A laboratory safety inspection robot

Abstract

The invention discloses a laboratory safety inspection robot, which relates to the technical field of inspection robots, and comprises: a main body, provided with a visual module and a control module connected by signals; a walking mechanism, which is arranged at the bottom of the main body and connected by signals to the control module, and the walking mechanism comprises a shell, and a front wall of the shell extends to a side wall thereof and is provided with a clearance groove; a toggle mechanism, comprising a paddle, a driving assembly and a connecting member, the paddle is arranged outside the shell, the driving assembly is arranged inside the shell and connected by signals to the control module, and the connecting member is movably arranged in the clearance groove and connects the driving assembly and the paddle, and is used to drive the paddle to move from the front end of the walking mechanism to one side thereof. When the laboratory safety inspection robot encounters a power line obstacle, it can automatically clear the power line obstacle, so as not to affect its continued travel.

Description

Technical Field

[0001] The present invention relates to the technical field of inspection robots, and more specifically to a laboratory safety inspection robot. Background Art

[0002] The laboratory safety inspection robot is an intelligent inspection device designed and developed specifically for laboratory environments. It has reliable autonomous path planning capabilities and can perform high-precision and highly flexible autonomous driving in complex laboratory environments.

[0003] Existing laboratory safety inspection robots have a variety of sensors, such as laser radar, ultrasonic sensors, etc., which can sense changes in the surrounding environment in real time and avoid obstacles in time. However, in some cases, such as Figure 1 As shown, the experimenter accidentally dropped the power plug on the ground. At this time, the power cord will cause certain obstacles to the movement of the robot, especially when the robot is traveling between two devices 01 with a small distance between them. It is difficult for the robot 03 to avoid the power cord 02. When forcibly moving forward, the power cord 02 may be hooked on the components of the robot 03, affecting the normal movement of the robot 03 and even causing damage to the robot 03.

[0004] In summary, how to solve the problem that the existing laboratory safety inspection robot cannot continue to drive when encountering a power cord obstacle is a problem that currently needs to be solved urgently by technical personnel in this field. Summary of the invention

[0005] In view of this, an object of the present invention is to provide a laboratory safety inspection robot, which can automatically clear the power line obstacle when encountering a power line obstacle, thereby not affecting its continued driving.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] A laboratory safety inspection robot, comprising:

[0008] The main body is provided with a visual module and a control module, and the visual module and the control module are connected by signals;

[0009] A walking mechanism is arranged at the bottom of the main body and is connected to the control module signal, the walking mechanism comprises a shell, and a front wall of the shell extends to a side wall thereof and is provided with a yielding groove;

[0010] The toggle mechanism includes a paddle, a drive assembly and a connecting piece, wherein the paddle is arranged on the outside of the shell, the drive assembly is arranged on the inside of the shell and is connected to the control module by signal, and the connecting piece is movably inserted into the give way slot, and the connecting piece connects the drive assembly and the paddle to drive the paddle to move from the front wall of the shell to one side thereof.

[0011] Preferably, the driving assembly includes a motor, a driving wheel, a driven wheel and a belt, the motor is connected to the driving wheel, the axes of the driving wheel and the driven wheel are arranged parallel to the width direction of the give way groove, the belt is sleeved between the driving wheel and the driven wheel, and the outer side wall of the belt is connected to the connecting piece.

[0012] Preferably, the drive assembly also includes two groups of positioning columns, each group of positioning columns includes a plurality of positioning columns arranged at intervals along the trajectory direction of the give-way groove, a plurality of the positioning columns in one group of positioning columns abut against the outer side wall of the belt, and a plurality of the positioning columns in the other group of positioning columns abut against the inner side wall of the belt.

[0013] Preferably, the width of the belt is greater than the width of the clearance groove.

[0014] Preferably, it also includes a guiding mechanism, which includes an upper guide rail, a lower guide rail, an upper guide rail wheel and a lower guide rail wheel. The upper guide rail and the lower guide rail are both arranged in the shell along the track direction of the give way groove, and the two are arranged opposite to each other up and down and have a spacing for the connecting member to pass through. The upper guide rail wheel is rotatably connected to the top of the connecting member and can be slidably arranged on the upper guide rail, and the lower guide rail wheel is rotatably connected to the bottom of the connecting member and can be slidably arranged on the lower guide rail.

