top support rod 402 and the second U-shaped frame 405, its fixed rod is connected to one end of the top support rod 402, and the double-headed worm gear reducer motor is connected to the second U-shaped frame 405.

[0030] Through the above structure, the worm gear reducer motor on the first U-shaped frame 401 can drive the bottom support rod 402 to rotate around the pivot point. In conjunction with the adjustment mechanism 403 between adjacent support rods 402, the double-headed worm gear reducer motor drives the adjacent support rods 402 to rotate relative to each other, which can flexibly adjust the angle of multiple support rods 402 to realize the height adjustment and pitch attitude control of the detection mechanism 5. The adjustment mechanism 403 between the top support rod 402 and the second U-shaped frame 405 can drive the second U-shaped frame 405 and the detection mechanism 5 to rotate, so that the equipment can adapt to detection scenarios with different heights and angles.

[0031] In this embodiment, as Figure 1 As shown, the detection mechanism 5 includes a camera module, a vibration detection module, and a noise detection module, and the camera module, vibration detection module, and noise detection module are electrically connected to the PLC control system.

[0032] The PLC control system has a built-in multi-axis motion control program that can coordinate the start, stop, speed and direction of the motors on the rotary platform 2, the motors on the first U-shaped frame 401 and the dual-head motors in each adjustment mechanism 403, so as to avoid motion interference.

[0033] Through the above structure, the camera module can collect images of the equipment's appearance and operating environment in real time, the vibration detection module can capture data such as the equipment's vibration frequency, and the noise detection module can record the characteristics of the operating sound. The combination of the three can perform multi-dimensional monitoring, which can comprehensively monitor the equipment's operating status.

[0034] The specific operating procedure of this utility is as follows: The energy storage module inside the mobile vehicle 1 supplies power to the entire system. Initially, the adjustment component 4 is in a retracted state, the detection mechanism 5 is housed inside the protective box 301, and the stop block 303 is kept horizontal under the elastic force of the torsion spring 304. Together with the box structure of the protective box 301, the baffle 404 on the adjustment component 4, and the protective cover 302 on the side of the protective box 301, a relatively closed protective space is formed to protect the adjustment component 4 and the detection mechanism 5.

[0035] When conducting inspections, the system sends commands to the PLC control system via a wireless module, which in turn controls the drive components of the mobile vehicle 1 to move the equipment to the inspection area, such as the aeration tank or pump station.

[0036] Once the equipment is moved to the testing area, the PLC control system starts the worm gear reducer motor of the rotary platform 2 according to the instruction, driving the rotating platform to rotate the protective box 301 and its structure as a whole, so that the testing mechanism 5 faces the equipment to be tested.

[0037] Next, the worm gear reducer motor on the first U-shaped frame 401 is started. Its output end drives the bottom support rod 402 to rotate around the pivot point. At the same time, the double-headed worm gear reducer motors in the adjustment mechanisms 403 connected to the adjacent support rods 402 are started synchronously, driving the adjacent support rods 402 to rotate relative to each other, so that the adjustment component 4 extends as a whole, and drives the detection mechanism 5 to extend out of the hole at the top of the protective box 301.

[0038] During this process, the baffle 404 on the topmost support rod 402 rises with the support rod 402 and contacts the stop block 303, pushing the stop block 303 to rotate around the rotation point. The torsion spring 304 is compressed and deformed. When the two separate, the torsion spring 304 drives the stop block 303 to return to its original state. The angle of the second U-shaped frame 405 and the detection mechanism 5 is adjusted by the corresponding double-headed worm gear reducer motor, so that the detection mechanism 5 is aligned with the equipment to be tested.

[0039] Next, the testing unit 5 starts working. The camera module collects images of the appearance of the equipment under test and the surrounding operating environment in real time. The vibration detection module captures data such as the vibration frequency and amplitude of the equipment. The noise detection module records the sound characteristics of the equipment during operation. These images and data are transmitted to the PLC control system in real time through electrical connection, and then sent to the remote terminal through the wireless module.

[0040] When the inspection task is completed, the PLC control system sends a retraction command to the adjustment component 4. The double-headed worm gear reducer motors of each adjustment mechanism 403 rotate in reverse, driving the adjacent support rods 402 to rotate relative to each other, causing the adjustment component 4 to retract and driving the inspection mechanism 5 to retract into the protective box 301. Then, the PLC control system can control the drive component of the moving vehicle 1 to move according to the command, so that the equipment can go to the next inspection point to continue the inspection work, or return to the starting position.

[0041] The present invention has been described above by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvement made by adopting the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, shall be within the protection scope of the present invention.

Claims

1. A ground inspection robot, comprising a mobile vehicle body (1), characterized in that: The mobile vehicle body (1) is equipped with a rotating platform (2), and a protective component (3) is installed on the rotating platform (2) to protect the adjustment component (4) and the detection mechanism (5) when the design is idle. The adjustment component (4) is installed inside the protective component (3), and the detection mechanism (5) is installed on the adjustment component (4). The adjustment component (4) includes multiple support rods (402), which are connected to each other by an adjustment mechanism (403). The topmost support rod (402) is connected to a second U-shaped frame (405) through the adjustment mechanism (403) to adjust the height of the detection mechanism (5).

2. The ground inspection robot according to claim 1, characterized in that: The protective component (3) includes a protective box (301) installed on the rotating platform (2), with a hole on one side of the protective box (301) and a protective cover (302) installed near the hole.

3. A ground inspection robot according to claim 2, characterized in that: The protective cover (302) consists of a protective frame and a transparent protective plate, and is used to protect the detection mechanism (5) in a retracted state.

4. A ground inspection robot according to claim 2, characterized in that: The inner wall of the protective box (301) is rotatably connected to a stop (303) near the top, and a torsion spring (304) is provided on the inner wall of the protective box (301) near the stop (303), and the extended end of the torsion spring (304) is in contact with the bottom of the stop (303).

5. A ground inspection robot according to claim 1, characterized in that: Among the multiple support rods (402), one end of the support rod (402) at the bottom is rotatably connected to a first U-shaped frame (401), and a baffle (404) is connected to the support rod (402) at the top. The first U-shaped frame (401) is connected to the inner wall of the protective box (301).

6. A ground inspection robot according to claim 1, characterized in that: The detection mechanism (5) includes a camera module, a vibration detection module and a noise detection module.

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