A mobile inspection robot

Abstract

The present invention relates to the field of automation technology, and more specifically, to a mobile inspection robot. The mobile inspection robot includes a base structure that effectively enables the robot to maintain normal movement even when encountering steep slopes. The base structure allows the robot to randomly move to a workstation to conveniently inspect workpieces. The invention effectively clamps and transports different numbers of workpieces at different workstations to storage boxes for subsequent manual inspection.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, in particular to a mobile inspection robot. Background Art

[0002] After sorting, some waste lithium batteries may be mixed with recyclable lithium batteries due to machine sorting errors. Therefore, random sampling is required to determine the proportion of recyclable lithium batteries in the sorted lithium batteries. Due to the need for random sampling, the inspection robot cannot stay at one inspection point to extract the workpiece, but needs to move to multiple points to extract samples.

[0003] When an existing inspection robot encounters a slope during inspection, its chassis is generally large and close to the ground. Therefore, when encountering some steep slopes, its chassis will rest on the slope surface, making it impossible for the mobile inspection robot to move normally along the slope, which is quite inconvenient. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention is solved through the following technical solutions.

[0005] The base structure includes a base body, which includes an installation box with an upper opening, a walking mechanism provided below the installation box, the walking mechanism including two driving mechanisms and a steering mechanism moving in opposite directions or opposite directions, the driving mechanism is used for the walking of the base body, and the steering mechanism is used for the steering of the base body; a lifting mechanism is provided on both sides of the walking mechanism below the installation box, the lifting mechanism includes a support block for resting on the ground, a first electric cylinder is provided in the inner cavity of the installation box, the piston end of the first electric cylinder extends into the bottom of the installation box and is connected to the upper end surface of the support block; the opening of the installation box is provided with a mounting plate, and the middle part of the mounting plate forms a fixed cavity toward the inner cavity of the installation box.

[0006] In the present invention, through the above-mentioned arrangement, the mobile inspection robot with the base structure provided below is installed at the installation box, and it realizes the movement of different workstations through the walking mechanism to realize random sampling of workpieces; when encountering a steep slope, it controls the first electric cylinder to extend the piston end of the first electric cylinder. Since the support block connected to the piston end of the first electric cylinder rises to abut against the ground and is blocked by the ground, the base body is lifted to a certain height under the action of the first electric cylinder. Secondly, by controlling the back-to-back movement of the driving mechanism and the steering mechanism, the steering mechanism can be against the slope surface of the slope, and then the first electric cylinder slowly retracts the support block, so that the lower end surface of the base body is parallel to the slope surface of the slope, thereby facilitating the movement of the mobile inspection robot with the base structure on the slope.

[0007] Preferably, a strip groove is provided on the lower end surface of the installation box, a forward and reverse screw is provided in the strip groove, and the forward and reverse screw sleeve is provided with two first nut blocks and a second nut block that move towards or away from each other, and the first nut block and the second nut block are respectively connected to the driving mechanism and the steering mechanism through a connecting piece; the side wall of the installation box is provided with a first driving motor that drives the forward and reverse screw to rotate.

[0008] In the present invention, through the arrangement of the strip groove, the forward and reverse threaded screws, the first nut block, the second nut block and the first drive motor, the first drive motor drives the forward and reverse threaded screws to rotate in the strip groove, and then the first nut block and the second nut block can move toward or away from each other, thereby realizing the toward or away movement between the driving mechanism and the steering mechanism.

[0009] Preferably, the drive mechanism includes a first housing connected to the first nut block through a connecting piece, a drive rod is provided in the first housing, both ends of the drive rod extending out of the first housing are connected to the rear wheels of the vehicle, the drive rod is located in the first housing and is coaxially connected to the first bevel gear, a second drive motor is provided on the outer wall of the first housing, the output shaft of the second drive motor extends into the first housing and is provided with a second bevel gear meshing with the first bevel gear;

[0010] The steering mechanism includes a second shell body connected to the second nut block through a connecting piece, and fixed columns are provided at both ends of the second shell body away from the connecting piece, and a rotating frame is provided on the fixed column. The middle of the rotating frame is rotatable at the fixed column, one end of the rotating frame is connected to the front wheel of the vehicle, and the other end is provided with a mounting ring. One end of the rotating frame and the other end form a certain angle from the middle. A movable plate sliding in the left and right directions is provided inside the second shell body, and connecting plates are provided between the two ends of the movable plate and the mounting rings on both sides respectively, and the two ends of the connecting plate are hinged to the mounting ring and the movable plate respectively, and a rack is provided on one side of the movable plate, and a third drive motor is provided on the outer wall of the second shell body, and the output shaft of the third drive motor extends into the second shell body and is provided with a first gear meshing with the rack; the front wheels of the vehicle located on both sides of the second shell body turn left or right in the same direction under the action of the forward or reverse rotation of the third drive motor.

[0011] In the present invention, by setting up the driving mechanism, the second driving motor drives the second bevel gear to rotate, and then the first bevel gear drives the driving rod to rotate, thereby driving the rear wheels on both sides of the first shell to rotate, that is, the driving mechanism drives the base body to move;

[0012] By setting up the steering mechanism, the third drive motor drives the first gear to rotate, thereby driving the movable plate to slide to the left or right, so that the rotating frame rotates along with the movable plate due to the connecting plate, thereby driving the front wheels on both sides of the second shell to turn left or right in the same direction, that is, realizing the steering of the base body driven by the steering mechanism.