[0015] Preferably, the axes of the upper guide wheel and the lower guide wheel are parallel but not colinear.

[0016] Preferably, the clearance groove comprises a first clearance section located on the front wall of the shell and a second clearance section partially located on the front wall of the shell, and the groove width of the first clearance section is greater than the groove width of the second clearance section;

[0017] The plectrum comprises a connecting portion and a toggle portion, wherein the connecting portion is rotatably connected to the connecting member, the toggle portion has a width smaller than the groove width of the first giving way section and larger than the groove width of the second giving way section, and the connecting portion has a width smaller than the groove width of the second giving way section;

[0018] A reset plate is provided at one end of the first easing section away from the second easing section, and the reset plate is detachably abutted against the connecting portion.

[0019] Preferably, a first inclined surface is provided at the junction of the first giving way section and the second giving way section, the first inclined surface is inclined gradually approaching the second giving way section from the inside to the outside of the shell, and a second inclined surface is provided at the end of the toggle portion away from the connecting portion, which is opposite to the inclination direction of the first inclined surface, and the second inclined surface is detachably abutted against the first inclined surface.

[0020] Preferably, a third inclined surface is provided at one end of the reset plate adjacent to the toggle portion, and the third inclined surface is gradually inclined from the inside to the outside of the shell and approaches the second yielding section. A fourth inclined surface is provided at the junction of the toggle portion and the connecting portion, which is opposite to the inclination direction of the third inclined surface, and the fourth inclined surface is detachably abutted with the third inclined surface.

[0021] Preferably, the reset plate is an elastic plate.

[0022] When the laboratory safety inspection robot provided by the present invention is driving, when the visual module detects that there is a power cord of equipment in front, it will send an obstacle signal to the control module. The control module controls the walking mechanism to move forward so that the paddle is located on one side of the power cord, and then starts the driving component. The driving component drives the paddle to move, and the paddle paddles the power cord from the front end of the walking mechanism to one side of the walking mechanism, thereby automatically clearing the power cord obstacle and ensuring the normal driving of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0024] Figure 1 This is a working diagram of an existing laboratory safety inspection robot;

[0025] Figure 2 This is a schematic diagram of the structure of a laboratory safety inspection robot provided by the present invention;

[0026] Figure 3 A schematic diagram of the installation of the paddle provided by the present invention;

[0027] Figure 4 This is a schematic diagram of the installation of the drive assembly provided by the present invention;

[0028] Figure 5 for Figure 4 A partial enlarged view of the middle A;

[0029] Figure 6 This is a schematic diagram of the installation of the guide mechanism provided by the present invention;

[0030] Figure 7 A partial schematic diagram of the give way groove provided by the present invention;

[0031] Figure 8 A schematic diagram of the paddle provided by the present invention being gradually opened;

[0032] Figure 9 A schematic diagram of the paddle provided by the present invention being gradually closed;

[0033] Figure 10 for Figure 9 A partial enlarged view of point B in the middle.

[0034] Attached Figure 1 mark:

[0035] 01-Equipment; 02-Power cord; 03-Robot;

[0036] Attached Figures 2 - 10 mark:

[0037] 1-main body; 11-visual module;

[0038] 2-walking mechanism; 21-housing; 211-displacing groove; 211a-first displacing section; 211b-second displacing section; 211c-first inclined plane; 212-reset plate; 212a-third inclined plane;

[0039] 3-moving mechanism; 31-driving assembly; 311-motor; 312-driving wheel; 313-driven wheel; 314-belt; 315-positioning column; 32-paddle; 321-connecting part; 322-moving part; 322a-second inclined plane; 323-fourth inclined plane; 33-connecting member;

[0040] 4-guiding mechanism; 41-upper guide rail; 42-lower guide rail; 43-upper guide rail wheel; 44-lower guide rail wheel. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] The core of the present invention is to provide a laboratory safety inspection robot, which can automatically clear the power line obstacle when encountering a power line obstacle, thereby not affecting its continued driving.

