Data machine room inspection robot

Abstract

The invention relates to the field of data machine room thermal environment detection, in particular to a data machine room inspection robot which comprises a track, the track is arranged above a machine cabinet and fixedly mounted on a ceiling through a plurality of connecting frames, a robot body is arranged on the inner side of the track, and three mounting grooves are formed in each of the two sides of the robot body. And a fixing frame is fixedly connected into the mounting groove, a mounting shaft is mounted on the inner side of the fixing frame, the outer end of the mounting shaft is rotationally connected with a walking wheel, and a driving mechanism is arranged between the walking wheel and the fixing frame. According to the data machine room inspection robot, a rail is installed on a ceiling through a connecting frame, a control module in a robot body controls a motor driving mechanism to enable walking wheels to roll along the rail, the robot body moves around a machine cabinet, and interference between the inspection robot and workers is avoided; and the collision probability of the inspection robot is reduced, the service life of the robot is prolonged, the redundant space in a machine room is utilized, and the space utilization efficiency is improved.

Description

Technical Field

[0001] The invention relates to the field of thermal environment detection in a data room, and in particular to a data room inspection robot. Background Art

[0002] The density of servers in the data center room is extremely high. High-density equipment will generate a lot of heat and easily overheat. Overheating will not only greatly reduce the service life of the equipment, but when the temperature reaches 90% of the limit, the server will automatically shut down to prevent serious losses, and such automatic shutdown will also lose important information. This requires real-time detection and analysis of the temperature field in the data center room, especially the temperature of the cabinet server.

[0003] In order to reduce the safety risks in data rooms, many data rooms are equipped with inspection robots. The inspection robots move in the room according to the prescribed route, checking the temperature and humidity of each cabinet in the room to ensure that each cabinet has no safety risks. However, the inspection robots moving on the ground will interfere with the inspection and maintenance personnel, and the inspection robots are more likely to collide when walking on the ground.

[0004] In order to solve the above problems, we have made improvements and proposed a data room inspection robot. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] The present invention provides a data room inspection robot, comprising a track, wherein the track is a closed loop, the track is arranged above a cabinet, and the track is laid along the edge of the cabinet, the track is fixedly installed on the ceiling through a plurality of connecting frames, a robot body is arranged on the inner side of the track, three installation grooves are provided on both sides of the robot body, a fixing frame is fixedly connected to the inside of the installation groove, a mounting shaft is installed on the inner side of the fixing frame, the outer end of the installation shaft is rotatably connected to a walking wheel, and a driving mechanism is arranged between the walking wheel and the fixing frame.

[0007] As a preferred technical solution of the present invention, a connecting block is slidably connected to the inner side of the fixing frame, and the end of the mounting shaft is fixedly connected to the connecting block. A telescopic electric cylinder is fixedly connected to the top of the fixing frame, and the output end of the telescopic electric cylinder is fixedly connected to the connecting block.

[0008] As a preferred technical solution of the present invention, a plug rod is fixedly connected to the bottom of the fixing frame, and the top of the plug rod is slidably connected to the connecting block.

[0009] As a preferred technical solution of the present invention, an auxiliary wheel is fixedly mounted on the end of the mounting shaft, and the end of the auxiliary wheel abuts against the inner wall of the track.

[0010] As a preferred technical solution of the present invention, the driving mechanism includes an electric motor, the output end of the electric motor is fixedly connected to a first gear, the bottom of the first gear is meshingly connected to a second gear, and the second gear is fixedly connected to the side of the walking wheel, and the second gear is rotatably connected to the outside of the mounting shaft.

[0011] As a preferred technical solution of the present invention, a pair of hinged seats are fixedly connected to the left and right ends of the robot body, a connecting arm is hinged inside the hinged seat, and the end of the connecting arm is rotatably connected to a second roller.

