CN216372169U

CN216372169U - Amphibious inspection robot

Info

Publication number: CN216372169U
Application number: CN202122387589.3U
Authority: CN
Inventors: 赵平平; 周晓宇; 陈传飞; 薛巨峰; 范东睿
Original assignee: Yancheng Zhongke High Throughput Computing Research Institute Co ltd
Current assignee: Yancheng Zhongke High Throughput Computing Research Institute Co ltd
Priority date: 2021-09-30
Filing date: 2021-09-30
Publication date: 2022-04-26
Anticipated expiration: 2031-09-30

Abstract

The robot can operate and inspect in water or on land, crawler wheels are arranged at the bottom of the robot, the crawler wheels are mounted on an underframe, a protective shell is mounted at the upper part of the underframe, propellers are mounted at the lower end and the top of the protective shell, inspection devices are mounted in front of and behind the top of the protective shell, and a mechanical arm is mounted in the middle of the top of the protective shell; the robot is patrolled and examined in the operation of land through the athey wheel, patrols and examines through the operation of propeller in the water, the record is shot to things around the robot operation route to the inspection device of installation around the protecting crust, when device operation front end appeared hindering, handles it through the robotic arm, ensures the normal operating of robot, installs searchlight and high definition digtal camera on the inspection device, and the inspection device base is rotatable setting, can shoot the record to the robot condition all around of patrolling and examining, set up the protecting box at the chassis middle part, controller, mainboard and the power of the operation of incasement installation robot.

Description

Amphibious inspection robot

Technical Field

The utility model belongs to the technical field of inspection robots, and particularly relates to design and manufacture of an amphibious inspection robot.

Background

According to the requirements of various industries, corresponding routing inspection management work needs to be established, particularly in the fields of petrifaction, communication, gas, electric power, railways, highways and the like, regular or irregular routing inspection is needed, hidden dangers are discovered in time, faults are discharged, and the safety of equipment, pipelines, cables and roads is guaranteed.

With the rise of the robot technology, corresponding robot equipment is designed in various industries to replace manual inspection, but the inspection robot designed and applied in the current market cannot meet the requirement of inspection diversification, the inspection robot is single in functionality and low in intelligence degree, particularly in some specific fields such as water, a good inspection robot does not replace personnel to inspect, and therefore the amphibious inspection robot is designed by the applicant, the land operation and the water operation of the robot can be realized, the defects of the existing inspection robot are overcome, and the inspection robot with multiple functions and intelligence is designed and manufactured.

SUMMERY OF THE UTILITY MODEL

In order to solve the problems, the utility model discloses an amphibious inspection robot. The bottom of the robot is provided with the underframe, crawler wheels are arranged on two sides of the underframe, vertical propellers and transverse propellers are arranged on the upper portion and the middle portion of the underframe, the purpose that the robot can run on land and in a water body is achieved through the crawler wheels and the propellers, inspection devices are arranged in front of and behind a protective shell arranged on the robot, the inspection devices are provided with rotating devices, searchlights and cameras, the purpose that the periphery of the robot can be rotatably shot and observed in a full-coverage mode within the running range of the robot is achieved, the searchlights provide illumination in a dark place or during underwater shooting, and shooting inspection requirements are met; the robot top sets up the installation arm, and the arm front end sets up the gripper, and through the control cooperation of arm and gripper, the roadblock that can appear in the operation process of robot discharges or carries out the sample collection, and the robot can realize amphibian through rational design, and remote control, intelligent operation solve current function singleness of patrolling and examining, operational environment requires height, intelligent degree end etc. not enough.