[0043] It should be noted that in this embodiment, the directions or positional relationships indicated by "upper", "lower", "front", "back", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present application. In addition, in this specification, relational terms such as first and second are merely used to distinguish one entity from several other entities, and do not necessarily require or imply that there is any such actual relationship or order between these entities.

[0044] Please refer to Figure 2 The present invention provides a laboratory safety inspection robot, including a main body 1, a walking mechanism 2 and a toggle mechanism 3.

[0045] The main body 1 is provided with a visual module 11 and a control module, and the visual module 11 and the control module are signal-connected.

[0046] Specifically, the main body 1 is equivalent to the body of the robot, and the control module is arranged on the main body 1, which is used to coordinate and direct the actions of the various mechanisms of the robot to realize automatic and intelligent control. The visual module 11 is used to monitor the environment in front of the walking mechanism 2 in real time. When an obstacle such as the power cord of the equipment is detected, an obstacle signal is sent to the control module. After the control obtains the obstacle signal, it will control the walking mechanism 2 and the toggle mechanism 3 to clear the power cord obstacle. The main components of the visual module 11 can refer to the prior art, which is not the focus of improvement of the present invention, so it will not be repeated in this article.

[0047] The walking mechanism 2 is arranged at the bottom of the main body 1 and is connected to the control module signal. The walking mechanism 2 includes a shell 21 . A front wall of the shell 21 is extended to a side wall thereof to form a clearance groove 211 .

[0048] Specifically, Figure 2 As shown, the walking mechanism 2 is connected to the control module by signal and is located at the bottom of the main body 1, and is used to support the main body 1 (i.e., the body of the robot) and intelligently drive the robot to travel. The walking mechanism 2 includes a shell 21, and a clearance groove 211 is provided on the shell 21. One end of the clearance groove 211 is located on the front wall of the shell 21, and the other end is located on a side wall (left wall or right wall) of the shell 21. In other words, the track of the clearance groove 211 extends from the outer wall of the shell 21 to its side wall. In addition, other structures of the walking mechanism 2 can refer to the prior art, which is not the focus of improvement of the present invention, so it will not be repeated in this article.

[0049] The toggle mechanism 3 includes a paddle 32, a driving assembly 31 and a connecting piece 33. The paddle 32 is arranged on the outside of the shell 21, the driving assembly 31 is arranged on the inside of the shell 21 and is connected to the control module by signal. The connecting piece 33 is movably inserted into the make way slot 211. The connecting piece 33 connects the driving assembly 31 and the paddle 32, and is used to drive the paddle 32 to move from the front wall of the shell 21 to one side thereof.

[0050] Specifically, Figures 2 - 5 As shown, the paddle 32 is located outside the housing 21, the driving assembly 31 is located inside the housing 21, one end of the connecting member 33 is connected to the driving end of the driving assembly 31, and the other end passes through the clearance groove 211 to connect the paddle 32, so that the driving assembly 31 is connected to the paddle 32 through the connecting member 33. Since the connecting member 33 is movably arranged in the clearance groove 211, the driving assembly 31 can drive the connecting member 33 to move along the track of the clearance groove 211, thereby driving the paddle 32 to move from the front wall of the housing 21 to one side thereof. In addition, the driving assembly 31 signal is connected to the control module, so that after the control module obtains the obstacle signal, the driving assembly 31 can be started to realize the paddle 32 toggling action on the power line, thereby automatically clearing the power line obstacle.

[0051] It should be particularly noted that the drive assembly 31 is located inside the housing 21, which can not only effectively utilize the internal space of the traveling mechanism 2, but also protect the drive assembly 31 from external interference, thereby improving the reliability of the power line obstacle removal operation. The paddle 32 is located outside the housing 21, which can not only reduce the internal space occupied by the toggle mechanism 3 of the traveling mechanism 2, but also reduce the movement of the paddle 32 extending out of the traveling mechanism 2, so that the paddle 32 can quickly abut against one side of the power line to perform a toggle movement, thereby improving the efficiency of the power line obstacle removal operation.

