CN215599387U

CN215599387U - Mountain inspection robot

Info

Publication number: CN215599387U
Application number: CN202122329843.4U
Authority: CN
Inventors: 殷伟; 汪辉胜; 赵明建
Original assignee: Anhui Penggong Intelligent Equipment Technology Co ltd
Current assignee: Anhui Penggong Intelligent Equipment Technology Co ltd
Priority date: 2021-09-26
Filing date: 2021-09-26
Publication date: 2022-01-21
Anticipated expiration: 2031-09-26

Abstract

The utility model discloses a mountain inspection robot which comprises a case, wherein a GPS (global positioning system) positioner, a soil humidity detector, an ultrasonic three-dimensional detector and a thermal imager are arranged in the case, the inner wall of the case is connected with a bottom plate in a sliding manner, the lower wall of the case is provided with a moving mechanism, a buffer mechanism is arranged in the case, a lifting mechanism is arranged in the case, the lifting mechanism comprises a motor fixedly connected to the upper wall of the bottom plate, an output shaft of the motor is fixedly connected with a threaded rod, and the side wall of the threaded rod is in threaded connection with a lifting plate. The utility model plays a role in protecting the detection instrument, reduces the damage of complex environment in a mountain to a plurality of precise detection instruments, prolongs the service life of the robot, ensures the detection precision of the detection instrument, protects the precise instrument and parts in the case and ensures that the machine can work more stably.

Description

Mountain inspection robot

Technical Field

The utility model relates to the field of mountain inspection robots, in particular to a mountain inspection robot.

Background

The inspection robot takes a mobile robot as a carrier, a visible light camera, an infrared thermal imager and other detection instruments as a load system, and multi-field information fusion of machine vision-electromagnetic fields as a robot navigation system. The existing mountain inspection robot has the following defects:

1. most of the detection instruments of the existing mountain inspection robot are arranged on the outer surface of the robot body and exposed in the air for a long time, and due to the fact that the mountain environment is complex, the mountain inspection robot possibly encounters weather during working, damage to many precise detection instruments is large, the service life of the robot is shortened, and the detection accuracy of the detection instruments is influenced;

2. work environment is harsh in the massif, and the road is rugged, and it can take place great rocking to patrol and examine the robot at the during operation, because there are many precision instruments and spare part in the machine inside, rocks and can cause the damage to these precision instruments and spare part, and the robot is patrolled and examined to current massif most does not have shock attenuation equipment, leads to the machine to take place to damage easily in the work, causes serious economic loss.

Therefore, a mountain inspection robot needs to be designed to solve the above problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the defects in the prior art and provides a mountain inspection robot.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the utility model provides a robot is patrolled and examined to massif, includes the quick-witted case, and quick-witted incasement portion is equipped with GPS locater, soil moisture detector, three-dimensional detector (millimeter wave) and thermal imaging system that become of ultrasonic wave, quick-witted incasement wall sliding connection has the bottom plate, machine case lower wall is equipped with moving mechanism, machine incasement portion is equipped with buffer gear, machine incasement portion is equipped with elevating system, elevating system includes the motor of fixed connection at the bottom plate upper wall, the output shaft fixedly connected with threaded rod of motor, threaded rod lateral wall threaded connection has the lifter plate, two support columns of lifter plate upper wall fixedly connected with, two the board is placed to the common fixedly connected with in support column upper end, three-dimensional detector (millimeter wave) that becomes of ultrasonic wave and thermal imaging system all with bottom plate upper wall fixed connection, two limiting plates of bottom plate upper wall fixedly connected with.

Preferably, the machine case upper wall is equipped with the opening, be equipped with the commentaries on classics board in the opening, the commentaries on classics board lateral wall is equipped with the slot, the slot lateral wall is equipped with two and rotates the groove, two rotate the common fixedly connected with pivot of inslot wall, state opening inner wall fixedly connected with connecting plate, the pivot runs through the connecting plate lateral wall and rotates with the connecting plate to be connected, two it all is connected with the connecting plate lateral wall through the torsional spring to rotate the inslot wall.

Preferably, buffer gear includes four outer buffer barrels and four interior buffer barrels, four outer buffer barrels cup joint buffer barrel lateral wall in four, and the inner wall is through four spring elastic connection, four under bottom plate lower wall and the quick-witted case the spring overlaps respectively and establishes outside four outer buffer barrels and four interior buffer barrels, four the equal fixedly connected with buffer beam in top in the outer buffer barrel, four the buffer beam all extends to in the buffer barrel and fixedly connected with buffer board, four the buffer board lateral wall all is equipped with a plurality of damping pore, four the buffer board all with the interior buffer barrel inner wall sealing sliding connection who corresponds, four the inside kerosene that all fills of interior buffer barrel.

