CN216424608U - Crawler-type inspection robot - Google Patents
Crawler-type inspection robot Download PDFInfo
- Publication number
- CN216424608U CN216424608U CN202121348229.6U CN202121348229U CN216424608U CN 216424608 U CN216424608 U CN 216424608U CN 202121348229 U CN202121348229 U CN 202121348229U CN 216424608 U CN216424608 U CN 216424608U
- Authority
- CN
- China
- Prior art keywords
- module
- crawler
- detection module
- inspection robot
- infrared
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
- Manipulator (AREA)
Abstract
The utility model relates to the technical field of robots, and discloses a crawler-type inspection robot which comprises a crawler-type chassis, a power supply, a control box, an infrared detection module, a gamma flaw detection module, an ultrasonic module, a positioning module, a communication module and a composite sensor, wherein the infrared detection module, the gamma flaw detection module, the ultrasonic module, the positioning module, the communication module and the composite sensor are sequentially arranged on the crawler-type chassis from the head to the tail, the gamma flaw detection module is used for performing pre-flaw detection on a detection inspection area to determine the general position of damage, the ultrasonic module is used for performing accurate flaw detection on a closed part and the like, the communication module receives and transmits signals, information interaction is performed between the communication module and a cloud server through an internet of things card, and the control box is electrically connected with each execution element. According to the utility model, the crawler-type chassis is adopted to carry various sensors, the damaged position can be quickly and accurately positioned, the detection efficiency and reliability are improved, the probe information is uploaded to the cloud server through the Internet of things for the operator to evaluate in time, so that timely and effective response can be made, and the loss is reduced.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a crawler-type inspection robot.
Background
In recent years, with the continuous improvement of science and technology, many new routing inspection products are derived from the industry, power transmission and service industry, but some chemical plants still have harmful product leakage, and once the industrial product leakage happens, the industrial product leakage not only threatens the life and property safety of human beings, but also causes irrecoverable ecological harm. In order to further improve the attention of people to patrol and prevent emergency response and enable people to realize the necessity and the severity of preventing and detecting the consequences of disasters caused by negligence, the miniature crawler-type intelligent patrol robot is specially designed. At the moment, the inspection and the prevention are particularly important, and the selection of a good rescue device is very important for the smooth and rapid detection. However, the detection site is in a complex environment, and some unstable factors can cause the limitation of manual detection by detection personnel, which can not be smoothly performed, and influence the detection and investigation and the speed of obtaining the detection result.
SUMMERY OF THE UTILITY MODEL
In order to meet the era demand of continuously advanced technology development and reduce the risk of disasters caused by improper inspection and prevention, the utility model provides the crawler-type inspection robot integrating the Internet of things technology, and by utilizing the Internet of things technology, a detector can master a detection result in real time and quickly feed the detection result back to a repairer, so that the probability of disasters is reduced in time.
In order to solve the technical problem, the utility model provides a crawler-type inspection robot, which comprises:
the crawler-type chassis comprises two groups of crawler wheel assemblies, a suspension bracket and a bottom plate, wherein each group of crawler wheel assemblies is respectively driven by a stepping motor fixed on the suspension bracket;
the power supply and the control box are respectively arranged on the suspension bracket and positioned below the bottom plate, and the power supply is used for providing electric energy for electric elements related to the inspection robot;
set up infrared detection module, gamma flaw detection module, ultrasonic wave module, orientation module, communication module and compound sensor on the bottom plate in proper order from head to afterbody, wherein:
the infrared detection module comprises an infrared range finder and an infrared thermal imager, the infrared range finder is used for providing auxiliary data for the inspection robot to avoid the obstacle, and the infrared thermal imager is used for detecting the damage position and the damage degree of the detected part;
the gamma flaw detection module is positioned at one side of the infrared detection module and is used for carrying out pre-flaw detection on a detection inspection area to determine a damage position;
ultrasonic wave module, orientation module and communication module are located the middle part of bottom plate respectively, ultrasonic wave module is used for carrying out the detection of detecting a flaw to the closed part accurately, orientation module is used for the accurate location to go out the position of patrolling and examining the robot, communication module carries out the information interaction through thing networking card and high in the clouds server, and is connected with control box, infrared detection module, gamma detection module, ultrasonic wave module, orientation module and compound sensor electricity respectively, the control box is connected with step motor, infrared detection module, gamma detection module and the ultrasonic wave module electricity on drive crawler-type chassis respectively.
Furthermore, the single group of crawler wheel assemblies respectively comprises a driving wheel, three loading wheels, a liquid-vapor suspension device and a crawler, the driving wheel is in transmission connection with the output end of the stepping motor on the corresponding side, and the driving wheel, the multiple loading wheels and the liquid-vapor suspension device are in transmission connection through the crawler.
Further, the number of the loading wheels is not less than 3.
