Inspection robot

Abstract

An inspection robot comprises a robot body which is movably arranged; the explosion-proof box is arranged on the robot body, a containing cavity is defined by a bottom wall and side walls of the explosion-proof box, and an opening is formed in at least one side wall of the explosion-proof box; the clamping arm mechanism is telescopically arranged at the opening, so that at least part of the clamping arm mechanism extends out of the opening to clamp the to-be-transferred piece or retract to the explosion-proof box to place the to-be-transferred piece in the containing cavity; the two opposite sides of the driving end of the clamping arm mechanism are each provided with the multiple lifting arms, so that a to-be-transferred piece is lifted through the multiple lifting arms; wherein the extending direction of each lifting arm is perpendicular to the telescopic direction of the clamping arm mechanism, each lifting arm is arranged in a mode of swinging around a preset rotating axis, and the preset rotating axis is parallel to the telescopic direction of the clamping arm mechanism. Through cooperative operation of the clamping arm mechanism and the lifting arm, the piece to be transferred can be quickly and safely transferred without human intervention.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to an inspection robot. Background Art

[0002] At present, warehouse automation and intelligence have become an industry trend, especially in the field of dangerous goods management, such as explosives warehouses, using robotic technology to reduce human intervention and enhance safety and efficiency. The application of handling robots in ordinary warehouses has been quite mature, and they can efficiently complete tasks such as warehousing, outbound and in-warehouse transfer of goods.

[0003] However, these robots are unable to cope with the special environment of explosive warehouses. The items stored in explosive warehouses are highly dangerous. Once a fire or leakage occurs, it will not only cause economic losses, but also may cause serious safety accidents, endangering the surrounding environment and the lives of people. Summary of the invention

[0004] The main purpose of the present invention is to provide an inspection robot to solve the technical problem that the handling robots in the prior art cannot safely, effectively and quickly transfer the objects to be transported.

[0005] In order to achieve the above-mentioned purpose, according to the present invention, there is provided an inspection robot, comprising: a robot body, which is movably arranged; an explosion-proof box, which is arranged on the robot body, and the explosion-proof box is surrounded by a bottom wall and a side wall to form a storage chamber, and an opening is arranged on at least one side wall of the explosion-proof box; a clamping arm mechanism, which is telescopically arranged at the opening, so that at least a part of the clamping arm mechanism extends out of the opening to clamp the object to be transported or retracts into the explosion-proof box to place the object to be transported in the storage chamber; a plurality of lifting arms, wherein a plurality of lifting arms are arranged on opposite sides of the driving end of the clamping arm mechanism to lift the object to be transported by the plurality of lifting arms; wherein the extension direction of each lifting arm is perpendicular to the extension and retraction direction of the clamping arm mechanism, and each lifting arm is swingably arranged around a predetermined rotation axis, and the predetermined rotation axis is parallel to the extension and retraction direction of the clamping arm mechanism.

[0006] Further, the clamp arm mechanism includes: a fourth clamp arm, the fourth clamp arm is slidably connected to the inner wall of the explosion-proof box, and at least a portion of the fourth clamp arm is movably arranged along a first direction to extend to the outside of the opening; a third clamp arm, the third clamp arm is slidably connected to the fourth clamp arm, so that at least a portion of the third clamp arm is movably arranged along the first direction to extend to the outside of the fourth clamp arm; a second clamp arm, the second clamp arm is slidably connected to the third clamp arm, and at least a portion of the second clamp arm can be movably arranged along the first direction to extend to the outside of the third clamp arm; a first clamp arm, the first clamp arm is slidably connected to the second clamp arm, and at least a portion of the first clamp arm can be movably arranged along the first direction to extend to the outside of the second clamp arm; wherein each first clamp arm forms a driving end of the clamp arm mechanism, and the first direction is the telescopic direction of the clamp arm mechanism.

