Intelligent construction site security and fire starting inspection robot

Abstract

The application discloses an intelligent construction site security ignition inspection robot, and relates to the field of inspection robots, which comprises a mounting chassis, a monitoring module for monitoring the environment on the side of the robot is arranged on the mounting chassis, and a movement module for driving the movement of the robot; the movement module comprises four power wheels which are arranged at four corners of the mounting chassis in a one-to-one rotation mode and a driving mechanism for driving the movement of the power wheels, and further comprises an obstacle crossing mechanism for driving the power wheels to cross over ground cables. The application has the effect of avoiding the new safety hazards caused by the crushing of connected cables in the fire-prohibited area when the inspection robot moves.

Description

Technical Field

[0001] This application relates to the field of inspection robots, and in particular to an intelligent construction site security hot work inspection robot. Background Technology

[0002] Hot work refers to welding and cutting operations performed in fire-restricted areas, as well as temporary operations in flammable and explosive locations using torches, electric drills, grinding wheels, or other equipment that may generate flames, sparks, or heated surfaces. A safety officer must be present during hot work to ensure compliance with regulations and thus guarantee site safety.

[0003] However, due to issues such as the generally low skill level and inadequate safety awareness of personnel involved in manual inspections, construction accidents caused by unauthorized hot work can still occur. Furthermore, considering that camera surveillance cannot fully cover the entire construction site, inspection robots are often used on construction sites to replace manual labor for inspecting hot work areas. Common inspection robots typically consist of a mounting base, monitoring devices mounted on the base, and a power unit. The power unit usually includes four wheels to allow the inspection robot to move and monitor the work area.

[0004] Regarding the aforementioned technologies, the inventors have discovered the following drawbacks: The inspection robot used for hot work operations is applied to safety checks during hot work in restricted fire zones. During hot work operations, the connecting cables of hot work equipment such as electric drills and grinding wheels are temporarily connected to the restricted fire zone and placed on the ground for workers to operate on. When the inspection robot moves and monitors, its power wheels repeatedly crush the connecting cables of the hot work equipment. For routine hot work operations, this prolonged and repeated crushing of the connecting cables by the inspection robot will create new safety hazards. Summary of the Invention

[0005] To address the safety hazard caused by inspection robots repeatedly crushing connecting cables during mobile monitoring, this application provides an intelligent construction site safety hot work inspection robot.

[0006] The intelligent construction site safety hot work inspection robot provided in this application adopts the following technical solution:

[0007] A smart construction site safety hot work inspection robot includes a mounting chassis, on which a monitoring module for monitoring the robot's surrounding environment and a motion module for driving the robot to move are mounted.

[0008] The motion module includes four drive wheels that are rotatably mounted at the four corners of the mounting chassis, a drive mechanism for moving the drive wheels, and an obstacle-crossing mechanism for driving the drive wheels to cross ground cables.

[0009] By adopting the above technical solution, the chassis serves as the mounting base for the inspection robot. The monitoring module is used to monitor the robot's surrounding environment to determine whether the hot work operation is compliant or whether there are any hazards at the hot work site. The motion module is used to drive the inspection robot to move around the construction site to monitor various positions and angles of the hot work operation site. The obstacle-crossing mechanism is used to enable the inspection robot to cross cables on the construction site ground to avoid the inspection robot repeatedly running over the connecting cables of the hot work equipment on the ground during the inspection, thereby avoiding the inspection robot from causing new safety hazards in the fire-restricted area.

[0010] Optionally, the drive mechanism is provided in two sets, with two drive wheels located at two opposite positions in the width direction of the mounting chassis corresponding to one set of the drive mechanism;

[0011] The drive mechanism includes a connecting sleeve rod, in which a drive motor and a differential are disposed. The output end of the drive motor is coaxially fixed to the input end of the differential. The two output ends of the differential are respectively fixed to a rotating shaft, and the two rotating shafts are respectively fixed to the two drive wheels in a one-to-one correspondence.

[0012] By adopting the above technical solution, the drive motor and differential work together to drive a set of power wheels in the width direction to rotate forward or to turn the inspection robot, so as to realize the normal movement and walking of the inspection robot and enable the inspection robot to move to different positions on the construction site to monitor hot work operations.

[0013] Optionally, the obstacle-crossing mechanism includes a lifting link with one end fixed to the outer wall of the connecting sleeve rod. The lifting link moves up and down in a direction perpendicular to the mounting chassis. The mounting chassis is also provided with a first lifting assembly for driving the lifting link to move up and down.

