Multifunctional inspection robot

Abstract

The multifunctional inspection robot comprises a chassis, the bottom of the chassis is rotatably connected with walking wheels, the upper portion of the chassis is provided with a robot body, the upper portion of the body is connected with a Z-shaped folding arm, the upper end of the folding arm is connected with a partial discharge detection unit and an image acquisition unit, and the partial discharge detection unit and the image acquisition unit are electrically connected with the body in parallel. The invention belongs to the technical field of intelligent inspection robots, and particularly provides a multifunctional inspection robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of inspection robots, and in particular relates to a multifunctional inspection robot and a use method thereof. Background Art

[0002] With the rapid development of industrial automation and intelligence, indoor inspection is of great significance to ensure the safety and stable operation of equipment and improve production efficiency. Mobile inspection combines technologies such as computers, communications and mobile terminals to achieve remote monitoring and intelligent operation.

[0003] However, traditional indoor inspection work usually relies on manual inspection, which has problems such as low inspection efficiency, great safety hazards, and susceptibility to human factors. To this end, the prior art "An intelligent inspection robot for substation monitoring" (patent application number CN202321950499.3) discloses a robot including an inspection component, which realizes the function of multi-directional monitoring by adding functional monitoring components such as laser navigator, infrared camera, main controller, temperature and humidity sensor 16, gas sensor, sound and light alarm, etc., and driven by the walking robot body, but it cannot automatically adjust the monitoring angle and cannot adapt to the needs of different monitored environments, thereby limiting its scope of use.

[0004] For another example, patent number CN216830900U (An explosion-proof intelligent inspection robot) discloses a mobile inspection robot equipped with different sensors, which can replace inspection personnel to enter explosive places for inspection, and can also realize automatic navigation and obstacle avoidance functions. However, its structure cannot be changed according to different places, and its use environment is also limited.

[0005] For example, the existing patent "A Cable Tunnel Inspection Robot and Navigation Method" (patent number "201710854534.4") discloses an inspection robot structure that can be extended and retracted up and down. It adopts a crawler structure design as a whole and can be used in poor inspection environments. However, it still has the problem of large size and limited use environment.

[0006] Therefore, a patrol robot capable of solving the above problems needs to be proposed. Summary of the invention

[0007] In order to solve the above-mentioned existing problems, the present invention provides an inspection robot that can be used in a small space.

[0008] The technical solution adopted by the present invention is as follows:

[0009] A multifunctional inspection robot comprises a chassis, the bottom of the chassis is rotatably connected to walking wheels, a robot body is arranged on the upper part of the chassis, the upper part of the body is connected to a Z-shaped folding arm, the upper end of the folding arm is connected to a partial discharge detection unit and an image acquisition unit, and the two are electrically connected to the body in parallel.

[0010] Furthermore, a laser radar is arranged on the front side of the chassis, which is electrically connected to a chassis control module contained in the chassis; the walking wheel is connected to the chassis through a connecting shaft, a drive motor is connected to the end of the connecting shaft, and the drive motor is electrically connected to the chassis control module.

[0011] Further, the folding arm comprises a lower support arm and a lower auxiliary arm arranged in parallel, and an upper support arm and an upper auxiliary arm arranged in parallel, wherein:

[0012] The lower end of the lower support arm is axially connected to an auxiliary motor, and the upper end is rigidly connected to a first gear; the lower end of the lower auxiliary arm is hinged to a motor seat fixedly connected to the auxiliary motor, and the upper end is hinged to a gear cover;

[0013] The lower end of the upper support arm is rigidly connected to a second gear meshing with the first gear, and the upper end is hinged to an upper support arm fixed shaft; the lower end of the upper auxiliary arm is hinged to the gear cover, and the upper end is hinged to the upper support arm fixed shaft.

[0014] Furthermore, the upper support arm and the upper auxiliary arm are located above the lower support arm and the lower auxiliary arm, the first gear and the second gear are both rotatably connected in the gear cover; the auxiliary motor is electrically connected to a main body control module contained inside the main body.

[0015] Furthermore, the main body is also provided with a temperature and humidity sensor, a gain antenna and an emergency stop switch, which are connected to the main body control module in parallel via electrical signals.

