Inspection robot based on Internet of Things

Abstract

The utility model relates to the technical field of inspection robots, in particular to an inspection robot based on the Internet of Things, which comprises an alignment track and a robot. The rails comprise transverse rails and longitudinal rails which are arranged in a staggered mode, a transverse walking mechanism and a longitudinal walking mechanism are arranged in a walking mechanism of the robot, the transverse walking mechanism is matched with the transverse rails, and the longitudinal walking mechanism is matched with the longitudinal rails; the transverse walking mechanism is matched with the longitudinal walking mechanism to achieve reversing walking of the robot, one end of any transverse track and one end of any longitudinal track are each provided with a laser range finder, the laser range finders are connected with the robot, and the robot is arranged and connected with the winch through a power line. The inspection robot disclosed by the utility model can freely walk and reverse on the track, can realize planned inspection of a workshop, and plays a positive role in improving the inspection efficiency and ensuring the production safety.

Description

Technical Field

[0001] The utility model relates to the technical field of inspection robots, and in particular to an inspection robot based on the Internet of Things. Background Art

[0002] In the process of production and manufacturing, in order to ensure the safety of production and the personal safety of workers, it is traditional to arrange special inspection personnel to inspect the factory. On the one hand, it can eliminate safety hazards, and on the other hand, it can respond in time when a crisis occurs, which plays a positive role in ensuring the safe production of the enterprise.

[0003] Although manual inspection has played a certain positive role, it also has many disadvantages, such as low inspection efficiency and slow response rate. With the development of technology, the existing inspection robots can be used to inspect factories, which has greatly improved the inspection efficiency, response speed and accuracy, bringing convenience to use. However, in actual use, due to factors such as dense factory equipment and frequent personnel flow, it often causes great interference to the inspection efficiency of the robot, which is not conducive to the stable inspection and brings certain safety hazards to production.

[0004] Therefore, a patrol robot that can run more stably during use, thereby effectively ensuring patrol efficiency, is a problem that needs to be solved. Utility Model Content

[0005] The purpose of the utility model is to provide an inspection robot based on the Internet of Things to address the deficiencies of the above-mentioned prior art, so as to achieve more stable operation and effectively ensure the inspection efficiency.

[0006] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme: an inspection robot based on the Internet of Things, including a track and a robot, the track is fixedly installed on the ceiling, and the robot is suspended on the track; the track includes mutually staggered transverse tracks and longitudinal tracks, a walking mechanism and a camera are arranged in the robot, the walking mechanism is connected to the camera, a transverse walking mechanism and a longitudinal walking mechanism are arranged in the walking mechanism, the transverse walking mechanism cooperates with the transverse track, and the longitudinal walking mechanism cooperates with the longitudinal track.

[0007] Furthermore, the transverse rail and the longitudinal rail are both provided with a walking groove, a slot is provided below the walking groove, and walking support parts are provided on both sides of the slot. The walking support parts respectively cooperate with the transverse walking mechanism and the longitudinal walking mechanism, and the walking groove cooperates with the walking mechanism.

[0008] Furthermore, the bottom of the walking mechanism is connected to a wiring trough, the wiring trough cooperates with the slot, the bottom of the wiring trough is connected to a connecting plate, and the bottom of the connecting plate is connected to a camera.

[0009] Furthermore, a transverse walking wheel is provided in the transverse walking mechanism, and the transverse walking wheel is connected to the transverse walking motor through a transverse transmission gear set, a high and low position transmission shaft is provided in the transverse walking mechanism, a support plate is fixedly provided in the driving mechanism, the transverse walking wheel is connected to the low position transmission shaft, the low position transmission shaft is connected to the support plate and connected to sprocket A, the high position transmission shaft is connected to the support plate and connected to sprocket B, sprocket A and sprocket B are connected through chain transmission, and the transverse walking motor is fixedly connected to the support plate.

[0010] Furthermore, a longitudinal walking wheel is provided in the longitudinal walking mechanism, the rotating shaft of the longitudinal walking wheel is connected to the lifting connecting piece, the longitudinal walking wheel is connected to the longitudinal walking motor through a longitudinal transmission gear set, the longitudinal walking motor is located above the lifting connecting piece, and is connected to the hydraulic lifting device below the lifting connecting piece. The bottom of the hydraulic lifting device is connected to the mounting plate, and the mounting plate is located in the wiring groove and fixedly connected to the inner side wall of the wiring groove.