[0007] Furthermore, the robot includes two groups of clamping arm mechanisms that are arranged opposite to each other, and the two groups of clamping arm mechanisms are symmetrically arranged on the inner wall of the explosion-proof box along the first direction, and the multiple lifting arms of each group of clamping arm mechanisms are arranged at intervals on the inner side of the first clamping arm along the first direction.

[0008] Furthermore, the clamping arm mechanism also includes a conveyor belt and a translator, the conveyor belt is arranged on the third clamping arm, one end of the translator is fixedly connected to the conveyor belt, and the other end of the translator is passed through the third clamping arm and fixedly connected to the second clamping arm. The conveyor belt is rotatably arranged to drive the translator to move, thereby pushing the second clamping arm to translate along the first direction.

[0009] Furthermore, a plurality of conveying rollers are arranged at the bottom of the explosion-proof box, the axis of each conveying roller is arranged perpendicular to the first direction, and the roller surface of the conveying roller at least partially extends out of the bottom of the explosion-proof box.

[0010] Furthermore, a buffer pad is provided on the inner side wall of the explosion-proof box, or the explosion-proof box is enclosed by the first side wall, the second side wall and the third side wall to form an opening, the first side wall and the second side wall are adjacent to the opening, and a buffer pad is provided on the inner side of the third side wall.

[0011] Furthermore, the robot body includes a chassis and running wheels, and the running wheels are rotatably arranged on the chassis to drive the robot body to move.

[0012] Furthermore, the robot body also includes a carrying platform, which is liftably arranged on the chassis through a plurality of lifting mechanisms, and the explosion-proof box is arranged on the carrying platform.

[0013] Furthermore, the lifting mechanism includes a sleeve and a support rod, the sleeve is arranged on the chassis, the support rod is arranged on the bearing platform, and the support rod is telescopically sleeved in the sleeve to drive the bearing platform to rise and fall relative to the chassis.

[0014] Further, the explosion-proof box is rotatably arranged relative to the robot body around a rotation axis in a vertical direction.

[0015] By applying the technical solution of the present invention, the robot body is the basic motion platform of the entire system and can move autonomously in various environments. The explosion-proof box is a specially designed bearing structure, which is arranged on the robot body and is used to safely store and transport explosives and other dangerous goods. The opening design of the explosion-proof box cooperates with the clamping arm mechanism, allowing the clamping arm mechanism to extend or retract to achieve the picking and placing of the items to be transported. The telescopic movement of the clamping arm mechanism is the key action to achieve the picking and placing of the items to be transported. The lifting arm is arranged on both sides of the driving end of the clamping arm mechanism. Its extension perpendicular to the telescopic direction of the clamping arm mechanism and the swing around the rotation axis parallel to the telescopic direction can adjust the posture of the items to be transported while the clamping arm is extending and retracting, ensuring its safe and smooth transfer and avoiding safety hazards caused by hard collisions. The present invention can quickly and safely transfer the items to be transported without human intervention through the coordinated operation of the clamping arm mechanism and the lifting arm, greatly improving the handling efficiency and automation level. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 A three-dimensional schematic diagram of an embodiment of the inspection robot according to the present invention is shown;

[0018] Figure 2 A top view of an embodiment of the inspection robot according to the present invention is shown;

[0019] Figure 3 A three-dimensional schematic diagram showing a transport state of an embodiment of the inspection robot according to the present invention is shown;

[0020] Figure 4 A three-dimensional schematic diagram of a clamping arm mechanism according to an embodiment of the inspection robot of the present invention is shown;

[0021] Figure 5 A three-dimensional schematic diagram showing another perspective of a clamping arm mechanism of an embodiment of the inspection robot according to the present invention;

[0022] Figure 6 An embodiment of the inspection robot according to the present invention is shown. Figure 5 A partial enlarged view of

[0023] Figure 7 A three-dimensional schematic diagram of a robot body and an explosion-proof box according to an embodiment of the inspection robot of the present invention is shown;

[0024] Figure 8 An embodiment of the inspection robot according to the present invention is shown. Figure 7A partial enlarged view of .

