CN114414571B - Wireless poisonous gas detection robot - Google Patents
Wireless poisonous gas detection robot Download PDFInfo
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- CN114414571B CN114414571B CN202210073875.9A CN202210073875A CN114414571B CN 114414571 B CN114414571 B CN 114414571B CN 202210073875 A CN202210073875 A CN 202210073875A CN 114414571 B CN114414571 B CN 114414571B
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- 238000001514 detection method Methods 0.000 title claims abstract description 26
- 231100000614 poison Toxicity 0.000 title description 4
- 230000007096 poisonous effect Effects 0.000 title description 4
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 238000005096 rolling process Methods 0.000 claims abstract description 54
- 230000005540 biological transmission Effects 0.000 claims abstract description 53
- 239000002341 toxic gas Substances 0.000 claims abstract description 11
- 238000009434 installation Methods 0.000 claims description 40
- 238000012545 processing Methods 0.000 claims description 7
- 238000012546 transfer Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 claims description 4
- 230000006978 adaptation Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 29
- 230000008569 process Effects 0.000 description 25
- 230000000694 effects Effects 0.000 description 5
- 238000001125 extrusion Methods 0.000 description 5
- 238000013016 damping Methods 0.000 description 4
- 239000007789 gas Substances 0.000 description 4
- 239000013013 elastic material Substances 0.000 description 3
- 239000012535 impurity Substances 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 239000000314 lubricant Substances 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 239000006096 absorbing agent Substances 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- FFBHFFJDDLITSX-UHFFFAOYSA-N benzyl N-[2-hydroxy-4-(3-oxomorpholin-4-yl)phenyl]carbamate Chemical compound OC1=C(NC(=O)OCC2=CC=CC=C2)C=CC(=C1)N1CCOCC1=O FFBHFFJDDLITSX-UHFFFAOYSA-N 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000004297 night vision Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/01—Arrangements or apparatus for facilitating the optical investigation
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- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of detectors, and particularly relates to a wireless toxic gas detection robot which comprises a detector body, a crawler-type rolling mechanism and a detector mounting part, wherein the crawler-type rolling mechanism is arranged on the side face of the detector body, at least two crawler-type rolling mechanisms are arranged, the detector mounting part is arranged at the end part of the detector body in a rotating mode, the detector body further comprises a shell, a driving mechanism for driving the crawler-type rolling mechanism is arranged in one end, away from the detector mounting part, of the shell, the driving mechanism comprises an electric motor, a toothed bar, a first gear, a transmission rod and a second gear, and the number of the first gears is matched with the number of the crawler-type rolling mechanisms. The invention can realize that the equipment enters a narrow detection hole, reduces the dependence on a wire through the support of the equipment, ensures that the equipment enters a detection place more conveniently and safely, and improves the controllable degree of detection.
Description
Technical Field
The invention belongs to the technical field of detectors, and particularly relates to a wireless toxic gas detection robot.
Background
The detector is the most critical component in the alarm system, is the front end part of the whole alarm system and directly determines the sensitivity and stability of the anti-theft alarm system. The detector consists of a sensor and signal processing, wherein the sensor is a core element of the detector, and adopts sensing devices with different principles to form alarm detection devices with different types and different purposes so as to achieve different detection purposes.
Problems of the prior art:
in the working process of the existing gas detection equipment, due to different detection site scenes and in some toxic gas monitoring processes, detection equipment is required to enter a narrow and bent hole, detection equipment is difficult to enter, equipment which is controlled by a wire enters a vertical space with a narrow cavity, the equipment is suspended and enters by the wire, damage and breakage of the wire are easily caused, and the equipment is more difficult to enter.
Disclosure of Invention
The invention aims to provide a wireless poisonous gas detection robot which can realize that equipment enters a narrow detection hole, and through the support of the equipment, the dependence on a wire is reduced, so that the equipment enters a detection place more conveniently and safely, and the controllable degree of detection is improved.
The technical scheme adopted by the invention is as follows:
a wireless poisonous gas detection robot comprises a detector body;
the crawler-type rolling mechanism is arranged on the side face of the detector body and is provided with at least two crawler-type rolling mechanisms;
the detector mounting part is mounted at the end part of the detector body;
the detector body further comprises a shell, a driving mechanism for driving the crawler-type rolling mechanism is arranged in one end, away from the detector mounting part, of the shell, the driving mechanism comprises an electric motor, a toothed bar, a first gear, a transmission bar and a second gear, the number of the first gears is matched with that of the crawler-type rolling mechanism, the toothed bar is in transmission connection with the electric motor, threads matched with the first gear are arranged on the outer side of the toothed bar, and a side tooth transmission wheel in meshed transmission with the second gear is arranged at the end part of the crawler-type rolling mechanism;
the detector mounting part comprises a mounting sleeve, a hydraulic table, a push-pull plate, a mounting seat, a camera module and a camera mounting table, wherein a plurality of pressing blocks are arranged on the inner wall of the mounting sleeve, a plurality of side cover plates are arranged on one side of each of the adjacent pressing blocks of the push-pull plate, the side cover plates are correspondingly arranged with the pressing blocks, a plurality of side plug blocks matched with the side cover plates are arranged on the side face of the camera mounting table, one end of each of the side plug blocks, which is adjacent, is sequentially provided with an arc-shaped connecting part and a connecting strip in an extending mode, each of the side plug blocks is inserted between two adjacent pressing blocks, the connecting strip is fixedly connected with the mounting seat at one end of each of the side plug blocks, and a sensor body is internally arranged at one end of each of the adjacent side plug blocks of the mounting seat;
The side cover plate is arc-shaped, the outer wall of the camera mounting table is also arc-shaped between two adjacent side plug blocks, the radius of the arc on the inner side of the side cover plate is smaller than the arc of the outer wall of the camera mounting table, an arc-shaped gap is formed between the middle part of the inner wall of the side cover plate and the outer wall of the camera mounting table, and a plurality of pressing blocks form annular inner side radii which are smaller than the radius of the annular outer side of the plurality of side cover plates.
The hydraulic bench is clamped inside the shell, the mounting sleeve is tightly mounted at the opening of the end part of the shell, the battery pack and the circuit board are inserted inside the shell, the mounting plate is arranged inside the shell, which is located at one end deviating from the mounting part of the detector, the waterproof bearing is in interference fit with the middle part of the mounting plate, and the waterproof bearing is connected with the electric motor in a rotating mode.
The first gear is in interference fit with the transmission rod, the transmission rod is inserted into the side wall of the shell and extends to be inserted into the second gear, and a bottom cover plate is arranged at one end, deviating from the installation part of the detector, of the shell.