Furthermore, a multi-brightness adjusting searchlight is further arranged at the top of the infrared detection module and is electrically connected with the control box.
Further, compound sensor is formed through temperature sensor, humidity transducer and the compatible integration of particulate matter detection sensor for temperature, humidity and particulate matter content to in patrolling and examining the environment detect.
Further, the suspension bracket is made of stainless steel.
Further, the bottom plate is made of an aluminum alloy material.
Compared with the prior art, the utility model has the advantages that: according to the utility model, the crawler-type chassis with high stability is adopted to carry various sensors, so that the environment and the detected object are comprehensively probed, the damaged position can be quickly and accurately positioned, the detection efficiency and reliability are greatly improved, the probe information is uploaded to the cloud server through the Internet of things for the operator to evaluate in real time, so that timely and effective response can be made, and the loss is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Figure 1 is a schematic perspective view of the present invention,
figure 2 is a front view of figure 1,
figure 3 is a top view of figure 1,
fig. 4 is a schematic perspective view of the substrate 13 and the components disposed on the substrate 13, which is removed from the substrate 1,
the reference numbers are as follows:
crawler-type chassis 1, crawler-belt wheel subassembly 11, drive wheel 111, bogie wheel 112, liquid vapour linkage 113, track 114, mounted frame 12, bottom plate 13, step motor 14, power 2, control box 3, infrared detection module 4, infrared range finder 41, infrared thermal imager 42, gamma detection module 5, ultrasonic wave module 6, orientation module 7, communication module 8, compound sensor 9, many brightness control searchlight 10.
Detailed Description
The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like refer to the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which the present invention is used to usually place, are only used for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; 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 meanings 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, the present invention provides a crawler type inspection robot, including a crawler type chassis 1, a power supply 2, a control box 3, and an infrared detection module 4, a gamma inspection module 5, an ultrasonic module 6, a positioning module 7, a communication module 8 and a composite sensor 9, which are sequentially disposed on the crawler type chassis 1 from the head to the tail, wherein:
the crawler-type chassis 1 is designed according to the traveling principle of a crawler excavator, belongs to the common prior art, and comprises two groups of crawler wheel assemblies 11, a suspension bracket 12 and a bottom plate 13, wherein each group of crawler wheel assemblies 11 is respectively driven by a stepping motor 14 fixed on the suspension bracket 12, the suspension bracket 12 is arranged between the two groups of crawler wheel assemblies 11, the bottom plate 13 is horizontally arranged at the top of the suspension bracket 12, more specifically, as shown in fig. 4, each group of crawler wheel assemblies 11 respectively comprises a driving wheel 111, a plurality of bogie wheels 112, a liquid vapor suspension device 113 and a crawler 114, the number of the bogie wheels 112 is not less than 3, the driving wheel 111 is in transmission connection with the output end of the stepping motor 14 at the corresponding side, the driving wheel 111, the plurality of bogie wheels 112 and the liquid vapor suspension device 113 are respectively in transmission connection through the crawler 114, the plurality of the bogie wheels 112 and the liquid vapor suspension device 113 can play a role of tensioning the crawler 114, when the stepping motor 14 drives the corresponding driving wheel 111 to rotate, the track 114 is better driven to transmit to realize the walking of the crawler-type chassis 1, the crawler-type chassis 1 bears the impact load of the crawler-type chassis in the walking process through the arranged bogie wheels 112 and the liquid-vapor suspension device 113, the track 114 serving as an end effector of a moving part provides a reliable and stable working environment for the whole vehicle body to work, and in addition, the steering of the crawler-type chassis 1 is realized through the differential speed of the two groups of crawler wheel assemblies 11;
as shown in fig. 4, the power supply 2 and the control box 3 are respectively arranged on the suspension bracket 12 and below the bottom plate 13, the power supply 2 is used for supplying electric energy to the electric elements related to the inspection robot, and the control box 3 is used for overall control of the execution elements related to the inspection robot;
as shown in fig. 3, the infrared detection module 4 and the gamma inspection module 5 are arranged on the bottom plate 13 and close to the head of the crawler-type chassis 1, the infrared detection module 4 includes an infrared distance meter 41 and an infrared thermal imager 42, the infrared distance meter 41 is used for providing auxiliary data for the inspection robot to avoid obstacles in the walking process, and the infrared thermal imager 42 is used for detecting the damage position and the damage degree of the detected part, so that the operator can conveniently master the whole damage condition; the gamma flaw detection module 5 is positioned at one side of the infrared detection module 4 and is used for carrying out pre-flaw detection on a detection inspection area to determine a damage position, so that the detection operation time and the detection range can be shortened to a great extent;
as shown in fig. 3, the ultrasonic module 6, the positioning module 7 and the communication module 8 are respectively located in the middle of the bottom plate 13, and the ultrasonic module 6 is used for performing accurate flaw detection on the closed component, so that the detected data and result are more reliable, and meanwhile, the defects of the detection functions of other detection modules are also made up;
the positioning module 7 is used for accurately positioning the position of the inspection robot, so that an operator can master the position of the inspection robot in real time, and the inspection robot can conveniently perform related operations;