In order to achieve the purpose, the utility model provides an amphibious inspection robot which comprises a mechanical arm, a front inspection device, a rear inspection device, a vertical rotary paddle, a protective shell, a transverse rotary paddle, crawler wheels, an underframe, a mechanical claw, a rotating device control motor, a base, a rotating device, a crawler motor, a protective box, a crawler protective plate, a cross beam, a first motor and a second motor, wherein the underframe is arranged at the bottom of the amphibious inspection robot and is of a frame type structure, and two cross beams are arranged inside the underframe; crawler wheels are mounted on two sides of the underframe, a crawler is arranged on the crawler wheels, crawler guard plates are arranged on the inner sides of the crawlers, crawler driving wheels and supporting structures are arranged in the crawler guard plates, and crawler motors are mounted on the inner sides of the front ends of the crawlers and connected with the driving wheels; the robot comprises a chassis, a robot main board, a controller, a power supply, four groups of transverse propellers, four groups of vertical propellers, a protective shell, a front inspection device, a rear inspection device, a rotary device, a searchlight, a camera and a camera, wherein the protective box is arranged in the middle of the inner side of the chassis, the protective box is arranged on a cross beam, the robot main board, the controller and the power supply are arranged in the protective box, the four groups of transverse propellers are arranged in front of and behind the position of the protective box arranged on the chassis, the four groups of vertical propellers are arranged on the upper parts of the transverse propellers, the protective shell is arranged on the upper part of the chassis, the vertical propellers penetrate through the protective shell, the vertical propellers are arranged at the four corners of the protective shell, the front inspection device and the rear inspection device are arranged in front of and behind the top side of the protective shell, the inspection device is provided with an installation base, the rotary device is arranged on the base, the left side of the upper part of the rotary device is provided with the camera; the middle position of the top side of the protective shell is provided with a mechanical arm, the front end of the mechanical arm is provided with a mechanical claw, the middle part of the rear end of the mechanical claw is provided with a rotating device, the lower part of the rotating device is provided with a rotating device control motor, four groups of rotating shafts are arranged on the mechanical arm, the rotating shaft control motors are arranged in the rotating shafts, and a support rod is arranged between the rotating shafts; and a first motor is arranged at the lower end of the vertical rotary paddle, and a second motor is arranged at the rear end of the transverse rotary paddle.

As a further improvement of the utility model, the mechanical arm arranged in the middle of the top of the robot is provided with four groups of rotating shafts and two sections of supporting rods, the tail end of the mechanical arm is provided with a mechanical claw, a control motor is arranged in the rotating shafts, the mechanical arm is enabled to cover the area around the robot through the rotating motor, and the mechanical claw is controlled by a rotating device arranged at the rear end, so that the purpose of cleaning roadblocks or sampling is achieved.

As a further improvement of the utility model, the cylinders are arranged on the outer sides of the vertical propellers and the transverse propellers arranged on the chassis, the motor installation cylinder is arranged on the rear side of the cylinder, the motor installation cylinder is installed on the chassis through a rotating structure, and the rotating structure can adjust the direction of the propellers.

As a further improvement of the utility model, the inspection device arranged on the robot is provided with a rotating device, and the inspection device is provided with a searchlight and a camera, so that the full-coverage shooting of the environment around the operation of the robot and the on-site brightness guarantee are realized.

As a further improvement, the robot is designed to be integrally waterproof, and is provided with the crawler wheels, the vertical propellers and the transverse propellers, so that the underwater and land operation inspection of the robot is realized.

The utility model has the beneficial effects that:

1. the utility model provides an amphibious robot, robot adopt waterproof design, design athey wheel, vertical oar and horizontal oar, can realize the robot through athey wheel and oar and move in land and water, can pass through wireless control when under water or land operation, and athey wheel, vertical oar and horizontal oar can realize turning to the operation.

2. The utility model provides an amphibious robot, installation inspection device around the robot, inspection device sets up base, rotary device, searchlight and camera, and inspection device can cross rotary device and utilize the camera to rotate the shooting of making a video recording all around to robot operational environment, realizes all around the full coverage to the robot operation and patrols and examines, and the searchlight that sets up on the inspection device can supply the light source when robot operational environment is dark or underwater deeper light is not enough, the better inspection of being convenient for.

3. The utility model provides an amphibious robot sets up the arm on the robot, can discharge or carry out the sample collection to the place that patrols and examines the in-process and need carry out the sample collection to some little hindrance in the robot operational environment through the arm.

4. The utility model provides an amphibious robot installs the protecting crust on the robot, and the protecting rubber mat is installed in the protecting crust outside, causes the damage to self when can effectively avoiding the robot to collide with other objects.

Drawings

FIG. 1 is a schematic view of the present application in its entirety in use;

FIG. 2 is a schematic view of a portion of a robot arm of the present application;

FIG. 3 is a partial structural view of a second robot arm of the present application;

FIG. 4 is a schematic view of the inspection device of the present application;

FIG. 5 is a schematic illustration of a propeller installation of the present application;

FIG. 6 is a schematic view of a propeller motor installation of the present application;

part name:

1. a mechanical arm; 2. a front inspection device; 3. a rear inspection device; 4. a vertical propeller; 5. a protective shell; 6. transversely rotating propellers; 7. a crawler wheel; 8. a chassis; 9. a gripper; 10. a rotating device; 11. the rotating device controls the motor; 12. a searchlight; 13. a base; 14. a rotating device; 15. a camera; 16. a crawler belt; 17. a track motor; 18. a protective box; 19. a track guard; 20. a cross beam; 21. a first motor; 22. and a second motor.