[0014] The obstacle-crossing mechanism also includes a lifting support rod disposed in the middle of the mounting chassis and raised and lowered in a direction perpendicular to the mounting chassis, and an auxiliary wheel disposed at the bottom end of the lifting support rod. The mounting chassis is also provided with a second lifting assembly for driving the lifting support rod to rise and fall.

[0015] By adopting the above technical solution, when the inspection robot inspects the connecting cable, the second lifting component drives the lifting support rod to descend until the auxiliary wheel supports the ground, and the first lifting component drives the lifting connecting rod to rise, thereby driving the connecting sleeve rod and the front wheel group at both ends of the connecting sleeve rod (i.e., the two power wheels located at the front of the inspection robot) to rise above the cable. At this time, the auxiliary wheel and the rear wheel group (i.e., the two power wheels located at the rear of the inspection robot) are used to support the inspection robot. At the same time, the drive motor drives the rear wheel group to rotate, thereby driving the inspection robot forward until the front wheel group crosses the connecting cable on the ground. At this time, the lifting support rod drives the auxiliary wheel to rise and retract.

[0016] When the rear wheel assembly approaches the connecting cable, the auxiliary wheel descends and the rear wheel assembly rises. At the same time, the front wheel assembly and the auxiliary wheel work together to propel the inspection robot forward, allowing the rear wheel assembly to cross the connecting cable. This, in turn, allows the entire inspection robot to cross the connecting cable on the ground, without damaging the connecting cable on the ground during the inspection process.

[0017] Optionally, the first lifting assembly includes a first slider that is slidably connected to the mounting chassis along the width direction of the mounting chassis, a first connecting rod that is hinged to the first slider, and the other end of the first connecting rod that is hinged to the lifting connecting rod; the mounting chassis is also provided with a linear drive assembly for driving the first slider to slide.

[0018] By adopting the above technical solution, when the linear drive component drives the first slider to move toward the lifting link along the width direction of the mounting chassis, the first slider drives the first link to rotate, and the first link in turn drives the lifting link to rise; when the first slider moves away from the lifting link, the first link drives the lifting link to fall.

[0019] Optionally, a counterweight is slidably disposed on the mounting chassis; a second connecting rod is hinged to one side of the first slider, a third connecting rod is hinged to the other end of the second connecting rod, and the other end of the third connecting rod is hinged to the counterweight; the mounting chassis is also provided with a guide structure for driving the third connecting rod to slide along the length direction of the mounting chassis.

[0020] By adopting the above technical solution, when the first slider moves toward the lifting link, the first slider drives the second link to rotate, and the rotation of the second link in turn drives the third link to move along the length of the mounting chassis under the action of the guide structure. Specifically, when the first slider moves toward the lifting link, the lifting link rises, and the third link drives the counterweight to move away from the lifting link. By adjusting the center of gravity of the inspection robot when the power wheel is suspended in the air by the counterweight, the two power wheels and auxiliary wheels used to support the inspection robot when crossing the connecting cable can support the inspection robot more stably.

[0021] Optionally, the lifting support rod is a threaded rod; the second lifting assembly includes a worm gear rotatably connected to the mounting chassis, the rotation axis of the worm gear being perpendicular to the mounting chassis, the lifting support rod being threaded through and connected to the center of the worm gear, and a worm being meshed with one side of the worm gear. The lifting assembly also includes a guide for limiting the rotation of the lifting support rod as the worm gear rotates and a worm drive for driving the worm to rotate.

[0022] By adopting the above technical solution, the worm drive component drives the worm to rotate, which in turn drives the worm wheel that is meshed with the worm wheel to rotate. Under the action of the guide component, the lifting support rod that is threaded to the worm wheel cannot be forced to rotate and will rotate instead. Then, under the action of the thread, it moves along its axial direction to realize the lifting of the lifting support rod and the auxiliary wheel.

[0023] Optionally, the linear drive assembly includes a slide rail fixed to the mounting chassis and slidably adapted to the first slider. A threaded rod is rotatably connected to the slide rail along its length. The threaded rod is threaded through the first slider. One end of the slide rail is also provided with a rod drive component for driving the threaded rod to rotate about its axial direction.

[0024] By adopting the above technical solution, the rotating rod drive component drives the threaded rotating rod to rotate. Due to the restriction of the slide rail wall on the first slider, the first slider is difficult to rotate with the threaded rotating rod. As a result, the first slider moves along the length of the slide rail under the action of the thread, thereby driving the lifting link to rise and fall. At the same time, the cooperation between the threaded rotating rod and the rotating rod drive component allows the sliding stroke of the first slider to be larger than that driven by a cylinder or other means, thereby increasing the lifting adjustment range of the lifting link.

