Stair-climbing anti-explosion inspection robot
By using a sealed drive design and a multi-functional detection module, the problems of difficulty in climbing stairs and limited functionality of explosion-proof inspection robots have been solved. This enables autonomous climbing in explosive environments and high-precision fault identification, thereby improving safety and intelligence.
Patent Information
- Application Number
- CN202511026731.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-24
- Publication Date
- 2025-11-07
AI Technical Summary
Existing explosion-proof inspection robots cannot autonomously climb industrial stairs with an inclination of about 45°. External motors or insufficient sealing can easily cause explosions. Their excessive weight makes climbing difficult. Their functions are limited and lack multi-parameter fusion analysis and intelligent diagnosis.
It adopts a sealed drive design, a splined shaft slide table pitch adjustment mechanism, and an AI multimodal detection system, including an explosion-proof enclosure, a four-wheel drive system, a stair-climbing mechanism, and a multi-functional detection module. Through a fully built-in motor, a double explosion-proof sealing structure, a wheel track adaptive mechanism, and multi-sensor data fusion diagnosis, it achieves electrical spark explosion protection and intelligent fault identification.
It improves the robot's safety and adaptability in explosive environments, enables it to climb buildings autonomously, achieves a fault identification accuracy rate of 97%, meets Exd IIC T4 level explosion-proof requirements, and enhances the level of intelligence through multi-sensor data fusion diagnosis.
Smart Images
Figure CN120902853A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the field of special robot technology, and in particular to a stair-climbing explosion-proof inspection robot suitable for explosive environments such as petrochemical industry and coal mine, and having the functions of track self-adaptation, multi-sensor fusion and AI analysis. BACKGROUND
[0002] In some environments where explosion hazards may occur at any time, explosion-proof inspection robots are needed to patrol or check for danger sources under the premise of ensuring personnel safety. Current explosion-proof inspection robots have defects and deficiencies, including the following aspects:
[0003] 1. Stair climbing defects: Currently, there is no explosion-proof inspection robot that can autonomously climb an industrial stair with an inclination of about 45°.
[0004] 2. Explosion-proof defects: Externally mounted or insufficiently sealed motors can easily cause explosions.
[0005] 3. Self-weight defects: The robot is particularly heavy and has difficulty climbing steep slopes, let alone staircases.
[0006] 4. Single function: Lack of multi-parameter fusion analysis and intelligent diagnosis.
[0007] Therefore, the structure design and module function of the explosion-proof inspection robot need to be further improved and optimized.
[0008] The present application solves the above problems through a sealed drive design, a spline shaft sliding table distance adjustment mechanism and an AI multi-modal detection system. SUMMARY
[0009] To solve the above problems, the present application provides a stair-climbing explosion-proof inspection robot, which includes an explosion-proof box body, a four-wheel drive system, a stair-climbing mechanism, a sliding table distance adjustment device and a multifunctional detection module.
[0010] The four-wheel drive system is arranged inside the explosion-proof box body and partially extends to connect with the stair-climbing mechanism, and is used to drive the stair-climbing mechanism to act.
[0011] The stair-climbing mechanism includes a wheel assembly, and the wheel assembly is in transmission connection with the four-wheel drive system through a spline structure.
[0012] The sliding table distance adjustment device is used to drive the axial movement of the spline structure, and adjust the relative wheel distance of the stair-climbing gear and the guide wheel.
[0013] The multifunctional detection module includes a plurality of functional units, and is used for corresponding fault identification.
[0014] As a further illustration of the present application, the four-wheel drive system comprises a driving motor arranged in the explosion-proof box body, a driving shaft of the driving motor extending out of the explosion-proof box body and being in transmission connection with the wheel assembly, and a first explosion-proof sealing structure arranged between the driving shaft and the explosion-proof box body for dynamic explosion-proof sealing.
[0015] Further, the first explosion-proof sealing structure comprises an explosion-proof sealing ring sleeved on the driving shaft of the driving motor, and the explosion-proof sealing ring is made of fluororubber.
