CN215968714U

CN215968714U - Intelligent inspection robot

Info

Publication number: CN215968714U
Application number: CN202122251408.4U
Authority: CN
Inventors: 马金亮
Original assignee: Tianjin Jinhai Jiaye Technology Co ltd
Current assignee: Tianjin Jinhai Jiaye Technology Co ltd
Priority date: 2021-09-16
Filing date: 2021-09-16
Publication date: 2022-03-08
Anticipated expiration: 2031-09-16

Abstract

The utility model provides an intelligent inspection robot which comprises a robot body, wherein an angle adjusting mechanism is connected to the robot body and is connected with a rotating mechanism, the top of the rotating mechanism is connected with a lifting mechanism, the top end of the lifting mechanism is connected with a driving mechanism, a guide rail is arranged in the driving mechanism in a sliding and penetrating way, and the driving mechanism runs on the guide rail; the inspection robot can realize multi-directional monitoring by matching with the rotating mechanism; adopt elevating system, can highly adjust the use of patrolling and examining the robot, enlarge the monitoring range of patrolling and examining the robot in vertical direction, realize patrolling and examining of multi-angle and wide field, widen monitoring range, have better practicality and flexibility.

Description

Intelligent inspection robot

Technical Field

The utility model relates to the technical field of inspection equipment, in particular to an intelligent inspection robot.

Background

With the continuous development of science and technology, the inspection robot gradually exposes the corner in the monitoring industry, and the modern inspection robot has the advantages of low cost, simplicity in operation, wide application range, strong anti-interference capability and the like, so that the modern inspection robot is widely applied to the fields of factories, warehouses, power stations, municipal construction, rail transportation and the like. Along with the application field who patrols and examines the robot constantly expands, also constantly updating rather than relevant technique, for example, application date is 2019.11.29, and publication number is CN211615593U, among the utility model name is the Chinese patent of "robot is patrolled and examined to a track", also disclosed a neotype robot of patrolling and examining, however, aforementioned patent is in the use in practice, it patrols and examines the angle, patrol and examine the direction and patrol and examine the height and can not adjust and change according to actual conditions, consequently it patrols and examines the ability comparatively single, so the flexibility is relatively poor, the practicality is lower.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to solve the problems in the prior art and provide an intelligent inspection robot.

In order to solve the technical problems, the utility model adopts the technical scheme that: the utility model provides an intelligence inspection robot, includes the robot, be connected with angle adjustment mechanism on the robot, angle adjustment mechanism is connected with a rotary mechanism, rotary mechanism's top is connected with elevating system, elevating system's top is connected with actuating mechanism, it wears to be equipped with the guide rail to slide in the actuating mechanism, and this actuating mechanism walks on the guide rail.

Further, angle adjustment mechanism includes mounting bracket, first bearing, bull stick, gear train and accommodate motor, the mounting bracket is connected with rotary mechanism, first bearing sets up on the mounting bracket, the inside of first bearing is worn to locate by the bull stick, and its one end links to each other with the robot is fixed, the output of gear train is connected in the other end of bull stick, accommodate motor connects on the mounting bracket, and its output is connected with the input of gear train.

Further, be provided with the protection casing on the mounting bracket, the protection casing is used for protecting adjustment motor and gear train.

Further, rotary mechanism includes casing, support, rotating electrical machines, second bearing and pivot, the casing is connected with elevating system, the support sets up on the inner wall of casing, rotating electrical machines connects on the support, and its output is connected with the input of pivot, the second bearing is arranged on the casing, the pivot is worn to locate in the second bearing, and its other end is connected with the mounting bracket.

Furthermore, the lifting mechanism is set as a lifting cylinder, the lifting cylinder is connected with the driving mechanism, and the output end of a piston rod of the lifting cylinder is connected to the shell.

Furthermore, an elastic protection sleeve is sleeved on a piston rod of the lifting cylinder.

Further, actuating mechanism includes protective housing, driving motor, drive gear and rack, the protective housing is connected with elevating system, driving motor sets up in the inside of protective housing, drive gear connects in driving motor's output, the rack sets up on the guide track, and this rack meshes with the gear mutually.

