CN211943559U

CN211943559U - Crawler-type inspection robot

Info

Publication number: CN211943559U
Application number: CN202020258236.6U
Authority: CN
Inventors: 齐振超; 张锦龙; 丁浩; 韩世豪
Original assignee: Nantong University
Current assignee: Nantong University
Priority date: 2020-03-05
Filing date: 2020-03-05
Publication date: 2020-11-17
Anticipated expiration: 2030-03-05

Abstract

The utility model discloses a robot is patrolled and examined to crawler-type, which comprises a housin, the apron is installed at the top of shell, the hinge is installed in the left side of apron, the hinge that passes through of apron constitutes swing joint with the casing, six groups of supporting seats are installed with the same interval in the inside of casing, driving motor is installed at the top of supporting seat, the shaft coupling is installed to driving motor's output, driving motor's one end is kept away from to the shaft coupling and the action wheel is installed to the one end, the track is installed to the outside edge of action wheel, the track is kept away from one side of action. The utility model discloses be provided with controller, differential mechanism and wireless transmission and storage module, the controller changes both sides driving motor's rotational speed through differential mechanism and reaches the operation that makes this device turn around or turn, and wireless transmission and storage module are with information transmission to control center that this device was collected, and can carry out local storage and backup, prevent that data from losing.

Description

Crawler-type inspection robot

Technical Field

The utility model relates to a robotechnology field specifically is a robot is patrolled and examined to crawler-type.

Background

In the past, inspection work of transformer substations, factories and various special places is manually completed, due to the fact that the environment is complex, the working efficiency is low, the danger coefficient is high, and some special robots are continuously arranged on the market to replace manpower. Therefore, a robot with higher automation degree is urgently needed, not only can be adapted to the complex environment of the transformer substation, but also can improve the efficiency and save the manpower.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot is patrolled and examined to crawler-type to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides a robot is patrolled and examined to crawler-type, includes the casing, the apron is installed at the top of shell, the hinge is installed in the left side of apron, the hinge that passes through of apron constitutes swing joint with the casing, six groups of supporting seats are installed with the same interval in the inside of casing, driving motor is installed at the top of supporting seat, the shaft coupling is installed to driving motor's output, driving motor's one end is kept away from to the shaft coupling and is installed the action wheel, the track is installed to the outside edge of action wheel, the track is kept away from one side of action wheel and is installed from the driving wheel, the internally mounted of casing has two sets of batteries and controlling means, the bracing piece is all installed to both sides around the casing, the bracing.

Further: the infrared life detection device comprises a shell and is characterized in that a lighting lamp is arranged inside the front side of the shell, an infrared life detection instrument and a vibration life detection instrument are respectively arranged on the left side and the right side of the lighting lamp, and an infrared camera is arranged below the lighting lamp.

Further: a connecting rod is installed on the inner side of the driven wheel, and a shock absorber is installed on one side, far away from the driven wheel, of the connecting rod through a bearing.

Further: the shock absorber is provided with a shock absorber shell, the inside of the shock absorber shell is provided with a damping spring, a damping rod is installed at the top of the damping spring, and an installation block is installed at the top of the damping rod.

Further: the controller, the wireless transmission and storage module and the differential are arranged in the control device.

Further: and the outer side of the crawler belt is provided with anti-skid lugs which are fixedly connected with the crawler belt through welding.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses a be provided with track, driving motor and skid proof block, the removal that drives this device through multiunit driving motor can guarantee that this device can patrol and examine on multiple road surface, and the scheduling problem can not appear skidding in this device can be guaranteed to track and skid proof block's combination, has improved the mobility of this device.

2. The utility model discloses be provided with controller, differential mechanism and wireless transmission and storage module, the controller changes both sides driving motor's rotational speed through differential mechanism and reaches the operation that makes this device turn around or turn, and wireless transmission and storage module are with information transmission to control center that this device was collected, and can carry out local storage and backup, prevent that data from losing.

3. The utility model discloses be provided with light, infrared camera, infrared life detector and vibration life detector, this device only uses light and infrared camera to carry out daily work of patrolling and examining when normal during operation, appears unusually when the staff, and the condition is unclear, and when not adapting to the human search, this device passes through infrared life detector and vibration life detector combination, searches for and rescues stranded personnel or the unusual personnel of appearance, guarantees its life safety.

Drawings

Fig. 1 is a front view structure schematic diagram of a crawler type inspection robot.

Fig. 2 is a schematic side sectional structure view of the crawler-type inspection robot.

Fig. 3 is a schematic diagram of a forward-cut structure of a controller of the crawler-type inspection robot.

Fig. 4 is a schematic front cross-sectional structure diagram of a shock absorber in the crawler-type inspection robot.

The labels in the figure are: 1. a housing; 2. an infrared life detector; 3. an infrared camera; 4. an illuminating lamp; 5. a vibration life detector; 6. a drive motor; 7. a coupling; 8. a connecting rod; 9. a shock absorber; 10. a supporting seat; 11. a driving wheel; 12. a hinge; 13. a cover plate; 14. a mounting cavity; 15. a control device; 16. an anti-slip bump; 17. a driven wheel; 18. a support plate; 19. a support bar; 20. a controller; 21. a wireless transmission and storage module; 22. a differential mechanism; 23. a damper housing; 24. a shock-absorbing lever; 25. mounting blocks; 26. a damping spring; 27. a storage battery; 28. a crawler belt.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention; the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance; furthermore, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, as they may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1 to 4, in the embodiment of the present invention, a crawler type inspection robot includes a housing 1, a cover plate 13 is installed at the top of the housing 1, a hinge 12 is installed on the left side of the cover plate 13, the cover plate 13 and the housing 1 form a movable connection through the hinge 12, six sets of supporting seats 10 are installed inside the housing 1 at the same interval, a driving motor 6 is installed at the top of the supporting seats 10, a coupler 7 is installed at an output end of the driving motor 6, a driving wheel 11 is installed at one end of the coupler 7, which is far away from the driving motor 6, a crawler 28 is installed at an outer edge of the driving wheel 11, a driven wheel 17 is installed at one side of the crawler 28, which is far away from the driving wheel 11, two sets of storage batteries 27 and a control device 15 are installed inside the housing 1, supporting rods 19 are installed at both the front and rear, the inner sides of the tracks 28 of the support plate 18 are attached.