[0013] Preferably, a rotating column is coaxially and rotatably provided on the upper end face of the mounting box, a long strip plate perpendicular to the axial direction of the rotating column is provided on the upper end face of the rotating column, a sliding rail is provided along the length direction of the long strip plate, a slider sliding along the long strip plate is provided on the upper end face of the long strip plate, a mounting sleeve is provided on the lower end face of the long strip plate, the upper end face of the mounting sleeve extends into the sliding rail and is connected to the lower end face of the slider.

[0014] In the present invention, the inspection robot is installed on the mounting sleeve through the arrangement of the rotating column, the long plate, the sliding rail, the slider, the long plate and the mounting sleeve. When the inspection robot with the base structure performs the inspection work, the base mechanism can control the steering of the rotating column and the sliding of the slider on the long plate, so that the inspection robot can clamp the workpiece and transport it to the storage box.

[0015] The present invention also provides a mobile inspection robot having the base structure, which is used to cooperate with the base structure provided above, so that the mobile inspection robot can randomly move to a workstation under the action of the base structure to perform random inspections on workpieces, which is more convenient.

[0016] The mobile inspection robot includes a clamping device, which includes a first mounting plate and a second mounting plate arranged in parallel and spaced apart. Two clamping blocks that can slide toward or away from each other are provided between the second mounting plate and the second mounting plate, and the two clamping blocks are used to cooperate in clamping the workpiece; a conveying mechanism is provided in each of the two clamping blocks, and the conveying mechanism includes a plurality of conveying rollers arranged at intervals along the length direction of the clamping blocks, and the conveying rollers at the two clamping blocks are used to cooperate in conveying the workpiece; the plate surfaces opposite to the first mounting plate and the second mounting plate are respectively provided with a first opening groove and a second opening groove, and a pushing mechanism is provided on the outer wall of the first mounting plate and at the first opening groove, and the pushing mechanism includes a push plate that can move toward or away from the second opening groove; when the workpiece moves between the first opening groove and the second opening groove under the action of the conveying mechanism, the push plate is used to push the workpiece from the current position to the second opening groove, and a storage box connected to the second opening groove is provided on the outer wall of the second mounting plate.

[0017] In the present invention, through the above-mentioned arrangement, the base structure drives the mobile inspection robot to move to an inspection station, so that the two clamping blocks clamp the sorted recyclable lithium batteries, and then the conveying mechanism drives the conveying rollers in the two clamping blocks to rotate, thereby driving the sorted recyclable lithium batteries to rise along the side walls of the two clamping blocks to between the first opening slot and the second opening slot, and then the pushing mechanism drives the pushing plate to push the sorted recyclable lithium batteries from between the first opening slot and the second opening slot into the second opening slot and fall into the storage box for subsequent manual inspection;

[0018] Among them, at one inspection station, one or several sorted recyclable lithium batteries can be clamped and transported to the storage box, and then moved to the next inspection station to continue clamping one or several sorted recyclable lithium batteries and transporting them to the storage box until the storage box is loaded.

[0019] Preferably, a slide groove is provided at the second mounting plate, and the upper ends of the two clamping blocks are provided with sliding blocks extending into the slide groove, and the slide groove is provided with a rotating rod for driving the two sliding blocks to slide toward or away from each other; the side wall of the second mounting plate is provided with a first mounting groove, and the first mounting groove is provided with a sixth drive motor for driving the rotating rod to rotate.

[0020] In the present invention, by setting the slide groove, sliding block and rotating rod, the rotating rod rotates to drive the two sliding blocks to slide toward or away from each other in the slide groove, that is, to drive the two clamping blocks to slide toward or away from each other, so as to clamp the sorted recyclable lithium batteries and transport them to the storage box.

[0021] In the present invention, the sixth drive motor is provided to preferably realize the rotation of the rotating rod in the sliding groove.

[0022] Preferably, the clamping block is mainly composed of a clamping frame with multiple rotating cavities arranged along the length direction and two clamping cover plates respectively arranged on both sides of the clamping frame, and the conveying roller is arranged in the rotating cavity; the conveying mechanism includes a second mounting groove arranged at the upper end of the clamping frame, a seventh driving motor is arranged in the second mounting groove, and a sprocket is coaxially provided with the conveying roller, and one of the clamping cover plates is provided with a driving cavity for the sprocket to extend into the side facing the sprocket, and the output shaft of the seventh driving motor is connected to the sprockets of multiple conveying rollers by a chain, and the multiple conveying rollers rotate synchronously in the same direction under the action of the seventh driving motor; the conveying roller is evenly provided with multiple abutment blocks along its circumference, and the conveying roller is provided with multiple spring mounting cavities arranged along the circumference of the conveying roller, and multiple groups of spring mounting cavities are arranged along the axial direction of the conveying roller, and a stop block is provided in the spring mounting cavity, and the stop block is coaxially provided with a connecting rod extending out of the spring mounting cavity, and the abutment block is connected to the connecting rod; a compression spring is provided in the spring mounting cavity for keeping the abutment block moving outward.

[0023] In the present invention, the assembly of the conveying roller in the clamping block is preferably achieved through the arrangement of the clamping frame, the rotating chamber, the clamping cover plate and the conveying roller.