The detachable type camera module is installed and is changeed in the camera mount table one end that deviates from the connecting strip, sensor body deviates from camera mount table one side and is connected with the wire that is used for the electricity to connect, the wire mounting hole that is used for the wire extension grafting is seted up on the push-and-pull board surface, the push-and-pull board is detachably connected with the mount pad, the connecting wire is still installed to camera mount table one end that deviates from the connecting strip, the connecting wire activity is pegged graft and is run through the installation cover.
The crawler-type rolling mechanism comprises a rubber crawler belt in transmission connection with a side tooth driving wheel, a first driving wheel is arranged at one end of the inside of the rubber crawler belt in transmission, a first connecting rod is inserted into the first driving wheel, and air spring loop bars hinged with the first connecting rod are sleeved at the middle parts of the first connecting rods at two sides;
the middle part inside the rubber track is provided with a second driving wheel in driving connection with the second driving wheel, a second connecting rod is inserted into the second driving wheel, two air spring inserting rods hinged with the second connecting rod are sleeved in the middle of the second connecting rod, two ends of the second connecting rod are respectively hinged with a first hinging rod and a second hinging rod, the ends of the first hinging rod and the second hinging rod are respectively hinged with a first fixing plate and a second fixing plate, and the length of the first hinging rod is longer than that of the second hinging rod;
the rubber crawler belt is characterized in that a third driving wheel is arranged at the other end of the rubber crawler belt, a third connecting rod is connected to the inside of the third driving wheel in a rotating mode, the side tooth driving wheel is connected with the third connecting rod in a rotating mode, one end of the third connecting rod extends to the outer side of the third driving wheel and is sleeved with a first fixing piece, the middle of the third connecting rod is sleeved with an air spring sleeve rod hinged to the middle of the third connecting rod, the other end of the third connecting rod is sleeved with an installation shell, and the installation shell is detachably installed through a second fixing piece in clamping connection.
The side tooth drive wheel rotates and installs inside the installation shell, the curved mounting groove has been seted up to installation shell top, the inside and the other end movable mounting of third connecting rod of second mounting, second mounting bottom both sides extension are provided with the installation leg, installation leg bottom and casing surface pass through bolt fixed mounting, the second mounting is pegged graft inside the mounting groove with the installation leg.
The third connecting rod is located the bottom of the inside one end of installation shell and has seted up the rotation connecting hole, the installation hole with rotation connecting hole looks adaptation has been seted up to the installation shell bottom, the transfer line is pegged graft inside the second gear and is extended in proper order and install inside the installation hole and rotate the connecting hole, installation hole and transfer line clearance fit, the transfer line rotates with the rotation connecting hole and is connected.
The wireless transmission module, the central processing unit and the control module are installed on the circuit board, the circuit board is connected with the control end through an electric signal, the circuit board is electrically connected with the camera module through a connecting wire, the circuit board is electrically connected with the sensor body through a wire, the circuit board is electrically connected with the battery pack, the electric motor is electrically connected with the circuit board in the battery pack respectively, and the circuit board is electrically connected with the hydraulic station.
The invention has the technical effects that:
according to the invention, as the plurality of crawler-type rolling mechanisms are arranged on the side face of the detector body, and at least two crawler-type rolling mechanisms are arranged, when the two crawler-type rolling mechanisms are positioned on opposite sides of the detector body, the crawler-type rolling mechanisms can be spread towards two sides, so that the detector body supports the detector body through the crawler-type rolling mechanisms in the moving process, the detector mounting part is arranged at the end part of the detector body, and the channel is observed through the detector mounting part, so that the advancing route of the detector body is determined, and the crawler-type rolling mechanisms have the expanded supportability, so that the detector body can operate in various operating environments.
According to the invention, the electric motor is arranged in the shell, the toothed bar rotates through the transmission of the electric motor, in the rotating process of the toothed bar, the position of the toothed bar is fixed by the mounting plate and the waterproof bearing, so that the first gear fixedly meshed with the side surface of the toothed bar rotates with the toothed bar, the first gear is transmitted to the side tooth transmission wheel through the transmission rod and the second gear, the crawler-type rolling mechanism is driven to rotate, the detector body moves along with the rotation, the battery pack for supplying electric energy for the electric motor and the circuit board for supplying control power for the electric motor are respectively clamped in the detector body, the toothed bar rotates through the provision of instructions, the rotating direction of the toothed bar is changed, and then the rotating direction of the side tooth transmission wheel is changed, so that the forward and backward movement of the detector body is realized, the transmission between the toothed bar and the first gear in the interior is prevented from being influenced by impurities through the protection of the bottom cover plate, and the stability of the transmission is ensured.
According to the invention, the detector mounting part is arranged at the end part of the shell, the main body of the detector mounting part is supported by the mounting sleeve arranged in the detector mounting part and is clamped in the shell through the hydraulic table, so that the hydraulic table can finish work when the hydraulic table acts, the hydraulic table pushes and pulls the push-pull plate fixed at one side of the adjacent mounting sleeve of the hydraulic table under the action of hydraulic pressure, the side of the push-pull plate, which is away from one side of the hydraulic table, is fixedly provided with the side cover plate, the side surface of the camera mounting table is provided with the side plug block, the side of the side plug block, adjacent to the hydraulic table, is extended with the connecting strip, fixes the mounting seat through the connecting strip which is annularly arranged, and is also provided with the pressing block corresponding to the side cover plate;
firstly, when the hydraulic table and the mounting sleeve are in a fixed state, the push-pull plate is pushed to move through the hydraulic table, so that the camera mounting table and the mounting seat are pushed to move, after the camera mounting table is gradually separated from the inside of the mounting sleeve, the annular inner radius formed by a plurality of pressing blocks is smaller than the annular outer radius formed by a plurality of side cover plates, so that after the side cover plates are gradually pushed out of the inside of the mounting sleeve, the outer side surfaces of the side cover plates are extruded through the pressing blocks, and the arc radius of the inner sides of the side cover plates is smaller than the arc of the outer walls of the camera mounting table, an arc gap is formed between the middle parts of the inner walls of the side cover plates and the outer walls of the camera mounting table, and the side cover plates are made of elastic materials, so that the side cover plates are turned over to the outer sides of the side plug blocks at the part of the pressed by the pressing blocks, the sensor bodies wrapped inside the side cover plates are further exposed, and electrical signal connection is generated between the sensor bodies and the circuit boards through wires, and the sensor bodies are in a working state, and the sensor bodies are protected by the side cover plates, so that the sensor bodies are prevented from being exposed for a long time, so that monitored data are greatly deviated, and the sensor bodies are prevented from being damaged in the process of moving the sensor bodies;
Secondly, in the process of moving the camera mounting table on the mounting seat, as the connecting wire is inserted into the mounting sleeve and is in sliding connection with the mounting sleeve, the connecting wire is further separated from the inside of the mounting sleeve through the movement of the camera mounting table, so that the stability of electric connection is ensured, the signal of the camera module is transmitted to the circuit board through the connecting wire, and the stability and the speed of data transmission are improved;
finally, because push-and-pull board is detachably connected with the mount pad, drag mount pad and camera mount pad to the inside in-process of installation cover through the push-and-pull board, through the extrusion of briquetting to the side cap board after the bending, make side cap board joint between two adjacent connecting rods, at the inside in-process of moving of camera mount pad to the installation cover, because each partial elasticity degree of side cap board can be different, and then make camera mount pad and mount pad probably produce the skew of certain degree, make the camera mount pad unable to move to the inside of installation cover for the arch of avoiding the side insert, therefore correct the camera mount pad through the arc connecting portion that sets up, because form the arc gap between the middle part of side cap inboard wall and the camera mount pad outer wall, and the side cap board self has certain elasticity, therefore get into the inside in-process of installation cover at the camera mount pad, through the extrusion of briquetting to the side cap board, make the structure reset after accomplishing, and the side cap board has certain elasticity, and then play certain cushioning effect to the sensor body.