[0016] Further, the explosion-proof box body is provided with a plurality of second explosion-proof sealing structures for static explosion-proof sealing.
[0017] Further, the second explosion-proof sealing structure comprises a sealing end cover and an elastic explosion-proof sealing gasket, the sealing end cover is arranged on the explosion-proof box body at the driving shaft, and the elastic explosion-proof sealing gasket is arranged between the sealing end cover and the explosion-proof box body.
[0018] Further, the wheel assembly comprises a walking wheel and a guide wheel, the walking wheel is driven by the climbing gear, the guide wheel is fixed on the spline shaft through the bearing inside the guide wheel, the climbing gear is fixed on the spline shaft through the key connection, and the spline shaft is installed in the spline sleeve.
[0019] Further, the slide table distance adjusting device comprises a slide table motor, a driving pulley, a belt, a driven pulley, a bidirectional screw, a left sliding block, a right sliding block, a left dial and a right dial; the slide table motor drives the bidirectional screw to rotate through the transmission structure composed of the driving pulley, the belt and the driven pulley, drives the left sliding block and the right sliding block to slide towards each other, drives the axial movement of the spline shaft through the dial block at the front end of the left dial and the right dial, and adjusts the relative wheel distance of the climbing gear and the guide wheel.
[0020] Further, the driving motor is in transmission connection with the spline structure through a gear transmission structure.
[0021] Further, the functional unit comprises an explosion-proof holder, a laser range finder, an ultrasonic sensor, a multi-gas detector, a flame detector and a high-fidelity microphone array; the explosion-proof holder is provided with a high-definition infrared camera for collecting image data; the laser range finder and the ultrasonic sensor are used for ranging and obstacle avoidance; the multi-gas detector is used for collecting flammable and explosive gas information; the flame detector is used for collecting spectral information; and the high-fidelity microphone array is used for collecting voiceprint information.
[0022] Further, the explosion-proof box body comprises a box body upper cover connected with the explosion-proof box body through bolts, and the explosion-proof holder, the laser range finder, the multi-gas detector, the flame detector and the high-fidelity microphone array are fixed on the box body upper cover; and the ultrasonic sensor is fixed outside the explosion-proof box body.
[0023] The present application has the following advantages:
[0024] The motor full-internal and shaft seal double protection structure is adopted, the safety of the stair-climbing explosion-proof inspection robot is greatly improved, the whole system meets the Exd IIC T4 level explosion-proof, and the risk of electric spark ignition can be effectively eliminated; the wheel track self-adaptive mechanism is adopted, the slide table driving spline shaft linear displacement is adopted, the gear pair center distance continuously adjustable guide wheel is rigidly connected with the gear, the synchronous displacement ensures the constant engagement depth, the wheel track dynamic adjustment response time is less than 2s, the non-standard spacing track is compatible, and the adaptability of the stair-climbing explosion-proof inspection robot is greatly improved; the data collected through the multifunctional detection module can be combined with AI multi-modal diagnosis, multi-sensor data fusion diagnosis, convolutional neural network (CNN) analysis of equipment abnormal sound, classification and labeling of mechanical fault abnormal sound / gas leakage, real-time detection of pipeline corrosion, instrument reading, flame characteristics and liquid leakage through the model, and the fault recognition accuracy is greater than 97%, and the intelligence of the stair-climbing explosion-proof inspection robot is greatly improved. BRIEF DESCRIPTION OF DRAWINGS
[0025] Figure 1 It is a whole structure diagram of the stair-climbing explosion-proof inspection robot of the embodiment of the present application.
[0026] Figure 2 It is a structure sectional view of the stair-climbing explosion-proof inspection robot of the embodiment of the present application.
[0027] Figure 3 It is an enlarged view of the local structure of the driving motor driving shaft of the embodiment of the present application.
[0028] Figure 4 It is a slide table distance adjustment driving schematic diagram of the embodiment of the present application.
[0029] Figure 5 It is a slide table adjustment gear distance sectional view of the embodiment of the present application.