[0025] Optionally, a sliding groove along its length is fixedly connected to the lifting link, and the two ends of the sliding groove are closed; a second slider is slidably connected to the sliding groove, and the end of the first link away from the first slider is hinged to the second slider;

[0026] The starting end of the slide rail is also provided with a sensing component for monitoring the sliding state of the first slider; when the second slider slides to the top of the slide groove, the lifting support rod drives the auxiliary wheel to descend until it touches the ground.

[0027] By adopting the above technical solution, when the first slider moves toward the lifting link, the second slider first moves along the slide groove until the second slider slides to the top of the slide groove. At this time, when the first slider continues to move toward the lifting link, the second slider then drives the lifting link to rise. That is, by adjusting the time when the second slider slides in the slide groove to match the time when the lifting support rod descends to the point where the auxiliary wheel supports the ground, the auxiliary wheel can be lowered to support the ground when the power wheel rises to the point of leaving the ground, so that the time for adjusting the rise and fall of the power wheel and the auxiliary wheel can be shortened to the minimum. The sliding of the first slider is monitored by the sensing component so that the auxiliary wheel can be driven to descend in time.

[0028] Optionally, the sensing component includes an infrared transmitter and an infrared receiver spaced apart along the length of the mounting chassis, with the infrared transmitter and the infrared receiver positioned on opposite sides of the slide rail; the sensing component also includes a controller, which is electrically connected to the infrared receiver and the rotating rod drive.

[0029] By adopting the above technical solution, when the first slider is located at the starting end of the slide rail, the first slider is located between the infrared transmitter and the infrared receiver, and blocks the infrared rays emitted by the infrared transmitter. When the first slider begins to slide towards the lifting linkage and the first slider leaves the starting end of the slide rail, the infrared receiver can receive the light signal emitted by the infrared receiver and transmit the signal to the controller. The controller drives the rotating rod drive to start, thereby driving the auxiliary wheel to descend.

[0030] Optionally, the lifting support rod is provided with a steering component for driving the auxiliary wheel to turn.

[0031] By adopting the above technical solution, the steering component controls the direction of the auxiliary wheels. After adjusting the direction of the auxiliary wheels, the auxiliary wheels are lowered and the front wheel assembly or rear wheel assembly is raised. This allows the inspection robot to turn according to the direction of the auxiliary wheels, greatly improving the flexibility of the inspection robot's movement.

[0032] In summary, this application includes at least one of the following beneficial technical effects:

[0033] 1. The obstacle-crossing mechanism is used to enable the inspection robot to cross the cables on the construction site, so as to avoid the inspection robot repeatedly running over the connection cables of the hot work equipment on the ground when it moves and inspects, thereby avoiding the inspection robot from causing new safety hazards in the fire-restricted area;

[0034] 2. Adjust the center of gravity of the inspection robot when the power wheels are suspended by the counterweight, so that the two power wheels and auxiliary wheels used to support the inspection robot can support the inspection robot more stably when crossing the connecting cable;

[0035] 3. By controlling the direction of the auxiliary wheels through the steering components, the auxiliary wheels can be lowered after the direction is adjusted, and the front wheel assembly or the rear wheel assembly can be raised. This allows the inspection robot to turn in the direction of the auxiliary wheels, greatly improving the flexibility of the inspection robot's movement. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application.

[0037] Figure 2 This embodiment of the application is mainly used to illustrate the structural diagram of the drive mechanism.

[0038] Figure 3 This embodiment of the application is mainly used to illustrate the structural diagram of the obstacle-crossing mechanism.

[0039] Figure 4 This is a structural schematic diagram of the obstacle-crossing mechanism from another angle, which is mainly used to illustrate the embodiments of this application.

[0040] Figure 5 yes Figure 4An enlarged schematic diagram of part A in the middle.

[0041] Reference numerals: 1. Mounting chassis; 111. Camera module; 112. Gimbal module; 113. Environmental sensor module; 12. Remote control box push mechanism; 2. Drive wheel; 3. Drive mechanism; 31. Connecting sleeve rod; 32. Drive motor; 33. Differential; 34. Rotary shaft; 4. Obstacle crossing mechanism; 41. Lifting link; 42. First lifting assembly; 421. First slider; 422. First link; 423. Slide rail; 424. Threaded rotating rod; 425. Rotary lever drive component; 43. Lifting support rod; 44. Auxiliary wheel; 45. Second lifting assembly; 451. Worm gear; 452. Worm; 453. Worm gear drive component; 454. Guide groove; 461. Counterweight block; 462. Second connecting rod; 463. Third connecting rod; 464. Guide rail; 471. Slide groove; 472. Second slider; 473. Pressure sensor; 481. Infrared transmitter; 482. Infrared receiver; 5. Steering motor. Detailed Implementation

[0042] The following is in conjunction with the appendix Figure 1-5 This application will be described in further detail.