[0024] In the present invention, by configuring the seventh drive motor, the conveyor roller, the sprocket, and the chain, when the output shaft of the seventh drive motor rotates, each conveyor roller rotates synchronously in the same direction in the corresponding rotating cavity, thereby enabling the sorted recyclable lithium batteries clamped between the two clamping blocks to move from the bottom of the clamping device to the first opening groove and the second opening groove under the action of multiple conveyor rollers.

[0025] In the present invention, by arranging the abutment block, the compression spring, the stop block and the connecting rod, when the two clamping blocks clamp the sorted recyclable lithium batteries, the two ends of the sorted recyclable lithium batteries respectively abut against the side walls of the abutment block, and the compression spring in the spring mounting cavity is squeezed, that is, the sorted recyclable lithium batteries can be clamped more stably under the action of the two clamping blocks.

[0026] Preferably, the clamping device includes a mounting frame arranged between the first mounting plate and the second mounting plate, and the mounting frame includes a truss arranged at the upper end between the first mounting plate and the second mounting plate and side rods respectively arranged at both sides between the first mounting plate and the second mounting plate.

[0027] In the present invention, the assembly between the first mounting plate and the second mounting plate is preferably achieved through the provision of the mounting frame.

[0028] Preferably, the pushing mechanism includes a rectangular mounting frame arranged on the outer side wall of the first mounting plate and corresponding to the first opening groove, the outer side wall of the rectangular mounting frame is provided with a second electric cylinder, and the push plate is connected to the output shaft of the second electric cylinder.

[0029] In the present invention, by setting up a rectangular mounting frame, a second electric cylinder, and a push plate, the sorted recyclable lithium batteries are raised along the side walls of the two clamping blocks to between the first opening groove and the second opening groove. The second electric cylinder drives the push plate to push the sorted recyclable lithium batteries out of between the first opening groove and the second opening groove and into the second opening groove.

[0030] Preferably, the upper end surface of the truss is provided with a mounting rod extending into the mounting sleeve, the side wall of the mounting sleeve is provided with multiple positioning holes evenly spaced in the vertical direction, and the outer wall of the mounting sleeve is provided with a positioning portion for positioning the mounting rod in the mounting sleeve.

[0031] In the present invention, by setting the mounting rod, mounting sleeve, positioning hole and positioning part, the mounting rod slides in the mounting sleeve and the positioning part positions the mounting rod in the mounting sleeve at the corresponding positioning hole, thereby realizing the assembly of the mobile inspection robot at the mounting sleeve. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Schematic diagram of the base structure in Example 1 and the mobile inspection robot having the base structure.

[0033] Figure 2 This is a schematic diagram of the base body in Example 1.

[0034] Figure 3 This is a partial schematic diagram of the base body in Example 1.

[0035] Figure 4Schematic diagram of a cross section of the base body in Example 1.

[0036] Figure 5 This is another cross-sectional schematic diagram of the base body in Example 1.

[0037] Figure 6 This is a schematic diagram of the driving mechanism and steering mechanism in Example 1.

[0038] Figure 7 Schematic diagram of the driving mechanism in Example 1.

[0039] Figure 8 Schematic diagram of the steering mechanism in Example 1.

[0040] Figure 9 This is a partial schematic diagram of the base structure in Example 1 and a mobile inspection robot having the base structure.

[0041] Figure 10 for Figure 9 Explosion diagram in .

[0042] Figure 11 Schematic diagram of the structure of the clamping device in Example 2.

[0043] Figure 12 This is a schematic diagram of the clamping device in Example 2 from another perspective.

[0044] Figure 13 Schematic diagram of the explosion of the clamping device in Example 2.

[0045] Figure 14 This is a schematic exploded view from another perspective of the clamping device in Example 2.

[0046] Figure 15 This is a schematic diagram of the first mounting plate in Example 2.

[0047] Figure 16 This is a schematic diagram of the second mounting plate in Example 2.

[0048] Figure 17 This is a schematic diagram of the mounting bracket in Example 2.

[0049] Figure 18 Schematic diagram of the clamping block in Example 2.

[0050] Figure 19 This is an exploded schematic diagram of the clamping block in Example 2.

[0051] Figure 20 This is a schematic exploded view of the clamping block in Example 2 from another perspective.

[0052] Figure 21Schematic diagram of the conveying roller in Example 2.

[0053] Figure 22 This is an exploded schematic diagram of the conveying roller in Example 2. DETAILED DESCRIPTION

[0054] In order to further understand the content of the present invention, the present invention is described in detail with reference to the accompanying drawings and embodiments. It should be understood that the embodiments are merely for explaining the present invention and are not intended to limit the present invention.

[0055] Example 1

[0056] like Figure 1-10 As shown, this embodiment provides a base structure, which includes a base body, the base body includes an installation box 3110 with an upper opening, a walking mechanism is provided below the installation box 3110, the walking mechanism includes two driving mechanisms 3130 moving in opposite directions or opposite directions and a steering mechanism 3120, the driving mechanism 3130 is used for walking of the base body, and the steering mechanism 3120 is used for steering of the base body; a lifting mechanism is provided on both sides of the walking mechanism below the installation box 3110, the lifting mechanism includes a support block 3140 for resting on the ground, a first electric cylinder 3310 is provided in the inner cavity of the installation box 3110, the piston end of the first electric cylinder 3310 extends into the bottom of the installation box 3110 and is connected to the upper end surface of the support block 3140; a mounting plate 3150 is provided at the opening of the installation box 3110, and a fixed cavity 3210 is formed in the middle of the mounting plate 3150 toward the inner cavity of the installation box 3110.