the communication module 8 is in information interaction with the cloud server through an internet of things card and is respectively and electrically connected with the control box 3, the infrared detection module 4, the gamma flaw detection module 5, the ultrasonic module 6, the positioning module 7 and the composite sensor 9;
as shown in fig. 3, the composite sensor 9 is arranged on the bottom plate 13 at a position close to the tail of the crawler-type chassis 1 and used for detecting the temperature, the humidity and the content of particulate matters in the inspection environment, and the composite sensor 9 is formed by compatibly integrating a temperature sensor, a humidity sensor and a particulate matter detection sensor by adopting the prior art;
the control box 3 is respectively and electrically connected with a stepping motor 14, an infrared detection module 4, a gamma inspection module 5 and an ultrasonic module 6 which drive the crawler-type chassis 1;
in order to facilitate the inspection operation under the weak light or dark condition, a multi-brightness adjusting searchlight 10 is further arranged at the top of the infrared detection module 4, the multi-brightness adjusting searchlight 10 is electrically connected with the control box 3, and the brightness of the multi-brightness adjusting searchlight 10 is adjusted through the control box 3 according to the intensity of the ambient light;
the electric elements related to the inspection robot comprise a stepping motor 14, an infrared detection module 4, a gamma inspection module 5, an ultrasonic module 6, a positioning module 7 and a communication module 8, and the executing elements related to the inspection robot comprise the stepping motor 14, the infrared detection module 4, the gamma inspection module 5, the ultrasonic module 6 and a multi-brightness adjustment searchlight 10.
In order to ensure the structural stability of the whole inspection robot, the suspension bracket 12 is made of stainless steel;
in order to reduce the overall weight, the bottom plate 13 is made of an aluminum alloy material.
The working principle is as follows: after the inspection robot enters an inspection operation site, an infrared distance meter 41 and a composite sensor 9 of an infrared detection module 4 respectively detect the operation environment, a gamma inspection module 5 performs pre-inspection on an inspection area, detection information is uploaded to a cloud server through a communication module 8, an operator sends a control command to the cloud server on a control console according to the operation environment which is viewed by the cloud server and the general damage position obtained by the pre-inspection to perform remote control operation on the inspection robot, the communication module 8 receives the control command and then transmits the control command to a control box 3, the control box 3 controls the walking and steering of a crawler-type chassis 1, after the specified area is reached, the operator sends the control command to control the inspection robot to perform further inspection operation, and particularly, the communication module 8 receives the control command and then transmits the control command to the control box 3, the control box 3 controls the infrared thermal imager 42 and the ultrasonic module 6 of the infrared detection module 4 to perform accurate flaw detection, and the infrared thermal imager 42 and the ultrasonic module 6 upload respective detection information to the cloud server through the communication module 8 to store the detection information and automatically generate a flaw detection report.
The foregoing is a more detailed description of the utility model in connection with specific preferred embodiments and it is not intended that the utility model be limited to these specific details. For those skilled in the art to which the utility model pertains, several simple deductions or substitutions can be made without departing from the spirit of the utility model, and all shall be considered as belonging to the protection scope of the utility model.
Claims (7)
1. The utility model provides a robot is patrolled and examined to crawler-type which characterized in that includes:
the crawler-type chassis (1) comprises two groups of crawler wheel assemblies (11), a suspension bracket (12) and a bottom plate (13), wherein each group of crawler wheel assemblies (11) are respectively driven by a stepping motor (14) fixed on the suspension bracket (12), the suspension bracket (12) is arranged between the two groups of crawler wheel assemblies (11), and the bottom plate (13) is horizontally arranged at the top of the suspension bracket (12);
the power supply (2) and the control box (3) are respectively arranged on the suspension bracket (12) and positioned below the bottom plate (13), and the power supply (2) is used for supplying electric energy to electric elements related to the inspection robot;
set up infrared detection module (4), gamma flaw detection module (5), ultrasonic wave module (6), orientation module (7), communication module (8) and compound sensor (9) on bottom plate (13) in proper order from head to afterbody, wherein:
the infrared detection module (4) comprises an infrared distance meter (41) and an infrared thermal imager (42), the infrared distance meter (41) is used for providing auxiliary data for the inspection robot to avoid obstacles, and the infrared thermal imager (42) is used for detecting the damage position and the damage degree of a detected part;
the gamma flaw detection module (5) is positioned at one side of the infrared detection module (4) and is used for carrying out pre-flaw detection on a detection inspection area to determine a damage position;
ultrasonic module (6), orientation module (7) and communication module (8) are located the middle part of bottom plate (13) respectively, ultrasonic module (6) are used for carrying out the detection of detecting a flaw accurately to the closed part, orientation module (7) are used for the accurate position of going out the robot that patrols and examines, communication module (8) carry out the information interaction through thing networking card and high in the clouds server, and are connected with control box (3), infrared detection module (4), gamma detection module (5), ultrasonic module (6), orientation module (7) and compound sensor (9) electricity respectively, control box (3) are connected with step motor (14), infrared detection module (4), gamma detection module (5) and ultrasonic module (6) electricity of drive crawler-type chassis (1) respectively.