[0043] This application discloses an intelligent construction site safety and hot work inspection robot. (Refer to...) Figure 1 The intelligent construction site safety hot work inspection robot includes a rectangular mounting chassis 1, a motion module mounted on the mounting chassis 1 for driving the inspection robot to move, and a monitoring module mounted on the mounting chassis 1.

[0044] The motion module includes four drive wheels 2 that are respectively rotated at the four corners of the mounting chassis 1, a drive mechanism 3 for driving the drive wheels 2 to rotate, and an obstacle-crossing mechanism 4 for driving the drive wheels 2 to cross the connecting cables of the hot work equipment on the ground, so as to avoid the inspection robot from crushing the connecting cables during the mobile inspection process, thereby avoiding new safety hazards during hot work operations.

[0045] Combined with reference Figure 1 and Figure 2 In this embodiment of the application, the two power wheels 2 located at the front end of the inspection robot are referred to as the front wheel group, and the two power wheels 2 located at the rear end of the inspection robot are referred to as the rear wheel group. There are two drive mechanisms 3, which drive the front wheel group and the rear wheel group respectively.

[0046] Specifically, refer to Figure 2The drive structure includes a connecting sleeve 31, which is a hollow square rod with its length parallel to the width of the mounting chassis 1. A differential 33 is installed in the middle of the inner cavity of the connecting sleeve 31. A drive motor 32 is fixedly connected to one outer wall of the connecting sleeve 31, and the drive motor 32 is coaxially fixedly connected to the input end of the differential 33. The two output ends of the differential 33 point to the two ends of the length direction of the connecting sleeve 31, and each output end of the differential 33 is coaxially fixedly connected to a rotating shaft 34. The two ends of the two rotating shafts 34 that are far apart from each other are coaxially fixedly connected to their corresponding drive wheels 2. The drive wheels 2 can be driven to move by the cooperation of the drive motor 32 and the differential 33.

[0047] Combined with reference Figure 3 and Figure 4 The obstacle-crossing mechanism 4 in this embodiment includes a lifting link 41 and a first lifting component 42 for driving the lifting link 41 to rise and fall. The lifting link 41 is a square rod that vertically penetrates the mounting chassis 1, and one end of the lifting link 41 extending out of the mounting chassis 1 is fixed to the side of the connecting sleeve rod 31 near the mounting chassis 1. The first lifting component 42 drives the lifting link 41 to rise, which in turn drives the connecting sleeve rod 31 and the two power wheels 2 corresponding to the connecting sleeve rod 31 to rise in sequence.

[0048] The obstacle-crossing mechanism 4 also includes a lifting support rod 43 that runs through the center of the mounting chassis 1 and rises and falls in a direction perpendicular to the mounting chassis 1, and an auxiliary wheel 44 located at the bottom of the lifting support rod 43. When the inspection robot travels to the connecting cable, it drives the auxiliary wheel 44 to descend until it touches the ground, and then drives the front wheel assembly to rise above the connecting cable. Through the cooperation of the auxiliary wheel 44 and the rear wheel assembly, the inspection robot moves forward until the front wheel assembly crosses the connecting cable. Then, it lowers the front wheel assembly and raises the auxiliary wheel 44. Then, when the inspection robot has traveled the distance between the front wheel assembly and the rear wheel assembly, it lowers the auxiliary wheel 44 and raises the rear wheel assembly. Through the cooperation of the front wheel assembly and the auxiliary wheel 44, the rear wheel assembly crosses the connecting cable, thereby allowing the inspection robot to cross the connecting cable as a whole, avoiding crushing the connecting cable.

[0049] Since the front wheel assembly and rear wheel assembly in this embodiment achieve the same method and structure for crossing the connecting cable, the front wheel assembly will be used as an example for description. Specifically, refer to the reference... Figure 4 and Figure 5 The first lifting assembly 42 includes a first slider 421 that slides on the mounting base 1 along the width direction of the mounting base 1 and a first connecting rod 422 with one end hinged to the upper end face of the first slider 421. The rotation axis of the first connecting rod 422 is parallel to the length direction of the mounting base 1, and the other end of the first connecting rod 422 is hinged to the lifting connecting rod 41.