[0030] Figure 6 It is a stair-climbing state schematic diagram of the stair-climbing explosion-proof inspection robot of the embodiment of the present application.
[0031] Figure 7 It is a control system block diagram of the stair-climbing explosion-proof inspection robot of the embodiment of the present application.
[0032] Wheel assembly 101, explosion-proof box body 102, sliding table 103, box upper cover 104, gas detection sensor 105, emergency stop button 106, explosion-proof holder 107, high-definition infrared camera 108, 5G network card antenna 110, laser sensor 111, recording microphone 112, gland 113, ultrasonic sensor 114, guide wheel 201, stair climbing gear 202, walking wheel 203, bearing with seat 205, spline sleeve 206, spline shaft 207, driven gear 208, driving gear 209, DC motor 212, key 213, explosion-proof sealing ring 217, sealing end cover 220, elastic explosion-proof sealing pad 221, right sliding block 402, left sliding block 403, bidirectional lead screw 404, driven pulley 405, driving pulley 406, sliding table motor 407, right dial block 501, right dial 502, left dial 503, left dial block 504, stairs 601, track 602. DETAILED DESCRIPTION
[0033] EMBODIMENT
[0034] The embodiments of the present application will be described in detail below with reference to the drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments.
[0035] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.
[0036] A stair climbing explosion-proof inspection robot, comprising an explosion-proof box body 102, a four-wheel drive system, a stair climbing mechanism, a sliding table distance adjusting device and a multifunctional detection module;
[0037] The four-wheel drive system is arranged inside the explosion-proof box body 102 and partially extends out to be connected with the stair climbing mechanism, for driving the stair climbing mechanism to act;
[0038] The stair climbing mechanism comprises a wheel assembly 101, and the wheel assembly 101 is drivingly connected with the four-wheel drive system through a spline structure;
[0039] The sliding table distance adjusting device is used to drive the axial movement of the spline structure, so as to adjust the relative track of the stair climbing gear 202 and the guide wheel 201 in the wheel assembly 101;
[0040] The multifunctional detection module comprises a plurality of functional units, for performing corresponding fault identification.
[0041] This invention employs a structure with a fully integrated motor and dual protection via shaft seals, significantly enhancing the safety of the stair-climbing explosion-proof inspection robot. The entire system meets ExdIIC T4 explosion-proof standards, effectively eliminating the risk of ignition by electric sparks. It utilizes an adaptive wheel spacing mechanism for the stair-climbing gear 202, with the slide 103 driving the splined shaft 207 for linear displacement. The continuously adjustable center distance of the gear pair guide wheel 201 is rigidly connected to the gear, ensuring constant meshing depth through synchronous displacement. The dynamic adjustment response time for the wheel spacing is <2s, and it is compatible with non-standard track spacing, greatly improving the adaptability of the stair-climbing explosion-proof inspection robot. Data collected through the multi-functional detection module can be combined with AI multi-modal diagnostics, multi-sensor data fusion diagnostics, and convolutional neural network (CNN) analysis of equipment noises. It classifies and marks abnormal sounds / gas leaks caused by mechanical faults. The model can detect pipe corrosion, instrument readings, flame characteristics, and liquid leaks in real time, achieving a fault identification accuracy rate >97%, significantly improving the intelligence of the stair-climbing explosion-proof inspection robot.
[0042] It is feasible, see the appendix. Figures 1-6 As shown, the four-wheel drive system in this embodiment includes a drive motor housed within the explosion-proof enclosure 102. The drive shaft of the drive motor extends out of the explosion-proof enclosure 102 and is connected to the wheel assembly 101. A first explosion-proof sealing structure for dynamic explosion-proof sealing is provided between the drive shaft and the explosion-proof enclosure 102. For details, please refer to the appendix. Figure 3 As shown, the first explosion-proof sealing structure includes an explosion-proof sealing ring 217 sleeved on the drive shaft of the drive motor, and the explosion-proof sealing ring 217 is made of fluororubber.