According to the invention, the side tooth driving wheel is driven by the second gear, and is in driving connection with the inner wall of the rubber track, so that the rubber track is driven to rotate in the rotation process of the side tooth driving wheel, one side of the third connecting rod is fixed through the first fixing piece in the process of connecting the rubber track through the second gear, the other end of the third connecting rod is fixed under the interaction of the second fixing piece and the driving rod, and the side face of the third connecting rod is provided with the rotation connecting hole, the driving rod is rotationally inserted into the rotation connecting hole, and the other side face of the third connecting rod is clamped and fixed with the driving rod through the second fixing piece, so that the third connecting rod is in a stable state.
According to the invention, in the process of rotating the rubber crawler, the third driving wheel, the second driving wheel and the first driving wheel are sequentially driven to rotate, the second driving wheel and the first driving wheel are fixed with the first driving wheel in an inserting way through the air spring inserting rod, the air spring sleeve rod and the air spring inserting rod are hinged between the second connecting rod and the first connecting rod, the elastic stretching opposite to the air spring inserting rod can ensure the tight state of the rubber crawler, the falling off of the rubber crawler is avoided, the operation of the detector body and the crawler rolling mechanism is influenced, the first hinging rod and the second hinging rod are hinged at the two ends of the second connecting rod, the first fixing plate and the second fixing plate for fixing the ends of the first hinging rod are hinged at the two ends of the first hinging rod, the distance between the second fixing plate and the first fixing plate is adjusted, the distance between the second connecting rod and the side face of the shell is further adjusted, the crawler rolling mechanism is positioned at the outer side face of the detector body in an unfolding state, the detector body is further suitable for different working environments, after the second connecting rod is far away from the side face of the shell, the rubber crawler rolling mechanism is further stretched out of the shell, and the rubber rolling mechanism is further stressed at the side face of the shell opposite to the first connecting rod through the elastic sleeve rod and the second connecting rod, and the elastic sleeve rod is also suitable for being stretched out of the side face of the first connecting rod and the shell through the elastic sleeve rod, and the elastic sleeve rod is further positioned at the side face of the side of the second connecting rod and the side face of the rubber elastic sleeve rod and the second connecting rod is in a certain environment opposite to the side between the side of the shell, and through the elastic capability of the rubber crawler of the second connecting rod and the first connecting rod section, certain damping capability is provided for the inside of the detector body, and a protection effect can be generated for the sensor body and the camera module.
According to the invention, the mounting groove is formed in the side surface of the mounting shell, the second fixing piece and the mounting leg are clamped in the mounting groove, so that the dismounting mode of the crawler-type rolling mechanism can be simplified, the later maintenance is convenient, the mounting shell is prevented from being deformed greatly through the second fixing piece, further, the influence on the meshing rotation of the second gear and the side tooth driving wheel is avoided, and the lubricant can be added between the second gear and the side tooth driving wheel through the shell cover which is clamped and dismounted.
According to the invention, the control end is electrically connected with the circuit board through the electric signal, the electric motor, the hydraulic table and the camera module are controlled through the circuit board and the control module, and the information adopted by the sensor body is processed through the central processing unit and is transmitted to the control end through the wireless transmission module.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the probe body according to the present invention;
FIG. 3 is an exploded view of the detector mounting portion of the present invention;
FIG. 4 is a top view of a detector mounting portion of the present invention;
FIG. 5 is an enlarged view of the invention at A in FIG. 4;
FIG. 6 is a schematic view of the installation of the toothed bar of the present invention;
FIG. 7 is a schematic view of the track-type rolling mechanism of the present invention;
FIG. 8 is an exploded view of the track roller mechanism of the present invention;
FIG. 9 is an exploded view of the installation of the third connecting rod of the present invention;
fig. 10 is a bottom view of an exploded view of the installation of the third connecting rod of the present invention.
In the drawings, the list of components represented by the various numbers is as follows:
1. a detector body; 101. a housing; 102. a mounting plate; 103. a bottom cover plate; 104. an electric motor; 105. a waterproof bearing; 106. a toothed bar; 107. a first gear; 108. a transmission rod; 109. a second gear; 110. a battery pack; 111. a circuit board;
2. a crawler-type rolling mechanism; 201. a rubber crawler; 202. a first driving wheel; 203. a first connecting rod; 204. an air spring sleeve rod; 205. an air spring plunger; 206. a second driving wheel; 207. a first fixing plate; 208. a first hinge lever; 209. a second fixing plate; 210. a second hinge lever; 211. a first fixing member; 212. a second fixing member; 2121. a mounting leg; 2122. rotating the connecting hole; 213. a mounting shell; 2131. a mounting groove; 2132. a mounting hole; 214. a cover; 215. a second connecting rod; 216. a third connecting rod; 217. a third driving wheel; 218. a side tooth driving wheel;
3. a detector mounting portion; 301. a mounting sleeve; 302. a hydraulic stage; 303. a push-pull plate; 304. a side cover plate; 305. a wire mounting hole; 306. briquetting; 307. a mounting base; 308. a sensor body; 309. a wire; 310. a camera mounting table; 311. a side plug block; 312. an arc-shaped connecting part; 313. a connecting strip; 314. connecting wires; 315. and a camera module.
Detailed Description
The present invention will be specifically described with reference to examples below in order to make the objects and advantages of the present invention more apparent. It should be understood that the following text is intended to describe only one or more specific embodiments of the invention and does not limit the scope of the invention strictly as claimed.