[0025] The above drawings include the following reference numerals:

[0026] 1. Robot body; 11. Chassis; 12. Traveling wheels; 13. Carrying platform; 14. Sleeve; 15. Support rod; 16. Electric cylinder; 2. Explosion-proof box; 21. Conveyor roller; 22. Buffer pad; 3. Clamping arm mechanism; 31. Fourth clamping arm; 32. Third clamping arm; 33. Second clamping arm; 34. First clamping arm; 35. Lifting arm; 36. Conveyor belt; 37. Translator; 4. Clamping arm motor; 5. Conveyor roller motor; 6. Lifting arm motor. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs.

[0029] In the present invention, unless otherwise specified, the directional words used, such as "up, down, top, bottom", usually refer to the directions shown in the drawings, or to the components themselves in the vertical, perpendicular or gravity directions; similarly, for ease of understanding and description, "inside and outside" refer to the inside and outside relative to the outline of each component itself, but the above-mentioned directional words are not used to limit the present invention.

[0030] like Figures 1 to 8 As shown, the present application provides an inspection robot, comprising: a robot body 1, which is movably arranged; an explosion-proof box 2, which is arranged on the robot body 1, and the explosion-proof box 2 is surrounded by a bottom wall and a side wall to form a storage chamber, and at least one side wall of the explosion-proof box 2 is provided with an opening; a clamping arm mechanism 3, which is telescopically arranged at the opening, so that at least a part of the clamping arm mechanism 3 extends out of the opening to clamp the object to be transported or retracts to the explosion-proof box 2 to place the object to be transported in the storage chamber; a plurality of lifting arms 35, and a plurality of lifting arms 35 are arranged on opposite sides of the driving end of the clamping arm mechanism 3 to lift the object to be transported by the plurality of lifting arms 35; wherein, the extension direction of each lifting arm 35 is perpendicular to the extension and retraction direction of the clamping arm mechanism 3, and each lifting arm 35 is swingably arranged around a predetermined rotation axis, and the predetermined rotation axis is parallel to the extension and retraction direction of the clamping arm mechanism 3.

[0031] The inspection robot provided in the embodiment of the present invention can quickly and safely transfer the items to be transported without human intervention through the coordinated operation of the clamping arm mechanism and the lifting arm, thereby greatly improving the handling efficiency and the degree of automation.

[0032] In the above embodiment, the robot body is the basic motion platform of the entire system and can move autonomously in various environments. The explosion-proof box is a specially designed load-bearing structure, which is arranged on the robot body and is used to safely store and transport explosives and other dangerous goods. The opening design of the explosion-proof box cooperates with the clamping arm mechanism, allowing the clamping arm mechanism to extend or retract to achieve the picking and placing of the items to be transported. The telescopic movement of the clamping arm mechanism is the key action to achieve the picking and placing of the items to be transported. The lifting arm is arranged on both sides of the driving end of the clamping arm mechanism. Its extension perpendicular to the telescopic direction of the clamping arm mechanism and the swing around the rotation axis parallel to the telescopic direction can adjust the posture of the items to be transported while the clamping arm is telescoping, ensuring its safe and smooth transfer and avoiding safety hazards caused by hard collisions.

[0033] In the above embodiment, the explosion-proof box 2 needs to be able to withstand the impact force that may be generated by the explosives during the handling process, as well as the shock wave generated by the explosion in an unexpected situation. Therefore, high-strength, impact-resistant materials such as special steel, high-strength aluminum alloy or composite materials should be selected, and these materials have good compression and impact resistance. Explosives may cause explosions due to high temperatures in some cases, and the material of the explosion-proof box 2 should have flame retardant and high temperature resistant properties, and can protect the internal explosives under extreme conditions such as fire. Commonly used flame retardant materials include composite flame retardant steel plates, high temperature resistant alloys and ceramic materials. Some explosives are sensitive to static electricity, and the explosion-proof box 2 material should have good conductivity or static dissipation capabilities to prevent static electricity accumulation from causing explosions. Metal materials usually have good conductivity, and specially treated plastics or composite materials can also have static dissipation properties. Explosives may be corrosive, and the material of the explosion-proof box 2 should have corrosion resistance to prevent the box from being corroded and affecting its explosion-proof performance. Stainless steel, coated metal and specific corrosion-resistant plastics are common choices.