[0057] In this embodiment, through the above-mentioned arrangement, the mobile inspection robot with the base structure provided below is installed at the installation box 3110, and realizes movement of different workstations through the walking mechanism to realize random inspection of workpieces; when encountering a steep slope, it controls the first electric cylinder 3310 to extend the piston end of the first electric cylinder 3310. Since the support block 3140 connected to the piston end of the first electric cylinder 3310 rises to abut against the ground and is blocked by the ground, the base body is lifted to a certain height under the action of the first electric cylinder 3310. Secondly, by controlling the drive mechanism 3130 and the steering mechanism 3120 to move back to back with each other, the steering mechanism 3120 can be against the slope surface, and then the first electric cylinder 3310 slowly retracts the support block 3140, so that the lower end surface of the base body is parallel to the slope surface of the slope, thereby facilitating the movement of the mobile inspection robot with the base structure on the slope;

[0058] It is worth mentioning that the driving mechanism 3130 has a forward rotation or single rotation self-locking function. When the first electric cylinder 3310 completely retracts the support block 3140 to the installation box 3110, the driving mechanism 3130 can self-lock at this time to prevent the mobile inspection robot with this base structure from sliding in the opposite direction, which is more reliable.

[0059] In this embodiment, a strip groove 3410 is provided on the lower end surface of the installation box 3110, and a forward and reverse screw 3420 is provided in the strip groove 3410. The forward and reverse screw 3420 is sleeved with two first nut blocks 3520 and second nut blocks 3530 that move in opposite directions. The first nut block 3520 and the second nut block 3530 are respectively connected to the driving mechanism 3130 and the steering mechanism 3120 through a connecting member 3510; the side wall of the installation box 3110 is provided with a first driving motor 3630 that drives the forward and reverse screws to rotate.

[0060] Through the arrangement of the strip groove 3410, the forward and reverse threaded screw 3420, the first nut block 3520, the second nut block 3530 and the first drive motor 3630 in this embodiment, the first drive motor 3630 drives the forward and reverse threaded screw 3420 to rotate in the strip groove 3410, thereby enabling the first nut block 3520 and the second nut block 3530 to move toward or away from each other, thereby realizing the toward or away movement between the driving mechanism 3130 and the steering mechanism 3120.

[0061] In this embodiment, the drive mechanism 3130 includes a first housing 3610 connected to a first nut block 3520 via a connector 3510. A drive rod 3620 is disposed within the first housing 3610. Both ends of the drive rod 3620 extending from the first housing 3610 are connected to rear wheels 3640. The drive rod 3620 is located within the first housing 3610 and is coaxially connected to a first bevel gear 3621. A second drive motor 3740 is disposed on the outer wall of the first housing 3610. The output shaft of the second drive motor 3740 extends into the first housing 3610 and is provided with a second bevel gear 3631 that meshes with the first bevel gear 3621.

[0062] The steering mechanism 3120 includes a second housing 3710 connected to a second nut block 3530 via a connecting member 3510. Fixed columns are provided at both ends of the second housing 3710 away from the connecting member 3510. A rotating frame 3760 is provided on each of the fixed columns. The middle of the rotating frame 3760 rotates and is arranged at the fixed column. One end of the rotating frame 3760 is connected to the front wheel 3750 of the vehicle, and the other end is provided with a mounting ring. One end of the rotating frame 3760 and the other end form a certain angle from the middle. A movable plate 3720 that slides in the left and right directions is provided inside the second housing 3710. The movable plate 3720 is arranged at a right angle to the left. Connecting plates 3730 are provided between the two ends and the mounting rings on both sides. The two ends of the connecting plate 3730 are respectively hinged to the mounting ring and the movable plate 3720. A rack 3721 is provided on one side of the movable plate 3720. A third drive motor 3540 is provided on the outer wall of the second shell 3710. The output shaft of the third drive motor 3540 extends into the second shell 3710 and is provided with a first gear 3741 engaged with the rack 3721; the front wheels 3750 located on both sides of the second shell 3710 rotate left or right in the same direction under the action of the forward or reverse rotation of the third drive motor 3540.

[0063] In this embodiment, the drive mechanism 3130 is configured so that the second drive motor 3740 drives the second bevel gear 3631 to rotate, thereby causing the first bevel gear 3621 to drive the drive rod 3620 to rotate, thereby driving the rear wheels 3640 on both sides of the first housing 3610 to rotate, that is, the drive mechanism 3130 drives the base body to move;

[0064] Through the setting of the steering mechanism 3120, the third drive motor 3540 drives the first gear 3741 to rotate, thereby driving the movable plate 3720 to slide to the left or right, so that the rotating frame 3760 rotates along with the movable plate 3720 due to the connecting plate 3730, thereby driving the front wheels 3750 on both sides of the second shell 3710 to turn left or right in the same direction, that is, realizing the steering mechanism 3120 driving the base body to turn.