[0043] To better ensure the airtightness of the explosion-proof enclosure 102 and improve safety, the explosion-proof enclosure 102 in this embodiment is provided with several second explosion-proof sealing structures for static explosion-proof sealing. For details, please refer to the appendix. Figure 3 As shown, the second explosion-proof sealing structure includes a sealing end cap 220 and an elastic explosion-proof sealing gasket 221. The sealing end cap 220 is on the explosion-proof housing 102 at the drive shaft, and the elastic explosion-proof sealing gasket 221 is disposed between the sealing end cap 220 and the explosion-proof housing 102.
[0044] For details, please see the appendix. Figures 1-6As shown, the wheel assembly 101 includes a walking wheel 203 and a guide wheel 201, the walking wheel 203 is driven by a climbing gear 202, the guide wheel 201 is fixed on the spline shaft 207 by an internal bearing, the climbing gear 202 is fixed on the spline shaft 207 by a key connection, and the spline shaft 207 is installed in the spline sleeve 206. In this embodiment, the relative track of the walking wheel 203 is fixed, and the walking wheel 203 is used to drive the trolley to move on the road; the relative track of the climbing gear 202 and the guide wheel 201 can be adjusted and changed, and the climbing gear 202 is used to drive the trolley to climb up and down the stairs. Based on this, the explosion-proof patrol robot is positioned and limited by the guide wheel 201 clamped into the groove of the track 602 during the climbing process, and the walking wheel 203 provides the climbing driving force to realize stable climbing and adaptive climbing and inspection of a slope of 45° or more.
[0045] Specifically, referring to the accompanying drawings Figures 1-6 As shown, the slide table distance adjusting device includes a slide table motor 407, a driving pulley 406, a belt, a driven pulley 405, a bidirectional screw 404, a left sliding block 403, a right sliding block 402, a left dial 503, and a right dial 502; the slide table motor 407 drives the bidirectional screw 404 to rotate through a transmission structure composed of the driving pulley 406, the belt, and the driven pulley 405, drives the opposite sliding of the left sliding block 403 and the right sliding block 402, drives the axial movement of the spline shaft 207 through the dial block at the front end of the left dial 503 and the right dial 502, adjusts the relative track of the guide wheel 201, realizes adaptive adjustment of the track, and matches different track widths; the climbing gear 202 is designed in an integrated manner with the guide wheel 201 and the wheel, and ensures stable meshing of the driving gear in the track 602.
[0046] In a preferred embodiment, the driving motor is in transmission connection with the spline structure through a gear transmission structure, the driving gear continuously meshes to transmit torque, and the explosion-proof motor is synchronously controlled to prevent slipping.
[0047] Specifically, referring to the accompanying drawings Figures 1-6As shown, the functional units in the embodiment include an explosion-proof holder 107, a laser range finder, an ultrasonic sensor, a multi-gas detector, a flame detector, and a high-fidelity microphone array; the explosion-proof holder 107 is provided with a high-definition infrared camera 108 for collecting image data; the laser range finder and the ultrasonic sensor are used for ranging and obstacle avoidance; the multi-gas detector is used for collecting flammable and explosive gas information; the flame detector is used for collecting spectral information; the high-fidelity microphone array is used for collecting voiceprint information; through cooperation with a 5G module and an AI control system, autonomous positioning, path planning, obstacle avoidance, multi-gas detection, voiceprint fault diagnosis (leakage / mechanical anomaly), instrument panel scale reading, image recognition, and automatic alarm functions are realized, and the problem of multi-modal intelligent monitoring in a dangerous environment is solved. The explosion-proof box body 102 includes a box body upper cover 104, the box body upper cover 104 is connected with the explosion-proof box body 102 through bolts, and the explosion-proof holder 107, the laser range finder, the multi-gas detector, the flame detector, and the high-fidelity microphone array are fixed on the box body upper cover 104; the ultrasonic sensor is fixed on the outer side of the explosion-proof box body 102.