[0012] As a preferred technical solution of the present invention, the rotating end of the connecting arm is fixedly connected with an arc-shaped rack, the outer side of the arc-shaped rack is meshingly connected with a spur rack, the side of the spur rack is fixedly connected with a pointer, the side of the pointer is provided with a displacement sensor, and the pointer is connected to the input end of the displacement sensor, and the output end of the displacement sensor is electrically connected to the input end of the control module inside the robot body.

[0013] As a preferred technical solution of the present invention, the side surface of the spur rack is slidably connected with a guide rail, and the guide rail is fixedly connected to the outside of the robot body, and limit blocks are provided at both upper and lower ends of the guide rail.

[0014] As a preferred technical solution of the present invention, a slide rail is arranged above the track, and the slide rail is fixedly connected to the inner side of the connecting frame, and a slider is slidably connected inside the slide rail, and the bottom end of the slider is connected to a connecting rod through a universal joint, and the bottom end of the connecting rod is fixedly connected to the robot body.

[0015] As a preferred technical solution of the present invention, a plurality of first rollers are arranged on both sides of the sliding block, and the first rollers roll inside the sliding rail.

[0016] The beneficial effects of the present invention are:

[0017] 1. A data room inspection robot, the track is installed to the ceiling through a connecting frame, the control module inside the robot body controls the motor drive mechanism to make the walking wheel roll along the track, so that the robot body moves around the cabinet, and the camera, temperature sensor and humidity sensor inspect the cabinet, avoiding interference between the inspection robot and the staff, and reducing the probability of collision of the inspection robot, extending the service life of the robot, utilizing the excess space in the room, and improving the space utilization efficiency.

[0018] 2. A data room inspection robot that controls the height of the running wheels by measuring the height difference between two sections of track, so that the running wheels can smoothly transition from one section of track to another, maintain the stability of the robot body running on the track, and thus ensure the stability of the camera on the inspection robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0020] Figure 1 It is a three-dimensional diagram of a data room inspection robot of the present invention;

[0021] Figure 2 The invention is a data room inspection robot Figure 1 Enlarged view of point A in the middle;

[0022] Figure 3 It is a schematic diagram of the robot body of a data room inspection robot of the present invention;

[0023] Figure 4 The invention is a data room inspection robot Figure 3 Enlarged view of point B in the middle;

[0024] Figure 5 It is a schematic diagram of a lifting mechanism of a data room inspection robot of the present invention;

[0025] Figure 6 It is a structural schematic diagram of a robot body of a data room inspection robot of the present invention;

[0026] In the figure: 1. cabinet; 2. track; 3. slide rail; 4. connecting frame; 5. robot body; 6. walking wheel; 7. connecting rod; 8. slider; 9. first roller; 10. mounting groove; 11. connecting arm; 12. second roller; 13. arc rack; 14. straight rack; 15. guide rail; 16. pointer; 17. displacement sensor; 18. articulated seat; 19. fixing frame; 20. telescopic electric cylinder; 21. connecting block; 22. plug rod; 23. mounting shaft; 24. motor; 25. first gear; 26. second gear; 27. auxiliary wheel. DETAILED DESCRIPTION

[0027] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0028] Example: Figure 1 - Figure 6As shown, a data room inspection robot includes a track 2, which is a closed loop. The track 2 is arranged above the cabinet 1 and is laid along the edge of the cabinet 1. The track 2 is fixedly installed on the ceiling through a plurality of connecting frames 4. A robot body 5 is arranged on the inner side of the track 2. Three mounting grooves 10 are provided on both sides of the robot body 5. A fixing frame 19 is fixedly connected to the inside of the mounting groove 10. A mounting shaft 23 is installed on the inner side of the fixing frame 19. A walking wheel 6 is rotatably connected to the outer end of the mounting shaft 23. A driving mechanism is arranged between the walking wheel 6 and the fixing frame 19. The robot body 5 is divided into three parts. Two adjacent parts are connected by hinges. Each part is equipped with a The walking wheel 6 is convenient for the robot body 5 to turn. The interior of the robot body 5 includes an input module, a control module, an output module and a positioning module. The input module includes a camera, a temperature sensor, a humidity sensor and a laser ranging radar. The control module is provided with a wireless communication module and a storage module. The output module includes an alarm module. The positioning module calculates the moving distance by reading the number of revolutions of the driving mechanism, and obtains the position of the robot body 5 on the track 2 by calculating the distance from the starting position. The laser ranging radar is used to measure the distance between the robot body 5 and the turning position, and then control the rotation speed of the driving mechanism so that the robot body 5 can smoothly pass the turning position.