Preferably, the moving mechanism comprises four guide wheels fixedly connected to the chassis, and two guide rails are arranged at the lower ends of the four guide wheels.

Preferably, the GPS locator is fixedly connected with the top of the case, the lower wall of the bottom plate is fixedly connected with an electric telescopic rod, and one end, far away from the bottom plate, of the electric telescopic rod is fixedly connected with the soil humidity detector.

Preferably, the lower wall of the case is provided with a detection port, the detection port is located at the lower end of the soil moisture detector, and the width of the detection port is greater than that of the soil moisture detector.

The utility model has the following beneficial effects:

1. according to the utility model, the threaded rod is driven to rotate by the motor, so that the lifting plate and the supporting column are driven to move, and the detection instrument in the case is driven to move, the required detection instrument is lifted from the opening at the top of the case during working, and the detection instrument is retracted into the case after working is finished, so that the protection effect on the detection instrument is achieved, the damage of complex environments in mountains to a plurality of precise detection instruments is reduced, the service life of the robot is prolonged, and the detection accuracy of the detection instrument is also ensured;

2. according to the utility model, through the vibration of the spring and the friction of the buffer rod and the buffer plate in the oil, the energy generated by the shaking of the inspection robot is converted into the potential energy of the spring, the kinetic energy of the outer buffer cylinder and the inner buffer cylinder and the heat energy generated by the friction when the oil flows through the damping pore passage, so that the vibration absorption effect is realized, the precision instruments and parts in the case are protected, the machine can work more stably, the service life of the robot can be further prolonged, and the working efficiency of the robot can be ensured.

Drawings

Fig. 1 is a schematic structural diagram of a mountain inspection robot provided by the utility model;

FIG. 2 is a top view of a mountain inspection robot according to the present invention;

FIG. 3 is a cross-sectional view of an outer buffer cylinder and an inner buffer cylinder of the mountain inspection robot according to the present invention;

fig. 4 is an enlarged view of a structure at a position a of the mountain inspection robot according to the present invention.

In the figure: 1 case, 2 three-dimensional detector (millimeter wave) of formation of ultrasonic wave, 3 guide rails, 4 guide pulleys, 5 bottom plates, 6 springs, 7 outer buffer cylinders, 8 electric telescopic handle, 9 soil moisture detector, 10 place the board, 11 limiting plates, 12 thermal imager, 13 lifter plate, 14 motors, 15 threaded rods, 16 support columns, 17GPS locater, 18 connecting plates, 19 commentaries on classics board, 20 pivot, 21 slots, 22 rotating grooves, 23 interior buffer cylinder, 24 buffer poles, 25 buffer boards, 26 damping pore.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-4, a mountain inspection robot comprises a case 1, an opening is provided on the upper wall of the case 1, a rotating plate 19 is provided in the opening, a slot 21 is provided on the side wall of the rotating plate 19, two rotating grooves 22 are provided on the side wall of the slot 21, a rotating shaft 20 is fixedly connected to the inner walls of the two rotating grooves 22, a connecting plate 18 is fixedly connected to the inner wall of the opening, in an initial state, the connecting plate 18 is located in the opening, the rotating shaft 20 penetrates through the side wall of the connecting plate 18 and is rotatably connected to the connecting plate 18, the inner walls of the two rotating grooves 22 are connected to the side wall of the connecting plate 18 through torsion springs, a GPS locator 17, a soil moisture detector 9, an ultrasonic three-dimensional detector 2 and a thermal imager 12 are provided in the case 1, a bottom plate 5 is slidably connected to the inner wall of the case 1, the GPS locator 17 is fixedly connected to the top of the case 1, an electric telescopic rod 8 is fixedly connected to the lower wall of the bottom plate 5, and one end of the electric telescopic rod 8 far away from the bottom plate 5 is fixedly connected to the soil moisture detector 9, the lower wall of the case 1 is provided with a detection port, the detection port is positioned at the lower end of the soil humidity detector 9, and the width of the detection port is larger than that of the soil humidity detector 9, so that the soil humidity detector 9 can be inserted into the soil through the detection port for detection.

The lower wall of the case 1 is provided with a moving mechanism, the moving mechanism comprises four guide wheels 4 fixedly connected to the case 1, and the lower ends of the four guide wheels 4 are provided with two guide rails 3.