Further, still be provided with the leading wheel on the protective housing, the leading wheel walks on the direction track.

Further, the guide rail is provided with a rail body, a guide groove and a driving groove, the rail body is arranged in the protective shell in a penetrating mode, the guide groove is formed in the top end of the rail body, the guide wheel runs on the inner wall of the guide groove, the driving groove is formed in the side wall of the rail body, and the rack is arranged on the inner wall of the driving groove.

Further, the adjacent guide way in top of track body is provided with multiunit suspension portion, and every group has seted up a set of pilot hole on the suspension portion.

Further, still be provided with the surveillance camera on the robot body, the surveillance camera links to each other with the robot body electrical property.

Furthermore, the adjusting motor, the rotating motor and the driving motor are electrically connected with the robot body.

The utility model has the advantages and positive effects that: the angle adjusting mechanism is simple in structure, stable and reliable, and can adjust the use angle of the inspection robot and change the inspection angle of the inspection robot; the rotating mechanism is adopted, so that the use direction of the robot body can be changed, and multi-direction monitoring is realized; the lifting mechanism is adopted, so that the use height of the robot body can be adjusted, the monitoring range of the inspection robot in the vertical direction is expanded, the inspection robot can realize multi-angle and wide-field inspection monitoring, the monitoring range of the inspection robot is expanded, and the inspection robot has better practicability and flexibility; and seted up the guide way on the track body, the leading wheel that sets up on the protective housing walks in the guide way for it can follow the last stable motion of guide way to patrol and examine the robot, so the reliability is higher.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic view of the angle adjustment mechanism and the rotation mechanism (with the mounting bracket partially cut away and the housing fully cut away);

FIG. 3 is a schematic view of the connection between the lift mechanism, drive mechanism and orientation rail;

fig. 4 is a block diagram of the electrical control relationship between the monitoring camera, the lifting cylinder, the driving cylinder, the rotating cylinder and the adjusting cylinder and the robot body.

In the figure: 1. a robot body; 2. an angle adjusting mechanism; 21. a mounting frame; 22. a first bearing; 23. a rotating rod; 24. a gear set; 25. adjusting the motor; 3. a rotation mechanism; 31. a housing; 32. a support; 33. a rotating electric machine; 34. a second bearing; 35. a rotating shaft; 4. a lifting mechanism; 5. a drive mechanism; 51. a protective shell; 52. a drive motor; 53. a drive gear; 54. a rack; 6. a guide rail; 61. a track body; 62. a guide groove; 63. a drive slot; 7. a protective cover; 8. an elastic protective sleeve; 9. a guide wheel; 10. a hanging part; 11. a monitoring camera.

Detailed Description

For a better understanding of the present invention, reference is made to the following detailed description and accompanying drawings that illustrate the utility model.

As shown in fig. 1 and 4, an intelligent inspection robot comprises a robot body 1, wherein an angle adjusting mechanism 2 is connected to the robot body 1, the angle adjusting mechanism 2 is connected with a rotating mechanism 3, the top of the rotating mechanism 3 is connected with a lifting mechanism 4, the top end of the lifting mechanism 4 is connected with a driving mechanism 5, a guide rail 6 is arranged in the driving mechanism 5 in a sliding and penetrating manner, and the driving mechanism 5 runs on the guide rail 6 to drive the inspection robot to move along the guide rail 6; the angle adjusting mechanism 2 can be used for adjusting the use angle of the robot body 1 so as to change the patrol angle of the robot body; the rotating mechanism 3 is matched for use, so that the monitoring direction of the robot body 1 can be changed, and multi-direction monitoring and inspection can be realized; adopt elevating system 4, can use highly adjusting to robot body 1 to enlarge and patrol and examine the monitoring range of robot in vertical direction, improve the monitoring ability of patrolling and examining the robot and patrol and examine the effect, and widened monitoring range, had better practicality.