[0052] When the laboratory safety inspection robot provided in the above embodiment is driving, when the visual module 11 detects that there is a power cord of equipment in front, it will send an obstacle signal to the control module. The control module controls the walking mechanism 2 to move forward so that the paddle 32 is located on one side of the power cord, and then starts the driving component 31. The driving component 31 drives the paddle 32 to move, and the paddle 32 moves the power cord from the front end of the walking mechanism 2 to one side of the walking mechanism 2, thereby automatically clearing the power cord obstacle and ensuring the normal driving of the robot.

[0053] To further optimize the location of the recess 211, based on the above embodiment, please refer to Figure 3, one end of the relief groove 211 is located on one side of the front wall of the housing 21, and the other end of the relief groove 211 extends to the side wall of the housing 21 through the other side of the front wall of the housing 21. That is to say, the relief groove 211 passes through the entire front wall of the housing 21 as much as possible. In this way, if there is a power cord in front of the housing 21, the traveling mechanism 2 only needs to travel a certain distance along the original forward route, and then drive the driving piece 32 to move along the relief groove 211, and the driving piece 32 can move the power cord at any position in front of the housing 21 to the side of the housing 21, without using the traveling mechanism 2 to drive the driving piece 32 to move left and right to one side of the power cord, thereby improving the convenience of clearing the obstacle of the power cord.

[0054] Considering the specific structure and setting of the driving assembly 31, on the basis of the above embodiment, please refer to Figure 4 , the driving assembly 31 includes a motor 311, a driving wheel 312, a driven wheel 313 and a belt 314. The motor 311 is connected to the driving wheel 312. The axial directions of the driving wheel 312 and the driven wheel 313 are both arranged parallel to the width direction of the relief groove 211. The belt 314 is sleeved between the driving wheel 312 and the driven wheel 313, and the outer side wall of the belt 314 is connected to the connecting piece 33.

[0055] Specifically, the driven wheel 313 is rotatably arranged inside the housing 21. The motor 311 is arranged inside the housing 21 and is signal-connected to the control module. The driving wheel 312 is sleeved on the output shaft of the motor 311. The belt 314 is sleeved between the driving wheel 312 and the driven wheel 313. Thus, when the motor 311 is started, the motor 311 drives the driving wheel 312 to rotate, and the driving wheel 312 drives the belt 314 to move, that is, the belt 314 is the driving end of the driving assembly 31. To make the belt 314 drive the connecting piece 33 to move along the track of the relief groove 211, the axial directions of the driving wheel 312 and the driven wheel 313 are both parallel to the width direction of the relief groove 211, so that the outer side wall of the belt 314 faces the movement of the relief groove 211, and then the outer side wall of the belt 314 is connected to the connecting piece 33 arranged in the relief groove 211. Thus, the movement of the belt 314 will drive the connecting piece 33 to move along the track of the relief groove 211, and further drive the driving piece 32 to move from the front wall of the housing 21 to one side of it.

[0056] Preferably, the belt 314 is arranged close to the relief groove 211, so as to prevent the phenomenon that the connecting piece 33 is easily separated from the relief groove 211 due to the large distance between the belt 314 and the relief groove 211.

[0057] It should be noted that the belt 314 is divided into a front belt and a rear belt, and the front belt and the rear belt are arranged from near to far from the clearance groove 211, and the front belt is used to connect the connector 33. If the shape of the front belt and the rear belt after being tightened is significantly different from the track shape of the clearance groove 211, since the connector 33 is inserted into the clearance groove 211, that is, the position of the connector 33 is fixed, the belt 314 will cause the connector 33 and the paddle 32 connected to it to shake and float greatly during the movement, and in severe cases, the belt 314 will be separated from the connector 33. Both situations affect the robot's automatic power cord obstacle removal operation.