[0050] At this time, the first slider 421 is driven to move toward the lifting link 41, and at the same time, the angle between the first link 422 and the mounting chassis 1 increases, driving the lifting link 41 to rise, thereby lifting the front wheel assembly; therefore, the mounting chassis 1 is also provided with a linear drive assembly for driving the first slider 421 to slide.

[0051] Reference Figure 5 The linear drive assembly includes a slide rail 423 fixed to the mounting chassis 1 along the width direction of the mounting chassis 1. The slide rail 423 consists of two L-shaped rails arranged opposite each other. The slider is inverted T-shaped, with its large head slidingly adapted to the slide rail 423 and its small head protruding from the slide rail 423.

[0052] The linear drive assembly also includes a threaded rod 424 whose axis is parallel to the length direction of the slide rail 423. The threaded rod 424 rotates around its axis, and the threaded rod 424 passes through the first slider 421. The end of the slide rail 423 away from the lifting link 41 is also provided with a rod drive 425 for driving the threaded rod 424 to rotate. The rod drive 425 can be a servo motor.

[0053] The rotating rod drive 425 drives the threaded rotating rod 424 to rotate, while the first slider 421, constrained by the L-shaped slide rail 423, is difficult to rotate axially around the threaded rotating rod 424. Consequently, under the action of the thread, it moves along the length of the slide rail 423, driving the lifting link 41 and the front wheel assembly to rise and fall. To make the rising and falling of the lifting link 41 more stable, the first lifting assembly 42 in this embodiment is provided in two sets, arranged on two opposite sides of the lifting link 41.

[0054] Meanwhile, in order to achieve the raising and lowering of the lifting support rod 43, a second lifting assembly 45 is also provided on the mounting chassis 1. See details... Figure 4 The lifting support rod 43 is a threaded rod. The second lifting assembly 45 includes a worm gear 451 rotatably connected to the mounting base 1 about vertically. The lifting support rod 43 is threaded through the center of the worm gear 451. A worm 452 that meshes with the worm gear 451 is also rotatably connected to the mounting base 1. The axial direction of the worm 452 is parallel to the length direction of the mounting base 1. A worm drive 453 for driving the worm 452 to rotate about its axial direction is also fixedly connected to the mounting base 1. In this embodiment, the worm drive 453 can also be a servo motor. The output end of the servo motor is coaxially fixedly connected to the worm 452.

[0055] The mounting chassis 1 is also provided with a guide to limit the rotation of the lifting strut 43 as the worm gear 451 rotates. Specifically, the guide is a guide block (not shown in the figure) fixed to the mounting chassis 1 at the hole through which the lifting strut 43 passes. The arc-shaped side wall of the lifting strut 43 is provided with a guide groove 454 that is adapted to be inserted into the guide block. The guide groove 454 extends along the axial direction of the lifting strut 43 and passes through the lifting strut 43 at both ends in its extension direction.

[0056] In this configuration, when the worm drive 453 drives the worm 452 to rotate, the worm wheel 451 rotates with the worm 452. However, the lifting support rod 43, with the cooperation of the guide block and the guide groove 454, is difficult to rotate with the worm wheel 451. Therefore, under the action of the thread, it moves along its own axis, thus realizing the lifting and lowering of the lifting support rod 43, and thus realizing the lowering and raising of the auxiliary wheel 44.

[0057] Continue to refer to Figure 4 The auxiliary wheel 44 is a one-way wheel. A steering component, a steering motor 5, is fixedly connected to the lower end of the lifting support rod 43. The output end of the steering motor 5 is fixedly connected to a mounting plate (not shown in the figure). The auxiliary wheel 44 is mounted on the side of the mounting plate away from the steering motor 5. Rotating the steering motor 5 adjusts the angle of the auxiliary wheel 44. When the front or rear wheel group is raised, the movement of the rear or front wheel group allows the inspection robot to turn under the action of the auxiliary wheel 44, making the inspection robot's steering more flexible.

[0058] Furthermore, when the current wheel set is lifted, the weight of the inspection robot is supported by the auxiliary wheel 44 located in the middle of the mounting chassis 1 and the rear wheel set located at the rear end of the mounting chassis 1, while the front end of the mounting chassis 1 is suspended in the air, which may cause the inspection robot to shake.