[0048] Referring to the drawings Figures 1-6 As shown, the main structure and action process of the stair-climbing explosion-proof inspection robot in the embodiment are as follows: the wheel assembly 101 is fixed on the explosion-proof box body 102 through bolts, the sliding table 103 is fixed at the bottom of the explosion-proof box body 102, and the box body upper cover 104 is connected with the explosion-proof box body 102 through bolts; the gas detection sensor 105, the emergency stop button 106, the explosion-proof holder 107, the 5G network card antenna 110, the laser sensor 111, the recording microphone 112, and the like are all fixed on the box body upper cover 104, and are directly through the holes in the upper cover of the explosion-proof box body 102 (with an explosion-proof sealing gasket below) or are connected through explosion-proof glands and explosion-proof hoses; the ultrasonic sensor 114 is fixed on the outer side of the explosion-proof box body 102, and its connecting line is connected through the gland 113 fixed on the explosion-proof box body 102. The complete sectional view of the walking part 101 is as follows: Figure 2The inner bearing of the guide wheel 201 is fixed on the spline shaft 207, the climbing gear 202 is fixed on the spline shaft 207 through key connection, and the spline shaft 207 is installed in the spline sleeve 206; when the slide table motor 407 rotates, the driving pulley 406 connected with the output shaft rotates to drive the passive pulley 405 through the belt, so that the bidirectional screw rod 404 rotates, thereby driving the left sliding block 403 and the right sliding block 402 to move inward or outward at the same time, and then the spline shaft 207 is driven to move axially through the left pushing block 504 and the right pushing block 501 fixed at the front ends of the left dial 503 and the right dial 502 of the left sliding block 403 and the right sliding block 402 respectively; the DC motor 212 is fixed on the side wall of the explosion-proof box body 102 in the explosion-proof box body 102, the output shaft extends out of the box body, the elastic explosion-proof sealing gasket 221 is arranged between the sealing end cover 220 and the box body, the explosion-proof sealing ring 217 is arranged at the middle hole and seals the shaft of the DC motor 212, the driving gear 209 is connected with the output shaft of the motor 212 through the key 213 and transmits the torque to the driven gear 208, and the driven gear 208 is welded with the spline sleeve 206.
[0049] Based on this, combined with the control system logic shown in the drawings, Figure 7 The track adjusting process of the stair climbing explosion-proof inspection robot in the climbing process of the embodiment of the application is as follows: when the track 602 of the stairs 601 is narrowed: the slide table is retracted, the spline shaft 207 slides inward, the wheel track is reduced to adapt to the track change, the guide wheel 201 is clamped into the narrow track groove, and the driving gear continuously meshes to transmit the torque, and the rotation speed of the explosion-proof motor is synchronously controlled to prevent slipping.
[0050] The gas leakage (artificial simulation) disposal process of the stair climbing explosion-proof inspection robot in the embodiment of the application is as follows: the steam end valve is deflated, the threshold of the sound sensor is exceeded, the robot pauses, the holder adjusts the camera to aim at the leakage point, the sound pattern microphone collects the gas leakage noise, the AI confirms the leakage level, and the alarm information (including coordinates and pictures) is uploaded through 5G.
[0051] The gas leakage disposal process of the stair climbing explosion-proof inspection robot in the embodiment of the application is as follows: the threshold of the hydrogen sensor is exceeded, the robot pauses, the holder adjusts the camera to aim at the leakage point, the sound pattern microphone collects the gas leakage noise, the AI confirms the leakage level, and the alarm information (including coordinates and gas concentration curve) is uploaded through 5G.
[0052] The above only describes the preferred embodiments of the application, but cannot be understood as limiting the claims. The application is not limited to the above embodiments, and the specific structure allows changes. In general, all changes made within the protection scope of the independent claim of the application are within the protection scope of the application.