[0058] To solve the above problems, based on the above embodiments, please refer to Figure 4 The driving assembly 31 also includes two groups of positioning columns, each group of positioning columns includes a plurality of positioning columns 315 arranged at intervals along the trajectory direction of the give way groove 211, a plurality of positioning columns 315 in one group of positioning columns abut against the outer side wall of the belt 314, and a plurality of positioning columns 315 in the other group of positioning columns abut against the inner side wall of the belt 314.

[0059] Specifically, each positioning column 315 is fixed inside the shell 21, and several positioning columns 315 in each group of positioning columns are arranged at intervals along the trajectory direction of the give way groove 211, wherein several positioning columns 315 in one group of positioning columns abut against the outer wall of the rear belt, and several positioning columns 315 in the other group of positioning columns abut against the inner wall of the front belt. The two groups of positioning columns tension the belt 314 to fit the shape of the belt 314 into the trajectory shape of the give way groove 211, which can ensure that the belt 314 smoothly drives the connecting member 33 to move along the trajectory of the give way groove 211, thereby ensuring the stable movement of the paddle 32, thereby improving the reliability of the power cord obstacle clearing operation.

[0060] To further optimize the setting of the belt 314, based on the above embodiment, please refer to Figure 6 , the width of the belt 314 is greater than the width of the make way slot 211. In this way, the belt 314 can block the make way slot 211 to prevent the components in the running mechanism 2 from leaking out, which can ensure aesthetics on the one hand and prevent foreign matter from entering the running mechanism 2 on the other hand.

[0061] It should be noted that, since the belt 314 is made of soft material, when the belt 314 drives the paddle 32 to move, the paddle 32 will still have a certain degree of shaking, and the edge of the paddle 32 will scratch the housing 21.

[0062] To solve the above problems, based on the above embodiments, please refer to Figure 6The present invention also includes a guide mechanism 4, which includes an upper guide rail 41, a lower guide rail 42, an upper guide wheel 43 and a lower guide wheel 44. The upper guide rail 41 and the lower guide rail 42 are both arranged in the housing 21 along the track direction of the clearance groove 211, and the two are arranged opposite to each other up and down and have a spacing for the connecting member 33 to pass through. The upper guide wheel 43 is rotatably connected to the top of the connecting member 33 and can be slidably arranged on the upper guide rail 41, and the lower guide wheel 44 is rotatably connected to the bottom of the connecting member 33 and can be slidably arranged on the lower guide rail 42.

[0063] Specifically, the upper guide rail 41 is arranged on the upper side of the housing 21 along the track direction of the clearance groove 211, and the lower guide rail 42 is arranged on the lower side of the housing 21 along the track direction of the clearance groove 211. The upper guide rail 41 and the lower guide rail 42 are arranged opposite to each other with a spacing therebetween, and the spacing is connected to the clearance groove 211. One end of the connecting member 33 is connected to the outer wall of the belt 314, and the other end passes through the spacing and the clearance groove 211 in sequence to connect the paddle 32. The top of the connecting member 33 is connected to the upper roller through a rotating member (such as a pin), so that the upper roller rotates relative to the connecting member 33, and the upper roller is slidably engaged in the upper guide rail 41. The bottom of the connecting member 33 is connected to the lower roller through a rotating member (such as a pin), so that the lower roller rotates relative to the connecting member 33, and the lower roller is slidably engaged in the lower guide rail 42.

[0064] Therefore, with the above arrangement, the top and bottom of the connecting member 33 are mounted on the guide rails through rollers, and the guide rails are extended along the track direction of the give way groove 211. The guide rails and rollers can provide support and guidance during the movement of the connecting member 33, so that the connecting member 33 can move steadily and smoothly along the give way groove 211, thereby improving the stability of the movement of the paddle 32, reducing the shaking of the paddle 32, and thereby avoiding the edge of the paddle 32 from scratching the outer shell 21.

[0065] To further optimize and enhance the stability of the movement of the paddle 32, based on the above embodiment, please refer to Figure 6 The axes of the upper guide wheel 43 and the lower guide wheel 44 are parallel but not colinear.