[0011] Furthermore, there are multiple transverse tracks and longitudinal tracks, and a laser rangefinder is provided at one end of any transverse track and longitudinal track.

[0012] Furthermore, the robot is connected to a power line, the power line is connected to a winch, the winch is fixedly mounted on the side wall, and an encoder is installed at the rotating shaft of the winch.

[0013] Furthermore, a single chip microcomputer is installed in the walking mechanism, the camera is connected to the single chip microcomputer, and the single chip microcomputer is respectively connected to the laser rangefinder, the winch and the remote terminal through a signal transceiver.

[0014] Beneficial effects of the utility model:

[0015] 1. It can walk and change direction arbitrarily on the track, and can realize planned inspection of the workshop, which plays a positive role in improving inspection efficiency and ensuring production safety;

[0016] 2. Through the Internet of Things, the stable and reliable operation of the entire device is guaranteed, which plays a positive role in the stable operation of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the installation arrangement of the utility model;

[0018] Figure 2 This is a schematic diagram of the track structure of the utility model (front view);

[0019] Figure 3 It is a schematic diagram of the track structure of the utility model (reverse side);

[0020] Figure 4 This is a schematic diagram of the structure of the utility model robot;

[0021] Figure 5 This is a schematic diagram of the internal structure of the walking mechanism of the utility model;

[0022] Figure 6 This is a schematic diagram of the high and low transmission structure of the transmission shaft of the transverse walking mechanism of the utility model;

[0023] Figure 7 This is a schematic diagram of the transmission lifting structure of the longitudinal walking structure of the utility model;

[0024] Figure 8 It is a schematic diagram of the use and installation of the winch of the utility model.

[0025] The names corresponding to the marks in the figure are:

[0026] 1. Ceiling; 2. Track; 21. Horizontal track; 22. Longitudinal track; 23. Walking groove; 24. Walking support; 25. Slotting; 26. Mounting hole; 3. Robot; 31. Walking mechanism; 32. Wiring groove; 33. Connecting plate; 34. Camera; 35. Power cord; 36. Horizontal walking mechanism; 361. Horizontal walking wheel; 362. Horizontal transmission gear set; 363. Horizontal walking motor; 364. Support plate; 365. Sprocket A; 366. Sprocket B; 37. Longitudinal walking mechanism; 371. Longitudinal walking wheel; 372. Lifting connector; 373. Longitudinal transmission gear set; 374. Longitudinal walking motor; 375. Hydraulic lifting device; 376. Mounting plate; 38. Single chip microcomputer; 39. Signal transceiver; 4. Laser rangefinder; 5. Side wall; 6. Winch. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the utility model.

[0028] Embodiments of the present utility model:

[0029] like Figure 1-8As shown, the robot 3 of this embodiment is hoisted and installed on the ceiling 1, and a track 2 is fixedly installed on the ceiling 1, wherein mounting holes 26 are arranged in the track 2, and fastening bolts are connected through the mounting holes 26, so that the track is fixed on the ceiling 1, and the robot 3 cooperates with the track 2.

[0030] A transverse track 21 and a longitudinal track 22 are arranged in an alternating manner in the track 2. A walking groove 23 is arranged in both the transverse track 21 and the longitudinal track 22. A slot 25 is arranged below the walking groove 23. The walking groove 23 cooperates with the walking mechanism 31 of the robot 3, wherein the slot 25 cooperates with the wiring groove 32 of the robot 3, and the walking support parts 24 on both sides of the slot 25 cooperate with the transverse walking wheels 361 and the longitudinal walking wheels 371 in the walking mechanism 31; a laser rangefinder 4 is arranged at one end of any transverse track 21 and the longitudinal track 22, and the laser rangefinder 4 cooperates with the wiring groove 32 of the robot 3.