[0016] Furthermore, the image acquisition unit includes a dual-optical gimbal connected to the upper end of the folding arm through a gimbal bracket, the dual-optical gimbal signal is connected to the chassis control module, and the gimbal bracket is hinged to the folding arm.

[0017] Furthermore, the partial discharge detection unit includes a housing, a sleeve slidably connected to the inside of the housing, and an electric push rod arranged inside the sleeve, wherein:

[0018] The telescopic execution end of the electric push rod is fixedly connected to one end of the sliding sleeve, and the other end of the electric push rod is fixedly connected to the housing;

[0019] A partial discharge sensing module and a micro switch are arranged at the end of the sliding sleeve, and a partial discharge acquisition module is arranged inside the sliding sleeve. The micro switch, the partial discharge sensing module and the partial discharge acquisition module are electrically connected, and the partial discharge acquisition module is electrically connected to the main body control module.

[0020] Furthermore, a sleeve cover plate is fixedly connected to the end position of the sleeve on the same side as the telescopic execution end, and the micro switch and the partial discharge sensing module are both fixedly connected to the sleeve cover plate;

[0021] The telescopic execution end is fixedly connected to the sliding sleeve through a pin, and the central axis of the electric push rod and the sliding sleeve are colinear.

[0022] Furthermore, the dual-light gimbal includes a binocular camera, the gimbal bracket includes a boss, the binocular camera is fixedly connected to the upper part of the boss, and the lower part of the boss is connected to the fixed shaft of the upper support arm.

[0023] The beneficial effects achieved by the present invention using the above structure are as follows:

[0024] By proposing a patrol robot structure with a Z-shaped folding arm, the folding or stretching function can be realized when patrolling a specific place, and thus it can be used in a narrow space with high flexibility; and by setting a partial discharge detection unit and an image acquisition unit, discharge detection of the equipment can be performed, and by acquiring information such as images, the functions of autonomous navigation and obstacle avoidance are realized, the degree of intelligence is high, and the robot cooperates with the folding arm, thereby improving the practicality of the robot in a narrow space. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the structure of the robot after extension and retraction of the present invention;

[0026] Figure 2 It is a schematic diagram of the structure after the folding arm of the present invention is unfolded;

[0027] Figure 3 It is a structural schematic diagram of the folding arm in the present invention;

[0028] Figure 4 is a signal transmission flow chart in the present invention;

[0029] Figure 5 It is a cross-sectional view of the partial discharge detection unit in the present invention.

[0030] In the accompanying drawings: 1. chassis, 2. walking wheel, 3. main body, 4. folding arm, 41. lower support arm, 42. lower auxiliary arm, 43. upper support arm, 44. upper auxiliary arm, 5. partial discharge detection unit, 51. housing, 52. sliding sleeve, 53. electric push rod, 54. partial discharge sensing module, 55. micro switch, 56. partial discharge acquisition module, 57. sliding sleeve cover, 6. image acquisition unit, 61. gimbal bracket, 62. binocular gimbal, 7. laser radar, 8. chassis control module, 9. auxiliary motor, 10. first gear, 11. motor seat, 12. gear cover, 13. second gear, 14. upper support arm fixed shaft, 15. main body control module, 16. temperature and humidity sensor, 17. gain antenna, 18. emergency stop switch, 19. pin. DETAILED DESCRIPTION

[0031] The technical solution adopted by the present invention as a whole is as follows:

[0032] Combined with Figure 1-5 A multifunctional inspection robot comprises a chassis 1, the bottom of the chassis 1 is rotatably connected to a walking wheel 2, a robot body 3 is arranged on the upper part of the chassis 1, a Z-shaped folding arm 4 is connected to the upper part of the body 3, a partial discharge detection unit 5 and an image acquisition unit 6 are connected to the upper end of the folding arm 4, and the two are electrically connected to the body 3 in parallel.