[0065] In this embodiment, a rotating column 3160 is coaxially and rotatably provided on the upper end surface of the mounting box 3110, and a long strip 3170 perpendicular to the axial direction of the rotating column 3160 is provided on the upper end of the rotating column 3160. The long strip 3170 is provided with a slide rail 3171 along the length direction, and a slider sliding along the long strip 3170 is provided on the upper end surface of the long strip 3170. The lower end surface of the long strip 3170 is provided with a mounting sleeve 3190, and the upper end portion of the mounting sleeve 3190 extends into the slide rail 3171 and is connected to the lower end surface of the slider.

[0066] Through the arrangement of the rotating column 3160, the long plate 3170, the slide rail 3171, the slider, the long plate 3170, and the mounting sleeve 3190 in this embodiment, the inspection robot is installed at the mounting sleeve 3190. When the inspection robot with this base structure performs the inspection work, the base mechanism can control the steering of the rotating column 3160 and the sliding of the slider at the long plate 3170 to enable the inspection robot to inspect the workpiece.

[0067] In this embodiment, the lower end of the rotating column 3160 is provided with a mounting seat 3810 inserted into the fixed cavity 3210, and the outer wall of the mounting seat 3810 is provided with multiple card grooves 3811 along its circumference, and the inner wall of the fixed cavity 3210 is provided with multiple card columns 3220 along its circumference to engage with the card grooves 3811.

[0068] By disposing the mounting seat 3810 , the clamping slot 3811 , and the clamping column 3220 in this embodiment, the assembly of the rotating column 3160 at the base is preferably achieved.

[0069] In this embodiment, a rotating groove 3911 and a driving groove 3912 connected to the rotating groove 3911 are provided in the mounting base 3810, the end of the lower end of the rotating column 3160 extending into the rotating groove 3911 is coaxially connected to the second gear 3920, and a third gear 3930 meshing with the second gear 3920 is provided in the driving groove 3912, and the upper end surface of the mounting base 3810 is provided with a fourth driving motor 3820 that drives the third gear 3930 to rotate.

[0070] By disposing the rotating slot 3911 , the driving slot 3912 , the second gear 3920 , the third gear 3930 and the fourth driving motor 3820 in this embodiment, the rotation of the rotating column 3160 is preferably achieved.

[0071] In this embodiment, two mounting ears are provided on the long plate 3170, which are perpendicular to the long plate 3170 and are respectively arranged at both ends of the slide rail 3171. A screw 3180 is provided between the two mounting ears, and the sliding part 3181 is threadedly connected to the screw 3180; a fifth driving motor 3172 for driving the screw 3180 to rotate is provided on the side wall of one mounting ear.

[0072] Through the arrangement of the screw 3180 , the sliding portion 3181 , and the fifth drive motor 3172 in this embodiment, the sliding portion 3181 can be preferably driven to slide on the long plate 3170 , that is, the mounting sleeve 3190 can be driven to slide on the long plate 3170 .

[0073] Example 2

[0074] This embodiment provides a mobile inspection robot with the base structure, which is used to cooperate with the base structure provided in Example 1, so that the mobile inspection robot can randomly move to a workstation to perform random inspections on workpieces under the action of the base structure, which is more convenient.

[0075] like Figure 11-22 As shown, the mobile inspection robot includes a gripper device 1000, which includes two parallel and spaced first mounting plates 1110 and a second mounting plate 1120. Two clamping blocks 1140 that can slide toward or away from each other are provided between the second mounting plates 1120. The two clamping blocks 1140 are used to cooperate in clamping the workpiece; a conveying mechanism is provided in each of the two clamping blocks 1140, and the conveying mechanism includes a plurality of conveying rollers 1150 spaced along the length direction of the clamping blocks 1140. The conveying rollers 1150 at the two clamping blocks 1140 are used to cooperate in conveying the workpiece; the first mounting plate 1110 and the second mounting plate 1120 are provided with two clamping blocks 1140. A first opening slot 1410 and a second opening slot 1310 are respectively defined on the surface of the plate opposite the second mounting plate 1120. A pushing mechanism is provided on the outer wall of the first mounting plate 1110, located at the first opening slot 1410. The pushing mechanism includes a push plate 1530 that can move toward or away from the second opening slot 1310. When a workpiece moves between the first opening slot 1410 and the second opening slot 1310 under the action of the conveying mechanism, the push plate 1530 is used to push the workpiece from its current position into the second opening slot 1310. A storage box 3200, communicating with the second opening slot 1310, is provided on the outer wall of the second mounting plate 1120.

[0076] In this embodiment, through the above-mentioned arrangement, the base structure drives the mobile inspection robot to move to an inspection station, so that the two clamping blocks 1140 clamp the sorted recyclable lithium batteries. Then, the conveying mechanism drives the conveying rollers 1150 in the two clamping blocks 1140 to rotate, thereby driving the sorted recyclable lithium batteries to rise along the side walls of the two clamping blocks 1140 to between the first opening groove 1410 and the second opening groove 1310. Then, the pushing mechanism drives the pushing plate 1530 to push the sorted recyclable lithium batteries from between the first opening groove 1410 and the second opening groove 1310 to the second opening groove 1310 and fall into the storage box 3200 for subsequent manual inspection.