Claims
1. A building-climbing explosion-proof inspection robot, characterized in that: The explosion-proof box body, four-wheel drive system, stair climbing mechanism, slide table distance adjusting device and multifunctional detection module are included. The four-wheel drive system is arranged inside the explosion-proof box body and partially extends out of the explosion-proof box body to be connected with the stair climbing mechanism, and is used to drive the stair climbing mechanism to act. The stair climbing mechanism includes a wheel assembly, and the wheel assembly is in transmission connection with the four-wheel drive system through a spline structure. The slide table distance adjusting device is used to drive the axial movement of the spline structure, and adjust the relative distance of the stair climbing gear and the guide wheel in the wheel assembly. The multifunctional detection module includes a plurality of functional units, and is used to perform corresponding fault identification.
2. The explosion-proof patrol robot capable of climbing stairs according to claim 1, characterized in that: The four-wheel drive system includes a driving motor arranged in the explosion-proof box body, a driving shaft of the driving motor extending out of the explosion-proof box body and being in transmission connection with the wheel assembly, and a first explosion-proof sealing structure arranged between the driving shaft and the explosion-proof box body and used to perform dynamic explosion-proof sealing.
3. The explosion-proof patrol robot capable of climbing stairs according to claim 2, characterized in that: The first explosion-proof sealing structure includes an explosion-proof sealing ring sleeved on the driving shaft of the driving motor, and the explosion-proof sealing ring is made of fluororubber.
4. The explosion-proof patrol robot capable of climbing stairs according to claim 1, characterized in that: A plurality of second explosion-proof sealing structures used to perform static explosion-proof sealing are arranged on the explosion-proof box body.
5. The explosion-proof patrol robot capable of climbing stairs according to claim 4, characterized in that: The second explosion-proof sealing structure includes a sealing end cover and an elastic explosion-proof sealing gasket, the sealing end cover is arranged on the explosion-proof box body at the driving shaft, and the elastic explosion-proof sealing gasket is arranged between the sealing end cover and the explosion-proof box body.
6. The explosion-proof patrol robot capable of climbing stairs according to claim 1, characterized in that: The wheel assembly includes a traveling wheel, a stair climbing gear and a guide wheel, the traveling wheel is driven by the stair climbing gear, the guide wheel is internally supported on a spline shaft, the stair climbing gear is fixed on the spline shaft through key connection, and the spline shaft is installed in a spline sleeve.
7. The explosion-proof patrol robot capable of climbing stairs according to claim 1, characterized in that: The slide table distance adjusting device includes a slide table motor, a driving pulley, a belt, a driven pulley, a bidirectional screw, a left sliding block, a right sliding block, a left dial and a right dial; the slide table motor drives the bidirectional screw to rotate through a transmission structure composed of the driving pulley, the belt and the driven pulley, drives the left sliding block and the right sliding block to slide towards each other, drives the axial movement of the spline shaft through the dial blocks at the front ends of the left dial and the right dial, and adjusts the relative wheel distance of the stair climbing gear and the guide wheel.
8. The explosion-proof patrol robot capable of climbing stairs according to claim 1, characterized in that: The driving motor is in transmission connection with the spline structure through a gear transmission structure.
9. The explosion-proof patrol robot capable of climbing stairs according to claim 1, characterized in that: The functional units include an explosion-proof holder, a laser range finder, an ultrasonic sensor, a multi-gas detector, a flame detector and a high-fidelity microphone array; a high-definition infrared camera is arranged on the explosion-proof holder and is used to collect image data; the laser range finder and the ultrasonic sensor are used to measure distance and avoid obstacles; the multi-gas detector is used to collect flammable and explosive gas information; the flame detector is used to collect spectrum information; and the high-fidelity microphone array is used to collect voiceprint information.
10. The explosion-proof patrol robot capable of climbing stairs according to claim 9, characterized in that: The explosion-proof box body includes a box body upper cover, the box body upper cover is connected with the explosion-proof box body through bolts, the explosion-proof holder, the laser range finder, the multi-gas detector, the flame detector and the high-fidelity microphone array are fixed on the box body upper cover, and the ultrasonic sensor is fixed on the outer side of the explosion-proof box body.