As shown in fig. 1, a wireless toxic gas detection robot comprises a detector body 1, a crawler-type rolling mechanism 2 and a detector mounting part 3, wherein the crawler-type rolling mechanism 2 is arranged on the side surface of the detector body 1, at least two crawler-type rolling mechanisms 2 are arranged, and the detector mounting part 3 is arranged at the end part of the detector body 1;
according to the above structure, since the side surface of the detector body 1 is provided with the plurality of crawler-type rolling mechanisms 2, and the crawler-type rolling mechanisms 2 are at least two, when the two crawler-type rolling mechanisms 2 are positioned on opposite sides of the detector body 1, the crawler-type rolling mechanisms 2 can be spread towards two sides, so that the detector body 1 supports the detector body 1 through the crawler-type rolling mechanisms 2 in the moving process, the end part of the detector body 1 is provided with the detector mounting part 3, and the channel is observed through the detector mounting part 3 to determine the travelling route of the detector body 1, and the crawler-type rolling mechanisms 2 have the spread supportability, so that the detector body 1 can operate in various operating environments.
As shown in fig. 2 and 6, the detector body 1 further includes a housing 101, a driving mechanism for driving the crawler-type rolling mechanism 2 is disposed inside one end of the housing 101 away from the detector mounting portion 3, the driving mechanism includes an electric motor 104, a toothed bar 106, a first gear 107, a transmission rod 108 and a second gear 109, the number of the plurality of first gears 107 is adapted to that of the crawler-type rolling mechanism 2, the toothed bar 106 is in transmission connection with the electric motor 104, threads for matching with the first gears 107 are disposed outside the toothed bar 106, and a side tooth transmission wheel 218 meshed with the second gear 109 is disposed at the end of the crawler-type rolling mechanism 2;
further, a mounting plate 102 is arranged in the shell 101 at one end, which is away from the detector mounting part 3, a waterproof bearing 105 is in interference fit with the middle part of the mounting plate 102, and the inside of the waterproof bearing 105 is rotationally connected with an electric motor 104;
further, the first gear 107 is in interference fit with the transmission rod 108, the transmission rod 108 is inserted into the side wall of the shell 101 and extends to be inserted into the second gear 109, and the bottom cover plate 103 is installed at one end of the shell 101 away from the detector installation part 3;
according to the above structure, since the electric motor 104 is disposed in the housing 101, and the rack 106 is rotated by the electric motor 104 through transmission, during the rotation of the rack 106, the rack 106 is rotated by the fixing plate 102 and the waterproof bearing 105 in the rotation of the rack 106, and then the first gear 107 fixedly meshed with the side of the rack 106 is rotated with the rack, and is transmitted to the side gear 218 through the transmission rod 108 and the second gear 109, and the crawler-type rolling mechanism 2 is driven to rotate, so that the detector body 1 moves along with the rack, the battery pack 110 for providing electric energy for the electric motor 104 and the circuit board 111 for providing control power for the electric motor 104 are respectively clamped in the detector body 1, and the circuit board 111 provides instructions to rotate the rack 106, and changes the rotation direction of the rack 106, so as to change the rotation direction of the side gear 218, thereby realizing the forward and backward movement of the detector body 1, and avoiding the influence of impurities on the transmission between the rack 106 and the first gear 107 in the interior of the detector body 10 through the protection of the bottom cover plate 103, and ensuring the stability of the transmission.
As shown in fig. 3, the detector mounting portion 3 includes a mounting sleeve 301, a hydraulic platform 302, a push-pull plate 303, a mounting seat 307, a camera module 315 and a camera mounting platform 310, wherein a plurality of press blocks 306 are arranged on the inner wall of the mounting sleeve 301, a plurality of side cover plates 304 are arranged on one side of the push-pull plate 303 adjacent to the press blocks 306, the side cover plates 304 are correspondingly arranged with the press blocks 306, a plurality of side plug blocks 311 matched with the side cover plates 304 are arranged on the side surface of the camera mounting platform 310, an arc-shaped connecting portion 312 and connecting strips 313 are sequentially extended from one end of the side plug blocks 311 adjacent to the side cover plates 304, the side plug blocks 311 are inserted between the two adjacent press blocks 306, the inner portion of the connecting strips 313 away from one end of the side plug blocks 311 is fixedly connected with the mounting seat 307, and a sensor body 308 is arranged inside one end of the side plug block 311 adjacent to the mounting seat 307;
according to the above structure, the main body of the detector mounting portion 3 is supported by the mounting sleeve 301 arranged inside the detector mounting portion 3 and is clamped inside the housing 101 by the hydraulic table 302, so that the hydraulic table 302 can complete the work when the hydraulic table 302 acts, the push-pull plate 303 fixed on one side of the adjacent mounting sleeve 301 of the hydraulic table 302 is pushed and pulled by the hydraulic table 302 under the hydraulic action, and the side edge of the push-pull plate 303, which is away from one side of the hydraulic table 302, is fixed with the side cover 304, and the side surface of the camera mounting table 310 is provided with the side plug 311, and the side of the side plug 311, which is adjacent to the hydraulic table 302, is extended with the connecting strip 313, and the mounting seat 307 is fixed by the connecting strip 313 which is arranged in a ring shape.
As shown in fig. 4 and 5, the side cover plate 304 is arc-shaped, the outer wall of the camera mounting table 310 is also arc-shaped between two adjacent side plug blocks 311, the radius of the arc inside the side cover plate 304 is smaller than the arc of the outer wall of the camera mounting table 310, an arc-shaped gap is formed between the middle part of the inner wall of the side cover plate 304 and the outer wall of the camera mounting table 310, and the radius of the inner side of the ring formed by the plurality of pressing blocks 306 is smaller than the radius of the outer ring formed by the plurality of side cover plates 304;
the side cover 304 is made of elastic metal or plastic with better elasticity and stronger stretch resistance, wherein the most preferable metal spring is a metal spring, and the side cover 304 is made of the prior art, so the description is not repeated here;
according to the above structure, in the state that the hydraulic platform 302 and the mounting sleeve 301 are fixed, the push-pull plate 303 is pushed to move by the hydraulic platform 302, and then the movement of the camera mounting platform 310 and the mounting seat 307 is pushed, after the camera mounting platform 310 is gradually separated from the inside of the mounting sleeve 301, the annular inner radius formed by the plurality of pressing blocks 306 is smaller than the annular outer radius formed by the plurality of side cover plates 304, so that after the side cover plates 304 are gradually pushed out from the inside of the mounting sleeve 301, the outer side of the side cover plates 304 is extruded by the pressing blocks 306, the inner side of the side cover plates 304 is smaller than the outer side of the camera mounting platform 310, an arc-shaped gap is formed between the middle part of the inner wall of the side cover plates 304 and the outer wall of the camera mounting platform 310, and the side cover plates 304 are made of elastic materials, so that the part of the side cover plates 304 extruded by the pressing blocks 306 turns over towards the outer side of the side plug blocks 311, and then the connecting strips 313 are exposed out the sensor body 308 wrapped inside the side cover plates 304, and the sensor body 308 is connected between the circuit boards 111 by the electric signals, the sensor body 308 is in the working state, the sensor body 308 is protected by the connecting strips 313, the sensor body is protected from the sensor 308, and the sensor 308 is prevented from being damaged by the connecting strips 313, and the sensor 308 is prevented from being damaged in the process of the sensor body 308, which is greatly damaged in the process 1.