[0059] Therefore, to enable the inspection robot to cross the connecting cables more stably, a counterweight 461 is also slidably mounted on the mounting chassis 1. (Refer to...) Figure 4 and Figure 5 The first slider 421 is hinged to the second connecting rod 462 on the side near the center of the mounting base 1. The rotation axis of the second connecting rod 462 is set perpendicular to the mounting base 1. The end of the second connecting rod 462 away from the first connecting rod 422 is hinged to the third connecting rod 463. The counterweight 461 is fixed to the end of the third connecting rod 463 away from the second connecting rod 462.

[0060] The mounting chassis 1 is also provided with a guide structure for driving the third link 463 to slide along the length direction of the mounting chassis 1. Specifically, two L-shaped guide rails 464 are fixed to the mounting chassis 1 at intervals along the width direction of the mounting chassis 1. Guide grooves that slide and adapt to one end of the L-shaped guide rails 464 are opened on the two opposite side walls of the third link 463. The length direction of the guide grooves is parallel to the length direction of the mounting chassis 1. The end of the guide rail 464 away from the mounting chassis 1 is slidably connected in the guide groove.

[0061] In this configuration, when the first slider 421 is in its initial position away from the lifting link 41, the counterweight 461 is located at the center of the mounting base 1. When the first slider 421 slides toward the lifting link 41, the second link 462 gradually rotates to be perpendicular to the threaded rotating rod 424, while simultaneously driving the third link 463 to move toward the tail end of the mounting base 1, thereby moving the counterweight 461 to the tail end of the mounting base 1.

[0062] When the front wheel assembly is lifted, the counterweight 461 corresponding to the front wheel assembly moves backward, causing the center of gravity of the inspection robot to move towards the rear end of the mounting chassis 1, thereby enabling the auxiliary wheel 44 and the rear wheel assembly to more stably support the mounting chassis 1; refer to Figure 3 The counterweight 461 corresponding to the rear wheel assembly and the counterweight 461 corresponding to the front wheel assembly are symmetrically arranged on the mounting chassis 1. That is, when the rear wheel assembly is lifted, the center of gravity of the inspection robot moves forward, so that the front wheel assembly and the auxiliary wheel 44 can better support the mounting chassis 1.

[0063] Furthermore, when the inspection robot crosses the connecting cable, the auxiliary wheels 44 must first be lowered to support the mounting chassis 1 before the front or rear wheel assembly is raised to maintain the stability of the inspection robot itself.

[0064] Therefore, in order to optimize the timing of lowering the auxiliary wheel 44 and raising the front / rear wheel assembly, and in conjunction with reference to... Figure 4 and Figure 5 The lifting link 41 has a T-shaped groove 471 along its length on the side near the first link 422. The two ends of the groove 471 are closed. At the same time, the lifting link 41 slides a T-shaped second slider 472 in the groove 471. The end of the first link 422 away from the first slider 421 is hinged to the second slider 472.

[0065] When the first slider 421 is in its initial position away from the lifting link 41, the second slider 472 is located at the lower end of the slide groove 471. Under this configuration, when the first slider 421 slides toward the lifting link 41, it will first drive the second slider 472 to slide in the slide groove 471 until the second slider 472 slides to abut against the groove end wall at the upper end of the slide groove 471. At this time, the first slider 421 continues to slide toward the lifting link 41, which then drives the lifting link 41 to rise and drives the front wheel assembly to rise.

[0066] Meanwhile, the starting end of the slide rail 423 is also provided with a sensing component for monitoring the sliding state of the first slider 421. The sensing component specifically includes an infrared transmitter 481 and an infrared receiver 482 that are spaced apart along the length of the mounting chassis 1 and arranged opposite to each other on both sides of the slide rail 423. Both the infrared transmitter 481 and the infrared receiver 482 are located at the starting end of the slide rail 423, and when the first slider 421 is in the initial position, the first slider 421 is blocked between the infrared transmitter 481 and the infrared receiver 482.

[0067] The sensing assembly also includes a controller (not shown in the figure), which is electrically connected to the infrared receiver 482 and the rotary rod drive 425. When the first slider 421 slides toward the lifting link 41, the first slider 421 no longer obstructs the space between the infrared receiver 482 and the infrared transmitter 481, allowing the infrared transmitter 481 to receive the signal emitted by the infrared transmitter 481 and transmit it to the controller. The controller then drives the lifting support rod 43 to lower the auxiliary wheel 44.

[0068] Adjusting the rotation speed of the rotary drive 425 and the worm drive 453 ensures that when the second slider 472 slides to abut against the end wall of the slide groove 471, the auxiliary wheel 44 is in contact with the ground. This minimizes the time difference between the lowering of the auxiliary wheel 44 and the lifting of the front wheel assembly off the ground, thus reducing the time required for the inspection robot to cross the connecting cable.