As shown in fig. 2, the angle adjusting mechanism 2 includes an installation frame 21, a first bearing 22, a rotating rod 23, a gear set 24 and an adjusting motor 25, the installation frame 21 is connected with the rotating mechanism 3, the first bearing 22 is disposed on the installation frame 21, the rotating rod 23 penetrates through the first bearing 22, one end of the rotating rod 23 is fixedly connected with the robot body 1, an output end of the gear set 24 is connected to the other end of the rotating rod 23, the adjusting motor 25 is connected to the installation frame 21, an output end of the adjusting motor is connected to an input end of the gear set 24, the rotating adjusting motor 25 drives the rotating rod 23 to rotate in the first bearing 22 through the gear set 24, so that the robot body 1 connected with the rotating rod 23 rotates, thereby changing a current monitoring angle of the robot body 1, and realizing adjustment of an angle used for the robot; be provided with protection casing 7 on the mounting bracket 21, protection casing 7 is used for protecting adjustment motor 25 and gear train 24, avoids adjustment motor 25 and gear train 24 to take place to collide with, also can prevent simultaneously that external dust from entering into in the middle of adjustment motor 25 and gear train 24, ensures that it can normally work.

As shown in fig. 2, the rotating mechanism 3 includes a housing 31, a bracket 32, a rotating motor 33, a second bearing 34 and a rotating shaft 35, the housing 31 is connected to the lifting mechanism 4, the bracket 32 is disposed on an inner wall of the housing 31, the rotating motor 33 is connected to the bracket 32, an output end of the rotating motor is connected to an input end of the rotating shaft 35, the second bearing 34 is disposed on the housing 31, the rotating shaft 35 is disposed in the second bearing 34 in a penetrating manner, and another end of the rotating shaft is connected to the mounting frame 21, when the inspection direction of the robot body 1 is adjusted, the rotating motor 33 drives the rotating shaft 35 connected to the output end of the rotating shaft to rotate, so that the rotating shaft 35 and the second bearing 34 rotate, and drives the angle adjusting mechanism 2 connected to an end of the second bearing 34 and the robot body 1 to rotate, thereby changing the monitoring direction of the robot.

As shown in fig. 1 and 3, the lifting mechanism 4 is configured as a lifting cylinder, the lifting cylinder is connected to the driving mechanism 5, and the output end of the piston rod of the lifting cylinder is connected to the housing 31 to control the length of the output end of the piston rod of the lifting cylinder, so that the lifting cylinder drives the rotating mechanism 3, the angle adjusting structure and the robot body 1 to ascend or descend, thereby changing the use height of the robot body 1; the cover is equipped with elastic protection cover 8 on the piston rod of lift cylinder, prevents that the dust from entering into in the middle of the lift cylinder, has played the guard action to it.

As shown in fig. 3, the driving mechanism 5 includes a protective housing 51, a driving motor 52, a driving gear 53 and a rack 54, the protective housing 51 is connected to the lifting mechanism 4, the driving motor 52 is disposed inside the protective housing 51, the driving gear 53 is connected to an output end of the driving motor 52, the rack 54 is disposed on the guide rail 6, and the rack 54 is engaged with the driving gear 53; still be provided with leading wheel 9 on the protective housing 51, leading wheel 9 walks on guide rail 6, the driving motor 52 that sets up on protective housing 51 drives the drive gear 53 that is connected rather than the output and rotates, because drive gear 53 meshes with rack 54 mutually, thereby make drive gear 53 walk on rack 54, and then drive by actuating mechanism 5 and patrol and examine the robot and walk on guide rail 6, and simultaneously, leading wheel 9 that sets up on protective housing 51 walks, avoid patrolling and examining the robot and appear rocking or derailing phenomenon in the motion process, have better stability.

As shown in fig. 3, the guide rail 6 is provided with a rail body 61, a guide groove 62 and a driving groove 63, the rail body 61 is inserted into the protective shell 51, the guide groove 62 is opened at the top end of the rail body 61, the guide wheel 9 runs on the inner wall of the guide groove 62, the driving groove 63 is opened on the side wall of the rail body 61, the rack 54 is arranged on the inner wall of the driving groove 63, when the driving mechanism 5 moves on the guide rail 6, the driving gear 53 runs on the rack 54 arranged on the inner wall of the guide groove 62, and the guide wheel 9 runs in the guide groove 62, so that the driving mechanism 5 stably moves along the guide rail 6; the top of the rail body 61 is provided with a plurality of groups of hanging parts 10 adjacent to the guide groove 62, and each group of hanging parts 10 is provided with a group of assembling holes so that the rail can be installed at a designated use position.