As shown in fig. 3 and 4, the camera module 315 is detachably mounted at one end of the camera mounting table 310 away from the connecting strip 313, one side of the sensor body 308 away from the camera mounting table 310 is connected with a wire 309 for electrical connection, the surface of the push-pull plate 303 is provided with a wire mounting hole 305 for extending and plugging the wire 309, the push-pull plate 303 is detachably connected with the mounting seat 307, one end of the camera mounting table 310 away from the connecting strip 313 is also provided with a connecting wire 314, and the connecting wire 314 is movably plugged and penetrates through the mounting sleeve 301;
according to the above structure, the camera module 315 is a camera module capable of achieving night vision effect, such as an infrared camera;
further, in the process of moving the camera mounting table 310 to the mounting seat 307, since the connecting wire 314 is inserted into the mounting sleeve 301 and is slidingly connected with the mounting sleeve, the connecting wire 314 is separated from the mounting sleeve 301 by the movement of the camera mounting table 310, so as to ensure the stability of electrical connection, and the signal of the camera module 315 is transmitted to the circuit board 111 by the connecting wire 314, so that the stability and speed of data transmission are improved;
furthermore, because the push-pull plate 303 is detachably connected with the mounting seat 307, in the process of dragging the mounting seat 307 and the camera mounting table 310 to the inside of the mounting sleeve 301 through the push-pull plate 303, the side cover plate 304 is clamped between two adjacent connecting strips 313 through the extrusion of the pressing block 306 to the bent side cover plate 304, in the process of moving the camera mounting table 310 to the inside of the mounting sleeve 301, the elasticity degree of each part of the side cover plate 304 may be different, so that the camera mounting table 310 and the mounting seat 307 may generate a certain degree of offset, the camera mounting table 310 cannot move to the inside of the mounting sleeve 301 for avoiding the protrusion of the side plug block 311, so that the camera mounting table 310 is corrected through the arranged arc-shaped connecting part 312, and the middle part of the inner wall of the side cover plate 304 and the outer wall of the camera mounting table 310 have a certain elasticity, so that the side cover plate 304 has a certain elasticity by the extrusion of the pressing block 304 on the opposite side cover plate 304 in the process of entering the inside of the mounting sleeve 301, after the structure is reset, the side cover plate 304 is more stable, and a certain elasticity body exists to the side cover plate 304 has a certain elasticity body to play a certain role in damping the vibration absorber 308.
Referring to fig. 7 and 8, the crawler rolling mechanism 2 comprises a rubber crawler 201 in transmission connection with a side tooth driving wheel 218, a first driving wheel 202 is arranged at one end of the inside of the rubber crawler 201 in transmission, a first connecting rod 203 is inserted into the first driving wheel 202, and an air spring sleeve rod 204 hinged with the first connecting rod 203 is sleeved in the middle of the first connecting rod 203 at two sides;
further, a second driving wheel 206 in driving connection with the second driving wheel is arranged in the middle of the rubber crawler 201, a second connecting rod 215 is inserted into the second driving wheel 206, two air spring inserting rods 205 hinged with the second connecting rod 215 are sleeved in the middle of the second connecting rod 215, a first hinging rod 208 and a second hinging rod 210 are respectively hinged at two ends of the second connecting rod 215, a first fixing plate 207 and a second fixing plate 209 are respectively hinged at the ends of the first hinging rod 208 and the second hinging rod 210, and the length of the first hinging rod 208 is longer than that of the second hinging rod 210;
further, a third driving wheel 217 is mounted at the other end of the rubber crawler 201, a third connecting rod 216 is rotatably connected to the inside of the third driving wheel 217, a side tooth driving wheel 218 is rotatably connected with the third connecting rod 216, a first fixing piece 211 is sleeved at one end of the third connecting rod 216 extending to the outer side of the third driving wheel 217, an air spring sleeve rod 204 hinged with the third connecting rod 216 is sleeved at the middle part of the third connecting rod 216, a mounting shell 213 is sleeved at the other end of the third connecting rod 216, and the mounting shell 213 is detachably mounted through a second fixing piece 212 in clamping connection.
According to the above structure, during the rotation of the rubber crawler 201, the third driving wheel 217, the second driving wheel 206 and the first driving wheel 202 are sequentially driven to rotate, and the second driving wheel 206 and the first driving wheel 202 are fixed in an inserting manner with the first driving wheel 202 through the air spring inserting rod 205, because the air spring sleeve rod 204 and the air spring inserting rod 205 are hinged between the second connecting rod 215 and the first connecting rod 203, the tight state of the rubber crawler 201 can be ensured by the elastic stretching of the air spring sleeve rod 204 and the air spring inserting rod 205, the falling of the rubber crawler 201 is avoided, the operation of the detector body 1 and the crawler rolling mechanism 2 is affected, because the two ends of the second connecting rod 215 are hinged with the first hinging rod 208 and the second hinging rod 210, and the ends of the first hinging rod 208 and the second hinging rod 210 are both hinged with the first fixing plate 207 and the second fixing plate 209 for fixing the ends thereof, by adjusting the distance between the second fixing plate 209 and the first fixing plate 207, and further adjusting the distance between the second connecting rod 215 and the side surface of the housing 101, the crawler rolling mechanism 2 is located at the outer side of the detector body 1 and is in an unfolding state, and the detector body 1 is suitable for different working environments, after the second connecting rod 215 is far away from the side surface of the housing 101, due to the elasticity of the air spring sleeve rod 204 and the air spring insert rod 205 located between the second connecting rod 215 and the first connecting rod 203, after the second connecting rod 215 is far away from the side surface of the housing 101, the rubber crawler 201 located at one side of the second connecting rod 215 and the first connecting rod 203 can be unfolded through supportability, and in the unfolded state of the rubber crawler 201, the crawler rolling mechanism is extruded at one side of the side surface of the housing 101, and the hinging relationship between the air spring insert rod 205 and the air spring sleeve rod 204 and the second connecting rod 215 can be achieved, the rubber crawler 201 of the second connecting rod 215 and the first connecting rod 203 section also has certain elastic capability, so that the sensor body 308 and the camera module 315 can be protected by the elastic capability of the rubber crawler 201 of the second connecting rod 215 and the first connecting rod 203 section and a certain damping capability.