2. The track type inspection robot according to claim 1, wherein: the single group of track wheel assemblies (11) respectively comprise a driving wheel (111), three loading wheels (112), a liquid-vapor suspension device (113) and a track (114), the driving wheel (111) is in transmission connection with the output end of the stepping motor (14) on the corresponding side, and the driving wheel (111), the multiple loading wheels (112) and the liquid-vapor suspension device (113) are in transmission connection through the track (114).
3. The track type inspection robot according to claim 2, wherein: the number of the loading wheels (112) is not less than 3.
4. The track type inspection robot according to claim 1, wherein: the top of the infrared detection module (4) is also provided with a multi-brightness adjustment searchlight (10), and the multi-brightness adjustment searchlight (10) is electrically connected with the control box (3).
5. The track type inspection robot according to claim 1, wherein: compound sensor (9) are formed through temperature sensor, humidity transducer and particulate matter detection sensor compatibility integration for temperature, humidity and particulate matter content in patrolling and examining the environment detect.
6. The track type inspection robot according to claim 1, wherein: the suspension bracket (12) is made of stainless steel.
7. The track type inspection robot according to claim 1, wherein: the bottom plate (13) is made of an aluminum alloy material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121348229.6U CN216424608U (en) | 2021-06-17 | 2021-06-17 | Crawler-type inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121348229.6U CN216424608U (en) | 2021-06-17 | 2021-06-17 | Crawler-type inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216424608U true CN216424608U (en) | 2022-05-03 |
Family
ID=81315810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121348229.6U Active CN216424608U (en) | 2021-06-17 | 2021-06-17 | Crawler-type inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216424608U (en) |
-
2021
- 2021-06-17 CN CN202121348229.6U patent/CN216424608U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10591927B2 (en) | Smart mobile detection platform for greenhouse | |
| CN202947759U (en) | Wireless environment monitoring vehicle | |
| CN110319888B (en) | Petrochemical inspection robot and working method thereof | |
| CN206925844U (en) | Robot device | |
| CN104898671A (en) | Automatic polling trolley with obstacle clearing function for track mine conveyer | |
| CN113703457B (en) | Modularized track type inspection robot system | |
| CN104991559A (en) | Method for automatic cruise detection of comprehensive information of greenhouses | |
| CN210534866U (en) | Electric power machine room inspection machine equipment | |
| CN111270608B (en) | Wall-climbing robot for detection in steel box girder of large-span bridge | |
| CN106143530A (en) | Routing inspection trolley for suspension type monorail traffic system box track girder | |
| CN110606096A (en) | Inside equipment of patrolling and examining and cleaning of air-rail track roof beam | |
| CN210466137U (en) | Safe explosion-proof inspection robot | |
| CN110143163A (en) | AGV trolley and its automatic transporting method | |
| CN205930728U (en) | A patrol and examine dolly that is used for suspension type mono -rail transport system box track roof beam | |
| CN109202853A (en) | A kind of power construction safety supervision robot | |
| CN209833821U (en) | Intelligent logistics trolley | |
| CN216424608U (en) | Crawler-type inspection robot | |
| CN210036823U (en) | Petrochemical inspection robot | |
| CN107416062A (en) | The climbing robot and its detection method of a kind of restructural | |
| CN114476550A (en) | Material conveying device | |
| CN114248277A (en) | Wheeled inspection robot and inspection management and control platform thereof | |
| CN113276084A (en) | ROS intelligent vehicle | |
| CN206717834U (en) | Robot device uses walking buffer gear | |
| CN217046395U (en) | Novel track compound robot | |
| CN209050737U (en) | A kind of power construction safety supervision robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221221 Address after: 448000 building c2-b1, No.39 Jingnan Avenue, Duodao District, Jingmen City, Hubei Province Patentee after: JINGMEN CITY DREAM EXPLORING TECHNOLOGY Co.,Ltd. Address before: 448000 No. 33 Xiangshan Avenue, Dongbao District, Jingmen City, Hubei Province Patentee before: JINGCHU University OF TECHNOLOGY |
|
| TR01 | Transfer of patent right |