[0066] Specifically, the connecting member 33 is rotatably connected to the upper guide wheel 43 and the lower guide wheel 44 on opposite sides in the track direction of the give way groove 211, so that the axes of the upper guide wheel 43 and the lower guide wheel 44 are parallel but not colinear. In this way, it can be ensured that the connecting member 33 does not rotate when moving, thereby further improving the stability of the movement of the paddle 32.

[0067] It should be noted that the paddle 32 needs to face forward (not completely forward, a certain angle is also acceptable) when the power cord is first moved, so that the power cord can be moved. However, if the paddle 32 faces forward when the robot is driving normally, it is not only unsightly, but also occupies extra laboratory space. Therefore, ideally, when the robot is driving normally, the paddle 32 is retracted, and when the power cord needs to be moved, the paddle 32 is tilted forward.

[0068] To achieve the above functions, on the basis of the above embodiments, the give way groove 211 includes a first give way section 211a located on the front wall of the shell 21 and a second give way section 211b partially located on the front wall of the shell 21, and the groove width of the first give way section 211a is greater than the groove width of the second give way section 211b; the paddle 32 includes a connecting portion 321 and a toggle portion 322, the connecting portion 321 is rotatably connected to the connecting member 33, the width of the toggle portion 322 is smaller than the groove width of the first give way section 211a and larger than the groove width of the second give way section 211b, and the width of the connecting portion 321 is smaller than the groove width of the second give way section 211b; a reset plate 212 is provided at one end of the first give way section 211a away from the second give way section 211b, and the reset plate 212 and the connecting portion 321 are detachably abutted against each other.

[0069] Specifically, Figure 6 As shown, the connecting portion 321 is rotatably connected to the connecting member 33, and the rotation axis between the connecting portion 321 and the connecting member 33 is parallel to the width direction of the clearance groove 211, so that the connecting portion 321 can rotate relative to the connecting member 33 around the rotation axis, thereby driving the toggle portion 322 to rotate toward the inside or outside of the housing 21. Figure 7 As shown, the first clearance section 211a is located on the front wall of the housing 21, and the widths of the toggle portion 322 and the connecting portion 321 are both smaller than the width of the first clearance section 211a, so that the paddle 32 is initially located in the first clearance section 211a, the front end of the second clearance section 211b is adjacent to the first clearance section 211a and is located on the front wall of the housing 21, and the rear end of the second clearance section 211b extends to the left wall or the right wall of the housing 21, the width of the toggle portion 322 is greater than the width of the second clearance section 211b, and the groove width of the first clearance section 211a is greater than the groove width of the second clearance section 211b, and the connecting portion 321 is smaller than the width of the second clearance section 211b, so that the second clearance section 211b can accommodate the connecting portion 321 but cannot accommodate the toggle portion 322. Figure 9 As shown, the reset plate 212 is disposed at the front end of the first evacuation section 211 a away from the second evacuation section 211 b , and the reset plate 212 and the connecting portion 321 are detachably abutted against each other.

[0070] Through the above arrangement, the paddle 32 is initially located in the first giving way section 211a. When encountering the power cord, the belt 314 drives the paddle 32 to move toward the second giving way section 211b. Since the width of the toggle portion 322 is smaller than the width of the second giving way section 211b, when the end of the toggle portion 322 moves to the junction of the first giving way section 211a and the second giving way section 211b, the second giving way section 211b will form a block for the end of the toggle portion 322. Since the toggle portion 322 is rotatable relative to the connecting member 33, as the connecting member 33 continues to move, the toggle portion 322 gradually rotates outward and tilts up. Figure 8 As shown, until the connecting portion 321 enters the second yielding section 211b, the toggle portion 322 rotates to the right position, and then the paddle 32 moves along the second yielding section 211b from the front end of the housing 21 to the side of the housing 21, so that when encountering a power line, the paddle 32 is automatically opened to clear the power line obstacle. After the obstacle is cleared, the robot travels normally, and the belt 314 drives the paddle 32 to move toward the first yielding section 211a. When the connecting portion 321 and the reset plate 212 are against each other, as the paddle 32 continues to move, the reset plate 212 will push the connecting portion 321 to rotate inward, as shown in FIG. Figure 9 As shown, until the paddle 32 is completely retracted to the first yielding section 211a, so that the robot can travel normally, the paddle 32 is retracted to enhance the aesthetics and avoid occupying additional laboratory space.

