CN220279703U

CN220279703U - Wheeled inspection robot

Info

Publication number: CN220279703U
Application number: CN202321947769.5U
Authority: CN
Inventors: 黄一钊; 施蔚东; 马超; 梁天; 崔云龙
Original assignee: Xinjiang Gcl Smart Energy Service Co ltd
Current assignee: Xinjiang Gcl Smart Energy Service Co ltd
Priority date: 2023-07-24
Filing date: 2023-07-24
Publication date: 2024-01-02
Anticipated expiration: 2033-07-24

Abstract

The utility model discloses a wheeled inspection robot, which comprises a four-wheel chassis, wherein a first driving motor works to drive a transfer base to rotate, a camera component and a temperature and humidity sensor transmit pictures and environmental temperature and humidity in the inspection process to an external host in real time, and the pictures and the environmental temperature and humidity are displayed in the host; the main support arm can be driven to rotate through the work of the second driving motor, one end of the driving arm is rotationally connected to the main support arm, the other end of the driving arm is rotationally connected with the auxiliary support arm, a third driving motor used for driving the driving arm is installed on the other side of the switching base, the driving arm can be driven to move relatively through the work of the third driving motor, the auxiliary support is pushed to rotate, the camera assembly and the temperature and humidity sensor can conduct multi-dimensional angle transformation through the switching base, the main support arm and the auxiliary support arm, the flexibility of the inspection robot is improved to a large extent, the inspection site top angle and dead angle positions can be shot, temperature and humidity monitoring is conducted, and the inspection dead angle is further eliminated.

Description

Wheeled inspection robot

Technical Field

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

Background

The four-wheel chassis in the wheel type inspection robot belongs to the basic chassis shape, and most wheel type inspection robots are all four-wheel chassis. The conventional application scene can cope with indoor or outdoor situations, and the actions of walking on level ground, crawling on gentle slopes, turning and the like can be completed. The inspection robot is used in certain specific scenes with high temperature and humidity requirements of an operation environment, such as a machine room, a production workshop and the like, and has the high-efficiency and safe application effect. The flexibility of the existing wheel type inspection robot is general, the chassis is mainly relied on to walk for multi-angle shooting, and some vertex angles and dead angles on the inspection field cannot be clearly shot, so that the wheel type inspection robot is more flexible.

Disclosure of Invention

The utility model aims to provide a wheel type inspection robot so as to solve the problems in the background technology.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a wheeled robot of patrolling and examining, includes four-wheel chassis, four-wheel chassis can remove according to the planning route under external control ware control effect, the rotation is connected with the switching base on the four-wheel chassis, be used for the drive is installed to the downside of four-wheel chassis the first driving motor of switching base pivoted, through first driving motor work can drive the switching base rotates, the one end of main tributary arm is connected in the rotation on the switching base, the other end rotation of main tributary arm is connected with the auxiliary support arm, camera subassembly and temperature and humidity sensor are installed to the tip of auxiliary support arm, camera subassembly with temperature and humidity sensor will patrol and examine the picture in-process and the environment transmits outside host computer in real time, shows in the host computer, one side of switching base is installed and is used for the drive main tributary arm pivoted second driving motor, through second driving motor work can drive the main tributary arm rotates, the one end of being connected with the driving arm on the main tributary arm, the other end of driving arm with the auxiliary support arm rotates the one end of switching base, the opposite side of switching base rotates and is connected with the auxiliary support arm, thereby installs and is used for the third driving arm drive arm, can drive the three-dimensional position through the camera, can carry out the change in order to more the relative position of the camera, the camera can carry out the change in the position of the camera, the camera can be examined the relative position, and the camera can be examined more the corner, and the camera can move the position, and the camera can be moved more than the sensor, and the sensor can be examined the position and the more can be moved the position and the position, and the more can be moved and the more.