Detailed Description

The utility model is described in further detail below with reference to the following detailed description and accompanying drawings:

as shown in fig. 1 to 6, the amphibious inspection robot provided by the utility model comprises a mechanical arm 1, a front inspection device 2, a rear inspection device 3, a vertical propeller 4, a protective shell 5, a transverse propeller 6, a crawler wheel 7, an underframe 8, a mechanical claw 9, a rotating device 10, a rotating device control motor 11, a searchlight 12, a base 13, a rotating device 14, a camera 15, a crawler 16, a crawler motor 17, a protective box 18, a crawler protective plate 19, a cross beam 20, a first motor 21 and a second motor 22, and is characterized in that: the amphibious inspection robot is characterized in that an underframe 8 is arranged at the bottom of the amphibious inspection robot shown in FIG. 1, the underframe 8 is in a frame structure, the underframe 8 is used as an equipment mounting frame of the robot, each structural space is designed according to the installation requirements of the robot, and two cross beams 20 are arranged in the amphibious inspection robot as shown in FIG. 5 and are used as mounting frames of a protective box 18; the crawler wheels 7 are arranged on two sides of the underframe 8, the crawler wheels 7 are provided with a crawler belt 16, the inner side of the crawler belt 16 is provided with a crawler belt guard plate 19, the crawler belt guard plate 19 is internally provided with a crawler belt driving wheel and a supporting structure, the inner side of the front end of the crawler belt 16 is provided with a crawler belt motor 17, the crawler belt motor 17 is connected with the crawler belt driving wheel for installation, and the motor 17 rotates to drive the internally installed crawler belt driving wheel to rotate so as to realize the rotation of the crawler belt 16, thereby realizing the movement of the robot; a protective box 18 is arranged in the middle of the inner side of the underframe 8, a robot mainboard, a controller, a wireless block and a power supply are arranged in the protective box 18, the power supply is matched with a storage battery, a charging port is arranged outside the protective box, four groups of transverse propellers 6 are arranged in front of and behind the protective box 18 arranged on the underframe 8, four groups of vertical propellers 4 are arranged on the upper parts of the transverse propellers 6, the vertical propellers 4 and the transverse propellers 6 are arranged on the underframe 8, as shown in fig. 6, cylinders are arranged on the outer sides of the vertical propeller 4 and the horizontal propeller 6 which are arranged on the underframe 8, the rear side of each cylinder is provided with a motor installation cylinder, the motor installation cylinders are installed on the underframe 8 through a rotating structure, and the rotating structure can adjust the direction of the propellers by means of the rotation of the motors, so that the running direction of the robot can be changed when the robot runs underwater, and the robot turns, ascends and descends underwater. As shown in fig. 1, a protective shell 5 is installed on the upper portion of a chassis 8, vertical propellers 4 installed as shown penetrate through the protective shell 5 and are installed at four corners of the protective shell 5, round-angle rubber pads are arranged on the outer side of the protective shell 5, damage to devices inside equipment during collision can be effectively avoided, a front inspection device 2 and a rear inspection device 3 are installed in front of and behind the top of the protective shell 5, as shown in fig. 4, the inspection devices are provided with installation bases 13, rotating devices 14 are installed on the installation bases 13, searchlights 12 are installed on the left sides of the upper portions of the rotating devices 14, and cameras 15 are installed on the right sides of the upper portions of the rotating devices 14; the searchlight that sets up on the inspection device can supply the light source when robot operating environment is dark or dark light is not enough under water, the better inspection of being convenient for.

As shown in fig. 1-3, a mechanical arm 1 is arranged at the middle position of the top side of a protective shell 5, as shown in fig. 2, a mechanical claw 9 is arranged at the front end of the mechanical arm 1, as shown in fig. 2, a rotating device 10 is arranged at the middle part of the rear end of the mechanical claw 9, as shown in fig. 3, a control motor is arranged at the lower part of the rotating device 10, as shown in fig. 1, a base of the mechanical arm 1 is arranged at the middle part of the protective shell 5, as shown in fig. 1, a support rod is arranged on the base, two ends of the support rod are groove-shaped structures, as shown, the structures can realize the front-back rotation of the support rod of the mechanical arm, as shown, a rotating structure of a second support rod is arranged in a groove at the other end of the support rod, as shown, the front end of the rotating structure is a second support rod, as shown, a rotating mechanism is arranged at the tail end of the second support rod, as shown, the mechanism can realize the 360-degree rotation, as shown, a mechanical claw 9 is arranged at the front end of the rotating structure, as shown, a rotating motor is arranged in the interior provided with the rotating structure, the mechanical arm 1 covers the area around the robot through the rotating motor, and the purpose of cleaning roadblocks or sampling is achieved.