[0034] This design enables the robot to accurately grasp and place objects of various sizes, especially in environments with small spaces or variable object locations, improving operational flexibility and efficiency. It is suitable for chemical plants, refineries, and other scenarios where dangerous goods need to be frequently handled and inspected. With this design, the robot can adapt to the needs of grasping objects at different heights and angles by swinging its lifting arm without changing its own position, greatly improving its ability to operate in complex environments. In the tank area of ​​a chemical plant, the robot can easily grasp chemical containers of different heights for inspection or transportation, effectively avoiding the safety risks of traditional manual operations and improving work efficiency.

[0035] like Figure 4 , Figure 5As shown, specifically, the clamping arm mechanism 3 includes: a fourth clamping arm 31, the fourth clamping arm 31 is slidably connected to the inner wall of the explosion-proof box 2, and at least a portion of the fourth clamping arm 31 is movably arranged along the first direction to extend to the outside of the opening; a third clamping arm 32, the third clamping arm 32 is slidably connected to the fourth clamping arm 31, so that at least a portion of the third clamping arm 32 is movably arranged along the first direction to extend to the outside of the fourth clamping arm 31; a second clamping arm 33, the second clamping arm 33 is slidably connected to the third clamping arm 32, and at least a portion of the second clamping arm 33 can be movably arranged along the first direction to extend to the outside of the third clamping arm 32; a first clamping arm 34, the first clamping arm 34 is slidably connected to the second clamping arm 33, and at least a portion of the first clamping arm 34 can be movably arranged along the first direction to extend to the outside of the second clamping arm 33; wherein each first clamping arm 34 forms a driving end of the clamping arm mechanism 3, and the first direction is the telescopic direction of the clamping arm mechanism 3. Through the telescopic design of the multi-stage clamp arm, the robot can achieve long-distance grasping and placement, effectively avoiding direct contact with dangerous areas and improving the safety of operations. It is suitable for environments that require remote operation, such as power facilities and oil platforms. This multi-stage clamp arm design not only increases the robot's operating range, but also greatly reduces operational risks by avoiding direct contact with dangerous areas. In the maintenance of power facilities, the robot can remotely grasp and place high-voltage equipment, reducing safety hazards caused by manual operation and improving the safety and efficiency of operations.

[0036] Specifically, the robot includes two groups of clamping arm mechanisms 3 that are relatively arranged, and the two groups of clamping arm mechanisms 3 are symmetrically arranged on the inner side wall of the explosion-proof box 2 along the first direction, and the multiple lifting arms 35 of each group of clamping arm mechanisms 3 are arranged on the inner side of the first clamping arm 34 at intervals along the first direction. This symmetrical design enables the robot to grab and place two items at the same time, greatly improving the work efficiency, and is particularly suitable for logistics warehouses or production lines that require efficient handling. Through the cooperation of the two groups of clamping arm mechanisms, the robot can not only improve the handling efficiency, but also perform accurate object alignment, which is of great significance for high-speed picking in logistics warehouses and rapid assembly on production lines. In a logistics warehouse, the robot can grab goods at two different locations at the same time, and then quickly place them at the designated location, greatly improving the speed and accuracy of goods picking.

[0037] Specifically, the clamping arm mechanism 3 also includes a conveyor belt 36 and a translator 37. The conveyor belt 36 is arranged on the third clamping arm 32. One end of the translator 37 is fixedly connected to the conveyor belt 36. The other end of the translator 37 is passed through the third clamping arm 32 and fixedly connected to the second clamping arm 33. The conveyor belt 36 is rotatably arranged to drive the translator 37 to move, thereby pushing the second clamping arm 33 to translate along the first direction. Through the combination of the conveyor belt and the translator, the robot can achieve smooth movement of the clamping arm, improve the accuracy of grasping and placing, and is suitable for industries such as electronic manufacturing and precision instrument testing that require precise operation. This smooth movement design not only improves the operating accuracy, but also reduces mechanical wear and extends the service life of the equipment. In the electronic manufacturing industry, the robot can accurately grasp and place tiny electronic components, ensuring the stability of the production line and the quality of the product.