Preferably, the switching base is the framework structure, four-wheel chassis's up end fixedly connected with backing plate, four-wheel chassis's up end with the center department of backing plate runs through jointly has the axis of rotation, and the upper end and the lower extreme of axis of rotation are fixedly connected with limiting plate and lower limiting plate respectively, switching base fixed connection in on the limiting plate, go up limiting plate and lower limiting plate will switching base rotates to be connected on the four-wheel chassis, be convenient for with first driving motor establishes the connection.

Preferably, the output end of the first driving motor is connected with the lower limiting plate, one end of the connecting rod is fixedly connected to the inner side of the four-wheel chassis, the other end of the connecting rod is fixedly connected with the motor groove, the first driving motor is installed in the motor groove, the motor groove provides an installation space for the first driving motor, the lower limiting plate, the rotating shaft and the upper limiting plate are driven to rotate through the operation of the first driving motor, and the switching base rotates along with the lower limiting plate to drive the upper part of the switching base to change direction.

Preferably, the lower extreme symmetry of main tributary arm is connected with first engaging lug, the one end of auxiliary support arm lower extreme fixed connection connecting plate, the other end symmetry fixed connection second engaging lug of connecting plate, the both ends of actuating arm respectively with first engaging lug with the second engaging lug rotates to be connected, third driving motor's output with the tip fixed connection of first engaging lug, through third driving motor work drives the actuating arm relative movement, thereby promotes auxiliary support arm rotates, realizes the multidimensional, the multi-angle monitoring of camera subassembly and temperature and humidity sensor.

Preferably, the end part of the auxiliary supporting arm is detachably connected with a carrying shell, the camera component is installed inside the carrying shell, the temperature and humidity sensor is installed outside the carrying shell, and the carrying shell is used for fixing the camera component and the temperature and humidity sensor.

Preferably, the carrying shell is clamped with the end part of the auxiliary supporting arm through a clamping groove, and the clamping connection mode is convenient for the dismounting operation of the carrying shell.

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

the first driving motor works to drive the transfer base to rotate, one end of the main support arm is rotationally connected to the transfer base, the other end of the main support arm is rotationally connected with the auxiliary support arm, the end part of the auxiliary support arm is provided with the camera component and the temperature and humidity sensor, and the camera component and the temperature and humidity sensor transmit pictures and environmental temperature and humidity in the inspection process to an external host computer in real time and display the pictures and the environmental temperature and humidity in the host computer;

the main support arm can be driven to rotate through the work of the second driving motor, one end of the driving arm is rotationally connected to the main support arm, the other end of the driving arm is rotationally connected with the auxiliary support arm, a third driving motor used for driving the driving arm is installed on the other side of the switching base, the driving arm can be driven to move relatively through the work of the third driving motor, the auxiliary support is pushed to rotate, the camera assembly and the temperature and humidity sensor can conduct multi-dimensional angle transformation through the switching base, the main support arm and the auxiliary support arm, the flexibility of the inspection robot is improved to a large extent, the inspection site top angle and dead angle positions can be shot, temperature and humidity monitoring is conducted, and the inspection dead angle is further eliminated.

Drawings

FIG. 1 is a schematic diagram of the main structure of the present utility model;

FIG. 2 is an internal cross-sectional view of the four-wheel chassis of the present utility model;

fig. 3 is a front view of the drive arm of the present utility model.

In the figure: the four-wheel chassis comprises a 1-four-wheel chassis, a 2-switching base, a 3-first driving motor, a 4-main supporting arm, a 5-auxiliary supporting arm, a 6-camera component, a 7-temperature and humidity sensor, an 8-driving arm, a 9-third driving motor, a 10-backing plate, an 11-upper limiting plate, a 12-lower limiting plate, a 13-connecting rod, a 14-first connecting lug, a 15-connecting plate, a 16-second connecting lug, a 17-carrying shell, a 18-motor groove and a 19-clamping groove.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Examples:

referring to fig. 1-3, the present utility model provides the following technical solutions: the wheel type inspection robot comprises a four-wheel chassis 1, wherein the four-wheel chassis 1 can move according to a planned route under the control of an external controller, a transfer base 2 is rotationally connected on the four-wheel chassis 1, a first driving motor 3 for driving the transfer base 2 to rotate is arranged at the lower side of the four-wheel chassis 1, the transfer base 2 can be driven to rotate by the operation of the first driving motor 3, one end of a main support arm 4 is rotationally connected on the transfer base 2, the other end of the main support arm 4 is rotationally connected with a secondary support arm 5, a camera component 6 and a temperature and humidity sensor 7 are arranged at the end of the secondary support arm 5, the camera component 6 and the temperature and humidity sensor 7 transmit images and environmental temperature and humidity in the inspection process to an external host in real time, the images and the environmental temperature and the humidity are displayed in the host, one side of the transfer base 2 is provided with a second driving motor for driving the main supporting arm 4 to rotate, the main supporting arm 4 can be driven to rotate through the operation of the second driving motor, one end of the driving arm 8 is rotationally connected to the main supporting arm 4, the other end of the driving arm 8 is rotationally connected with the auxiliary supporting arm 5, the other side of the transfer base 2 is provided with a third driving motor 9 for driving the driving arm 8, the driving arm 8 can be driven to relatively move through the operation of the third driving motor 9, so that the auxiliary supporting arm 5 is driven to rotate, the camera assembly 6 and the temperature and humidity sensor 7 can perform multi-dimensional angle transformation through the transfer base 2, the main supporting arm 4 and the auxiliary supporting arm 5, the flexibility of the inspection robot is greatly improved, the inspection site top angle and dead angle positions can be photographed, humiture monitoring, further elimination inspection dead angle.

Specifically, the switching base 2 is a frame structure, the upper end surface of the four-wheel chassis 1 is fixedly connected with a base plate 10, the upper end surface of the four-wheel chassis 1 and the center of the base plate 10 are jointly penetrated with a rotating shaft, the upper end and the lower end of the rotating shaft are respectively fixedly connected with an upper limit plate 11 and a lower limit plate 12, the switching base 2 is fixedly connected to the upper limit plate 11, and the upper limit plate 11 and the lower limit plate 12 are rotationally connected with the switching base 2 on the four-wheel chassis 1 so as to be convenient for establishing connection with the first driving motor 3.

Specifically, the output end of the first driving motor 3 is connected with the lower limiting plate 12, one end of a connecting rod 13 is fixedly connected to the inner side of the four-wheel chassis 1, the other end of the connecting rod 13 is fixedly connected with a motor groove 18, the first driving motor 3 is installed in the motor groove 18, the motor groove 18 provides an installation space for the first driving motor 3, the first driving motor 3 works to drive the lower limiting plate 12, a rotating shaft and the upper limiting plate 11 to rotate, and the switching base 2 rotates along with the lower limiting plate to drive upper components of the switching base to change directions.

Specifically, the lower extreme symmetry of main tributary arm 4 is connected with first engaging lug 14, the one end of auxiliary support arm 5 lower extreme fixed connection connecting plate 15, the other end symmetry fixed connection second engaging lug 16 of connecting plate 15, the both ends of actuating arm 8 respectively with first engaging lug 14 with second engaging lug 16 rotates to be connected, the output of third driving motor 9 with the tip fixed connection of first engaging lug 14, through the work of third driving motor 9, drive actuating arm 8 relative movement to promote auxiliary support arm 5 rotates, realizes the multidimensional, the multi-angle monitoring of camera subassembly 6 and temperature and humidity sensor 7.

Specifically, the end of the sub-support arm 5 is detachably connected with a mounting case 17, the camera module 6 is mounted inside the mounting case 17, the temperature and humidity sensor 7 is mounted outside the mounting case 17, and the mounting case 17 fixes the camera module 6 and the temperature and humidity sensor 7.

Specifically, the mounting case 17 is engaged with the end portion of the sub-support arm 5 through the engagement groove 19, and the engagement is performed in a manner that facilitates the removal operation of the mounting case 17.