Working principle of the application

The amphibious robot is integrally designed in a waterproof mode, the robot is provided with a crawler wheel and a propeller, the robot is started after being fully charged with a power supply, is connected with a control terminal through a wireless device, is subjected to parameter setting through the terminal, is integrated with a Beidou positioning system on a robot mainboard, is provided with a detector at the external propeller, can realize accurate positioning and autonomous cruising, detects an operation environment, automatically switches an operation mode when a water body and the land operate, operates through the crawler wheel on the land, operates through the propeller in the water body, operates through the crawler wheel and the propeller when the robot operates at the bottom of water, realizes a water and land operation function, can control a mechanical arm arranged at the top of the robot through the control terminal and autonomously control the robot, can perform obstacle removal and sample collection through remote control or autonomous control of the robot when a sample meets an obstacle or needs to be collected in the operation inspection process, the inspection device of robot installation sets up rotary device, can realize the rotatory cover around the robot operation process, and luminance is supplemented through the searchlight when ambient brightness is not good, but the in-process data real-time transport of patrolling and examining, and the robot sets up independently learning function, can realize that fixed route and fixed equipment are patrolled and examined, and initial set is accomplished the back alright intelligent operation.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, but any modifications or equivalent variations made according to the technical spirit of the present invention are within the scope of the present invention as claimed.

Claims

1. The utility model provides a robot is patrolled and examined to amphibious, including arm (1), preceding inspection device (2), back inspection device (3), vertical oar (4), protecting crust (5), horizontal oar (6), crawler wheel (7), chassis (8), gripper (9), rotating device (10), rotating device control motor (11), base (13), rotary device (14), track (16), track motor (17), guard box (18), track guard plate (19), crossbeam (20), motor one (21) and motor two (22), its characterized in that: the bottom of the amphibious inspection robot is provided with an underframe (8), the underframe (8) is of a frame structure, and two cross beams (20) are arranged inside the underframe (8); crawler wheels (7) are mounted on two sides of the underframe (8), a crawler belt (16) is arranged on each crawler wheel (7), crawler belt protection plates (19) are arranged on the inner sides of the crawler belts (16), crawler belt driving wheels and supporting structures are arranged in the crawler belt protection plates (19), crawler belt motors (17) are mounted on the inner sides of the front ends of the crawler belts (16), and the crawler belt motors (17) are connected with the driving wheels; the intelligent inspection device is characterized in that a protective box (18) is arranged in the middle of the inner side of the bottom frame (8), the protective box is installed on a cross beam (20), a robot main board, a controller and a power supply are installed in the protective box (18), four groups of transverse propellers (6) are installed in the front and the back of the position of the protective box (18) installed on the bottom frame (8), four groups of vertical propellers (4) are installed on the upper portion of each transverse propeller (6), a protective shell (5) is installed on the upper portion of the bottom frame (8), the vertical propellers (4) are installed to penetrate through the protective shell (5), the vertical propellers (4) are installed at four corners of the protective shell (5), a front inspection device (2) and a rear inspection device (3) are installed on the front and the back of the top side of the protective shell (5), the inspection device is provided with an installation base (13), a rotating device (14) is installed on the base (13), and a searchlight (12) is installed on the left side of the upper portion of the rotating device (14), a camera (15) is arranged on the right side of the upper part of the rotating device (14); arranging a mechanical arm (1) in the middle of the top side of the protective shell (5), arranging a mechanical claw (9) at the front end of the mechanical arm (1), arranging a rotating device (10) in the middle of the rear end of the mechanical claw (9), arranging a rotating device control motor (11) at the lower part of the rotating device (10), arranging four groups of rotating shafts on the mechanical arm (1), arranging rotating shaft control motors in the rotating shafts, and arranging support rods between the rotating shafts; the lower end of the vertical propeller (4) is provided with a first motor (21), and the rear end of the transverse propeller (6) is provided with a second motor (22).

2. The amphibious inspection robot according to claim 1, wherein a cylinder is arranged outside the vertical propellers (4) and the horizontal propellers (6) mounted on the underframe (8), a motor mounting cylinder is arranged on the rear side of the cylinder, and the motor mounting cylinder is mounted on the underframe (8) through a rotating structure.

3. An amphibious inspection robot according to claim 1, characterized in that the robot is provided with an inspection device with a rotating device (14), and the inspection device is provided with a searchlight (12) and a camera (15).