The buffering mechanism is arranged in the machine case 1 and comprises four outer buffering cylinders 7 and four inner buffering cylinders 23, the four outer buffering cylinders 7 are sleeved on the side walls of the four inner buffering cylinders 23, the lower wall of the bottom plate 5 is elastically connected with the lower inner wall of the machine case 1 through four springs 6, the four springs 6 are respectively sleeved outside the four outer buffering cylinders 7 and the four inner buffering cylinders 23, buffering rods 24 are fixedly connected to the inner tops of the four outer buffering cylinders 7, the four buffering rods 24 extend into the inner buffering cylinders 23 and are fixedly connected with buffering plates 25, a plurality of damping pore channels 26 are arranged on the side walls of the four buffering plates 25, the purpose is to enable kerosene to smoothly flow on the upper side and the lower side of the buffering plates 25, so as to ensure that the buffering plates 25 can smoothly move up and down, the four buffering plates 25 are in sealed sliding connection with the inner walls of the corresponding inner buffering cylinders 23, kerosene is filled in the four inner buffering cylinders 23, and the purpose is to enable the buffering rods 24 and the buffering plates 25 to move, the kerosene can generate resistance to the buffer rod 24 and the buffer plate 25, and play a role in buffering.

1 inside elevating system that is equipped with of quick-witted case, elevating system includes motor 14 of fixed connection at 5 upper walls of bottom plate, motor 14's output shaft fixedly connected with threaded

rod

15, 15 upper ends of threaded rod are equipped with the stopper, prevent that lifter plate 13 from breaking away from threaded

rod

15, 15 lateral wall threaded connection of threaded rod has lifter plate 13, two support columns 16 of lifter plate 13 upper wall fixedly connected with, board 10 is placed to the common fixedly connected with in two support columns 16 upper ends, ultrasonic three-dimensional becomes detector (millimeter wave) 2 and thermal imager 12 all with 5 upper walls fixed connection of bottom plate, two limiting plates 11 of 5 upper walls fixedly connected with of bottom plate, the cross section of lifter plate 13 is the rectangle structure, the lateral wall of lifter plate 13 closely laminates with the relative lateral wall of two limiting plates 11, the purpose prevents that lifter plate 13 from rotating along with threaded rod 15.

When the mountain-patrol robot works, in an initial state, the ultrasonic three-dimensional detector (millimeter wave) 2 and the thermal imager 12 are both positioned in the case 1, when the ultrasonic three-dimensional detector (millimeter wave) 2 and the thermal imager 12 are needed to be used, the motor 14 is started, the motor 14 drives the threaded rod 15 to rotate, under the restriction of the two limit plates 11, the lifting plate 13 moves upwards along the threaded rod 15, thereby driving the two support columns 16 to move upwards, thereby driving the placing plate 10 to move upwards, further driving the ultrasonic three-dimensional formation detector (millimeter wave) 2 and the thermal imaging instrument 12 to move upwards, when the ultrasonic three-dimensional formation tester (millimeter wave) 2 and the thermal imaging instrument 12 are in contact with the rotating plate 19, the rotating plate 19 is pushed to rotate upwards, when the ultrasonic three-dimensional city detector (millimeter wave) and the thermal imager 12 are completely located outside the chassis 1, the motor 14 is turned off, so that the robot can perform patrol work on the mountain.

Because the mountain terrain is complex and the road is rugged, the inspection robot can shake in the moving process, thereby driving the bottom plate 5 to rock, the bottom plate 5 driving the outer buffer cylinder 7 to move, and further driving the buffer rod 24 to move, thereby driving the buffer plate 25 to move, the kerosene in the inner buffer cylinder 23 flows through the damping pore passage 26 on the side wall of the buffer plate 25, because the aperture of the damping pore passage 26 is small, when the buffer plate 25 moves, the liquid level of the kerosene which is contacted with the buffer plate 25 will generate a thrust opposite to the moving direction to the buffer plate 25, thereby generating a blocking effect on the movement of the buffer plate 25, and effectively absorbing the shock, and further, the spring 6 is stretched or compressed when the bottom plate 5 moves up and down, in the process of the deformation of the spring 6, a force opposite to the moving direction is generated on the bottom plate 5, and the shock absorption effect is further achieved.

When needing soil moisture detector 9 during operation, make the robot stop moving, start electric telescopic handle 8, electric telescopic handle 8 drives soil moisture detector 9 downstream, soil moisture detector 9 passes the detection mouth and inserts in the soil, close electric telescopic handle 8 this moment, start soil moisture detector 9, after work finishes, restart electric telescopic handle 8, electric telescopic handle 8 drives soil moisture detector 9 rebound and gets back to quick-witted case 1 inside, get into quick-witted case 1 back completely at soil moisture detector 9, close electric telescopic handle 8, accomplish the work that soil moisture detected.