[0077] Among them, at one inspection station, one or more sorted recyclable lithium batteries can be clamped and transported to the storage box 3200, and then move to the next inspection station to continue clamping one or more sorted recyclable lithium batteries and transporting them to the storage box 3200 until the storage box 3200 is loaded;

[0078] It is worth mentioning that the mobile inspection robot is actually a transport robot. Its main purpose is to randomly extract the sorted recyclable lithium batteries into the storage box 3200, so that subsequent manual inspection can once again check whether the extracted sorted recyclable lithium batteries have recycling value.

[0079] In this embodiment, a sliding groove 1510 is provided at the second mounting plate 1120, and the upper ends of the two clamping blocks 1140 are provided with sliding blocks 1550 extending into the sliding groove 1510, and the sliding groove 1510 is provided with a rotating rod 1560 for driving the two sliding blocks 1550 to slide toward each other or back to back; the side wall of the second mounting plate 1120 is provided with a first mounting groove 1520, and the first mounting groove 1520 is provided with a sixth drive motor 1320 for driving the rotating rod 1560 to rotate.

[0080] Through the arrangement of the chute 1510, the sliding block 1550, and the rotating rod 1560 in this embodiment, the rotating rod 1560 rotates to drive the two sliding blocks 1550 to slide toward or away from each other in the chute 1510, that is, to drive the two clamping blocks 1140 to slide toward or away from each other, so as to clamp the sorted recyclable lithium batteries and transport them to the storage box 3200.

[0081] By disposing the sixth driving motor 1320 in this embodiment, the rotation of the rotating rod 1560 in the sliding groove 1510 is preferably achieved.

[0082] In this embodiment, the clamping block 1140 is mainly composed of a clamping frame 1540 with multiple rotating cavities 11110 arranged along the length direction and two clamping cover plates 1570 respectively arranged on both sides of the clamping frame 1540, and the conveying roller 1150 is arranged in the rotating cavity 11110; the conveying mechanism includes a second mounting groove 11120 arranged at the upper end of the clamping frame 1540, a seventh driving motor 11130 is arranged in the second mounting groove 11120, and a sprocket 11220 is coaxially provided on the conveying roller 1150, and one of the clamping cover plates 1570 is provided with a driving cavity 1610 for the sprocket 11220 to extend into on the side facing the sprocket 11220, and the output shaft of the seventh driving motor 11130 is connected to the sprockets 11220 of the multiple conveying rollers 1150. Connected by a chain 11140, multiple conveying rollers 1150 rotate synchronously in the same direction under the action of the seventh drive motor 11130; the conveying roller 1150 is evenly provided with multiple abutment blocks 11230 along its circumference, and the conveying roller 1150 is provided with multiple spring mounting cavities 11310 arranged along the circumference of the conveying roller 1150, and multiple groups of multiple spring mounting cavities 11310 are arranged along the axial direction of the conveying roller 1150, and a stopper 11330 is provided in the spring mounting cavity 11310, and the stopper 11330 is coaxially provided with a connecting rod 11340 extending out of the spring mounting cavity 11310, and the abutment block 11230 is connected to the connecting rod 11340; the spring mounting cavity 11310 is provided with a compression spring 11320 for keeping the abutment block 11230 moving outward.

[0083] Through the arrangement of the clamping frame 1540, the rotating chamber 11110, the clamping cover 1570, and the conveying roller 1150 in this embodiment, the conveying roller 1150 is preferably assembled in the clamping block 1140;

[0084] Through the arrangement of the seventh drive motor 11130, the conveying roller 1150, the sprocket 11220 and the chain 11140 in this embodiment, when the output shaft of the seventh drive motor 11130 rotates, each conveying roller 1150 rotates synchronously in the same direction in the corresponding rotating chamber 11110, thereby achieving the movement of the sorted recyclable lithium batteries clamped between the two clamping blocks 1140 from the bottom of the clamping device 1000 to the first opening groove 1410 and the second opening groove 1310 under the action of multiple conveying rollers 1150.

[0085] Through the arrangement of the abutting block 11230, the compression spring 11320, the stopper 11330, and the connecting rod 11340 in this embodiment, when the two clamping blocks 1140 clamp the sorted recyclable lithium batteries, the two ends of the sorted recyclable lithium batteries respectively abut against the side walls of the abutting block 11230, and the compression spring 11320 in the spring mounting cavity 11310 is squeezed. In other words, the sorted recyclable lithium batteries can be clamped more stably by the two clamping blocks 1140.

[0086] In addition, when the sorted recyclable lithium batteries move between the first opening groove 1410 and the second opening groove 1310, the sorted recyclable lithium batteries are elastically clamped, which not only makes the sorted recyclable lithium batteries better stabilized in the axial direction, but also provides the sorted recyclable lithium batteries with a movable clamping stroke in the axial direction, making it easier for the push plate 1530 to push the sorted recyclable lithium batteries from between the first opening groove 1410 and the second opening groove 1310 and push them out of the second opening groove 1310 and into the storage box 3200.

[0087] In this embodiment, the clamping device 1000 includes a mounting frame 1130 arranged between the first mounting plate 1110 and the second mounting plate 1120, and the mounting frame 1130 includes a truss rod 11010 arranged at the upper end between the first mounting plate 1110 and the second mounting plate 1120, and side rods 11020 respectively arranged on both sides between the first mounting plate 1110 and the second mounting plate 1120.

[0088] By providing the mounting frame 1130 in this embodiment, the assembly between the first mounting plate 1110 and the second mounting plate 1120 is preferably achieved.