[0071] To ensure that the paddle 32 is opened, based on the above embodiment, please refer to Figure 8 and Figure 9 A first inclined surface 211c is provided at the connection between the first giving way section 211a and the second giving way section 211b. The first inclined surface 211c is inclined gradually from the inside to the outside of the shell 21 to the second giving way section 211b. The end of the toggle portion 322 away from the connecting portion 321 is provided with a second inclined surface 322a opposite to the inclination direction of the first inclined surface 211c. The second inclined surface 322a is detachably abutted against the first inclined surface 211c.

[0072] Through the above arrangement, when the belt 314 starts to drive the paddle 32 to move toward the second yielding section 211b, the first inclined surface 211c and the second inclined surface 322a abut against each other, and the first inclined surface 211c can push the toggle portion 322 toward the outside of the housing 21. The end surface of the toggle portion 322 away from the connecting portion 321 (i.e., the first inclined surface 211c) slides down along the first inclined surface 211c, so that the toggle portion 322 is steadily and smoothly tilted outward. After the toggle portion 322 tilts outward at a certain angle, the toggle portion 322 can gradually open as the connecting member 33 moves along the second yielding section 211b, thereby ensuring that the paddle 32 is opened.

[0073] In addition, in this embodiment, the connecting member 33 is not located at the end of the connecting portion 321 away from the toggle portion 322. In this way, the toggle portion 322 continues to rotate outward until the connecting portion 321 rotates parallel to the connecting member 33, and the end of the connecting portion 321 abuts against the connecting member 33, thereby preventing the toggle portion 322 from rotating further, and the toggle portion 322 rotates to the extreme position.

[0074] To ensure that the paddle 32 is retracted, based on the above embodiment, please refer to Figure 9 and Figure 10 A third inclined surface 212a is provided at one end of the reset plate 212 adjacent to the toggle portion 322. The third inclined surface 212a is gradually inclined from the inside to the outside of the housing 21 and approaches the second yielding section 211b. A fourth inclined surface 323 is provided at the junction of the toggle portion 322 and the connecting portion 321, which is opposite to the inclination direction of the third inclined surface 212a. The fourth inclined surface 323 is detachably abutted against the third inclined surface 212a.

[0075] Through the above arrangement, when the paddle 32 moves back and enters the first yielding section 211a, the end of the reset plate 212 abuts against the connecting portion 321. As the paddle 32 continues to move, the reset plate 212 pushes the connecting portion 321 toward the inside of the housing 21, so that the paddle 32 is continuously retracted until the third inclined surface 212a and the fourth inclined surface 323 abut and cooperate, and the paddle 32 is completely retracted.

[0076] In addition, in this embodiment, the reset plate 212 is an elastic plate body. Thus, when the paddle 32 is retracted, the connecting portion 321 abuts against the reset plate 212, and the reset plate 212 can be elastically deformed. When the paddle 32 is opened outward, the elastic reset function of the reset plate 212 can be used to push the paddle 32 to rotate outward, thereby ensuring that the paddle 32 is opened.