As shown in fig. 9, the side tooth driving wheel 218 is rotatably mounted in the mounting shell 213, an arc-shaped mounting groove 2131 is formed in the top of the mounting shell 213, the second fixing piece 212 is movably mounted with the other end of the third connecting rod 216, mounting legs 2121 are extended and arranged on two sides of the bottom of the second fixing piece 212, the bottom of the mounting legs 2121 is fixedly mounted with the surface of the shell 101 through bolts, and the second fixing piece 212 and the mounting legs 2121 are spliced in the mounting groove 2131;
according to the above structure, since the mounting groove 2131 is formed in the side surface of the mounting shell 213 and is located in the mounting groove 2131 and is clamped with the second fixing member 212 and the mounting leg 2121, the disassembly and assembly of the crawler-type rolling mechanism 2 can be simplified, the later maintenance is facilitated, the mounting shell 213 is prevented from being deformed greatly by the second fixing member 212, the second gear 109 and the side tooth driving wheel 218 are prevented from being influenced to rotate in a meshed manner, and the lubricant can be added between the second gear 109 and the side tooth driving wheel 218 by the provision of the clamping and disassembling cover 214.
Referring to fig. 10, a rotational connection hole 2122 is formed at the bottom of one end of the third connection rod 216 located inside the installation shell 213, an installation hole 2132 adapted to the rotational connection hole 2122 is formed at the bottom of the installation shell 213, the transmission rod 108 is inserted into the second gear 109 and sequentially extends to be installed inside the installation hole 2132 and the rotational connection hole 2122, the installation hole 2132 is in clearance fit with the transmission rod 108, and the transmission rod 108 is rotationally connected with the rotational connection hole 2122;
According to the above structure, since the side tooth driving wheel 218 is driven by the second gear 109, and the side tooth driving wheel 218 is in driving connection with the inner wall of the rubber crawler 201, the rubber crawler 201 is driven to rotate during the rotation of the side tooth driving wheel 218, and during the driving connection of the second gear 109 to the rubber crawler 201, one side of the third connecting rod 216 is fixed by the first fixing piece 211, and the other end is fixed by the interaction of the second fixing piece 212 and the driving rod 108, and since the side surface of the third connecting rod 216 is provided with the rotation connecting hole 2122, and the driving rod 108 is rotationally inserted into the rotation connecting hole 2122, the other side surface of the third connecting rod 216 is clamped with the driving rod 108 by the second fixing piece 212, so that the third connecting rod 216 is in a stable state.
Referring to fig. 2 and 3, a hydraulic platform 302 is clamped inside a casing 101, a mounting sleeve 301 is tightly mounted at an opening at the end of the casing 101, and a battery pack 110 and a circuit board 111 are inserted inside the casing 101;
further, a wireless transmission module, a central processing unit and a control module are installed on the circuit board 111, the circuit board 111 is connected with an operation end through an electric signal, the circuit board 111 is electrically connected with the camera module 315 through a connecting wire 314, the circuit board 111 is electrically connected with the sensor body 308 through a wire 309, the circuit board 111 is electrically connected with the battery pack 110, the electric motor 104 is respectively electrically connected with the circuit board 111 in the battery pack 110, and the circuit board 111 is electrically connected with the hydraulic table 302;
According to the above structure, since the control end is electrically connected with the circuit board 111 through the electrical signal, and controls the electric motor 104, the hydraulic table 302 and the camera module 315 through the circuit board 111 and the control module, the information collected by the sensor body 308 is processed through the central processing unit, and is transmitted to the control end through the wireless transmission module.
The working principle of the invention is as follows: the rack 106 is rotated through the transmission of the electric motor 104, in the rotation process of the rack 106, as the position of the rack 106 is fixed by the mounting plate 102 and the waterproof bearing 105 in the rotation process of the rack 106, the first gear 107 fixedly meshed with the side surface of the rack 106 can rotate with the rack, and is transmitted to the side tooth transmission wheel 218 through the transmission rod 108 and the second gear 109, the crawler-type rolling mechanism 2 is driven to rotate, the detector body 1 moves along with the rack, the battery pack 110 for supplying electric energy to the electric motor 104 and the circuit board 111 for supplying control power to the electric motor 104 are respectively clamped inside the detector body 1, the circuit board 111 enables the rack 106 to rotate through providing instructions, and the rotation direction of the side tooth transmission wheel 218 is changed through changing the rotation direction of the rack 106, so that the detector body 1 is advanced and retreated, the transmission between the rack 106 and the first gear 107 inside the detector body 10 is prevented from being influenced by impurities through the protection of the bottom cover plate 103, and the stability of the transmission is ensured;
The main body of the detector mounting part 3 is supported through the mounting sleeve 301 arranged in the detector mounting part 3 and is clamped in the shell 101 through the hydraulic platform 302, so that when the hydraulic platform 302 acts, the work can be completed, the hydraulic platform 302 pushes and pulls the push-pull plate 303 fixed on one side of the hydraulic platform 302 adjacent to the mounting sleeve 301 through the hydraulic action, as the side edge of the push-pull plate 303, which is away from the side of the hydraulic platform 302, is fixed with the side cover 304, the side surface of the camera mounting platform 310 is provided with the side plug block 311, the side of the side plug block 311 adjacent to the hydraulic platform 302 is extended with the connecting strip 313, the mounting seat 307 is fixed through the connecting strip 313 which is annularly arranged, and the pressing block 306 corresponding to the side cover 304 is also arranged in the mounting sleeve 301;
firstly, in a fixed state of the hydraulic platform 302 and the mounting sleeve 301, the hydraulic platform 302 pushes the push-pull plate 303 to move, so as to push the camera mounting platform 310 and the mounting seat 307 to move, after the camera mounting platform 310 is gradually separated from the inside of the mounting sleeve 301, as the annular inner radius formed by the plurality of pressing blocks 306 is smaller than the annular outer radius formed by the plurality of side cover plates 304, after the side cover plates 304 are gradually pushed out of the inside of the mounting sleeve 301, the outer side of the side cover plates 304 is extruded by the pressing blocks 306, and as the arc radius of the inner side of the side cover plates 304 is smaller than the arc of the outer wall of the camera mounting platform 310, an arc gap is formed between the middle part of the inner wall of the side cover plates 304 and the outer wall of the camera mounting platform 310, and the side cover plates 304 are made of elastic materials, so that the part of the side cover plates 304 extruded by the pressing blocks 306 turns over to the outer side of the side plug blocks 311, and then the sensor bodies 308 wrapped by the connecting strips 313 in the side cover plates 304 are exposed, and the sensor bodies 308 are connected between the circuit boards 111 by the conducting wires 309, the sensor bodies 308 are in a working state, the sensor bodies 308 are protected by the connecting strips 313, the sensor bodies 308 are protected by the sensor bodies 308, and the sensor bodies 308 are prevented from being damaged in the process, and the sensor bodies are prevented from being damaged in the process of being 1;