[0089] In this embodiment, the pushing mechanism includes a rectangular mounting frame 1160 arranged on the outer wall of the first mounting plate 1110 and corresponding to the first opening groove 1410. The outer wall of the rectangular mounting frame 1160 is provided with an electric cylinder 1170, and the push plate 1530 is connected to the output shaft of the second electric cylinder 1170.

[0090] By configuring the rectangular mounting frame 1160, the second electric cylinder 1170, and the push plate 1530 in this embodiment, the sorted recyclable lithium batteries are lifted along the side walls of the two clamping blocks 1140 to a position between the first opening slot 1410 and the second opening slot 1310. The second electric cylinder 1170 drives the push plate 1530 to push the sorted recyclable lithium batteries from between the first opening slot 1410 and the second opening slot 1310 into the second opening slot 1310 and into the storage box 3200.

[0091] In this embodiment, a mounting rod 3830 extending into the mounting sleeve 3190 is provided on the upper end surface of the truss, a plurality of positioning holes 3850 are evenly spaced in the vertical direction on the side wall of the mounting sleeve 3190, and a positioning portion 3840 for positioning the mounting rod 3830 in the mounting sleeve 3190 is provided on the outer wall of the mounting sleeve 3190.

[0092] Through the arrangement of the mounting rod 3830, the mounting sleeve 3190, the positioning hole 3850, and the positioning portion 3840 in this embodiment, the mounting rod 3830 slides in the mounting sleeve 3190 and the positioning portion 3840 positions the mounting rod 3830 in the mounting sleeve 3190 at the corresponding positioning hole 3850, thereby realizing the assembly of the mobile inspection robot at the mounting sleeve 3190.

[0093] In short, the above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention should fall within the scope of the patent of the present invention.

Claims

1. A mobile inspection robot, characterized in that: The invention comprises a base structure, wherein the base structure comprises a base body, the base body comprises an installation box (3110) with an upper opening, a walking mechanism is provided below the installation box (3110), the walking mechanism comprises two driving mechanisms (3130) and a steering mechanism (3120) that move in opposite directions, the driving mechanism (3130) being used for the walking of the base body, and the steering mechanism (3120) being used for the steering of the base body; a lifting mechanism is provided below the installation box (3110) on both sides of the walking mechanism, the lifting mechanism comprises a support block (3140) for abutting against the ground, a first electric cylinder (3310) is provided in the inner cavity of the installation box (3110), a piston end of the first electric cylinder (3310) extends into the lower part of the installation box (3110) and is connected to the upper end surface of the support block (3140); a mounting plate (3150) is provided at the opening of the installation box (3110), and a fixed cavity (3210) is formed in the middle of the mounting plate (3150) toward the inner cavity of the installation box (3110); The mobile inspection robot comprises a clamping device (1000), the clamping device (1000) comprises two first mounting plates (1110) and a second mounting plate (1120) which are arranged in parallel and spaced apart, two clamping blocks (1140) which can slide towards or away from each other are arranged between the second mounting plates (1120), and the two clamping blocks (1140) are used to cooperate in clamping a workpiece; a conveying mechanism is provided in each of the two clamping blocks (1140), and the conveying mechanism comprises a plurality of conveying rollers (1150) which are arranged at intervals along the length direction of the clamping blocks (1140), and the conveying rollers (1150) at the two clamping blocks (1140) are used to cooperate in conveying the workpiece; the first mounting plate (1110) and the second mounting plate (1120) are arranged in parallel and spaced apart, and ... The second mounting plate (1120) is provided with a first opening groove (1410) and a second opening groove (1310) on the opposite plate surfaces, respectively. A pushing mechanism is provided on the outer wall of the first mounting plate (1110) and located at the first opening groove (1410). The pushing mechanism includes a push plate (1530) that can move toward or away from the second opening groove (1310). When the workpiece moves between the first opening groove (1410) and the second opening groove (1310) under the action of the conveying mechanism, the push plate (1530) is used to push the workpiece from the current position to the second opening groove (1310). A storage box (3200) connected to the second opening groove (1310) is provided on the outer wall of the second mounting plate (1120).

2. The mobile inspection robot according to claim 1, characterized in that: The lower end surface of the mounting box (3110) is provided with a strip groove (3410), and a forward and reverse threaded screw (3420) is provided in the strip groove (3410). The forward and reverse threaded screw (3420) is sleeved with two first nut blocks (3520) and a second nut block (3530) that move toward or away from each other. The first nut block (3520) and the second nut block (3530) are respectively connected to the driving mechanism (3130) and the steering mechanism (3120) via a connecting member (3510); and a first driving motor (3630) for driving the forward and reverse threaded screw to rotate is provided on the side wall of the mounting box (3110).