[0029] The track 2 is installed to the ceiling through the connecting frame 4. The control module inside the robot body 5 controls the driving mechanism to make the walking wheels 6 roll along the track 2, so that the robot body 5 moves around the cabinet 1. The camera, temperature sensor and humidity sensor inspect the cabinet 1, which avoids interference between the inspection robot and the staff, reduces the probability of collision between the inspection robot and the robot, and extends the service life of the robot. The robot body 5 is installed with three pairs of walking wheels 6. When there is a gap in the track 2, when one pair of walking wheels 6 is in a suspended state, it still remains stable by relying on the other two pairs of walking wheels 6, which can avoid the gap in the track 2 causing vibration of the robot body 5 during movement, affecting the shooting clarity of the camera.

[0030] Furthermore, in order to improve the measurement accuracy of the temperature sensor and the humidity sensor, a multi-section electric telescopic rod is installed on the robot body 5 to lower the temperature sensor and the humidity sensor close to the cabinet 1 to improve the measurement accuracy. An electric rotating base is provided at the connection between the camera and the robot body 5 to adjust the shooting angle of the camera.

[0031] Specifically, refer to Figure 5A connecting block 21 is slidably connected to the inner side of the fixed frame 19, and the end of the mounting shaft 23 is fixedly connected to the connecting block 21. A telescopic electric cylinder 20 is fixedly connected to the top of the fixed frame 19, and the output end of the telescopic electric cylinder 20 is fixedly connected to the connecting block 21. The track 2 is assembled from multiple sections. When a height difference occurs between two adjacent sections of the track 2, the telescopic electric cylinder 20 operates to make the connecting block 21 move along the fixed frame 19, changing the position of the walking wheel 6 so that the walking wheel 6 can avoid a height difference during walking, thereby avoiding vibration of the robot body 5 and ensuring the stability of the image quality captured by the camera.

[0032] Specifically, refer to Figure 5 The bottom of the fixed frame 19 is fixedly connected with an insertion rod 22, and the top of the insertion rod 22 is slidably connected to the connecting block 21. When the connecting block 21 moves along the fixed frame 19, the insertion rod 22 further limits the connecting block 21, so that the movement of the connecting block 21 is more stable.

[0033] Specifically, refer to Figure 2 and Figure 5 An auxiliary wheel 27 is fixedly installed on the end of the mounting shaft 23, and the end of the auxiliary wheel 27 abuts against the inner wall of the track 2. The auxiliary wheel 27 abuts against the inner wall of the track 2, so that the robot body 5 is in the middle position of the track 2, thereby keeping the robot body 5 level on the track 2.

[0034] Specifically, refer to Figure 5 The driving mechanism includes an electric motor 24, a transmission is arranged inside the electric motor 24, an output end of the electric motor 24 is fixedly connected with a first gear 25, a bottom of the first gear 25 is meshingly connected with a second gear 26, and the second gear 26 is fixedly connected to the side of the walking wheel 6, and the second gear 26 is rotatably connected to the outer side of the mounting shaft 23. The electric motor 24 is connected to the control module, and the control module controls the switch and speed change of the electric motor 24. When the electric motor 24 works, it drives the first gear 25 to rotate, and the rotating first gear 25 drives the walking wheel 6 to rotate on the mounting shaft 23 through the second gear 26, thereby moving the robot body 5 along the track 2.