As shown in fig. 1 and 2, the robot body 1 is further provided with a monitoring camera 11, the monitoring camera 11 is electrically connected with the robot body 1, the moving robot body 1 can be inspected by using the monitoring camera 11, and information acquired by the monitoring camera 11 is fed back to the robot body 1, so that a worker can know the condition of an inspection place in real time; the adjusting motor 25, the rotating motor 33 and the driving motor 52 are electrically connected with the robot body 1, so that the robot body 1 can change the monitoring angle, the monitoring direction and the monitoring height, and the inspection range of the inspection robot is widened.

In addition, the adjusting motor 25 and the mounting frame 21, the rotating motor 33 and the bracket 32, the bracket 32 and the shell 31, the rack 54 and the inner wall of the driving groove 63, the protective cover 7 and the mounting frame 21, the lifting cylinder and the shell 31, and the lifting cylinder and the protective shell 51 can be connected by bolts; the rotating shaft 35 and the rotating motor 33 can be connected by adopting a shaft sleeve; the rotating shaft 35 and the shell 31, the rotating rod 23 and the robot body 1, the hanging part 10 and the guide track 6 can be connected in a welding mode; the gear set 24 can adopt a bevel gear set 24 combination; the specific structures and working principles of the robot body 1, the driving motor 52, the rotating motor 33, the adjusting motor 25, the monitoring camera 11, the adjusting motor 25, the gear set 24 and the elastic protection sleeve 8 belong to the prior art in the technical field, and the structure is not improved in the application; the electric control relationship, the electric control mode and the electric connection principle between the monitoring camera 11, the lifting cylinder, the driving cylinder, the rotating cylinder and the adjusting cylinder and the robot body 1 belong to the prior art in the technical field, and the electric control relationship, the electric control mode and the electric connection principle are not improved in the utility model, so that the details are not repeated.

The angle adjusting mechanism 2 is simple in structure, stable and reliable, the using angle of the inspection robot can be adjusted, and the inspection angle of the inspection robot is changed; the rotating mechanism 3 is adopted, so that the use direction of the robot body 1 can be changed, and multi-direction monitoring is realized; the lifting mechanism 4 is adopted, so that the use height of the robot body 1 can be adjusted, the monitoring range of the inspection robot in the vertical direction is expanded, the inspection robot can realize multi-angle and wide-field inspection monitoring, the monitoring range of the inspection robot is expanded, and the inspection robot has better practicability and flexibility; and the track body 61 is provided with a guide groove 62, and the guide wheel 9 arranged on the protective shell 51 travels in the guide groove 62, so that the inspection robot can stably move along the guide track 6, and the reliability is high, and the specific working process of the utility model is as follows:

when the inspection robot is used, the driving motor 52 in the driving mechanism 5 drives the driving gear 53 connected with the output end of the driving motor to rotate, the driving gear 53 is meshed with the rack 54, so that the driving gear 53 runs on the rack 54, the driving mechanism 5 drives the inspection robot to run on the guide track 6, the moving robot body 1 can shoot an inspection site by using the monitoring camera 11, and information acquired by the monitoring camera 11 is fed back to the robot body 1, so that a worker can know the condition of the inspection site in real time;

when the service angle of the inspection robot needs to be adjusted, an adjusting motor 25 in the angle adjusting mechanism 2 drives the rotating rod 23 to rotate in the first bearing 22 through the gear set 24, so that the robot body 1 connected with the rotating rod 23 rotates, the current service angle of the robot body 1 is changed, and the service angle of the inspection robot is adjusted; when the inspection direction of the inspection robot needs to be adjusted, the rotating motor 33 in the rotating mechanism 3 drives the rotating shaft 35 connected with the output end of the rotating mechanism to rotate, so that the rotating shaft 35 rotates in the second bearing 34, and the angle adjusting mechanism 2 connected with the end of the second bearing 34 and the robot body 1 are driven to rotate, and the monitoring direction of the robot body 1 is changed; when the service height of the inspection robot needs to be changed, the length of the output end of the piston rod of the lifting cylinder is controlled so as to drive the rotating mechanism 3, the angle adjusting structure and the robot body 1 to ascend or descend, and the service height of the inspection robot is adjusted; therefore, the adjustment of the use height, the monitoring angle and the monitoring direction of the inspection robot is realized.