[0031] A wiring groove 32 is arranged below the walking mechanism 31 of the robot 3, and the wiring groove 32 is connected to the connecting plate 33 below, and the connecting plate 33 is connected to the camera 34. A transverse walking mechanism 36 and a longitudinal walking mechanism 37 are arranged in the walking mechanism 31, and a transverse walking wheel 361 is arranged in the transverse walking mechanism 36, and the transverse walking wheel 361 is connected to the transverse walking motor 363 through a transverse transmission gear set 362. A high and low position transmission shaft is arranged in the transverse walking mechanism 36, wherein the transverse walking wheel 361 is connected to the low position transmission shaft, and the low position transmission shaft support plate 364 receives and is connected to the sprocket A365, and the high position transmission shaft is connected to the support plate 364 and is connected to the sprocket B366, and the sprocket A365 and the sprocket B366 are driven by a chain.

[0032] A longitudinal walking wheel 371 is provided in the longitudinal walking mechanism 37, and the longitudinal walking wheel 371 can be raised and lowered, wherein the transmission shaft of the longitudinal walking wheel 371 is connected to the lifting connection piece 372, and the lifting connection piece 372 is groove-shaped; and is connected to the longitudinal walking motor 374 through a longitudinal transmission gear set 373, and the longitudinal walking motor 374 is fixedly installed above the lifting connection piece 372, and is connected to the hydraulic lifting device 375 below the lifting connection piece 372, and the bottom of the hydraulic lifting device 375 is connected to the mounting plate 376, and the mounting plate 376 is connected to the inner side wall of the wiring groove 32, wherein when the hydraulic lifting device 375 is located at the lowest end, the height of the longitudinal walking wheel 371 is lower than the transverse walking wheel 361, and when the hydraulic device is located at the highest point, the height of the longitudinal walking wheel 371 is higher than the transverse walking wheel 361.

[0033] The power line 35 is connected to the hoist 6 . The hoist 6 is fixedly mounted on the side wall 5 . An encoder is mounted on the rotating shaft of the hoist 6 .

[0034] The laser rangefinder 4 is connected to the single-chip microcomputer 38 in the walking mechanism 31 through the signal transceiver 39, the single-chip microcomputer 38 is connected to the camera 34, and the single-chip microcomputer 38 is connected to the remote terminal through the signal transceiver 39, and the single-chip microcomputer 38 is connected to the winch 6 through the signal transceiver 39.

[0035] The principle of this utility model is:

[0036] When the utility model is in operation, a patrol route can be planned first. Since a laser rangefinder 4 is provided at one end of each transverse track 21 and longitudinal track 22, the position of the robot 3 can be accurately detected and determined by the laser rangefinder 4. The existing laser rangefinder 4 generally has the functions of detection and signal transmission. The laser rangefinder 4 transmits the detected signal to the robot 3. The single-chip microcomputer 38 in the robot 3 can control the walking mechanism 31 according to the signal, so as to perform patrol according to the preset route. The principle involved in the above process is relatively simple, which is an existing mature technology and is widely used in the existing technology, such as a four-way shuttle, etc. It is not difficult for those skilled in the art to understand and will not be described in detail.

[0037] During the inspection process of the robot 3, the camera 34 can take pictures of the factory equipment and production conditions, and transmit the video signal to the remote terminal, thereby completing the entire inspection and monitoring process.

[0038] During the operation of the robot 3, the walking mechanism 31 can realize the switching of the robot 3 between the transverse track 21 and the longitudinal track 22. During the process, the transverse walking mechanism 36 is fixed and the longitudinal walking mechanism 37 is hydraulically lifting. When transverse walking is required, the longitudinal walking mechanism 37 is raised, and the transverse walking motor 363 is started, driving the driving mechanism to walk transversely; when longitudinal walking is required, the longitudinal walking mechanism 37 is lowered, so the transverse walking mechanism 36 is lifted up, and the longitudinal walking motor 374 is started, driving the driving mechanism to walk longitudinally.