[0035] Specifically, refer to Figure 3 and Figure 4 , a pair of articulated seats 18 are fixedly connected to the left and right ends of the robot body 5, a connecting arm 11 is hinged inside the articulated seat 18, the end of the connecting arm 11 is rotatably connected to the second roller 12, and the second roller 12 is arranged on the track 2, the rotating end of the connecting arm 11 is fixedly connected to an arc-shaped rack 13, the outer side of the arc-shaped rack 13 is meshedly connected to a spur rack 14, the side of the spur rack 14 is fixedly connected to a pointer 16, the side of the pointer 16 is provided with a displacement sensor 17, and the pointer 16 is connected to the input end of the displacement sensor 17, and the output end of the displacement sensor 17 is electrically connected to the input end of the control module inside the robot body 5;

[0036] When the robot body 5 walks on the track 2, the second roller 12 at the front end of the movement direction rolls on the track 2. There is a height difference between the two adjacent sections of the track 2. The second roller 12 will fluctuate when passing by. The fluctuating second roller 12 causes the connecting arm 11 to rotate around the hinge seat 18, so that the arc rack 13 drives the spur rack 14. The movement of the spur rack 14 causes the position of the pointer 16 to change. The displacement sensor 17 measures the displacement of the pointer 16 and transmits the data to the control module. The control module calculates the undulating height between the two sections of the track 2, and then controls the telescopic electric cylinder 20 to work. If it is in a convex state, the telescopic electric cylinder 20 contracts to raise the height of the walking wheel 6. If it is in a concave state, after the walking wheel 6 passes the concave position, the telescopic electric cylinder 20 extends to make the walking wheel 6 contact with the track 2, support the robot body 5, make the robot body 5 walk on the track 2 more stably, and keep the camera stable.

[0037] For further reference, Figure 4 The side of the spur rack 14 is slidably connected with a guide rail 15, and the guide rail 15 is fixedly connected to the outside of the robot body 5. Limit blocks are set at the upper and lower ends of the guide rail 15. The limit blocks on the guide rail 15 are used to limit the movement range of the spur rack 14. In order to leave a certain change time for the walking wheel 6, there is a certain distance between the second roller 12 and the walking wheel 6 in front of the movement. The spur rack 14 has an upstroke and a downstroke on the guide rail 15. The distance of the upstroke is less than the distance of the downstroke, which limits the descending distance of the second roller 12, so that the lowest point of the second roller 12 is still above the lowest point of the guide rail 15, so as to avoid the second roller 12 falling below the track 2 when the robot body 5 is in the turning position and cannot be reset;

[0038] When the height difference between two adjacent sections of track 2 is beyond the upper stroke of the spur rack 14, the second roller 12 behind the movement direction of the robot body 5 can be used for measurement. When the robot body 5 moves completely to the next section of track 2, the second roller 12 at the rear is still on the previous section of track 2, which changes the state between the second roller 12 at the rear and the robot body 5, thereby causing the rear connecting arm 11 to rotate around the hinge seat 18, thereby causing the arc rack 13 to drive the spur rack 14 to move upward along the guide rail 15, and the displacement of the pointer 16 at the rear in the movement direction is measured and transmitted to the control module to obtain the height difference at that position, and the positioning module is used to mark that place, and the height adjustment of the walking wheel 6 is performed directly when it drives to this place next time.

[0039] Specifically, refer to Figure 1 , Figure 2 and Figure 3A slide rail 3 is arranged above the track 2, and the slide rail 3 is fixedly connected to the inner side of the connecting frame 4. A slider 8 is slidably connected inside the slide rail 3. The bottom end of the slider 8 is connected to a connecting rod 7 through a universal joint, and the bottom end of the connecting rod 7 is fixedly connected to the robot body 5. The connecting rod 7 is a telescopic rod that can be changed in length to a certain extent. When the robot body 5 walks on the track 2, the slider 8 slides along the slide rail 3, and the slider 8 and the robot body 5 are connected by the connecting rod 7, which plays a protective role and prevents the robot body 5 from falling from the track 2. A charging interface is arranged on the slider 8, and the charging interface is connected to the battery in the robot body 5 through a wire, so that the robot body 5 can be charged at a specified position.