[0033] In the specific implementation, the chassis 1 and the body 3 can be purchased directly. When working, the chassis 1 controls the walking wheel 2 to walk for inspection; during the inspection, the partial discharge detection unit 5 is used to monitor the partial discharge of the equipment in real time, and the monitored signal is transmitted to the body 3; at the same time, the image acquisition unit 6 collects images in real time, and the collected image information is sent to the body 3. The body 3 transmits the monitored signal and the collected image information to the remote control platform via the wireless network on the body 3, so that the terminal personnel can view and analyze it.

[0034] In addition, since the device is provided with a Z-shaped folding arm 4, it drives the image acquisition unit 6 and the partial discharge detection unit 5 to work, thereby improving the multi-degree-of-freedom rotation in the acquisition and detection process, making the acquisition range wider; furthermore, since the folding arm 4 is a foldable structure, the device is smaller in size as a whole, and can adapt to operations in narrow spaces. It is flexible in operation and light in weight, thereby improving the operating efficiency and safety during the inspection process.

[0035] Embodiment 1

[0036] A laser radar 7 is arranged on the front side of the chassis 1, which is electrically connected to the chassis control module 8 contained in the chassis 1; the walking wheel 2 is connected to the chassis 1 through a connecting shaft, and a driving motor is connected to the end of the connecting shaft, and the driving motor is electrically connected to the chassis control module 8.

[0037] On the basis of the overall technical solution, a laser radar 7 is arranged on the front side of the chassis 1 to scan the indoor environment and generate a three-dimensional map, and it is electrically connected to the corresponding chassis control module 8, so as to meet the functional requirements of automatic obstacle avoidance and autonomous navigation of the inspection robot, thereby cooperating with the image acquisition unit 6 to further improve the intelligence of the inspection robot. Since the chassis control module 8 arranged in the chassis 1 controls the walking state of the walking wheel 2, it cooperates with the laser radar 7, and then makes adaptive adjustments to the inspection process of the inspection robot in a timely manner, thereby improving the intelligence of the device.

[0038] In the whole device, the chassis 1 and the robot body 3 are both mature products of the prior art, and can be assembled through the connection relationship in this solution. Specifically, the model of the chassis 1 is Hermes, and the robot body 3 adopts the White Swan robot body, the specific model is SR2-PRO.

[0039] The folding arm 4 includes a lower support arm 41 and a lower auxiliary arm 42, and an upper support arm 43 and an upper auxiliary arm 44, wherein:

[0040] The lower end of the lower support arm 41 is axially connected to an auxiliary motor 9, and the upper end is rigidly connected to a first gear 10; the lower end of the lower auxiliary arm 42 is hinged to a motor seat 11 fixedly connected to the auxiliary motor 9, and the upper end is hinged to a gear cover 12;

[0041] The lower end of the upper support arm 43 is rigidly connected to a second gear 13 meshing with the first gear 10, and the upper end is hinged to an upper support arm fixed shaft 14; the lower end of the upper auxiliary arm 44 is hinged to the gear cover 12, and the upper end is hinged to the upper support arm fixed shaft 14.

[0042] The functional process of the folding arm 4 to achieve folding deformation is as follows:

[0043] Start the auxiliary motor 9 to drive the lower support arm 41 to rotate, and the angle between the lower support arm 41 and the horizontal plane changes. At this time, the first gear 10 drives the second gear 13 connected thereto to rotate, so that the lower support arm 41 moves in the opposite direction and at the same angle, thereby completing the lifting and lowering action of the folding arm 4; in the folding and stretching process, the auxiliary motor 9 drives the first gear 10 to rotate through the lower support arm 41, and the first gear 0 drives the second gear 13 meshing therewith to rotate, and the second gear 13 drives the upper support arm 43 connected thereto to move, and then the upper auxiliary arm 44 and the lower auxiliary arm 42 move accordingly.

[0044] In this process, by adopting two four-bar structures, the folding action of the folding arm 4 is completed, and the function of applying it in a small space is realized. It is more functional and can flexibly change its own size, that is, it can be folded into a smaller shape, or it can be extended according to the actual application site, and drive the corresponding image acquisition unit 6 to rotate flexibly to realize multi-angle acquisition, and realize the function of multi-angle detection of local discharge of equipment.