Working principle: the four-wheel chassis 1 can move according to a planned route under the control of an external controller, the four-wheel chassis 1 is rotationally connected with a switching base 2, a first driving motor 3 used for driving the switching base 2 to rotate is arranged on the lower side of the four-wheel chassis 1, the switching base 2 can be driven to rotate through the operation of the first driving motor 3, one end of a main supporting arm 4 is rotationally connected to the switching base 2, the other end of the main supporting arm 4 is rotationally connected with an auxiliary supporting arm 5, a camera component 6 and a temperature and humidity sensor 7 are arranged at the end of the auxiliary supporting arm 5, the camera component 6 and the temperature and humidity sensor 7 transmit the picture in the inspection process and the temperature and humidity of the environment to an external host computer in real time, a second driving motor used for driving the main supporting arm 4 to rotate is arranged on one side of the switching base 2 and can drive the main supporting arm 4 to rotate through the operation of the second driving motor, one end of a driving arm 8 is rotationally connected to the other end of the driving arm 5, a third driving motor 9 used for driving the driving arm 8 is rotationally connected to the other end of the main supporting arm 2, the auxiliary supporting arm 8 can be driven to move relatively through the third driving motor 9, and accordingly the camera component 6 and the temperature and humidity sensor 7 can be driven to move relatively to the main supporting arm 5 and the main supporting arm 4 in a large degree of flexibility of the inspection in the inspection process through the camera component and the main supporting arm 2 and the large-size of the machine.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present utility model, and the present utility model is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present utility model has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims

1. The utility model provides a wheeled inspection robot, includes four-wheel chassis (1), its characterized in that: the four-wheel chassis (1) is rotationally connected with a transfer base (2), a first driving motor (3) used for driving the transfer base (2) to rotate is installed on the lower side of the four-wheel chassis (1), one end of a main support arm (4) is rotationally connected on the transfer base (2), the other end of the main support arm (4) is rotationally connected with a secondary support arm (5), a camera component (6) and a temperature and humidity sensor (7) are installed at the end of the secondary support arm (5), a second driving motor used for driving the main support arm (4) to rotate is installed on one side of the transfer base (2), one end of a driving arm (8) is rotationally connected on the main support arm (4), the other end of the driving arm (8) is rotationally connected with the secondary support arm (5), and a third driving motor (9) used for driving the driving arm (8) is installed on the other side of the transfer base (2).

2. A wheeled inspection robot according to claim 1, characterized in that: the adapter base (2) is of a frame structure, a base plate (10) is fixedly connected to the upper end face of the four-wheel chassis (1), a rotating shaft penetrates through the upper end face of the four-wheel chassis (1) and the center of the base plate (10), an upper limiting plate (11) and a lower limiting plate (12) are fixedly connected to the upper end and the lower end of the rotating shaft respectively, and the adapter base (2) is fixedly connected to the upper limiting plate (11).

3. A wheeled inspection robot according to claim 2, characterized in that: the output end of the first driving motor (3) is connected with the lower limiting plate (12), one end of a connecting rod (13) is fixedly connected to the inner side of the four-wheel chassis (1), the other end of the connecting rod (13) is fixedly connected with a motor groove (18), and the first driving motor (3) is installed in the motor groove (18).

4. A wheeled inspection robot according to any one of claims 1-3, characterized in that: the lower extreme symmetry of main tributary arm (4) is connected with first engaging lug (14), the one end of auxiliary stay arm (5) lower extreme fixed connection connecting plate (15), the other end symmetry fixedly connected with second engaging lug (16) of connecting plate (15), the both ends of actuating arm (8) respectively with first engaging lug (14) with second engaging lug (16) rotate to be connected, the output of third driving motor (9) with the tip fixed connection of first engaging lug (14).

5. The wheeled inspection robot of claim 4, wherein: the end part of the auxiliary supporting arm (5) is detachably connected with a carrying shell (17), the camera assembly (6) is installed inside the carrying shell (17), and the temperature and humidity sensor (7) is installed outside the carrying shell (17).

6. The wheeled inspection robot of claim 5, wherein: the carrying shell (17) is clamped with the end part of the auxiliary supporting arm (5) through a clamping groove (19).