[0040] For further reference, Figure 3 A plurality of first rollers 9 are arranged on both sides of the slider 8, and the first rollers 9 roll inside the slide rail 3. When the slider 8 moves inside the slide rail 3, the rolling of the first rollers 9 inside the slide rail 3 replaces the sliding of the slider 8 in the slide rail 3, making the movement smoother and more stable.

[0041] Working principle: Use the connecting frame 4 to install the track 2 and the slide rail 3 on the ceiling, place the robot body 5 on the track 2, and store the track 2 in the storage module in a digital form, with the charging position as the starting point;

[0042] The motor 24 drives the first gear 25 to rotate, and the rotating first gear 25 rotates the walking wheel 6 on the mounting shaft 23 through the second gear 26. The walking wheel 6 is subjected to the reaction force of the track 2, so that the robot body 5 moves along the track 2. The movement of the robot body 5 causes the camera, temperature sensor and humidity sensor to change positions, and the cabinet 1 is photographed and the temperature and humidity are detected. When abnormal data appears, the control module will read the position information in the positioning module, and package it together with the abnormal data and the picture taken by the camera and send it to the terminal computer;

[0043] In the process of the robot body 5 moving on the track 2, in order to avoid the vibration of the robot body 5 caused by the unevenness between two adjacent sections of the track 2, the following methods are adopted:

[0044] A. Two adjacent sections of track 2 are at the same level, but there is a gap between them. Three pairs of running wheels 6 are provided on the robot body 5. When one pair of running wheels 6 is suspended in the air, the other two pairs of running wheels 6 can fully support the robot body 5, so that the robot body 5 can smoothly pass through the gap position, reducing the vibration of the robot body 5 when it moves on the track 2;

[0045] B. The front section of the track 2 is higher than the rear section of the track 2. The second roller 12 moves along the track 2 with the robot body 5. The second roller 12 passes through the protrusion first, so that the connecting arm 11 rotates around the hinge seat 18, and then the arc rack 13 drives the spur rack 14 to move downward along the guide rail 15. The spur rack 14 moves downward, and the pointer 16 moves downward. The displacement sensor 17 measures the downward displacement of the pointer 16 and transmits the data to the control module. The control module calculates the height of the protrusion, and then lifts the connecting block 21 through the telescopic electric cylinder 20, so that the walking wheel 6 can smoothly pass over the protrusion;

[0046] C. The front section of the track 2 is lower than the rear section of the track 2, and the second roller 12 passes through the concave position first, so that the connecting arm 11 rotates around the hinge seat 18, and then the arc rack 13 drives the straight rack 14 to move upward along the guide rail 15, so that the pointer 16 moves upward, and the displacement sensor 17 measures the upward displacement of the pointer 16 and transmits the data to the control module. The control module calculates the depth of the concave position. After the walking wheel 6 passes the concave position, the telescopic electric cylinder 20 is controlled to lower the walking wheel 6 to contact the track 2;

[0047] If the depth of the concave position exceeds the moving range of the spur rack 14 in front of the robot body 5, then, when the walking wheel 6 passes through the concave position, the control module controls the telescopic electric cylinder 20 to extend to a length that matches the measurement limit. When the robot body 5 passes through the concave position, the second roller 12 behind the movement direction remains on the upper track 2, thereby causing the pointer 16 behind the movement direction to move downward. The control module obtains the height difference between the robot body 5 and the second roller 12 behind the movement direction in the current state according to the value, and obtains the depth of the concave position in combination with the previous extension length of the telescopic electric cylinder 20. The positioning module transmits the position information to the control module, and the control module combines the position information with the concave depth information and stores them in the storage module. The next time the robot body 5 passes through, the control module directly controls the telescopic electric cylinder 20 to extend, so that the walking wheel 6 contacts the track 2 at the concave position.