[0069] Reference Figure 4 In this embodiment of the application, the rear wheel assembly is also equipped with a sensing component. It should be noted that when the infrared receiver 482 corresponding to either the front wheel assembly or the rear wheel assembly receives a signal, it can drive the auxiliary wheel 44 to be lowered to support the mounting chassis 1.

[0070] Furthermore, in order to maintain the stability of the inspection robot during the lifting of the front / rear wheel assembly and the lowering of the auxiliary wheel 44, the lowering speed of the auxiliary wheel 44 should not be too fast. After the auxiliary wheel 44 is lowered, the front / rear wheel assembly needs to be quickly lifted so that it is above the connecting cable.

[0071] Therefore, a pressure sensor 473 electrically connected to the controller is also embedded in the groove wall at the top of the slide 471. At the same time, the controller is electrically connected to the rotating rod drive 425. When the second slider 472 slides to drive the lifting link 41 to rise, the second slider 472 triggers the pressure sensor 473. At this time, the controller drives the rotating rod drive 425 to accelerate rotation, thereby accelerating the lifting speed of the front wheel group / rear wheel group after the auxiliary wheel 44 is lowered, so as to reduce the obstacle crossing time of the inspection robot.

[0072] Furthermore, due to the setting of the slide 471, when the front wheel assembly descends to contact the ground, the first slider 421 has not yet returned to its initial position. If the lifting time of the auxiliary wheel 44 is controlled by the cooperation of the infrared transmitter 481 and the infrared receiver 482, that is, when the signal generated by the infrared transmitter 481 is blocked by the first slider 421, the auxiliary wheel 44 will be driven to lift, which will result in a waste of time difference.

[0073] Therefore, in this embodiment, when the pressure sensor 473 is no longer triggered by the second slider 472, that is, when the front wheel assembly / rear wheel assembly descends to its original position, the controller immediately drives the auxiliary wheel 44 to rise, further shortening the obstacle-crossing time of the inspection robot.

[0074] The inspection robot moves using a motion module and monitors its surroundings during hot work operations using a monitoring module. (Review) Figure 1 The monitoring module includes a camera module 111, a pan-tilt module 112, and an environmental sensor module 113 mounted on the mounting chassis 1, wherein the camera module 111 is connected to the mounting chassis 1 through the pan-tilt module 112.

[0075] The camera module 111 may include one or more of a common camera, a thermal camera, or a night vision camera to provide good monitoring of the operation in different environments; the environmental sensor module is located at the front of the vehicle and can be selected from different combinations of environmental detection sensors, temperature sensors, gas sensors, and radar sensors to assist in detecting the environment around the inspection robot, depending on the actual situation.

[0076] Meanwhile, the environmental sensor module in this application includes a radar sensor, which can be used to monitor obstacles in front of the inspection robot, so that the inspection robot can overcome obstacles when its front wheel assembly moves in front of the connecting cable.

[0077] The inspection robot is also equipped with a remote control box push mechanism 12 for workers to remotely drive the inspection robot to move, a GPS module for positioning the inspection robot, and a wireless transmission module for signal transmission, so as to realize cloud control of the inspection robot and enable the inspection robot to be better used for intelligent inspection of construction sites.

[0078] The implementation principle of an intelligent construction site safety hot work inspection robot according to an embodiment of this application is as follows: When the inspection robot travels to the connecting cable, the first slider 421 is driven to move toward the lifting link 41 by the rotating rod drive component 425. At this time, with the cooperation of the infrared transmitter 481 and the infrared receiver 482, the worm gear drive component 453 drives the auxiliary wheel 44 to descend. With the cooperation of the second slider 472 and the slide groove 471, when the auxiliary wheel 44 descends to the point of contact with the ground, the first slider 421 drives the lifting link 41 to rise above the connecting cable. At the same time, the counterweight 461 moves in the opposite direction to the raised power wheel 2 to adjust the overall center of gravity of the inspection robot. At this time, the auxiliary wheel 44 and the other set of power wheels 2 can drive the inspection robot to move forward to the raised power wheel 2 and cross the connecting cable. The cooperation of the second slider 472 and the pressure sensor 473 further shortens the time for the inspection robot to cross the connecting cable.