The device can be ensured to be capable of patrolling and examining on various road surfaces by driving the device to move through the plurality of groups of driving motors 6, the combination of the crawler belt 28 and the anti-skid lugs 16 can ensure that the device cannot slip and the like, and the mobility of the device is improved.

Further: the utility model discloses a vibration life detection device, including casing 1, infrared life detection instrument 2 and vibration life detection instrument 5, infrared camera 3 is installed to the front side internally mounted of casing 1, infrared life detection instrument 2 and vibration life detection instrument 5 are installed respectively to the left and right sides of light 4, infrared camera 3 is installed to the below of light 4.

This device of normal during operation only uses light 4 and infrared camera 3 to carry out the daily work of patrolling and examining, appears unusually when the staff, and the condition is unclear, and when not adapting to the human search, this device passes through infrared life detector 2 and the combination of vibration life detector 5, searches for and rescues stranded personnel or the unusual personnel of appearing, guarantees its life safety.

Further: and a connecting rod 8 is arranged on the inner side of the driven wheel 17, and a shock absorber 9 is arranged on one side, far away from the driven wheel 17, of the connecting rod 8 through a bearing.

Further: the shock absorber 9 is provided with a shock absorber shell 23, a shock absorbing spring 26 is installed inside the shock absorber shell 23, a shock absorbing rod 24 is installed at the top of the shock absorbing spring 26, and an installation block 25 is installed at the top of the shock absorbing rod 24.

The adaptability of this device on the road surface of difference can be guaranteed to bumper shock absorber 9, can not cause this device to receive the condition of damage because of jolting and leading to the body.

Further: the controller 20, the wireless transmission and storage module 21 and the differential 22 are arranged in the control device 15.

Further: the antiskid lugs 16 are mounted on the outer side of the crawler belt 28, and the antiskid lugs 16 are fixedly connected with the crawler belt 28 through welding.

The controller 20 changes the rotating speed of the driving motors 6 at two sides through the differential 22 to achieve the operation of turning around or turning the device, the wireless transmission and storage module 21 transmits the information collected by the device to the control center, and the information can be stored locally for backup to prevent data loss.

The utility model discloses a theory of operation is: firstly, when the device is used, the storage battery 27 of the device is fully charged, when the device works, the controller 20 controls the driving motor 6 to rotate, the driving motor 6 drives the crawler belt 28 to rotate through the coupler 7 to drive the device to move, during inspection, the wireless transmission and storage module 21 transmits information recorded by the infrared camera 3 to the control center, during search and rescue, the infrared life detector 2 and the vibration life detector 5 transmit detected information to the control center through the wireless transmission and storage module 21, and the working principle of the device is that.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a robot is patrolled and examined to crawler-type, includes casing (1), its characterized in that: the improved structure of the solar cell panel comprises a shell (1), wherein a cover plate (13) is installed at the top of the shell (1), a hinge (12) is installed on the left side of the cover plate (13), the cover plate (13) is movably connected with the shell (1) through the hinge (12), six groups of supporting seats (10) are installed inside the shell (1) at the same interval, a driving motor (6) is installed at the top of each supporting seat (10), a coupler (7) is installed at the output end of the driving motor (6), a driving wheel (11) is installed at one end, far away from the driving motor (6), of the coupler (7), a crawler belt (28) is installed on the outer side edge of the driving wheel (11), a driven wheel (17) is installed on one side, far away from the driving wheel (11), two groups of storage batteries (27) and a control device (15) are installed inside the shell (1, the supporting plate (18) is installed at one end, far away from the shell (1), of the supporting rod (19), and the inner side of a crawler belt (28) of the supporting plate (18) is attached.

2. The track type inspection robot according to claim 1, wherein: the utility model discloses a life detection device, including casing (1), the front side internally mounted of casing (1) has light (4), infrared life detection instrument (2) and vibration life detection instrument (5) are installed respectively to the left and right sides of light (4), infrared camera (3) are installed to the below of light (4).

3. The track type inspection robot according to claim 1, wherein: a connecting rod (8) is installed on the inner side of the driven wheel (17), and a shock absorber (9) is installed on one side, far away from the driven wheel (17), of the connecting rod (8) through a bearing.

4. The track type inspection robot according to claim 3, wherein: the shock absorber (9) is provided with a shock absorber shell (23), the internally mounted of shock absorber shell (23) has damping spring (26), shock-absorbing rod (24) are installed at the top of damping spring (26), installation piece (25) are installed at the top of shock-absorbing rod (24).

5. The track type inspection robot according to claim 1, wherein: the controller (20), the wireless transmission and storage module (21) and the differential (22) are arranged in the control device (15).

6. The track type inspection robot according to claim 1, wherein: and the outer side of the crawler belt (28) is provided with an anti-skid lug (16), and the anti-skid lug (16) is fixedly connected with the crawler belt (28) through welding.