3. The mobile inspection robot according to claim 1, characterized in that: The driving mechanism (3130) comprises a first housing (3610) connected to a first nut block (3520) via a connecting piece (3510); a driving rod (3620) is provided in the first housing (3610); both ends of the driving rod (3620) extending out of the first housing (3610) are connected to rear wheels (3640); the driving rod (3620) is located in the first housing (3610) and is coaxially connected to a first bevel gear (3621); a second driving motor (3740) is provided on an outer wall of the first housing (3610); an output shaft of the second driving motor (3740) extends into the first housing (3610) and is provided with a second bevel gear (3631) meshing with the first bevel gear (3621); The steering mechanism (3120) includes a second housing (3710) connected to a second nut block (3530) via a connecting member (3510). Fixed columns are provided at both ends of the second housing (3710) away from the connecting member (3510). A rotating frame (3760) is provided on the fixed column. The middle of the rotating frame (3760) is rotated and arranged at the fixed column. One end of the rotating frame (3760) is connected to the front wheel (3750) of the vehicle, and the other end is provided with a mounting ring. One end of the rotating frame (3760) and the other end form a certain angle from the middle. A movable plate (3720) that slides in the left and right directions is provided inside the second housing (3710). The movable plate (3720) Connecting plates (3730) are provided between the two ends and the mounting rings on both sides, the two ends of the connecting plate (3730) are hinged to the mounting ring and the movable plate (3720), one side of the movable plate (3720) is provided with a rack (3721), and a third driving motor (3540) is provided on the outer wall of the second shell (3710). The output shaft of the third driving motor (3540) extends into the second shell (3710) and is provided with a first gear (3741) meshing with the rack (3721); the front wheels (3750) located on both sides of the second shell (3710) rotate left or right in the same direction under the action of the forward or reverse rotation of the third driving motor (3540).

4. The mobile inspection robot according to claim 1, characterized in that: A rotating column (3160) is coaxially and rotatably provided on the upper end surface of the mounting box (3110); a long strip (3170) perpendicular to the axial direction of the rotating column (3160) is provided on the upper end of the rotating column (3160); a sliding rail (3171) is provided along the length direction of the long strip (3170); a slider that slides along the long strip (3170) is provided on the upper end surface of the long strip (3170); a mounting sleeve (3190) is provided on the lower end surface of the long strip (3170); the upper end of the mounting sleeve (3190) extends into the sliding rail (3171) and is connected to the lower end surface of the slider.

5. A mobile inspection robot according to any one of claims 1 to 4, characterized in that: A sliding groove (1510) is provided at the second mounting plate (1120), and a sliding block (1550) extending into the sliding groove (1510) is provided at the upper end of each of the two clamping blocks (1140), and a rotating rod (1560) is provided in the sliding groove (1510) for driving the two sliding blocks (1550) to slide toward or away from each other; a first mounting groove (1520) is provided on the side wall of the second mounting plate (1120), and a sixth driving motor (1320) is provided in the first mounting groove (1520) for driving the rotating rod (1560) to rotate.

6. A mobile inspection robot according to any one of claims 1 to 4, characterized in that: The clamping block (1140) is mainly composed of a clamping frame (1540) with multiple rotating cavities (11110) arranged along the length direction and two clamping cover plates (1570) respectively arranged on both sides of the clamping frame (1540). The conveying roller (1150) is arranged in the rotating cavity (11110); the conveying mechanism includes a second installation groove (11120) arranged at the upper end of the clamping frame (1540), a seventh driving motor (11130) is arranged in the second installation groove (11120), and a sprocket (11220) is coaxially provided on the conveying roller (1150). A driving cavity (1610) for the sprocket (11220) to extend into is provided on one side of the clamping cover plates (1570) facing the sprocket (11220). The output shaft of the seventh driving motor (11130) and the sprockets (11220) of the multiple conveying rollers (1150) are connected by a chain. (11140), the plurality of conveying rollers (1150) rotate synchronously in the same direction under the action of the seventh drive motor (11130); the conveying roller (1150) is evenly provided with a plurality of abutting blocks (11230) along its circumference; the conveying roller (1150) is provided with a plurality of spring mounting cavities (11310) arranged along the circumference of the conveying roller (1150); the plurality of spring mounting cavities (11310) are arranged in a plurality of groups along the axial direction of the conveying roller (1150); a stopper (11330) is provided in the spring mounting cavity (11310); a connecting rod (11340) extending out of the spring mounting cavity (11310) is coaxially provided with the stopper (11330); the abutting block (11230) is connected to the connecting rod (11340); a compression spring (11320) for keeping the abutting block (11230) moving outward is provided in the spring mounting cavity (11310).

7. The mobile inspection robot according to claim 6, characterized in that: The clamping device (1000) includes a mounting frame (1130) provided between a first mounting plate (1110) and a second mounting plate (1120), and the mounting frame (1130) includes a truss rod (11010) provided at the upper end between the first mounting plate (1110) and the second mounting plate (1120) and side rods (11020) provided at both sides between the first mounting plate (1110) and the second mounting plate (1120).

8. The mobile inspection robot according to any one of claims 1 to 4, characterized in that: The pushing mechanism comprises a rectangular mounting frame (1160) arranged on the outer side wall of the first mounting plate (1110) and corresponding to the first opening groove (1410); a second electric cylinder (1170) is provided on the outer side wall of the rectangular mounting frame (1160); and a pushing plate (1530) is connected to the output shaft of the second electric cylinder (1170).

9. The mobile inspection robot according to claim 7, characterized in that: The upper end surface of the truss (11010) is provided with a mounting rod (3830) extending into the mounting sleeve (3190), a plurality of positioning holes (3850) are evenly spaced along the vertical direction on the side wall of the mounting sleeve (3190), and a positioning portion (3840) for positioning the mounting rod (3830) in the mounting sleeve (3190) is provided on the outer wall of the mounting sleeve (3190).

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