[0038] Specifically, a plurality of conveying rollers 21 are provided at the bottom of the explosion-proof box 2, the axis of each conveying roller 21 is arranged perpendicular to the first direction, and the roller surface of the conveying roller 21 at least partially extends out of the bottom of the explosion-proof box 2. This design enables the robot to easily move objects through the conveying rollers when placing objects, reduces friction, protects the surface of objects, and is suitable for transporting objects with fragile surfaces, such as glass products, precision electronic components, etc. The design of the conveying rollers not only reduces friction damage on the surface of objects, but also increases the speed of transporting objects, allowing the robot to operate quickly and efficiently. In the scenario of transporting glass products, the robot can smoothly place the glass products in the designated position, avoiding the damage of fragile objects in traditional transport methods and reducing loss costs.

[0039] Specifically, a buffer pad 22 is provided on the inner side wall of the explosion-proof box 2, or the explosion-proof box 2 is enclosed by a first side wall, a second side wall and a third side wall to form an opening, the first side wall and the second side wall are adjacent to the opening, and a buffer pad is provided on the inner side of the third side wall. The provision of the buffer pad can effectively absorb the impact force when placing items, protect the items, and also extend the service life of the robot, which is suitable for scenes of carrying heavy or fragile items. The use of the buffer pad not only protects the items from the impact force, but also reduces the vibration of the internal mechanical structure of the robot, extending the service life of the equipment. In the scenario of carrying heavy equipment, the robot can safely grasp and place the equipment, reduce the risk of damage to the equipment, and reduce maintenance costs.

[0040] Specifically, the robot body 1 includes a chassis 11 and walking wheels 12, and the walking wheels 12 are rotatably arranged on the chassis 11 to drive the robot body 1 to move. This design enables the robot to walk stably on various terrains, improves the robot's maneuverability and adaptability, and is suitable for inspection and transportation work in complex outdoor environments. The design of the walking wheels not only improves the robot's maneuverability, but also enables the robot to walk stably on various terrains, and is suitable for inspection and transportation work in complex outdoor environments. During the inspection of oil production platforms, the robot can move stably on different terrains to conduct equipment inspections and material handling, which improves the comprehensiveness and efficiency of the inspection.

[0041] Specifically, the robot body 1 also includes a carrying platform 13, which is liftably arranged on the chassis 11 through a plurality of lifting mechanisms, and the explosion-proof box 2 is arranged on the carrying platform 13. The lifting function of the carrying platform enables the robot to adapt to objects of different heights, improves the flexibility of operation, and is suitable for scenes that need to operate at different heights, such as high-bay warehouses, multi-layer production lines, etc. The lifting function of the carrying platform not only improves the operating flexibility of the robot, but also enables the robot to adapt to objects of different heights, and is suitable for operation scenes of high-bay warehouses and multi-layer production lines. In high-bay warehouses, the robot can automatically adjust to the specified height to pick and place goods, which improves the warehouse's operating efficiency and the utilization rate of storage space.

[0042] Specifically, the lifting mechanism includes a sleeve 14 and a support rod 15. The sleeve 14 is arranged on the chassis 11, and the support rod 15 is arranged on the bearing platform 13. The support rod 15 is telescopically sleeved in the sleeve 14 to drive the bearing platform 13 to rise and fall relative to the chassis 11. This telescopic lifting mechanism is simple in design and easy to operate. It can quickly adjust the working height of the robot, improves the working efficiency, and is suitable for rapidly changing working environments. The design of the telescopic lifting mechanism not only simplifies the structure of the lifting mechanism, but also improves the lifting speed, so that the robot can quickly adjust the working height in a rapidly changing working environment, thereby improving the working efficiency. In the maintenance of a multi-layer production line, the robot can quickly adjust to the height of the equipment that needs to be maintained, and perform equipment inspection and maintenance, thereby reducing production downtime and improving production efficiency.