Secondly, in the process of moving the camera mounting table 310 to the mounting seat 307, as the connecting wire 314 is inserted into the mounting sleeve 301 and is in sliding connection with the mounting sleeve, the connecting wire 314 is separated from the mounting sleeve 301 through the movement of the camera mounting table 310, so as to ensure the stability of electrical connection, and the signal of the camera module 315 is transmitted to the circuit board 111 through the connecting wire 314, so that the stability and speed of data transmission are improved;
finally, because the push-pull plate 303 is detachably connected with the mounting seat 307, in the process of dragging the mounting seat 307 and the camera mounting table 310 into the mounting sleeve 301 through the push-pull plate 303, an arc-shaped gap is formed between the middle part of the inner wall of the side cover plate 304 and the outer wall of the camera mounting table 310 through the extrusion of the pressing block 306, and the side cover plate 304 is clamped between two adjacent connecting strips 313, in the process of moving the camera mounting table 310 into the mounting sleeve 301, the elasticity degree of each part of the side cover plate 304 can be different, so that the camera mounting table 310 and the mounting seat 307 can possibly generate certain degree of offset, the camera mounting table 310 cannot move into the mounting sleeve 301 due to the protrusion of the side plug block 311, and therefore, the camera mounting table 310 is corrected through the arranged arc-shaped connecting part 312;
The side tooth driving wheel 218 is driven by the second gear 109, and the side tooth driving wheel 218 is in driving connection with the inner wall of the rubber crawler 201, so that the rubber crawler 201 is driven to rotate in the process of rotating the side tooth driving wheel 218, one side of the third connecting rod 216 is fixed through the first fixing piece 211 in the process of connecting the second gear 109 with the rubber crawler 201, the other end of the third connecting rod 216 is fixed under the interaction of the second fixing piece 212 and the driving rod 108, and the side face of the third connecting rod 216 is provided with a rotating connecting hole 2122, the driving rod 108 is inserted into the rotating connecting hole 2122 in a rotating mode, and the other side face of the third connecting rod 216 is clamped with the driving rod 108 through the second fixing piece 212, so that the third connecting rod 216 is in a stable state;
in the process of rotating the rubber crawler 201, the third driving wheel 217, the second driving wheel 206 and the first driving wheel 202 are sequentially driven to rotate, the second driving wheel 206 and the first driving wheel 202 are fixed with the first driving wheel 202 in an inserting way through the air spring inserting rod 205, as the air spring sleeve rod 204 and the air spring inserting rod 205 are hinged between the second connecting rod 215 and the first connecting rod 203, the tight state of the rubber crawler 201 can be ensured by the elastic stretching opposite to the air spring sleeve rod 204 and the air spring inserting rod 205, the falling of the rubber crawler 201 is avoided, the operation of the detector body 1 and the crawler rolling mechanism 2 is influenced, as the two ends of the second connecting rod 215 are hinged with the first hinging rod 208 and the second hinging rod 210, and the ends of the first hinging rod 208 and the second hinging rod 210 are hinged with the first fixing plate 207 and the second fixing plate 209 for fixing the ends thereof, by adjusting the distance between the second fixing plate 209 and the first fixing plate 207, and further adjusting the distance between the second connecting rod 215 and the side surface of the housing 101, the crawler rolling mechanism 2 is located at the outer side of the detector body 1 and is in an unfolding state, and the detector body 1 is suitable for different working environments, after the second connecting rod 215 is far away from the side surface of the housing 101, due to the elasticity of the air spring sleeve rod 204 and the air spring insert rod 205 located between the second connecting rod 215 and the first connecting rod 203, after the second connecting rod 215 is far away from the side surface of the housing 101, the rubber crawler 201 located at one side of the second connecting rod 215 and the first connecting rod 203 can be unfolded through supportability, and in the unfolded state of the rubber crawler 201, the crawler rolling mechanism is extruded at one side of the side surface of the housing 101, and the hinging relationship between the air spring insert rod 205 and the air spring sleeve rod 204 and the second connecting rod 215 can be achieved, the rubber crawler 201 of the second connecting rod 215 and the first connecting rod 203 section also has certain elastic capability, so that the sensor body 308 and the camera module 315 can be protected by providing certain damping capability for the inside of the detector body 1 through the elastic capability of the rubber crawler 201 of the second connecting rod 215 and the first connecting rod 203 section and further being applicable to different working environments;
The mounting groove 2131 is formed in the side surface of the mounting shell 213 and is positioned in the mounting groove 2131 to be clamped with the second fixing piece 212 and the mounting leg 2121, so that the dismounting mode of the crawler-type rolling mechanism 2 can be simplified, the later maintenance is convenient, the mounting shell 213 is prevented from being deformed greatly by the second fixing piece 212, further, the second gear 109 and the side tooth driving wheel 218 are prevented from being influenced by the meshing rotation of the second gear 109 and the side tooth driving wheel 218, and the lubricant can be added between the second gear 109 and the side tooth driving wheel 218 by arranging the clamping and dismounting shell cover 214;
the control end is electrically connected with the circuit board 111 through an electric signal, controls the electric motor 104, the hydraulic platform 302 and the camera module 315 through the circuit board 111 and the control module, processes information adopted by the sensor body 308 through the central processing unit, and transmits the information to the control end through the wireless transmission module.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention. Structures, devices and methods of operation not specifically described and illustrated herein, unless otherwise indicated and limited, are implemented according to conventional means in the art.