[0039] In the present invention, the robot 3 needs to be powered, and the power line 35 is used to power the robot 3. During the process, the winch 6 is used to retract and release the power line 35. Figure 8As shown, when the position of the robot 3 is certain, the distance between it and the winch 6 is also determined accordingly, so the power cord 35 is adaptively retracted and released by the winch 6 to ensure the stable operation of the device. During the process, the winch 6 is equipped with an encoder, which can monitor the length of the retracted and released wire. The detection of the length of the retracted and released wire of the winch 6 by the encoder is an existing mature technology and will not be repeated here. At the same time, in the utility model, in order to ensure the stability of the retraction and release of the power cord 35, in actual application, a 10-20% margin is generally set to avoid the power cord 35 being too tight.

Claims

1. An inspection robot based on the Internet of Things, characterized by: The invention comprises a track (2) and a robot (3), wherein the track (2) is fixedly mounted on a ceiling (1), and the robot (3) is suspended on the track (2); the track (2) comprises a transverse track (21) and a longitudinal track (22) which are staggered with each other, a walking mechanism (31) and a camera (34) are arranged in the robot (3), the walking mechanism (31) and the camera (34) are connected, a transverse walking mechanism (36) and a longitudinal walking mechanism (37) are arranged in the walking mechanism (31), the transverse walking mechanism (36) cooperates with the transverse track (21), and the longitudinal walking mechanism (37) cooperates with the longitudinal track (22).

2. The inspection robot based on the Internet of Things according to claim 1, characterized in that: The transverse rail (21) and the longitudinal rail (22) are both provided with a running groove (23), a slot (25) is provided below the running groove (23), and running support parts (24) are provided on both sides of the slot (25). The running support parts (24) are respectively matched with the transverse running mechanism (36) and the longitudinal running mechanism (37), and the running groove (23) is matched with the running mechanism (31).

3. The inspection robot based on the Internet of Things according to claim 2, characterized in that: The lower part of the walking mechanism (31) is connected to the wiring groove (32), the wiring groove (32) matches the slot (25), the lower part of the wiring groove (32) is connected to the connecting plate (33), and the lower part of the connecting plate (33) is connected to the camera (34).

4. The inspection robot based on the Internet of Things according to claim 2, characterized in that: The transverse walking mechanism (36) is provided with a transverse walking wheel (361), which is connected to the transverse walking motor (363) through a transverse transmission gear set (362). A high and low position transmission shaft is provided in the transverse walking mechanism (36). A support plate (364) is fixedly provided in the walking mechanism (31). The transverse walking wheel (361) is connected to the low position transmission shaft, which is connected to the support plate (364) and connected to a sprocket A (365). The high position transmission shaft is connected to the support plate (364) and connected to a sprocket B (366). The sprocket A (365) and the sprocket B (366) are connected through chain transmission. The transverse walking motor (363) is fixedly connected to the support plate (364).

5. The inspection robot based on the Internet of Things according to claim 4 is characterized in that: The longitudinal walking mechanism (37) is provided with a longitudinal walking wheel (371), the rotating shaft of the longitudinal walking wheel (371) is connected to the lifting connection piece (372), the longitudinal walking wheel (371) is connected to the longitudinal walking motor (374) through the longitudinal transmission gear set (373), the longitudinal walking motor (374) is located above the lifting connection piece (372), and is connected to the hydraulic lifting device (375) below the lifting connection piece (372), the bottom of the hydraulic lifting device (375) is connected to the mounting plate (376), and the mounting plate (376) is located in the wiring groove (32) and is fixedly connected to the inner wall of the wiring groove (32).

6. The inspection robot based on the Internet of Things according to claim 1, characterized in that: There are a plurality of transverse tracks (21) and longitudinal tracks (22), and a laser rangefinder (4) is provided at one end of any transverse track (21) or longitudinal track (22).

7. The inspection robot based on the Internet of Things according to claim 1, characterized in that: The robot (3) is connected to a power line (35), the power line (35) is connected to a winch (6), the winch (6) is fixedly mounted on the side wall (5), and an encoder is mounted on the rotating shaft of the winch (6).

8. An inspection robot based on the Internet of Things according to any one of claims 1 to 7, characterized in that: A single chip microcomputer (38) is installed in the walking mechanism, the camera (34) is connected to the single chip microcomputer (38), and the single chip microcomputer (38) is respectively connected to the laser rangefinder (4), the hoist (6) and the remote terminal through a signal transceiver (39).

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