[0043] Specifically, the explosion-proof box 2 is rotatably arranged relative to the robot body 1 around the vertical axis of rotation. This design enables the robot to adjust the direction of objects when carrying objects, improves the flexibility and accuracy of handling, and is suitable for scenes that require precise alignment, such as assembly lines, laboratories, etc. The horizontal rotation function of the explosion-proof box not only improves the flexibility of carrying objects, but also enables the robot to automatically adjust the direction of objects during the handling process without additional manual intervention, thereby improving the degree of automation of the operation. In the sample handling in the laboratory, the robot can automatically adjust the direction of the sample to ensure that the direction of the sample input into the detection equipment is correct, thereby improving the accuracy and efficiency of the detection.

[0044] As shown in the above embodiment, a lifting arm motor 6 is also included, and the lifting arm motor 6 is closely matched with the lifting arm 35, and the lifting arm 35 is driven by the rotation of the motor to swing around the predetermined rotation axis. When the object to be transported needs to be placed on the conveying roller 21 in the explosion-proof box 2, the lifting arm motor 6 controls the inclination angle of the lifting arm 35 to ensure a smooth transition of the object to be transported, avoid hard collisions that damage the objects or the inside of the explosion-proof box, and reduce the risk of explosion. The lifting arm 35 controlled by the lifting arm motor 6 is located at the driving end of the clamping arm mechanism 3, that is, the relative inner bottom of the first clamping arm 34. When the clamping arm mechanism 3 performs a telescopic action, the lifting arm motor 6 ensures the stability and safety of the object to be transported during the clamping and placement process by adjusting the inclination angle of the lifting arm 35. This synergistic effect enables the inspection robot to quickly perform material handling tasks without damaging the object to be transported. Conveying rollers 21 and buffer pads 22 are set in the explosion-proof box 2 to assist the smooth movement of the object to be transported and prevent hard collisions. The lifting arm motor 6 controls the rotation of the lifting arm 35 to ensure that the transported object is correctly placed on the conveying roller 21, and cooperates with the setting of the buffer pad 22 to further reduce the impact force of the explosive package when entering or leaving the explosion-proof box. When the robot body 1 moves to the target position, the lifting arm motor 6 controls the rotation of the lifting arm 35 to adjust the tilt angle of the transported object to adapt to the entrance or exit of the explosion-proof box 2 and the working platform at different heights. This coordination enables the inspection robot to safely and efficiently perform the transfer task of explosives in a complex environment.

[0045] In the above embodiment, a conveyor roller motor 5 is also included. The conveyor roller motor 5 directly drives the conveyor roller 21 to rotate, and its function is to make the transfer of the items to be transferred smoothly during the transfer process in the explosion-proof box 2. When the clamping arm mechanism 3 places the items to be transferred on the conveying roller 21, the conveying roller motor 5 controls the rotation speed and direction of the conveying roller 21 according to the instructions, ensuring that the items to be transferred can be smoothly moved from one position to another, reducing friction and collision during the transportation process, and improving the transportation efficiency. When the clamping arm mechanism 3 puts the items to be transferred into the explosion-proof box 2 or takes the items to be transferred out of the explosion-proof box 2, the control of the conveyor roller motor 5 is crucial. It needs to start at the moment when the items to be transferred contact the conveying roller 21, and smoothly receive or send out the items at an appropriate speed, synchronized with the telescopic action of the clamping arm mechanism 3, to avoid accidental slipping or collision of the items to be transferred during the handover process. Especially when handling explosives, this smooth transition is crucial for safety.