[0079] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. An intelligent construction site safety hot work inspection robot, characterized in that: Includes a mounting chassis (1), on which a monitoring module for monitoring the robot’s surrounding environment and a motion module for driving the robot to move are provided; The motion module includes four power wheels (2) that are rotatably disposed at the four corners of the mounting chassis (1) and a drive mechanism (3) for driving the power wheels (2) to move. It also includes an obstacle-crossing mechanism (4) for driving the power wheels (2) to cross the ground cable. The drive mechanism (3) is provided in two sets, with the two power wheels (2) located at two opposite positions in the width direction of the mounting chassis (1) corresponding to one set of the drive mechanism (3). The drive mechanism (3) includes a connecting sleeve (31), in which a drive motor (32) and a differential (33) are provided. The output end of the drive motor (32) is coaxially fixed to the input end of the differential (33). The two output ends of the differential (33) are respectively fixed to a rotating shaft (34), and the two rotating shafts (34) are respectively fixed to the two power wheels (2). The obstacle crossing mechanism (4) includes a lifting link (41) with one end fixed to the outer wall of the connecting sleeve (31). The lifting link (41) moves up and down in a direction perpendicular to the mounting chassis (1). The mounting chassis (1) is also provided with a first lifting assembly (42) for driving the lifting link (41) to move up and down. The obstacle crossing mechanism (4) further includes a lifting support rod (43) disposed in the middle of the mounting chassis (1) and raised and lowered in a direction perpendicular to the mounting chassis (1) and an auxiliary wheel (44) disposed at the bottom end of the lifting support rod (43). The mounting chassis (1) is also provided with a second lifting assembly (45) for driving the lifting support rod (43) to rise and fall. The first lifting assembly (42) includes a first slider (421) that is slidably connected to the mounting chassis (1) along the width direction of the mounting chassis (1). A first connecting rod (422) is hinged to the first slider (421), and the other end of the first connecting rod (422) is hinged to the lifting connecting rod (41). The mounting chassis (1) is also provided with a linear drive assembly for driving the first slider (421) to slide. A counterweight (461) is also slidably disposed on the mounting chassis (1); a second connecting rod (462) is hinged to one side of the first slider (421), a third connecting rod (463) is hinged to the other end of the second connecting rod (462), and the other end of the third connecting rod (463) is hinged to the counterweight (461). A guide structure for driving the third connecting rod (463) to slide along the length direction of the mounting chassis (1) is also provided on the mounting chassis (1).

2. The intelligent construction site safety hot work inspection robot according to claim 1, characterized in that: The lifting support rod (43) is a threaded rod; the second lifting assembly (45) includes a worm gear (451) rotatably connected to the mounting chassis (1), the rotation axis of the worm gear (451) being perpendicular to the mounting chassis (1), the lifting support rod (43) being threaded through and connected to the center of the worm gear (451), and a worm (452) being meshed on one side of the worm gear (451). The lifting assembly also includes a guide for limiting the rotation of the lifting support rod (43) as the worm gear (451) rotates and a worm drive (453) for driving the worm (452) to rotate.

3. The intelligent construction site safety hot work inspection robot according to claim 2, characterized in that: The linear drive assembly includes a slide rail (423) fixed to the mounting chassis (1) and slidably adapted to the first slider (421). A threaded rod (424) is rotatably connected to the slide rail (423) along its length direction. The threaded rod (424) is threaded through the first slider (421). One end of the slide rail (423) is also provided with a rod drive member (425) for driving the threaded rod (424) to rotate around its axial direction.

4. The intelligent construction site safety hot work inspection robot according to claim 3, characterized in that: The lifting link (41) is fixedly connected to a slide groove (471) along its length direction, and the two ends of the slide groove (471) are closed; a second slider (472) is slidably connected to the slide groove (471), and the end of the first link (422) away from the first slider (421) is hinged to the second slider (472). The starting end of the slide rail (423) is also provided with a sensing component for monitoring the sliding state of the first slider (421); when the second slider (472) slides to the top of the slide groove (471), the lifting support rod (43) drives the auxiliary wheel (44) to descend to contact the ground.

5. The intelligent construction site safety hot work inspection robot according to claim 4, characterized in that: The sensing component includes an infrared transmitter (481) and an infrared receiver (482) spaced apart along the length of the mounting chassis (1), with the infrared transmitter (481) and the infrared receiver (482) positioned on opposite sides of the slide rail (423); the sensing component also includes a controller, which is electrically connected to the infrared receiver (482) and the rotary rod drive (425).

6. The intelligent construction site safety hot work inspection robot according to claim 1, characterized in that: The lifting support rod (43) is provided with a steering component for driving the auxiliary wheel (44) to turn.

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