[0048] Through the above operation, it is possible to avoid the occurrence of gaps or misalignments in the track 2, and the inspection robot can run smoothly on the track 2, ensuring that the inspection of the inspection parts on the inspection robot is more stable.

[0049] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. 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 data room inspection robot, comprising a track (2), characterized in that: The track (2) is a closed loop. The track (2) is arranged above the cabinet (1) and is laid along the edge of the cabinet (1). The track (2) is fixedly mounted on the ceiling via a plurality of connecting frames (4). A robot body (5) is arranged on the inner side of the track (2). Three mounting grooves (10) are provided on both sides of the robot body (5). A fixing frame (19) is fixedly connected to the inside of the mounting groove (10). A mounting shaft (23) is installed on the inner side of the fixing frame (19). The outer end of the mounting shaft (23) is rotatably connected to a walking wheel (6). A driving mechanism is provided between the walking wheel (6) and the fixing frame (19).

2. A data room inspection robot according to claim 1, characterized in that: The inner side of the fixed frame (19) is slidably connected to a connecting block (21), and the end of the mounting shaft (23) is fixedly connected to the connecting block (21). The top end of the fixed frame (19) is fixedly connected to a telescopic electric cylinder (20), and the output end of the telescopic electric cylinder (20) is fixedly connected to the connecting block (21).

3. A data room inspection robot according to claim 2, characterized in that: The bottom of the fixed frame (19) is fixedly connected with an insertion rod (22), and the top of the insertion rod (22) is slidably connected to the connection block (21).

4. A data room inspection robot according to claim 2, characterized in that: An auxiliary wheel (27) is fixedly mounted on the end of the mounting shaft (23), and the end of the auxiliary wheel (27) abuts against the inner side wall of the track (2).

5. A data room inspection robot according to claim 1, characterized in that: The driving mechanism comprises an electric motor (24), the output end of the electric motor (24) is fixedly connected to a first gear (25), the bottom of the first gear (25) is meshingly connected to a second gear (26), and the second gear (26) is fixedly connected to a side of the walking wheel (6), and the second gear (26) is rotatably connected to the outside of the mounting shaft (23).

6. A data room inspection robot according to claim 1, characterized in that: The left and right ends of the robot body (5) are fixedly connected to a pair of hinged seats (18), the interior of the hinged seat (18) is hinged with a connecting arm (11), and the end of the connecting arm (11) is rotatably connected to a second roller (12).

7. A data room inspection robot according to claim 6, characterized in that: The rotating end of the connecting arm (11) is fixedly connected to an arc-shaped rack (13), the outer side of the arc-shaped rack (13) is meshedly connected to a spur rack (14), the side of the spur rack (14) is fixedly connected to a pointer (16), the side of the pointer (16) is provided with a displacement sensor (17), and the pointer (16) is connected to the input end of the displacement sensor (17), and the output end of the displacement sensor (17) is electrically connected to the input end of a control module inside the robot body (5).

8. A data room inspection robot according to claim 7, characterized in that: The side surface of the spur rack (14) is slidably connected to a guide rail (15), and the guide rail (15) is fixedly connected to the outside of the robot body (5), and limit blocks are arranged at both upper and lower ends of the guide rail (15).

9. A data room inspection robot according to claim 1, characterized in that: A slide rail (3) is arranged above the track (2), and the slide rail (3) is fixedly connected to the inner side of the connecting frame (4). A slider (8) is slidably connected inside the slide rail (3), and the bottom end of the slider (8) is connected to a connecting rod (7) via a universal joint, and the bottom end of the connecting rod (7) is fixedly connected to the robot body (5).

10. A data room inspection robot according to claim 9, characterized in that: A plurality of first rollers (9) are arranged on both sides of the sliding block (8), and the first rollers (9) roll inside the sliding rail (3).

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