[0046] In the above embodiment, a clamp arm motor 4 is also included. The clamp arm motor 4 drives the first clamp arm 34, and the first clamp arm 34 and the second clamp arm 33, the second clamp arm 33 and the third clamp arm 32, and the third clamp arm 32 and the fourth clamp arm 31 are all connected by sliding to form a telescopic structure. When the clamp arm motor 4 is started, it will drive the first clamp arm 34 to move along the first direction (telescopic direction), and through the linkage of the translator 37 and the conveyor belt 36, the second clamp arm 33, the third clamp arm 32 and the translation are triggered in turn, and finally the entire clamp arm mechanism 3 is telescopic. The control of this multi-stage telescopic structure enables the clamp arm mechanism 3 to extend into the outside of the opening of the explosion-proof box 2 to clamp the parts to be transported, or retract into the explosion-proof box 2 to place the parts to be transported in the accommodating chamber of the explosion-proof box. The multi-stage telescopic design increases the flexibility and adaptability of the clamp arm mechanism, and can handle parts to be transported of different sizes, thereby improving the handling efficiency.

[0047] From the above description, it can be seen that the above embodiments of the present invention achieve the following technical effects:

[0048] The inspection robot designed in this paper can effectively adapt to the transported items of different sizes by adopting a retractable clamping arm mechanism and a lifting arm, which improves the flexibility and application scope of the robot. The setting of the explosion-proof box ensures safe operation in dangerous environments, and the conveyor rollers at the bottom and the buffer pads on the inner wall specifically improve the handling efficiency and item protection, making the robot perform better in inspection and material transfer tasks. It is suitable for inspection and material handling in high-risk industries such as chemical, electric power, and petroleum, effectively reducing the risk of manual operation and improving the safety and efficiency of operations. In addition, the robot's rotatable explosion-proof box design enables it to automatically adjust the direction of items during the handling process without additional manual intervention, which specifically improves the degree of automation of the operation. In the inspection of chemical plants, the robot can automatically detect and grab the containers that need to be inspected, and adjust the direction of the containers to ensure that the detection equipment can fully inspect all parts of the container, greatly improving the accuracy and efficiency of the detection. In the maintenance of power facilities, the robot can accurately grab and place the equipment that needs to be replaced, reducing equipment damage caused by improper manual operation and reducing maintenance costs. On oil extraction platforms, robots can carry out material handling in dangerous areas, effectively preventing personnel from entering dangerous areas, ensuring personnel safety, and also improving the continuity and efficiency of operations. In short, the application of this design of inspection robots in high-risk industries not only improves the safety and efficiency of operations, but also reduces operating costs, and has broad application prospects and market potential. Through this design, inspection robots can not only cope with the complex needs of industries such as chemical, electric power, and petroleum, but also demonstrate their unique advantages in other high-risk industries. For example, in the aerospace field, robots can be used for equipment inspection and material handling in dangerous areas, reducing the risk of personnel being exposed to high radiation environments. In the field of mineral mining, robots can perform equipment maintenance and material handling in harsh underground environments, improving the safety and efficiency of mining. In the biomedical field, robots can be used for sample collection and handling in high-pollution risk areas, ensuring the integrity of samples and the safety of personnel. These applications not only demonstrate the strong adaptability of inspection robots, but also reflect their significant role in improving operational safety and efficiency, and have broad application prospects and market potential.

[0049] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0050] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A patrol robot, characterized in that: include: A robot body (1), wherein the robot body (1) is movably arranged; An explosion-proof box (2), the explosion-proof box (2) being arranged on the robot body (1), the explosion-proof box (2) being enclosed by a bottom wall and side walls to form a receiving cavity, and at least one side wall of the explosion-proof box (2) being provided with an opening; A clamping arm mechanism (3), wherein the clamping arm mechanism (3) is retractably arranged at the opening, so that at least a portion of the clamping arm mechanism (3) extends out of the opening to clamp the object to be transported or retracts into the explosion-proof box (2) to place the object to be transported in the accommodating cavity; A plurality of lifting arms (35), wherein the plurality of lifting arms (35) are disposed on opposite sides of the driving end of the clamping arm mechanism (3), so as to lift the object to be transported through the plurality of lifting arms (35); Wherein, the extension direction of each lifting arm (35) is perpendicular to the extension and retraction direction of the clamping arm mechanism (3), and each lifting arm (35) is swingably arranged around the predetermined rotation axis, and the predetermined rotation axis is parallel to the extension and retraction direction of the clamping arm mechanism (3).