[0045] Structurally, the motor base 11, the lower support arm 41, the gear cover 12, and the lower auxiliary arm 42 form a four-bar structure; similarly, the gear cover 12, the upper auxiliary arm 44, the upper support arm fixed shaft 14 and the upper support arm 43 form another four-bar structure.

[0046] The upper support arm 43 and the upper auxiliary arm 44 are located on the upper part of the lower support arm 41 and the lower auxiliary arm 42. The first gear 10 and the second gear 13 are both rotatably connected to the gear cover 12. The auxiliary motor 9 is electrically connected to a main body control module 15 contained inside the main body 3.

[0047] Since the auxiliary motor 9 is connected to the main control module 15 via a signal wire, the operating state of the auxiliary motor 9 can be controlled according to the information scanned by the laser radar 7 and the information collected by the image acquisition unit 6, which is more functional and practical.

[0048] Embodiment 2

[0049] The body 3 is also provided with a temperature and humidity sensor 16 , a gain antenna 17 and an emergency stop switch 18 , which are connected to the body control module 5 in parallel with electrical signals.

[0050] In order to further improve the response sensitivity of the device, expand the transmission range of wireless signals, and improve stability, a gain antenna 17 is set; the temperature and humidity sensor 16 is electrically connected to the main control module 5, thereby transmitting the temperature and humidity signals to the main control module 5, providing it with real-time environmental temperature and humidity parameters, and thus providing real-time reference for the inspection work of the inspection robot.

[0051] The emergency stop switch 18 is used to quickly stop the movement of the robot in an emergency, thereby improving safety during use.

[0052] The image acquisition unit 6 includes a dual-light gimbal 62 connected to the upper end of the folding arm 4 through a gimbal bracket 61 . The dual-light gimbal 62 is signal-connected to the chassis control module 8 . The gimbal bracket 61 is hinged to the folding arm 4 .

[0053] The dual-light gimbal 62 is a mode with two channels for infrared light collection and visible light collection, so that the collected optical signals are transmitted to the chassis control module 8, and supported by the gimbal bracket 51, thereby ensuring that it can rotate and tilt smoothly, facilitating the signal collection process.

[0054] The partial discharge detection unit 5 includes a housing 51, a sleeve 52 slidably connected to the inside of the housing 51, and an electric push rod 53 disposed inside the sleeve 52, wherein:

[0055] The telescopic execution end of the electric push rod 53 is fixedly connected to one end of the sliding sleeve 52, and the other end of the electric push rod 53 is fixedly connected to the housing 51;

[0056] A partial discharge sensing module 54 and a micro switch 55 are provided at the end of the sliding sleeve 52, and a partial discharge acquisition module 56 is provided inside the sliding sleeve 52. The micro switch 55, the partial discharge sensing module 54 and the partial discharge acquisition module 56 are electrically connected, and the partial discharge acquisition module 56 is electrically connected to the main control module 15.

[0057] When the partial discharge detection unit 5 is working, the electric push rod 53 works to drive the sliding sleeve 52 to move. When it contacts the object to be detected, the micro switch 55 is triggered to stop the movement of the electric push rod 53; the partial discharge sensing module 54 collects signals, transmits them to the partial discharge acquisition module 56 for processing and analysis, and transmits the processing results to the main control module 15, thereby satisfying the monitoring function of the partial discharge situation of the equipment.

[0058] A sleeve cover plate 57 is fixedly connected to the end of the sleeve 52 on the same side as the telescopic execution end, and the micro switch 55 and the partial discharge sensing module 54 are fixedly connected to the sleeve cover plate 57;

[0059] The telescopic execution end is fixedly connected to the sliding sleeve 52 via a pin 19 , and the electric push rod 53 is colinear with the central axis of the sliding sleeve 52 .

[0060] When the partial discharge detection unit 5 is working, due to the influence of different working environments of the inspection robot, it needs higher adaptability during the working process. Therefore, the device is provided with a shell 51 and a corresponding sleeve 52, and an electric push rod 53 is arranged inside it. The central axes of the two are colinear, which ensures the smooth operation of the electric push rod 53 and the flexible collection of the partial discharge collection module 56 and the partial discharge sensing module 54, thereby improving the practicability of the equipment.