Claims (7)
1. A wireless toxic gas detection robot, comprising:
a detector body (1);
the crawler-type rolling mechanism (2) is arranged on the side face of the detector body (1), and the crawler-type rolling mechanism (2) is at least provided with two;
a detector mounting part (3), wherein the detector mounting part (3) is mounted at the end part of the detector body (1);
the detector comprises a detector body (1), and is characterized in that the detector body (1) further comprises a shell (101), a driving mechanism for driving a crawler-type rolling mechanism (2) is arranged inside one end, deviating from a detector mounting part (3), of the shell (101), the driving mechanism comprises an electric motor (104), a toothed bar (106), a first gear (107), a transmission rod (108) and a second gear (109), the number of the first gears (107) is matched with that of the crawler-type rolling mechanism (2), the toothed bar (106) is in transmission connection with the electric motor (104), threads matched with the first gear (107) are arranged on the outer side of the toothed bar (106), and a side tooth transmission wheel (218) meshed with the second gear (109) is arranged at the end part of the crawler-type rolling mechanism (2);
The detector mounting part (3) comprises a mounting sleeve (301), a hydraulic table (302), a push-pull plate (303), a mounting seat (307), a camera module (315) and a camera mounting table (310), wherein a plurality of pressing blocks (306) are arranged on the inner wall of the mounting sleeve (301), a plurality of side cover plates (304) are arranged on one side of each adjacent pressing block (306) of the push-pull plate (303), the side cover plates (304) are correspondingly arranged with the pressing blocks (306), a plurality of side plug blocks (311) matched with the side cover plates (304) are arranged on the side surface of the camera mounting table (310), an arc-shaped connecting part (312) and a connecting strip (313) are sequentially arranged at one end of each adjacent side cover plate (304) in an extending mode, each side plug block (311) is inserted between two adjacent pressing blocks (306), the connecting strip (313) is fixedly connected with the mounting seat (307) at one end, and a sensor body (308) is internally mounted at one end of each adjacent side plug block (307);
the side cover plate (304) is arc-shaped, the outer wall of the camera mounting table (310) is also arc-shaped between two adjacent side plug blocks (311), the arc-shaped radius of the inner side of the side cover plate (304) is smaller than the arc-shaped radius of the outer wall of the camera mounting table (310), an arc-shaped gap is formed between the middle part of the inner wall of the side cover plate (304) and the outer wall of the camera mounting table (310), and the inner side radius of the annular shape formed by a plurality of pressing blocks (306) is smaller than the outer side radius of the annular shape formed by a plurality of side cover plates (304);
The hydraulic platform (302) is clamped inside the shell (101), the mounting sleeve (301) is tightly mounted at the opening of the end part of the shell (101), the battery pack (110) and the circuit board (111) are inserted inside the shell (101), the mounting plate (102) is arranged inside the shell (101) at one end deviating from the detector mounting part (3), the waterproof bearing (105) is in interference fit with the middle part of the mounting plate (102), and the inside of the waterproof bearing (105) is rotationally connected with the electric motor (104);
the main body of the detector mounting part (3) is supported by the mounting sleeve (301) in the detector mounting part (3), the hydraulic table (302) is clamped in the shell (101), and when the hydraulic table (302) acts, the work can be completed;
the hydraulic platform (302) realizes the push-pull movement of the hydraulic platform (302) to a push-pull plate (303) fixed on one side of the adjacent installation sleeve (301) through the hydraulic action;
because the side edge of the push-pull plate (303) deviating from one side of the hydraulic table (302) is fixed with a side cover plate (304), and the side surface of the camera mounting table (310) is provided with a side plug block (311), one side of the side plug block (311) adjacent to the hydraulic table (302) extends to be provided with a connecting strip (313), and the connecting strip (313) which is annularly arranged is used for fixing the mounting seat (307).
2. A wireless toxic gas detection robot according to claim 1, wherein: the first gear (107) is in interference fit with the transmission rod (108), the transmission rod (108) is inserted into the side wall of the shell (101) and extends to be inserted into the second gear (109), and the bottom cover plate (103) is installed at one end, deviating from the detector installation part (3), of the shell (101).
3. A wireless toxic gas detection robot according to claim 1, wherein: the camera module (315) detachably rotates at one end of the camera mounting table (310) deviating from the connecting strip (313), a wire (309) used for electric connection is connected to one side of the sensor body (308) deviating from the camera mounting table (310), a wire mounting hole (305) used for extending and inserting the wire (309) is formed in the surface of the push-pull plate (303), the push-pull plate (303) is detachably connected with the mounting seat (307), a connecting wire (314) is further installed at one end of the camera mounting table (310) deviating from the connecting strip (313), and the connecting wire (314) is movably inserted and penetrates through the mounting sleeve (301).
4. A wireless toxic gas detection robot according to claim 1, wherein: the crawler-type rolling mechanism (2) comprises a rubber crawler belt (201) in transmission connection with a side tooth driving wheel (218), a first driving wheel (202) is arranged at one end in the rubber crawler belt (201) in transmission, a first connecting rod (203) is inserted into the first driving wheel (202), and air spring sleeve rods (204) hinged with the first connecting rod (203) are sleeved at the middle parts of the two sides of the first connecting rod;
The middle part inside the rubber crawler belt (201) is provided with a second driving wheel (206) in transmission connection with the second driving wheel, a second connecting rod (215) is inserted in the second driving wheel (206), two air spring inserting rods (205) hinged with the second connecting rod are sleeved in the middle of the second connecting rod (215), two ends of the second connecting rod (215) are respectively hinged with a first hinging rod (208) and a second hinging rod (210), the ends of the first hinging rod (208) and the second hinging rod (210) are respectively hinged with a first fixing plate (207) and a second fixing plate (209), and the length of the first hinging rod (208) is larger than that of the second hinging rod (210);
the novel rubber crawler belt is characterized in that a third driving wheel (217) is mounted at the other end of the rubber crawler belt (201), a third connecting rod (216) is rotatably connected to the inside of the third driving wheel (217), a side tooth driving wheel (218) is rotatably connected with the third connecting rod (216), one end of the third connecting rod (216) extends to the outer side of the third driving wheel (217) to be sleeved with a first fixing piece (211), the middle part of the third connecting rod (216) is sleeved with an air spring sleeve rod (204) hinged with the third connecting rod, the other end of the third connecting rod (216) is sleeved with a mounting shell (213), and the mounting shell (213) is detachably mounted through a second fixing piece (212) which is connected in a clamping mode.
5. A wireless toxic gas detection robot according to claim 4, wherein: the side tooth drive wheel (218) is rotatably arranged inside the installation shell (213), an arc-shaped installation groove (2131) is formed in the top of the installation shell (213), the second fixing piece (212) is movably arranged inside the installation shell and at the other end of the third connecting rod (216), installation legs (2121) are arranged on two sides of the bottom of the second fixing piece (212) in an extending mode, the bottoms of the installation legs (2121) are fixedly arranged on the surface of the shell (101) through bolts, and the second fixing piece (212) and the installation legs (2121) are inserted into the installation groove (2131).
6. A wireless toxic gas detection robot according to claim 4, wherein: the third connecting rod (216) is located the bottom of the inside one end of installation shell (213) and has seted up rotation connecting hole (2122), installation hole (2132) with rotation connecting hole (2122) looks adaptation have been seted up to installation shell (213) bottom, transfer line (108) are pegged graft inside second gear (109) and are extended to install in proper order inside mounting hole (2132) and rotation connecting hole (2122), mounting hole (2132) and transfer line (108) clearance fit, transfer line (108) are rotated with rotation connecting hole (2122) and are connected.
7. A wireless toxic gas detection robot according to claim 1, wherein: install wireless transmission module, central processing unit and control module on circuit board (111), just circuit board (111) have through the signal connection to control the end, wherein circuit board (111) are connected with camera module (315) electricity through connecting wire (314), circuit board (111) are connected with sensor body (308) electricity through wire (309), circuit board (111) are connected with battery package (110) electricity, electric motor (104) are connected with circuit board (111) electricity in battery package (110) respectively, circuit board (111) are connected with hydraulic pressure platform (302) electric control.
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| CN202210073875.9A CN114414571B (en) | 2022-01-21 | 2022-01-21 | Wireless poisonous gas detection robot |
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| CN202210073875.9A CN114414571B (en) | 2022-01-21 | 2022-01-21 | Wireless poisonous gas detection robot |
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