2. The inspection robot according to claim 1, characterized in that: The clamping arm mechanism (3) comprises: a fourth clamping arm (31), the fourth clamping arm (31) being slidably connected to the inner side wall of the explosion-proof box (2), and at least a portion of the fourth clamping arm (31) being movably arranged along a first direction so as to extend to the outside of the opening; a third clamping arm (32), the third clamping arm (32) being slidably connected to the fourth clamping arm (31), so that at least a portion of the third clamping arm (32) is movably arranged along the first direction to extend to the outside of the fourth clamping arm (31); a second clamping arm (33), the second clamping arm (33) being slidably connected to the third clamping arm (32), and at least a portion of the second clamping arm (33) being movably arranged along the first direction so as to extend outward from the third clamping arm (32); a first clamping arm (34), the first clamping arm (34) being slidably connected to the second clamping arm (33), and at least a portion of the first clamping arm (34) being movably arranged along the first direction so as to extend outward from the second clamping arm (33); Wherein, each of the first clamping arms (34) forms a driving end of the clamping arm mechanism (3), and the first direction is the telescopic direction of the clamping arm mechanism (3).

3. The inspection robot according to claim 2, characterized in that: The robot comprises two groups of clamping arm mechanisms (3) arranged opposite to each other. The two groups of clamping arm mechanisms (3) are symmetrically arranged on the inner side wall of the explosion-proof box (2) along the first direction. The plurality of lifting arms (35) of each group of the clamping arm mechanisms (3) are arranged at intervals on the inner side of the first clamping arm (34) along the first direction.

4. The inspection robot according to claim 2, characterized in that: The clamping arm mechanism (3) also includes a conveyor belt (36) and a translator (37), wherein the conveyor belt (36) is arranged on the third clamping arm (32), one end of the translator (37) is fixedly connected to the conveyor belt (36), and the other end of the translator (37) is passed through the third clamping arm (32) and fixedly connected to the second clamping arm (33), and the conveyor belt (36) is rotatably arranged to drive the translator (37) to move, thereby pushing the second clamping arm (33) to translate along the first direction.

5. The inspection robot according to claim 1, characterized in that: A plurality of conveying rollers (21) are arranged at the bottom of the explosion-proof box (2), the axis of each conveying roller (21) is arranged perpendicular to the first direction, and the roller surface of the conveying roller (21) at least partially protrudes from the bottom of the explosion-proof box (2).

6. The inspection robot according to claim 1, characterized in that: A buffer pad (22) is provided on the inner wall of the explosion-proof box (2), or, The explosion-proof box (2) is enclosed by a first side wall, a second side wall and a third side wall to form the opening, the first side wall and the second side wall are adjacent to the opening, and a buffer pad is arranged on the inner side of the third side wall.

7. The inspection robot according to claim 1, characterized in that: The robot body (1) comprises a chassis (11) and running wheels (12); the running wheels (12) are rotatably arranged on the chassis (11) to drive the robot body (1) to move.

8. The inspection robot according to claim 7, characterized in that: The robot body (1) further comprises a carrying platform (13), wherein the carrying platform (13) is arranged on the chassis (11) in a liftable manner via a plurality of lifting mechanisms, and the explosion-proof box (2) is arranged on the carrying platform (13).

9. The inspection robot according to claim 8, characterized in that: The lifting mechanism comprises a sleeve (14) and a support rod (15); the sleeve (14) is arranged on the chassis (11); the support rod (15) is arranged on the bearing platform (13); the support rod (15) is telescopically sleeved in the sleeve (14) to drive the bearing platform (13) to rise and fall relative to the chassis (11).

10. The inspection robot according to claim 1, characterized in that: The explosion-proof box (2) is rotatably arranged relative to the robot body (1) around a rotation axis in a vertical direction.

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