The embodiments of the present invention have been described in detail, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention should be covered by the present patent.

Claims

1. Robot is patrolled and examined to intelligence, including robot body (1), its characterized in that: the robot is characterized in that an angle adjusting mechanism (2) is connected to the robot body (1), the angle adjusting mechanism (2) is connected with a rotating mechanism (3), the top of the rotating mechanism (3) is connected with an elevating mechanism (4), the top end of the elevating mechanism (4) is connected with a driving mechanism (5), a guide track (6) penetrates through the driving mechanism (5) in a sliding mode, and the driving mechanism (5) walks on the guide track (6).

2. The intelligent inspection robot according to claim 1, wherein: angle adjustment mechanism (2) include mounting bracket (21), first bearing (22), bull stick (23), gear train (24) and accommodate motor (25), mounting bracket (21) are connected with rotary mechanism (3), first bearing (22) set up on mounting bracket (21), the inside of first bearing (22) is worn to locate by bull stick (23), and its one end links to each other with robot body (1) is fixed, the output of gear train (24) is connected in the other end of bull stick (23), accommodate motor (25) are connected on mounting bracket (21), and its output is connected with the input of gear train (24).

3. The intelligent inspection robot according to claim 2, wherein: be provided with protection casing (7) on mounting bracket (21), protection casing (7) are used for protecting adjustment motor (25) and gear train (24).

4. The intelligent inspection robot according to claim 3, wherein: rotary mechanism (3) include casing (31), support (32), rotating electrical machines (33), second bearing (34) and pivot (35), casing (31) are connected with elevating system (4), support (32) set up on the inner wall of casing (31), rotating electrical machines (33) are connected on support (32), and its output is connected with the input of pivot (35), second bearing (34) set up on casing (31), pivot (35) are worn to locate in second bearing (34), and its other end is connected with mounting bracket (21).

5. The intelligent inspection robot according to claim 4, wherein: the lifting mechanism (4) is arranged as a lifting cylinder, the lifting cylinder is connected with the driving mechanism (5), and the output end of a piston rod of the lifting cylinder is connected to the shell (31).

6. The intelligent inspection robot according to claim 5, wherein: an elastic protection sleeve (8) is sleeved on a piston rod of the lifting cylinder.

7. The intelligent inspection robot according to claim 1, wherein: the driving mechanism (5) comprises a protective shell (51), a driving motor (52), a driving gear (53) and a rack (54), the protective shell (51) is connected with the lifting mechanism (4), the driving motor (52) is arranged inside the protective shell (51), the driving gear (53) is connected to the output end of the driving motor (52), the rack (54) is arranged on the guide rail (6), and the rack (54) is meshed with the driving gear (53).

8. The intelligent inspection robot according to claim 7, wherein: the protective shell (51) is further provided with a guide wheel (9), and the guide wheel (9) runs on the guide rail (6).

9. The intelligent inspection robot according to claim 8, wherein: guide rail (6) set up to track body (61), guide way (62) and drive groove (63), protective housing (51) is worn to locate in track body (61), the top of track body (61) is seted up in guide way (62), just leading wheel (9) walk on the inner wall of guide way (62), drive groove (63) are seted up on the lateral wall of track body (61), rack (54) set up on the inner wall of drive groove (63).

10. The intelligent inspection robot according to claim 9, wherein: the top adjacent guide groove (62) of the track body (61) is provided with a plurality of groups of hanging parts (10), and each group of hanging parts (10) is provided with a group of assembling holes.