[0077] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0078] The above is a detailed introduction to the laboratory safety inspection robot provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A laboratory safety inspection robot, characterized in that, include: The main body (1) is provided with a visual module (11) and a control module, wherein the visual module (11) and the control module are signal-connected; A walking mechanism (2) is arranged at the bottom of the main body (1) and is connected to the control module signal, the walking mechanism (2) comprises a housing (21), and a front wall of the housing (21) is provided with a clearance groove (211) extending toward a side wall thereof; The paddle mechanism (3) comprises a paddle (32), a driving assembly (31) and a connecting member (33), wherein the paddle (32) is arranged outside the housing (21), the driving assembly (31) is arranged inside the housing (21) and is signal-connected to the control module, and the connecting member (33) is movably arranged in the clearance groove (211), and the connecting member (33) connects the driving assembly (31) and the paddle (32) and is used to drive the paddle (32) to move from the front wall of the housing (21) to one side thereof; The clearance groove (211) comprises a first clearance section (211a) located on the front wall of the housing (21) and a second clearance section (211b) partially located on the front wall of the housing (21), wherein the groove width of the first clearance section (211a) is greater than the groove width of the second clearance section (211b); The paddle (32) comprises a connecting portion (321) and a toggle portion (322), the connecting portion (321) being rotatably connected to the connecting member (33), the toggle portion (322) having a width smaller than a groove width of the first yielding section (211a) and larger than a groove width of the second yielding section (211b), and the connecting portion (321) having a width smaller than a groove width of the second yielding section (211b); A reset plate (212) is provided at one end of the first yielding section (211a) away from the second yielding section (211b), and the reset plate (212) and the connecting portion (321) are detachably abutted against each other; The paddle (32) is initially located in the first yielding section (211a).

2. The laboratory safety inspection robot according to claim 1, characterized in that, The driving assembly (31) comprises a motor (311), a driving wheel (312), a driven wheel (313) and a belt (314); the motor (311) is connected to the driving wheel (312); the axial directions of the driving wheel (312) and the driven wheel (313) are both arranged parallel to the width direction of the clearance groove (211); the belt (314) is sleeved between the driving wheel (312) and the driven wheel (313); and the outer side wall of the belt (314) is connected to the connecting member (33).

3. The laboratory safety inspection robot according to claim 2, wherein, The driving assembly (31) further comprises two groups of positioning columns, each group of positioning columns comprises a plurality of positioning columns (315) arranged at intervals along the track direction of the give-way groove (211), a plurality of the positioning columns (315) in one group of positioning columns abut against the outer side wall of the belt (314), and a plurality of the positioning columns (315) in the other group of positioning columns abut against the inner side wall of the belt (314).

4. The laboratory safety inspection robot according to claim 2, characterized in that, The width of the belt (314) is greater than the width of the clearance groove (211).

5. The laboratory safety inspection robot according to claim 1, characterized in that, The invention also comprises a guide mechanism (4), the guide mechanism (4) comprising an upper guide rail (41), a lower guide rail (42), an upper guide rail wheel (43) and a lower guide rail wheel (44), the upper guide rail (41) and the lower guide rail (42) are both arranged in the housing (21) along the track direction of the clearance groove (211), and the two are arranged opposite to each other up and down and have a spacing for the connecting member (33) to pass through, the upper guide rail wheel (43) is rotatably connected to the top of the connecting member (33) and is slidably arranged on the upper guide rail (41), and the lower guide rail wheel (44) is rotatably connected to the bottom of the connecting member (33) and is slidably arranged on the lower guide rail (42).

6. The laboratory safety inspection robot according to claim 5, characterized in that, The axes of the upper guide wheel (43) and the lower guide wheel (44) are parallel but not co-linear.

7. The laboratory safety inspection robot according to claim 1, characterized in that, A first inclined surface (211c) is provided at the junction of the first giving way section (211a) and the second giving way section (211b); the first inclined surface (211c) is inclined from the inside to the outside of the housing (21) gradually approaching the second giving way section (211b); an end of the toggle portion (322) away from the connecting portion (321) is provided with a second inclined surface (322a) in an opposite direction to the inclination direction of the first inclined surface (211c); the second inclined surface (322a) is detachably abutted against the first inclined surface (211c).

8. The laboratory safety inspection robot according to claim 1, characterized in that, A third inclined surface (212a) is provided at one end of the reset plate (212) adjacent to the toggle portion (322), and the third inclined surface (212a) is inclined from the inside to the outside of the housing (21) gradually approaching the second yielding section (211b), and a fourth inclined surface (323) is provided at the junction of the toggle portion (322) and the connecting portion (321) in an opposite direction to the inclination direction of the third inclined surface (212a), and the fourth inclined surface (323) is detachably abutted with the third inclined surface (212a).

9. The laboratory safety inspection robot according to claim 1, wherein The reset plate (212) is an elastic plate body.

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