After the ultrasonic three-dimensional detector (millimeter wave) 2 and the thermal imager 12 are finished, the ultrasonic three-dimensional detector (millimeter wave) 2 and the thermal imager 12 need to be retracted into the case 1, and the specific operations are as follows: transfer positive negative pole wiring of motor 14, restart motor 14, motor 14 drives threaded rod 15 antiport, under the limiting displacement of two limiting plates 11, lifter plate 13 is along threaded rod 15 downstream, and then drive two support columns 16 downstream, and then drive and place board 10 downstream, and then drive the three-dimensional detector (millimeter wave) 2 and the thermal imager 12 downstream of becoming of ultrasonic wave, after three-dimensional detector (millimeter wave) 2 and the thermal imager 12 of becoming of ultrasonic wave pass through the opening, change board 19 and rotate downwards under the effect of the torsional spring in two rotating grooves 22, it is inside that final three-dimensional detector (millimeter wave) 2 and the thermal imager 12 of becoming of ultrasonic wave descend to quick-witted case 1, it can to close motor 14.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.

Claims

1. The mountain inspection robot comprises a case (1) and is characterized in that a GPS (global positioning system) positioner (17), a soil moisture detector (9), an ultrasonic three-dimensional formation detector (millimeter wave) (2) and a thermal imager (12) are arranged inside the case (1), a bottom plate (5) is connected to the inner wall of the case (1) in a sliding manner, a moving mechanism is arranged on the lower wall of the case (1), a buffer mechanism is arranged inside the case (1), an elevating mechanism is arranged inside the case (1), the elevating mechanism comprises a motor (14) fixedly connected to the upper wall of the bottom plate (5), a threaded rod (15) is fixedly connected to an output shaft of the motor (14), an elevating plate (13) is connected to the side wall of the threaded rod (15) in a threaded manner, two supporting columns (16) are fixedly connected to the upper wall of the elevating plate (13), and a placing plate (10) is fixedly connected to the upper ends of the supporting columns (16) jointly, the ultrasonic three-dimensional detector (millimeter wave) (2) and the thermal imager (12) are fixedly connected with the upper wall of the bottom plate (5), and the upper wall of the bottom plate (5) is fixedly connected with two limiting plates (11).

2. The mountain inspection robot according to claim 1, wherein an opening is formed in the upper wall of the case (1), a rotating plate (19) is arranged in the opening, a slot (21) is formed in the side wall of the rotating plate (19), two rotating grooves (22) are formed in the side wall of the slot (21), a rotating shaft (20) is fixedly connected to the inner walls of the rotating grooves (22) together, a connecting plate (18) is fixedly connected to the inner walls of the opening, the rotating shaft (20) penetrates through the side wall of the connecting plate (18) and is rotatably connected with the connecting plate (18), and the inner walls of the rotating grooves (22) are connected with the side wall of the connecting plate (18) through torsion springs.

3. The mountain inspection robot according to claim 1, wherein the buffering mechanism comprises four outer buffering cylinders (7) and four inner buffering cylinders (23), the four outer buffering cylinders (7) are sleeved on the side walls of the four inner buffering cylinders (23), the lower wall of the bottom plate (5) is elastically connected with the lower inner wall of the case (1) through four springs (6), the four springs (6) are respectively sleeved outside the four outer buffering cylinders (7) and the four inner buffering cylinders (23), buffering rods (24) are fixedly connected with the inner tops of the four outer buffering cylinders (7), the four buffering rods (24) extend into the inner buffering cylinders (23) and are fixedly connected with buffering plates (25), the side walls of the four buffering plates (25) are respectively provided with a plurality of damping ducts (26), and the four buffering plates (25) are respectively connected with the inner walls of the corresponding inner buffering cylinders (23) in a sealing and sliding manner, kerosene is filled in the four inner buffer cylinders (23).

4. The mountain inspection robot according to claim 1, wherein the moving mechanism comprises four guide wheels (4) fixedly connected to the chassis (1), and two guide rails (3) are arranged at the lower ends of the four guide wheels (4) together.

5. The mountain inspection robot according to claim 1, wherein the GPS (global positioning system) positioner (17) is fixedly connected with the inner top of the case (1), an electric telescopic rod (8) is fixedly connected with the lower wall of the bottom plate (5), and one end, far away from the bottom plate (5), of the electric telescopic rod (8) is fixedly connected with the soil humidity detector (9).

6. The mountain inspection robot according to claim 5, wherein a detection port is formed in the lower wall of the case (1), the detection port is located at the lower end of the soil moisture detector (9), and the width of the detection port is larger than that of the soil moisture detector (9).