[0061] The dual-light gimbal 62 includes a binocular camera, and the gimbal bracket 61 includes a boss. The binocular camera is fixedly connected to the upper part of the boss, and the lower part of the boss is connected to the upper support arm fixed shaft 14.

[0062] Since the upper support arm fixed shaft 14 is arranged to be connected to the second gear 13 at the lower part, and the second gear 13 moves under the drive of the first gear 10, it is ensured that the device can flexibly adjust the inclination angle of the image acquisition unit 5 during use, thereby being more convenient for the acquisition and monitoring functions in different narrow spaces and other places.

[0063] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multifunctional inspection robot, comprising a chassis, the bottom of the chassis is rotatably connected to a walking wheel, and the upper part of the chassis is provided with a robot body, characterized in that: A Z-shaped folding arm is connected to the upper part of the main body, and a partial discharge detection unit and an image acquisition unit are connected to the upper end of the folding arm, and the two are electrically connected to the main body in parallel.

2. A multifunctional inspection robot according to claim 1, characterized in that: A laser radar is arranged on the front side of the chassis, which is electrically connected to the chassis control module contained in the chassis; the walking wheel is connected to the chassis through a connecting shaft, and a driving motor is connected to the end of the connecting shaft, and the driving motor is electrically connected to the chassis control module.

3. A multifunctional inspection robot according to claim 2, characterized in that: The folding arm comprises a lower support arm and a lower auxiliary arm which are arranged in parallel, and an upper support arm and an upper auxiliary arm which are arranged in parallel, wherein: The lower end of the lower support arm is axially connected to an auxiliary motor, and the upper end is rigidly connected to a first gear; the lower end of the lower auxiliary arm is hinged to a motor seat fixedly connected to the auxiliary motor, and the upper end is hinged to a gear cover; The lower end of the upper support arm is rigidly connected to a second gear meshing with the first gear, and the upper end is hinged to an upper support arm fixed shaft; the lower end of the upper auxiliary arm is hinged to the gear cover, and the upper end is hinged to the upper support arm fixed shaft.

4. A multifunctional inspection robot according to claim 3, characterized in that: The upper support arm and the upper auxiliary arm are located on the upper part of the lower support arm and the lower auxiliary arm. The first gear and the second gear are both rotatably connected in the gear cover. The auxiliary motor is electrically connected to a main body control module contained inside the main body.

5. A multifunctional inspection robot according to claim 4, characterized in that: The body is also provided with a temperature and humidity sensor, a gain antenna and an emergency stop switch, which are connected to the body control module in parallel with electrical signals.

6. A multifunctional inspection robot according to any one of claims 1 to 5, characterized in that: The image acquisition unit comprises a dual-light pan-tilt connected to the upper end of the folding arm through a pan-tilt bracket, the dual-light pan-tilt signal is connected to the chassis control module, and the pan-tilt bracket is hinged to the folding arm.

7. The multifunctional inspection robot according to claim 6, characterized in that: The partial discharge detection unit comprises a housing, a sleeve slidably connected inside the housing, and an electric push rod arranged inside the sleeve, wherein: The telescopic execution end of the electric push rod is fixedly connected to one end of the sliding sleeve, and the other end of the electric push rod is fixedly connected to the housing; A partial discharge sensing module and a micro switch are arranged at the end of the sliding sleeve, and a partial discharge acquisition module is arranged inside the sliding sleeve. The micro switch, the partial discharge sensing module and the partial discharge acquisition module are electrically connected, and the partial discharge acquisition module is electrically connected to the main body control module.

8. The multifunctional inspection robot according to claim 7, characterized in that: A sleeve cover plate is fixedly connected to the end position of the sleeve on the same side as the telescopic execution end, and the micro switch and the partial discharge sensing module are both fixedly connected to the sleeve cover plate; The telescopic execution end is fixedly connected to the sliding sleeve through a pin, and the central axis of the electric push rod and the sliding sleeve are colinear.

9. The multifunctional inspection robot according to claim 6, characterized in that: The dual-light gimbal includes a binocular camera, the gimbal bracket includes a boss, the binocular camera is fixedly connected to the upper part of the boss, and the lower part of the boss is connected to the fixed shaft of the upper support arm.

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